Symmetrical parabolic frame deployable antenna mechanism based on equilateral triangle surface division

Abstract

The application provides a symmetrical parabolic surface structure deployable antenna mechanism based on equilateral triangle surface division, which is formed by networking of shared flower discs among six identical basic folding and unfolding units, and the surface is formed by dividing a regular hexagon into six identical equilateral triangles. 2 The first flower disc, the second flower disc, the fourth flower disc and the seventh flower disc are respectively used as the shared flower discs of the first flower disc, the third flower disc, the sixth flower disc and the tenth flower disc of the adjacent basic folding and unfolding units, so that the parabolic surface deployable antenna mechanism is formed by networking of the shared flower discs among the six identical basic folding and unfolding units, the deployable antenna mechanism has high rotational symmetry and structural symmetry, the number of kinematic pairs is small and the arrangement is simple, only a single folding degree of freedom is contained, and the unfolding reliability is high.

Description

TECHNICAL FIELD

[0001] The present application relates to the field of foldable antennas, in particular to a symmetrical parabolic frame deployable antenna mechanism based on equilateral triangle surface division. BACKGROUND

[0002] With the rapid development of aerospace technology, various forms of space deployable antennas emerge. Due to the limitation of carrying capacity, many space deployable antennas are designed as deployable mechanisms, so that they can be placed in a folded attitude during storage and launch, and then gradually unfolded to the actual working mode when the orbit transfer is completed. Space deployable antennas have great application value. How to design a large-diameter high-precision deployable antenna with fully folded rods, fully nodal points on the reflecting surface, less degrees of freedom and kinematic pairs, and good structural symmetry is a key technical problem that needs to be solved at present.

[0003] The research on deployable mechanisms has become a research hotspot in the world, and among deployable mechanisms, deployable antennas are an indispensable field. At present, many researchers and scientific research institutions have conducted in-depth research on deployable antenna mechanisms, and have proposed various deployable mechanisms. Chinese patent document CN106025483A discloses a scissor linkage type over-constrained deployable unit and a space deployable mechanism composed of the same. By changing the number of basic deployable units, the size of the space deployable mechanism can be changed, and the space deployable mechanism has the characteristics of simple structure, good deployment performance and high stiffness. However, the space deployable mechanism cannot realize curved surface deployment. Chinese patent document CN107275794A discloses a 9RR-12URU-3URU symmetrical type deployable basic unit mechanism. The invention has the advantages of simple structure, high stiffness, easy engineering manufacturing, synchronous folding of all fluted discs, adjustment of the attitude of the fluted discs after folding, and high folding ratio, but cannot realize modularized curved surface deployable antenna mechanism. Chinese patent document CN109659656A discloses a modularized curved surface deployable antenna mechanism based on a single degree of freedom deployable unit. The deployable antenna mechanism provided by the invention can realize direct and complete folding of each module, has the advantages of simple structure, low processing and manufacturing cost, and low installation difficulty, and can form a large-scale deployable antenna mechanism with high folding rate of any caliber. However, the deployable antenna mechanism may have a "blow open" phenomenon during folding, so a new antenna structure is urgently needed to solve this problem. SUMMARY

[0004] To address the shortcomings of the prior art, this invention provides a deployable antenna mechanism based on a symmetrical parabolic frame with a triangular surface division. This deployable antenna mechanism has the advantages of simple structure, low manufacturing cost, and low installation difficulty. It can form a large deployable antenna mechanism with high convergence ratio of any aperture. Furthermore, this antenna mechanism has high rotational symmetry and structural symmetry, fewer types of overall components, and all kinematic pairs connecting the components are revolute pairs with simple kinematic pair axis arrangements, making it easy to implement in engineering manufacturing.

[0005] Specifically, this invention provides a deployable antenna mechanism based on a symmetrical parabolic structure with a triangular surface division, comprising multiple layers of basic unfolding mechanisms, each layer having a parabolic top surface; each layer of basic unfolding mechanism comprises 6*M basic equilateral triangular unfolding units, where M represents the layer of basic unfolding mechanism, and each basic equilateral triangular unfolding unit can be divided into multiple triangles of equal area; all nodes are projected along the rotation axis of the parabolic surface, such that all nodes are projected onto the parabolic surface;

[0006] Each basic retractable unit includes ten reflective discs, eight kinematic joint connectors, five five-rotation scissor folding levers, six four-rotation scissor folding levers, and seven three-rotation scissor folding levers.

[0007] The ten reflective discs are designated as the first, second, third, fourth, fifth, sixth, seventh, eighth, ninth, and tenth discs; the eight kinematic pair connectors are designated as the first, second, third, fourth, fifth, sixth, seventh, and eighth kinematic pair connectors; the first disc, second disc, first kinematic pair connector, and second kinematic pair connector are connected by a five-rotational scissor-folding rod. The first and third flower discs, the first kinematic pair connector, and the third kinematic pair connector are connected by a five-rotation scissor folding rod 2; the second and third flower discs are connected by a three-rotation scissor folding rod 1; the second and fourth flower discs, the second and fourth kinematic pair connectors, and the fourth kinematic pair connector are connected by a five-rotation scissor folding rod 3; the second and fifth flower discs are connected by a three-rotation scissor folding rod 2; the third and fifth flower discs are connected by a three-rotation scissor folding rod 3; and the third and sixth flower discs, the third kinematic pair connector, and the sixth kinematic pair connector are connected by a five-rotation scissor folding rod 3. The moving joint connectors are connected by a five-rotational joint scissor folding rod four; the fourth, fifth, and fifth moving joint connectors are connected by a four-rotational joint scissor folding rod one; the fifth, sixth, and fifth moving joint connectors are connected by a four-rotational joint scissor folding rod two; the fourth, seventh, and fourth moving joint connectors are connected by a four-rotational joint scissor folding rod three; the fourth and eighth moving joints are connected by a three-rotational joint scissor folding rod four; the fifth and eighth moving joints are connected by a three-rotational joint scissor folding rod five; and the fifth and ninth moving joints are connected by... The sixth and ninth flower discs are connected by a three-rotation scissor folding rod six; the sixth and tenth flower discs are connected by a three-rotation scissor folding rod seven; the sixth and tenth flower discs are connected by a four-rotation scissor folding rod four; the seventh and eighth flower discs are connected by a four-rotation scissor folding rod five; the eighth and ninth flower discs are connected by a five-rotation scissor folding rod five; and the ninth, tenth, and eighth flower discs are connected by a four-rotation scissor folding rod six.

