A two-dimensional array antenna mechanism that can be folded in steps

Abstract

The application discloses a two-dimensional array antenna mechanism capable of being folded step by step, which comprises an antenna panel mechanism, an inter-plate rotary hinge mechanism and a back frame mechanism; the antenna panel mechanism is composed of a plurality of rectangular plates with a certain thickness, and threaded holes are distributed on each antenna panel as required; the inter-plate rotary hinge realizes the function of a rotary pair through the cooperation of the shaft holes of two hinge bosses, and is then fixed with the antenna panel respectively, so that the relative rotation of the antenna panel is realized; the back frame mechanism is an assembly body with hinge joints at the two ends of a back frame rod, and shaft holes are distributed at the joints; the antenna panel is fixed with the inter-plate rotary hinge through the threaded holes; the back frame mechanism realizes the hinge connection with the antenna panel or the adjacent back frame rod through the hinge joints at the two ends, and the folding and unfolding process of the back frame mechanism and the antenna panel is coordinated.

Description

Technical Field

[0001] This invention belongs to the field of aerospace vehicle technology, and in particular relates to a single-degree-of-freedom, high aspect ratio, step-by-step unfolding two-dimensional array antenna unfolding mechanism. Background Technology

[0002] Antennas are essential functional components on spacecraft such as satellites and space stations, with wide applications in ocean observation, environmental monitoring, natural resource management, and enemy facility detection. With the increasing demand for high resolution and wide imaging swaths in the aerospace field, spaceborne planar antennas are gradually becoming larger. Therefore, limited by the size of the rocket payload bay, it is necessary to explore the design principles of high-ratio planar deployable antennas to develop efficient folding schemes that allow for coordinated movement between the planar structure and the back-mount mechanism.

[0003] With the development of aerospace technology, one-dimensional foldable planar antennas can no longer meet the needs of future large planar antenna mechanisms, necessitating the development of novel two-dimensional foldable planar antenna mechanisms. In 2007, the Canadian Space Agency launched the Radarsat-2 satellite. The deployable support mechanism on one side of the satellite is driven by a set of motors, and relies on a six-bar linkage mechanism to transmit power to enable the entire antenna mechanism to deploy. Harbin Institute of Technology has proposed a new configuration of a planar foldable antenna mechanism with good stability and high stiffness that can achieve two-dimensional folding and unfolding. Its folding ratio can reach 17.6, and the fundamental vibration frequency reaches 1.3339 Hz, realizing a high-stiffness design for large planar antenna mechanisms.

[0004] The folding and unfolding mechanism of array antennas and the design of the back frame that coordinates with their motion have always been pressing issues. Currently, there is considerable research in this field on one-dimensional planar folding and unfolding mechanisms. Professor Deng Zongquan and his team at Harbin Institute of Technology designed a back frame mechanism for a one-dimensional folding and unfolding antenna through topological analysis of deployable trusses; Northwestern Polytechnical University proposed a four-configuration multi-link variable-cell mechanism; Yanshan University designed a back frame support mechanism for a deployable antenna and analyzed its degrees of freedom through constraint topology diagrams; Shi Chuang et al. at Harbin Institute of Technology proposed a new configuration of a high-stiffness modular planar deployable antenna mechanism and analyzed its kinematics, dynamics, and accuracy characteristics, achieving folding and unfolding through timing control. However, most of these studies remain at the level of theoretical innovation. Summary of the Invention

[0005] The purpose of this invention is to overcome the shortcomings of existing technologies and provide a deployable array antenna structure with a single degree of freedom, a large folding-to-spread ratio, and step-by-step folding. This deployable array antenna element and its back frame structure move in a coordinated manner during the folding process, achieving both tightly folded and fully unfolded states. When the antenna is fully folded, the plates are tightly stacked, resulting in a small volume that facilitates transportation and storage, meeting the size requirements of launch vehicles. When the antenna is fully unfolded, the plates are arranged in a two-dimensional array, with a flat working surface on the front and a four-sided pyramidal truss support structure on the back, giving the entire antenna high rigidity. The folding-to-spread process of this deployable antenna is divided into two steps, each with only one degree of freedom, simplifying motion control.

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

[0007] A two-dimensional array antenna mechanism that can be folded in steps includes an antenna panel mechanism, an inter-panel rotary hinge mechanism, and a back frame mechanism.

[0008] The antenna panel mechanism includes along x Three rows of antenna panels with directional distribution; the first row of antenna panels includes three along the direction. y The antenna panels are arranged in three directions: the first antenna panel, the second antenna panel, and the third antenna panel, with the antennas fully deployed. y direction and x The orientation is vertical; the second row of antenna panels includes three along... y The antenna panels are arranged directionally, namely the fourth antenna panel, the fifth antenna panel, and the sixth antenna panel; the third row of antenna panels includes three along... y The directional panels are the seventh antenna panel, the eighth antenna panel, and the ninth antenna panel, respectively.

[0009] The inter-plate rotary hinge mechanism includes a first inter-plate rotary hinge, a second inter-plate rotary hinge, a third inter-plate rotary hinge, a fourth inter-plate rotary hinge, a fifth inter-plate rotary hinge, a sixth inter-plate rotary hinge, a seventh inter-plate rotary hinge, and an eighth inter-plate rotary hinge.

[0010] The first antenna panel and the second antenna panel are in y The fourth antenna panel and the fifth antenna panel are adjacent in direction and hinged to each other by a revolute joint. y The seventh antenna panel and the eighth antenna panel are adjacent in direction and hinged to each other by a revolute joint. y The three sets of revolute joints are adjacent in direction and hinged to each other through revolute joints. The structures of these three revolute joints are identical, forming the first inter-plate rotary hinge. The rotation axis of the first inter-plate rotary hinge is perpendicular to... x The directions are parallel; the third antenna panel and the sixth antenna panel form a second inter-plate rotation hinge, and the rotation axis of the hinge is parallel to... yTo enhance the constraint effect of the hinges, a rotating hinge with the same structure as the first inter-plate rotating hinge and perpendicular to the axis of rotation is added between the third and sixth antenna panels. A third inter-plate rotating hinge is formed between the fourth and seventh antenna panels, and these hinges are respectively arranged at both ends of the fourth and seventh antenna panels to enhance the constraint effect on the panels. A fourth inter-plate rotating hinge is formed between the sixth and ninth antenna panels. A fifth inter-plate rotating hinge is formed between the second and fifth antenna panels. The rotation axes of the first to fifth inter-plate rotating hinges are all parallel to the adjacent sides of the connected antenna panels. The first antenna panel and the fourth antenna panel, and the fifth antenna panel and the eighth antenna panel are... x There are no inter-plate slewing hinges connecting either direction;

[0011] The second antenna panel and the third antenna panel are in y The fifth antenna panel and the sixth antenna panel are adjacent in direction and are hinged together by a pivot hinge between the sixth plates. y The eighth and ninth antenna panels are adjacent in direction and hinged together by a pivot hinge between the seventh and ninth panels. y They are adjacent in direction and hinged together by a pivot hinge between the eighth plates; the first... i ( i =6,7,8) Each inter-plate rotary hinge contains two rotary hinges, the hinge axes of the two rotary hinges always coincide, and their common axis of rotation forms a characteristic angle with the edge of the plate. , The angle is a smaller sector angle in Miura-ori origami; the two swivel hinges contained in the sixth plate swivel hinge have the exact same structure and size as the two swivel hinges contained in the eighth plate swivel hinge;

[0012] Each antenna panel and its corresponding inter-panel swivel hinge are connected by threaded fasteners. The two-dimensional folding unit obtained by arranging the inter-panel swivel hinges as described above can be finally folded into a tightly folded state through a two-step folding process. The first folding process is that the first antenna panel, the fourth antenna panel, and the seventh antenna panel are folded as a whole around the axis of the first inter-panel swivel hinge and placed below the second antenna panel, the fifth antenna panel, and the eighth antenna panel, respectively. The second folding process is to fold the antenna panels after the first folding process according to the single-degree-of-freedom folding process of Miura-ori thick plate origami.

[0013] The back frame mechanism includes a hinge joint and a back frame rod; the hinge joint includes a top hinge joint, a sub-plate hinge joint, and a back frame rod hinge joint;

[0014] The top hinge joint includes a first top hinge joint, a second top hinge joint, a third top hinge joint, and a fourth top hinge joint. The first top hinge joint and the third top hinge joint are disposed on the eighth antenna panel, and the second top hinge joint and the fourth top hinge joint are disposed on the fifth antenna panel.

[0015] The sub-board hinge joint includes a first sub-board hinge joint, a second sub-board hinge joint, a third sub-board hinge joint, a fourth sub-board hinge joint, a fifth sub-board hinge joint, a sixth sub-board hinge joint, a seventh sub-board hinge joint, an eighth sub-board hinge joint, and a ninth sub-board hinge joint, which are sequentially disposed on the first antenna panel to the ninth antenna panel.

[0016] The top hinge joint, the sub-plate hinge joint, and the back frame rod hinge joint are connected to each other through the back frame rod. The back frame rod hinge joint is a hinged joint at the break point on the back frame rod, so that the entire back frame mechanism forms a closed loop.

[0017] Furthermore, the first hinge boss in the hinge joint of the seventh sub-board is hinged to the second hinge boss, the second hinge boss is fixed to the back frame rod through a threaded hole, and then the first hinge boss is fixed to the seventh antenna panel.