[0008] Each basic unfolding unit shares four flower plates with two adjacent basic unfolding units. Specifically, the first, second, fourth, and seventh flower plates of each basic unfolding unit are the first, third, sixth, and tenth flower plates of the first basic unfolding unit adjacent to it, respectively. At the same time, the first, third, sixth, and tenth flower plates of each basic unfolding unit are the shared flower plates of the first, second, fourth, and seventh flower plates of the second basic unfolding unit adjacent to it.

[0009] Preferably, each equilateral triangle basic unit is divided into N sections according to the principle of equal side length N. 2 There are 1 small equilateral triangles, N ≥ 1.

[0010] Preferably, when the parabolic reflector deployable antenna mechanism is fully deployed, the center node of the reflector disc is located on the reflector surface, the upper and lower surfaces of the reflector disc and the upper and lower surfaces of the kinematic pair connector are perpendicular to the rotation axis of the parabolic surface, the included angle between the axes of adjacent slots of all reflector discs is 120 degrees, and the axes of all slots are perpendicular to the rotation axis of the parabolic surface.

[0011] Preferably, the five-rotation joint scissor folding rod one, five-rotation joint scissor folding rod two, five-rotation joint scissor folding rod three, and five-rotation joint scissor folding rod four have the same structure, each including two identical long connecting rods and two identical short connecting rods. The two long connecting rods and the two short connecting rods are connected by a rotation joint to form an asymmetrical X-shaped structure. The five-rotation joint scissor folding rod includes four identical connecting rods, and the four connecting rods are connected by a rotation joint to form a symmetrical X-shaped structure.

[0012] Preferably, the four-rotation joint scissor folding rods one, two, three, four-rotation joint scissor folding rods four, five, and six have the same structure, each including two short connecting rods and one long connecting rod. One end of the two short connecting rods is connected to one end of the long connecting rod by means of a rotating joint to form a Y-shaped structure.

[0013] Preferably, the three-rotation joint scissor folding rod one includes two identical connecting rods connected by a rotational joint. The three-rotation joint scissor folding rod two, three, four, five, six and seven have the same structure, each including a long connecting rod and a short connecting rod connected by a rotational joint.

[0014] Preferably, the ends of the two short connecting rods of the five-rotation joint scissor folding rod are respectively connected to the first flower plate and the first kinematic joint connector by means of a rotational joint; the ends of the two long connecting rods are respectively connected to the second flower plate and the second kinematic joint connector by means of a rotational joint.

[0015] The ends of the two short connecting rods of the five-rotation joint scissor folding rod are respectively connected to the first flower plate and the first kinematic joint connector by means of a rotation joint; the ends of the two long connecting rods are respectively connected to the third flower plate and the third kinematic joint connector by means of a rotation joint.

[0016] The two connecting rods of the three-rotation joint scissor folding rod are respectively connected to the second and third flower discs by means of the rotation joints;

[0017] The ends of the two short connecting rods of the five-rotation joint scissor folding rod are respectively connected to the second flower plate and the second kinematic joint connector by means of a rotation joint; the ends of the two long connecting rods are respectively connected to the fourth flower plate and the fourth kinematic joint connector by means of a rotation joint.

[0018] The long connecting rod of the second scissor folding rod with three rotating joints is connected to the fifth flower disc by means of a rotating joint, and the short connecting rod is connected to the second flower disc by means of a rotating joint;

[0019] The long connecting rod of the three-rotation joint scissor folding rod is connected to the fifth flower disc by means of a rotation joint, and the short connecting rod is connected to the third flower disc by means of a rotation joint;

[0020] The ends of the two short connecting rods of the five-rotation joint scissor folding rod are respectively connected to the third flower plate and the third kinematic joint connector by means of a rotation joint; the ends of the two long connecting rods are respectively connected to the sixth flower plate and the sixth kinematic joint connector by means of a rotation joint.

[0021] The ends of the two short connecting rods of the four-rotation joint scissor folding rod are respectively connected to the fifth flower plate and the fifth kinematic joint connector by means of a rotation joint; the end of the long connecting rod is connected to the fourth flower plate by means of a rotation joint.

[0022] The ends of the two short connecting rods of the four-rotation joint scissor folding rod are respectively connected to the fifth flower plate and the fifth kinematic joint connector by means of a rotation joint; the end of the long connecting rod is connected to the sixth flower plate by means of a rotation joint.

[0023] The ends of the two short connecting rods of the four-rotation joint scissor folding rod three are respectively connected to the fourth flower plate and the fourth kinematic joint connector by means of a rotation joint; the end of the long connecting rod is connected to the seventh flower plate by means of a rotation joint.

[0024] The long connecting rod of the three-rotation joint scissor folding rod is connected to the eighth flower plate by means of a rotation joint, and the short connecting rod is connected to the fourth flower plate by means of a rotation joint;

[0025] The long connecting rod of the three-rotation joint scissor folding rod five is connected to the eighth flower plate by means of a rotation joint, and the short connecting rod is connected to the fifth flower plate by means of a rotation joint;

[0026] The long connecting rod of the three-rotation joint scissor folding rod six is ​​connected to the ninth flower disc by means of a rotation joint, and the short connecting rod is connected to the fifth flower disc by means of a rotation joint;

[0027] The long connecting rod of the three-rotation joint scissor folding rod seven is connected to the ninth flower disc by means of a rotation joint, and the short connecting rod is connected to the sixth flower disc by means of a rotation joint;

[0028] The ends of the two short connecting rods of the four-rotation joint scissor folding rod are respectively connected to the sixth flower plate and the sixth kinematic joint connector by means of a rotation joint; the end of the long connecting rod is connected to the tenth flower plate by means of a rotation joint.

[0029] The ends of the two short connecting rods of the four-rotation joint scissor folding rod five are respectively connected to the eighth flower plate and the seventh kinematic joint connecting piece by means of a rotation joint; the end of the long connecting rod is connected to the seventh flower plate by means of a rotation joint.

[0030] The ends of the four connecting rods of the five-rotation joint scissor folding rod are respectively connected to the eighth flower plate, the ninth flower plate, the seventh kinematic joint connector and the eighth kinematic joint connector by means of a rotation joint;

[0031] The ends of the two short connecting rods of the four-rotation joint scissor folding rod six are respectively connected to the ninth flower plate and the eighth kinematic joint connecting piece by means of a rotation joint; the end of the long connecting rod is connected to the tenth flower plate by means of a rotation joint.

[0032] Preferably, the multiple flower discs and kinematic pair connectors have a corresponding number of slots according to the number of rotating pairs connected.

[0033] Compared with the prior art, the beneficial effects of the present invention are as follows:

[0034] (1) The parabolic reflector deployable antenna mechanism of the present invention is designed based on a novel triangular surface division method. Therefore, the parabolic reflector deployable antenna mechanism is composed of a shared pattern network of six identical basic deployable units, which has a degree of freedom in retraction and can meet various needs. Furthermore, according to design requirements, the number of equilateral triangles of the basic deployable units can be expanded according to the novel triangular surface division method to form a multi-layer regular hexagonal structure, thereby forming a large parabolic reflector deployable antenna mechanism with a large retraction ratio of arbitrary aperture.

[0035] (2) The antenna structure of the present invention has high rotational symmetry and structural symmetry, fewer types of overall components, and all kinematic pairs connecting the components are rotating pairs. The kinematic pair axes are arranged simply and are easy to manufacture.

[0036] (3) The overall deployable mechanism of the present invention has a small number of kinematic pairs, only a single rotational degree of freedom, stable structure, high deployment reliability, and can ensure the rigidity of the entire antenna mechanism, meeting the needs of various fields. Attached Figure Description

[0037] Figure 1 This is a simplified three-dimensional schematic diagram of the fully deployed parabolic reflector deployable antenna mechanism of the present invention.

[0038] Figure 2 This is a simplified three-dimensional schematic diagram from a top view of the fully deployed parabolic reflector deployable antenna mechanism of the present invention in its top view.

[0039] Figure 3 This is a simplified three-dimensional schematic diagram of the fully deployed parabolic reflector deployable antenna mechanism of the present invention from the perspective of the main view angle.

[0040] Figure 4 yes Figure 1 A simplified 3D diagram of the fully retracted state;

[0041] Figure 5 yes Figure 1 A simplified 3D diagram showing the fully retracted state from a top-down perspective;

[0042] Figure 6 yes Figure 1 A simplified 3D diagram of the fully retracted state from the main viewpoint;

[0043] Figure 7 This is a simplified three-dimensional schematic diagram of the basic retractable unit of the present invention in its fully extended state;

[0044] Figure 8 yes Figure 7 A simplified three-dimensional diagram showing the fully extended configuration from a top-down perspective;

[0045] Figure 9 yes Figure 7 A simplified 3D schematic diagram from the main viewpoint when fully unfolded.

[0046] Some of the attached labels in the figure are as follows:

[0047] 1-First flower plate, 2-Five-rotation scissor folding rod, 3-Second flower plate, 4-Second kinematic pair connector, 5-Three-rotation scissor folding rod, 6-Five-rotation scissor folding rod, 7-Fourth flower plate, 8-Four-rotation scissor folding rod, 9-Fourth kinematic pair connector, 10-Four-rotation scissor folding rod, 11-Seventh flower plate, 12-Three-rotation scissor folding rod, 13-Four-rotation scissor folding rod, 14-Three-rotation scissor folding rod, 15-Eighth flower plate, 16-Fifth kinematic pair connector, 17-Three-rotation scissor folding rod, 18-Seventh kinematic pair connector, 19-Five-rotation scissor folding rod Rotating joint scissor folding rod, 20- Ninth flower plate, 21- Eighth kinematic pair connector, 22- Fourth rotating joint scissor folding rod, 23- Fourth rotating joint scissor folding rod, 24- Third rotating joint scissor folding rod, 25- Fourth rotating joint scissor folding rod, 26- Tenth flower plate, 27- Sixth kinematic pair connector, 28- Fifth flower plate, 29- Sixth flower plate, 30- Fifth rotating joint scissor folding rod, 31- Third rotating joint scissor folding rod, 32- Third kinematic pair connector, 33- Third rotating joint scissor folding rod, 34- Third flower plate, 35- Fifth rotating joint scissor folding rod, 36- First kinematic pair connector. Detailed Implementation

[0048] Hereinafter, embodiments of the present invention will be described with reference to the accompanying drawings.

[0049] like Figures 1 to 3As shown, this invention provides a deployable antenna mechanism based on a symmetrical parabolic structure with a triangular surface division. It includes multiple layers of basic unfolding mechanisms, each with a parabolic top surface. Each layer comprises 6*M basic equilateral triangular unfolding units, where M represents the layer number. Each basic equilateral triangular unfolding unit can be divided into multiple triangles of equal area. All nodes are projected along the rotation axis of the parabola, ensuring that all nodes are projected onto the parabola. Figure 1 In this system, M is set to 1, and it includes one basic folding mechanism. The top surface of each basic folding mechanism is a parabolic structure. Each basic folding mechanism includes six equilateral triangular basic contraction units A, B, C, D, E, and F. The six equilateral triangular basic contraction units A, B, C, D, E, and F are interconnected to form a regular hexagon.

[0050] As can be seen from the diagram, each basic equilateral triangle unit is divided into N sections according to the principle of equal side length N. 2 There are 9 small equilateral triangles, N≥1. In the figure, each basic equilateral triangle unit consists of 9 small equilateral triangles, that is, each side is evenly divided into 3 equal parts.

[0051] When the parabolic reflector deployable antenna mechanism is fully deployed, the center node of the reflector plate is located on the reflector surface. The upper and lower surfaces of the reflector plate and the upper and lower surfaces of the kinematic pair connector are perpendicular to the rotation axis of the parabolic surface. The included angle between the axes of adjacent slots of all reflector plates is 120 degrees, and the axes of all slots are perpendicular to the rotation axis of the parabolic surface.

[0052] like Figures 2 to 9 As shown, each basic retractable unit includes ten reflective discs, eight kinematic pair connectors, five five-rotational-pair scissor folding rods, six four-rotational-pair scissor folding rods, and seven three-rotational-pair scissor folding rods. The number of slots on the discs can be set according to the number of connected rotational pairs. The eight kinematic pair connectors can be set as H-shaped structures, with slots at both ends of the H-shaped structure for connecting rotational pairs.

[0053] The ten reflective discs are designated as disc 1, disc 3, disc 34, disc 4, disc 7, disc 5, disc 28, disc 6, disc 29, disc 7, disc 11, disc 8, disc 15, disc 9, and disc 20. The eight kinematic pair connectors are designated as connector 36, connector 4, connector 32, connector 9, connector 16, connector 27, connector 18, and connector 21. Disc 1, disc 3, connector 36, and connector 4 are connected by a five-rotation scissor-folding rod. Disc 1, disc 34, connector 36, and connector 32 are connected by a five-rotation scissor-folding rod. Flower plate 3 and the third flower plate 34 are connected by a three-rotation joint scissor folding rod one; the second flower plate 3, the fourth flower plate 7, the second kinematic pair connector 4 and the fourth kinematic pair connector 9 are connected by a five-rotation joint scissor folding rod three; the second flower plate 3 and the fifth flower plate 28 are connected by a three-rotation joint scissor folding rod two; the third flower plate 34 and the fifth flower plate 28 are connected by a three-rotation joint scissor folding rod three; the third flower plate 34, the sixth flower plate 29, the third kinematic pair connector 32 and the sixth kinematic pair connector 27 are connected by a five-rotation joint scissor folding rod four; the fourth flower plate 7, the fifth flower plate 28, and the... The five kinematic joint connectors 16 are connected by a four-rotational joint scissor folding rod 1; the fifth flower plate 28, the sixth flower plate 29, and the fifth kinematic joint connector 16 are connected by a four-rotational joint scissor folding rod 2; the fourth flower plate 7, the seventh flower plate 11, and the fourth kinematic joint connector 9 are connected by a four-rotational joint scissor folding rod 3; the fourth flower plate 7 and the eighth flower plate 15 are connected by a three-rotational joint scissor folding rod 4; the fifth flower plate 28 and the eighth flower plate 15 are connected by a three-rotational joint scissor folding rod 5; the fifth flower plate 28 and the ninth flower plate 20 are connected by a three-rotational joint scissor folding rod 6; the sixth flower plate 2... The ninth and tenth discs 20 are connected by a three-rotation joint scissor folding rod seven; the sixth disc 29, the tenth disc 26, and the sixth kinematic pair connector 27 are connected by a four-rotation joint scissor folding rod four; the seventh disc 11, the eighth disc 15, and the seventh kinematic pair connector 18 are connected by a four-rotation joint scissor folding rod five; the eighth disc 15, the ninth disc 20, the seventh kinematic pair connector 18, and the eighth kinematic pair connector 21 are connected by a five-rotation joint scissor folding rod five; and the ninth disc 20, the tenth disc 26, and the eighth kinematic pair connector 21 are connected by a four-rotation joint scissor folding rod six.

[0054] As shown in the figure, adjacent basic unfolding units share adjacent flower plates. Specifically, each basic unfolding unit shares four flower plates with its two adjacent basic unfolding units. The first flower plate 1, the second flower plate 3, the fourth flower plate 7, and the seventh flower plate 11 of each basic unfolding unit are the first flower plate 1, the third flower plate 34, the sixth flower plate 29, and the tenth flower plate 26 of the first basic unfolding unit adjacent to it, respectively. At the same time, the first flower plate 1, the third flower plate 34, the sixth flower plate 29, and the tenth flower plate 26 of each basic unfolding unit are the shared flower plates of the first flower plate 1, the second flower plate 3, the fourth flower plate 7, and the seventh flower plate 11 of the second basic unfolding unit adjacent to it.

[0055] The five-rotation joint scissor folding rods 1, 2, 3, and 4 have the same structure, each including two identical long connecting rods and two identical short connecting rods. The two long connecting rods and the two short connecting rods are connected by a rotating joint to form an asymmetrical X-shaped structure. The five-rotation joint scissor folding rod includes four identical connecting rods, which are connected by a rotating joint to form a symmetrical X-shaped structure.

[0056] Among them, the four-rotation joint scissor folding rods one, two, three, four-rotation joint scissor folding rods four, five and six have the same structure, each including two short connecting rods and one long connecting rod. One end of the two short connecting rods is connected to one end of the long connecting rod by means of a rotating joint to form a Y-shaped structure.

[0057] Three-rotation joint scissor folding lever 1 includes two identical connecting rods connected by a revolute joint. Three-rotation joint scissor folding lever 2, 3, 4, 5, 6, and 7 have the same structure, each including a long connecting rod and a short connecting rod connected by a revolute joint.

[0058] The two short connecting rods of the five-revolute scissor folding lever are respectively connected to the first flower plate 1 and the first kinematic joint connector 36 via revolute joints. The two long connecting rods are respectively connected to the second flower plate 3 and the second kinematic joint connector 4 via revolute joints.

[0059] The two short connecting rods of the fifth rotary joint scissor folding lever are respectively connected to the first flower plate 1 and the first kinematic joint connector 36 via rotary joints. The two long connecting rods are respectively connected to the third flower plate 34 and the third kinematic joint connector 32 via rotary joints.

[0060] The two connecting rods of the three-rotation joint scissor folding lever are connected to the second flower plate 3 and the third flower plate 34 respectively by means of the rotation joint.

[0061] The two short connecting rods of the five-revolute scissor folding lever are respectively connected to the second disc 3 and the second kinematic joint connector 4 via revolute joints. The two long connecting rods are respectively connected to the fourth disc 7 and the fourth kinematic joint connector 9 via revolute joints.

[0062] The long link of the three-rotation joint scissor folding lever 2 is connected to the fifth disc 28 by means of a rotation joint, and the short link is connected to the second disc 3 by means of a rotation joint.

[0063] The long link of the three-rotation joint scissor folding lever is connected to the fifth disc 28 by means of a rotation joint, and the short link is connected to the third disc 34 by means of a rotation joint.

[0064] The two short connecting rods of the fifth revolute scissor folding lever are respectively connected to the third flower plate 34 and the third kinematic joint connector 32 via revolute joints. The two long connecting rods are respectively connected to the sixth flower plate 29 and the sixth kinematic joint connector 27 via revolute joints.

[0065] The two short connecting rods of the four-revolute scissor folding lever are respectively connected to the fifth disc 28 and the fifth kinematic joint connector 16 via revolute joints. The end of the long connecting rod is connected to the fourth disc 7 via a revolute joint.

[0066] The two short connecting rods of the fourth revolute scissor folding lever are respectively connected to the fifth disc 28 and the fifth kinematic joint connector 16 via revolute joints. The end of the long connecting rod is connected to the sixth disc 29 via a revolute joint.

[0067] The two short connecting rods of the four-revolute scissor folding lever are respectively connected to the fourth disc 7 and the fourth kinematic joint connector 9 via revolute joints. The end of the long connecting rod is connected to the seventh disc 11 via a revolute joint.

[0068] The long link of the three-rotation joint scissor folding lever four is connected to the eighth disc 15 by means of a rotation joint, and the short link is connected to the fourth disc 7 by means of a rotation joint.

[0069] The long link of the three-rotation joint scissor folding lever 5 is connected to the eighth disc 15 by means of a rotation joint, and the short link is connected to the fifth disc 28 by means of a rotation joint.

[0070] The long link of the three-rotation joint scissor folding lever 6 is connected to the ninth disc 20 by means of a rotation joint, and the short link is connected to the fifth disc 28 by means of a rotation joint.

[0071] The long link of the three-rotation joint scissor folding lever 7 is connected to the ninth disc 20 by means of a rotation joint, and the short link is connected to the sixth disc 29 by means of a rotation joint.

[0072] The two short connecting rods of the fourth revolute scissor folding lever are connected at their ends to the sixth disc 29 and the sixth kinematic joint connector 27 via revolute joints, respectively. The end of the long connecting rod is connected to the tenth disc 26 via a revolute joint.

[0073] The ends of the two short connecting rods of the fourth revolute scissor folding lever are respectively connected to the eighth disc 15 and the seventh kinematic joint connector 18 via revolute joints. The end of the long connecting rod is connected to the seventh disc 11 via a revolute joint.

[0074] The ends of the four connecting rods of the five-rotation joint scissor folding rod are respectively connected to the eighth flower plate 15, the ninth flower plate 20, the seventh kinematic joint connector 18 and the eighth kinematic joint connector 21 by means of the rotation joint.

[0075] The ends of the two short connecting rods of the fourth revolute scissor folding lever are connected to the ninth disc 20 and the eighth kinematic joint connector 21 via revolute joints, respectively. The end of the long connecting rod is connected to the tenth disc 26 via a revolute joint.

[0076] The structure of the present invention will be further described below with reference to specific embodiments:

[0077] This embodiment shows a deployable hexagonal antenna mechanism, which can be expanded as needed in other embodiments.

[0078] This embodiment provides a symmetrical parabolic deployable antenna mechanism based on equilateral triangular surface division. It utilizes a novel triangular surface division method, dividing a regular hexagon into six identical equilateral triangles. Each equilateral triangle is further divided into nine smaller equilateral triangles according to the principle of trisecting its side length. All nodes are projected along the rotation axis of the parabola, ensuring that all nodes are projected onto the parabola. Figures 1-3 As shown, Figure 1 This is a simplified three-dimensional schematic diagram of the fully deployed parabolic reflector deployable antenna mechanism based on the three-part division principle of this invention. Figure 2 and Figure 3 These are schematic diagrams from a top view and a front view, respectively, showing the fully deployed parabolic reflector deployable antenna mechanism of the present invention in its top and front view states. This deployable antenna mechanism possesses high rotational and structural symmetry, and is composed of a network of six identical basic deployable units sharing a common display plate. These are basic deployable units A, B, C, D, E, and F. The basic deployable units are connected by a common reflector display plate, forming a closed-loop parabolic reflector deployable antenna mechanism. Figures 4-6 As shown, they are respectively Figure 1 A simplified 3D diagram of the fully retracted state, a simplified 3D diagram from a top view angle of the fully retracted state, and a simplified 3D diagram from a front view angle of the fully retracted state.

[0079] Because the six basic deployable and retractable units are structurally identical, the resulting parabolic reflector deployable antenna mechanism possesses high rotational and structural symmetry, significantly reducing the difficulty of engineering manufacturing.Figure 7 As shown, when the basic unit of the three-division principle is fully unfolded, the central node of the reflective disc is located on the reflective surface, and the upper and lower surfaces of the reflective disc and the upper and lower surfaces of the kinematic pair connector are perpendicular to the rotation axis of the parabola.

[0080] The slots between the first flower plate 1, the second flower plate 3, the first kinematic pair connector 36, and the second kinematic pair connector 4 are connected by a five-rotation scissor folding rod 2. Each short connecting rod and one long connecting rod form a scissor rod, and the two scissor rods are of the same length. The rotation axis of the five-rotation scissor folding rod 2 is not located at the center of the two scissor rods. It is equidistant from the two rotation axes on the same side connected to the first flower plate 1 and the first kinematic pair connector 36, and also equidistant from the two rotation axes on the same side connected to the second flower plate 3 and the second kinematic pair connector 4. The slots between the first flower plate 1, the third flower plate 34, the first kinematic pair connector 36, and the third kinematic pair connector 32 are connected by a five-rotation joint scissor folding rod 35. Each short connecting rod and one long connecting rod form a scissor rod. The two scissor rods are exactly the same length. The rotation axis of the five-rotation joint scissor folding rod 35 is not located at the center of the two scissor rods. It is equidistant from the two rotation axis of the same side connected to the first flower plate 1 and the first kinematic pair connector 36, and is also equidistant from the two rotation axis of the same side connected to the third flower plate 34 and the third kinematic pair connector 32. The slots between the second flower plate 3 and the third flower plate 34 are connected by a three-rotation joint scissor folding rod 33. The three-rotation joint scissor folding rod 33 is connected by a rotation joint, and the two connecting rods are exactly the same length. Their ends are inserted into the slots of the second flower plate 3 and the third flower plate 34 respectively and are connected by a rotation joint. The slots between the second flower plate 3, the fourth flower plate 7, the second kinematic pair connector 4 and the fourth kinematic pair connector 9 are connected by a five-rotation joint scissor folding rod 6. Each short connecting rod and one long connecting rod form a scissor rod. The two scissor rods are the same length. The rotation joint axis in the middle of the five-rotation joint scissor folding rod 6 is not located at the center of the two scissor rods. It is equidistant from the two rotation joint axes on the same side connected to the second flower plate 3 and the second kinematic pair connector 4, and is also equidistant from the two rotation joint axes on the same side connected to the fourth flower plate 7 and the fourth kinematic pair connector 9. The slots between the second flower disc 3 and the fifth flower disc 28 are connected by a three-rotation joint scissor-folding rod 5. This three-rotation joint scissor-folding rod 5 is connected by a rotational joint, and the two connecting rods are of different lengths, consisting of a long connecting rod and a short connecting rod. The end of the short connecting rod is inserted into the slot of the second flower disc 3 and connected by a rotational joint, while the end of the long connecting rod is inserted into the slot of the fifth flower disc 28 and connected by a rotational joint. The slots between the third flower disc 34 and the fifth flower disc 28 are connected by a three-rotation joint scissor-folding rod 31. This three-rotation joint scissor-folding rod 31 is connected by a rotational joint, and the two connecting rods are of different lengths, consisting of a long connecting rod and a short connecting rod. The end of the short connecting rod is inserted into the slot of the third flower disc 34 and connected by a rotational joint, while the end of the long connecting rod is inserted into the slot of the fifth flower disc 28 and connected by a rotational joint.The slots between the third disc 34, the sixth disc 29, the third kinematic pair connector 32, and the sixth kinematic pair connector 27 are connected by a five-rotation joint scissor folding rod 30. Each short connecting rod and one long connecting rod form a scissor rod, and the two scissor rods are of the same length. The rotational axis of the central part of the five-rotation joint scissor folding rod 30 is not located at the center of the two scissor rods. It is equidistant from the two rotational axis lines on the same side connected to the third disc 34 and the third kinematic pair connector 32, and also equidistant from the two rotational axis lines on the same side connected to the sixth disc 29 and the sixth kinematic pair connector 27. The slots between the fourth disc 7, the fifth disc 28, and the fifth kinematic pair connector 16 are connected by a four-rotation joint scissor folding rod 8, and two short connecting rods are connected to the fifth disc 28 and the fifth kinematic pair connector 16, respectively. The slots between the fifth disc 28, the sixth disc 29, and the fifth kinematic pair connector 16 are connected by a four-rotational joint scissor-folding rod 23. Two short connecting rods are connected to the fifth disc 28 and the fifth kinematic pair connector 16, respectively. The slots between the fourth disc 7, the seventh disc 11, and the fourth kinematic pair connector 9 are connected by a four-rotational joint scissor-folding rod 10. Two short connecting rods are connected to the fourth disc 7 and the fourth kinematic pair connector 9, respectively. The slot between the fourth disc 7 and the eighth disc 15 is connected by a three-rotational joint scissor-folding rod 12. This three-rotational joint scissor-folding rod 12 is connected by a rotational joint. The two connecting rods are of different lengths. The shorter connecting rod is inserted into the slot of the fourth disc 7 and connected by a rotational joint, while the longer connecting rod is inserted into the slot of the eighth disc 15 and connected by a rotational joint. The slots between the fifth flower disc 28 and the eighth flower disc 15 are connected by a three-rotation joint scissor-folding rod 14. This three-rotation joint scissor-folding rod 14 is connected via a rotational joint, and the two connecting rods are of different lengths. The shorter connecting rod is inserted into the slot of the fifth flower disc 28 and connected via a rotational joint, while the longer connecting rod is inserted into the slot of the eighth flower disc 15 and connected via a rotational joint. The slots between the fifth flower disc 28 and the ninth flower disc 20 are connected by a three-rotation joint scissor-folding rod 17. This three-rotation joint scissor-folding rod 17 is connected via a rotational joint, and the two connecting rods are of different lengths. The shorter connecting rod is inserted into the slot of the fifth flower disc 28 and connected via a rotational joint, while the longer connecting rod is inserted into the slot of the ninth flower disc 20 and connected via a rotational joint. The slots between the sixth disc 29 and the ninth disc 20 are connected by a three-rotation joint scissor-folding rod 24. This three-rotation joint scissor-folding rod 24 is connected via a revolute joint, with two connecting rods of different lengths. The shorter connecting rod is inserted into the slot of the sixth disc 29 and connected via a revolute joint, while the longer connecting rod is inserted into the slot of the ninth disc 20 and connected via a revolute joint. The slots between the sixth disc 29, the tenth disc 26, and the sixth kinematic joint connector 27 are connected by a four-rotation joint scissor-folding rod 25. Two short connecting rods are connected to the sixth disc 29 and the sixth kinematic joint connector 27, respectively.The slots between the seventh disc 11, the eighth disc 15, and the seventh kinematic pair connector 18 are connected by a four-rotational joint scissor-folding rod 13, with two short connecting rods respectively connected to the eighth disc 15 and the seventh kinematic pair connector 18. The slots between the eighth disc 15, the ninth disc 20, the seventh kinematic pair connector 18, and the eighth kinematic pair connector 21 are connected by a five-rotational joint scissor-folding rod 19. All four connecting rods are of identical length, with the rotational joint axis of the five-rotational joint scissor-folding rod 19 located at the center of two connecting rods. The ends of the four short connecting rods are respectively connected to the eighth disc 15, the ninth disc 20, the seventh kinematic pair connector 18, and the eighth kinematic pair connector 21. The slots between the ninth disc 20, the tenth disc 26, and the eighth kinematic pair connector 21 are connected by a four-rotational joint scissor-folding rod 22, with two short connecting rods respectively connected to the ninth disc 20 and the eighth kinematic pair connector 21.

[0081] The angle between the axes of adjacent slots on all reflective surfaces is 120 degrees, and all slot axes are perpendicular to the axis of rotation of the parabola. Figure 8 and Figure 9 As shown, they are respectively Figure 7 A simplified three-dimensional diagram showing the fully unfolded state from both top and front-view angles.

[0082] The first disk 1, the second disk 3, the fourth disk 7, and the seventh disk 11 of the basic deployment unit based on the three-equal division principle each serve as shared disks for the first disk 1, the third disk 34, the sixth disk 29, and the tenth disk 26 of the adjacent basic deployment unit based on the three-equal division principle. They are connected by slots in the form of rotating joints on the shared disks. The first disk 1, the third disk 34, the sixth disk 29, and the tenth disk 26 of the basic deployment unit based on the three-equal division principle each serve as shared disks for the first disk 1, the second disk 3, the fourth disk 7, and the seventh disk 11 of the adjacent basic deployment unit based on the three-equal division principle. They are connected by slots in the form of rotating joints on the shared disks. This allows the shared disks of six identical basic deployment units A, B, C, D, E, and F to form a parabolic reflector deployable antenna mechanism, giving the parabolic reflector deployable antenna mechanism a high degree of rotational symmetry and structural symmetry.

[0083] Since the basic deployment unit of the designed parabolic reflector deployable antenna mechanism can be expanded to include more equilateral triangles according to the novel triangular surface division method, a large parabolic reflector deployable antenna mechanism with arbitrary aperture and a large convergence ratio of N (N≥1) equal division principle can be formed, which has strong scalability.

[0084] The embodiments described above are merely preferred embodiments of the present invention and are not intended to limit the scope of the present invention. Various modifications and improvements made by those skilled in the art to the technical solutions of the present invention without departing from the spirit of the present invention should fall within the protection scope defined by the claims of the present invention.

Claims

1. A deployable antenna mechanism based on a symmetrical parabolic frame with a triangular surface division, characterized in that: It includes multiple basic folding mechanisms, each with a parabolic top surface; each basic folding mechanism includes 6*M equilateral triangular basic unfolding units, where M represents the folding mechanism layer, and each equilateral triangular basic unfolding unit can be divided into multiple triangles of the same area; all nodes are projected along the rotation axis of the parabolic surface, so that all nodes are projected onto the parabolic surface. Each basic retractable unit includes ten reflective discs, eight kinematic joint connectors, five five-rotation scissor folding levers, six four-rotation scissor folding levers, and seven three-rotation scissor folding levers. The ten reflective discs are designated as the first, second, third, fourth, fifth, sixth, seventh, eighth, ninth, and tenth discs; the eight kinematic pair connectors are designated as the first, second, third, fourth, fifth, sixth, seventh, and eighth kinematic pair connectors; the first disc, second disc, first kinematic pair connector, and second kinematic pair connector are connected by a five-rotational scissor-folding rod. The first and third flower discs, the first kinematic pair connector, and the third kinematic pair connector are connected by a five-rotation scissor folding rod 2; the second and third flower discs are connected by a three-rotation scissor folding rod 1; the second and fourth flower discs, the second and fourth kinematic pair connectors, and the fourth kinematic pair connector are connected by a five-rotation scissor folding rod 3; the second and fifth flower discs are connected by a three-rotation scissor folding rod 2; the third and fifth flower discs are connected by a three-rotation scissor folding rod 3; and the third and sixth flower discs, the third kinematic pair connector, and the sixth kinematic pair connector are connected by a five-rotation scissor folding rod 3. The moving joint connectors are connected by a five-rotational joint scissor folding rod four; the fourth, fifth, and fifth moving joint connectors are connected by a four-rotational joint scissor folding rod one; the fifth, sixth, and fifth moving joint connectors are connected by a four-rotational joint scissor folding rod two; the fourth, seventh, and fourth moving joint connectors are connected by a four-rotational joint scissor folding rod three; the fourth and eighth moving joints are connected by a three-rotational joint scissor folding rod four; the fifth and eighth moving joints are connected by a three-rotational joint scissor folding rod five; and the fifth and ninth moving joints are connected by... The sixth and ninth flower discs are connected by a three-rotation scissor folding rod six; the sixth and tenth flower discs are connected by a three-rotation scissor folding rod seven; the sixth and tenth flower discs are connected by a four-rotation scissor folding rod four; the seventh and eighth flower discs are connected by a four-rotation scissor folding rod five; the eighth and ninth flower discs are connected by a five-rotation scissor folding rod five; and the ninth, tenth, and eighth flower discs are connected by a four-rotation scissor folding rod six. Each basic contraction unit shares four flower plates with two adjacent basic contraction units. Specifically, the first, second, fourth, and seventh flower plates of each basic contraction unit are the first, third, sixth, and tenth flower plates of the first basic contraction unit adjacent to it, respectively. At the same time, the first, third, sixth, and tenth flower plates of each basic contraction unit are the shared flower plates of the first, second, fourth, and seventh flower plates of the second basic contraction unit adjacent to it.

2. The deployable antenna mechanism based on a symmetrical parabolic frame with a triangular surface division according to claim 1, characterized in that: Each basic equilateral triangle unit is expanded according to the principle of equal side length N, resulting in N divisions. 2 A small equilateral triangle, N≥1, can form a deployable antenna mechanism with a single degree of freedom parabolic reflector frame and a large convergence ratio, which can be formed.

3. The deployable antenna mechanism based on a symmetrical parabolic frame with a triangular surface division according to claim 2, characterized in that: When the deployable antenna mechanism with a parabolic reflector frame is fully deployed, the center node of the reflector plate is located on the reflector surface. The upper and lower surfaces of the reflector plate and the upper and lower surfaces of the kinematic pair connector are perpendicular to the rotation axis of the parabolic surface. The included angle between the axes of adjacent slots of all reflector plates is 120 degrees, and the axes of all slots are perpendicular to the rotation axis of the parabolic surface.

4. The deployable antenna mechanism based on a symmetrical parabolic frame with a triangular surface division according to claim 1, characterized in that: The five-rotation joint scissor folding rods one, two, three, and four have the same structure, each including two identical long connecting rods and two identical short connecting rods. The two long connecting rods and the two short connecting rods are connected by a rotating joint to form an asymmetrical X-shaped structure. The five-rotation joint scissor folding rod includes four identical connecting rods, which are connected by a rotating joint to form a symmetrical X-shaped structure.

5. The deployable antenna mechanism based on a symmetrical parabolic frame with a triangular surface division according to claim 4, characterized in that: The four-rotation joint scissor folding rods one, two, three, four-rotation joint scissor folding rods four, five, and six have the same structure, each including two short connecting rods and one long connecting rod. One end of the two short connecting rods is connected to one end of the long connecting rod by means of a rotating joint to form a Y-shaped structure.

6. The deployable antenna mechanism based on a symmetrical parabolic frame with a triangular surface division according to claim 5, characterized in that: The first three-rotation joint scissor folding lever includes two identical connecting rods connected by a rotational joint. The second, third, fourth, fifth, sixth, and seventh three-rotation joint scissor folding levers have the same structure, each including a long connecting rod and a short connecting rod connected by a rotational joint.

7. The deployable antenna mechanism based on a symmetrical parabolic frame with a triangular surface division according to claim 6, characterized in that: The ends of the two short connecting rods of the five-rotation joint scissor folding rod are respectively connected to the first flower plate and the first kinematic joint connector by means of a rotation joint; the ends of the two long connecting rods are respectively connected to the second flower plate and the second kinematic joint connector by means of a rotation joint. The ends of the two short connecting rods of the five-rotation joint scissor folding rod are respectively connected to the first flower plate and the first kinematic joint connector by means of a rotation joint; the ends of the two long connecting rods are respectively connected to the third flower plate and the third kinematic joint connector by means of a rotation joint. The two connecting rods of the three-rotation joint scissor folding rod are respectively connected to the second and third flower discs by means of the rotation joints; The ends of the two short connecting rods of the five-rotation joint scissor folding rod are respectively connected to the second flower plate and the second kinematic joint connector by means of a rotation joint; the ends of the two long connecting rods are respectively connected to the fourth flower plate and the fourth kinematic joint connector by means of a rotation joint. The long connecting rod of the second scissor folding rod with three rotating joints is connected to the fifth flower disc by means of a rotating joint, and the short connecting rod is connected to the second flower disc by means of a rotating joint; The long connecting rod of the three-rotation joint scissor folding rod is connected to the fifth flower disc by means of a rotation joint, and the short connecting rod is connected to the third flower disc by means of a rotation joint; The ends of the two short connecting rods of the five-rotation joint scissor folding rod are respectively connected to the third flower plate and the third kinematic joint connector by means of a rotation joint; the ends of the two long connecting rods are respectively connected to the sixth flower plate and the sixth kinematic joint connector by means of a rotation joint. The ends of the two short connecting rods of the four-rotation joint scissor folding rod are respectively connected to the fifth flower plate and the fifth kinematic joint connector by means of a rotation joint; the end of the long connecting rod is connected to the fourth flower plate by means of a rotation joint. The ends of the two short connecting rods of the four-rotation joint scissor folding rod are respectively connected to the fifth flower plate and the fifth kinematic joint connector by means of a rotation joint; the end of the long connecting rod is connected to the sixth flower plate by means of a rotation joint. The ends of the two short connecting rods of the four-rotation joint scissor folding rod three are respectively connected to the fourth flower plate and the fourth kinematic joint connector by means of a rotation joint; the end of the long connecting rod is connected to the seventh flower plate by means of a rotation joint. The long connecting rod of the three-rotation joint scissor folding rod is connected to the eighth flower plate by means of a rotation joint, and the short connecting rod is connected to the fourth flower plate by means of a rotation joint; The long connecting rod of the three-rotation joint scissor folding rod five is connected to the eighth flower plate by means of a rotation joint, and the short connecting rod is connected to the fifth flower plate by means of a rotation joint; The long connecting rod of the three-rotation joint scissor folding rod six is ​​connected to the ninth flower disc by means of a rotation joint, and the short connecting rod is connected to the fifth flower disc by means of a rotation joint; The long connecting rod of the three-rotation joint scissor folding rod seven is connected to the ninth flower disc by means of a rotation joint, and the short connecting rod is connected to the sixth flower disc by means of a rotation joint; The ends of the two short connecting rods of the four-rotation joint scissor folding rod are respectively connected to the sixth flower plate and the sixth kinematic joint connector by means of a rotation joint; the end of the long connecting rod is connected to the tenth flower plate by means of a rotation joint. The ends of the two short connecting rods of the four-rotation joint scissor folding rod five are respectively connected to the eighth flower plate and the seventh kinematic joint connecting piece by means of a rotation joint; the end of the long connecting rod is connected to the seventh flower plate by means of a rotation joint. The ends of the four connecting rods of the five-rotation joint scissor folding rod are respectively connected to the eighth flower plate, the ninth flower plate, the seventh kinematic joint connector and the eighth kinematic joint connector by means of a rotation joint; The ends of the two short connecting rods of the four-rotation joint scissor folding rod six are respectively connected to the ninth flower plate and the eighth kinematic joint connecting piece by means of a rotation joint; the end of the long connecting rod is connected to the tenth flower plate by means of a rotation joint.

8. The deployable antenna mechanism based on a symmetrical parabolic frame with a triangular surface division according to claim 1, characterized in that: The number of slots for multiple flower plates and kinematic pair connectors is determined by the number of rotating pairs being connected.

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