[0018] The first hinge boss in the hinge joint of the eighth sub-board is hinged to the second and third hinge bosses respectively. The second and third hinge bosses in the hinge joint of the eighth sub-board are fixed to the back frame rod through threaded holes respectively. The first hinge boss is fixed to the eighth antenna panel.

[0019] The first hinge boss in the hinge joint of the ninth sub-board is hinged to the second hinge boss, the second hinge boss is fixed to the back frame rod through a threaded hole, and the first hinge boss is fixed to the ninth antenna panel.

[0020] The first hinge boss in the hinge joint of the fourth sub-board is hinged to the second hinge boss, the second hinge boss is fixed to the back frame rod through a threaded hole, and the first hinge boss is fixed to the fourth antenna panel.

[0021] The first hinge boss in the fifth sub-board hinge joint is hinged to the second and third hinge bosses respectively. The second and third hinge bosses in the fifth sub-board hinge joint are fixed to the back frame rod through threaded holes respectively. The first hinge boss is fixed to the fifth antenna panel.

[0022] The structure of the first hinge boss and the second hinge boss of the sixth sub-board hinge joint are the same as the structure of the first hinge boss and the second hinge boss of the fourth sub-board hinge joint, respectively. The first hinge boss of the sixth sub-board hinge joint is fixedly connected to the sixth antenna panel.

[0023] Without considering the back frame rod, the hinge joint of the first sub-plate and the hinge joint of the seventh sub-plate are along... yThe direction is mirror symmetrical and fixed to the first antenna panel; the hinge joint of the second sub-board is along the eighth sub-board hinge joint. y The direction is mirror symmetrical and fixed to the second antenna panel; the hinge joint of the third sub-plate is along the first sub-plate hinge joint. x It is symmetrical in direction and fixed to the third antenna panel.

[0024] Furthermore, on the first top hinge joint, the edge of the first connector and the edge of the fourth connector form a first hinge. Mirror-image, the edge of the second connector and the edge of the third connector are hinged. The hinge structure uses a pin and shaft hole fit, and the axis of the hinge is parallel to the axis of the first plate inter-rotation hinge. The first connector and the second connector form a second hinge, and the third connector and the fourth connector form a hinge. The hinge axis is located at the edge of the contact surface of the two connectors. The two transverse connecting rods above the back frame form third hinges with the third and fourth connectors respectively. The axis of the third hinge is parallel to the axis of the first hinge. The first to fourth connectors are fixed to the four back frame rods through threaded holes, assembling them into a whole. The composition of the second top hinge joint is the same as that of the first top hinge joint.

[0025] On the third top hinge head, the edge of the first joint forms a first hinge with the edge of the third joint, mirror image, and the edge of the second joint forms a second hinge with the edge of the fourth joint; the two transverse connecting rods above the back frame form third and fourth hinges with the third and fourth joints respectively; the axial directions of the first, second, third, and fourth hinges of the third top hinge head are all parallel to each other and parallel to the axial direction of the first plate inter-rotation hinge; the first to fourth joints are respectively fixed to the four back frame rods through threaded holes; there is a torsion spring between the first joint and the third joint, mirror image, there is a torsion spring between the second joint and the fourth joint, and the two legs of each torsion spring are respectively inserted into the torsion spring holes on the corresponding two joints, and the axis of the torsion spring coincides with the rotation axis of the corresponding two joints, playing a supporting and auxiliary driving role;

[0026] In the fourth top hinge joint, a follower hinge is added between the third and fourth joints; the other components and connection methods are the same as those of the third top hinge joint.

[0027] Furthermore, the back frame rod hinge joint includes a first to an eighth back frame rod hinge joint; the first back frame rod hinge joint includes a first joint and a second joint, which are hinged together. When they rotate relative to each other to a set position, the boss on the second joint contacts and engages with the groove on the first joint to limit the relative position of the two joints. The second joint is fixed to the back frame rod in the second sub-plate hinge joint through a threaded hole, and the first joint is fixed to the back frame rod in the fourth top hinge joint through a threaded hole, forming a closed back frame rod.

[0028] The second, third, and fourth back frame rod hinge joints are all structurally identical to the first back frame rod hinge joint. One end of the second back frame rod hinge joint is fixedly connected to the back frame rod in the fifth sub-plate hinge joint through a threaded hole, and the other end is fixedly connected to the back frame rod in the fourth top hinge joint through a threaded hole. One end of the third back frame rod hinge joint is fixedly connected to the back frame rod in the fifth sub-plate hinge joint through a threaded hole, and the other end is fixedly connected to the back frame rod in the third top hinge joint through a threaded hole. One end of the fourth back frame rod hinge joint is fixedly connected to the back frame rod in the eighth sub-plate hinge joint through a threaded hole, and the other end is fixedly connected to the back frame rod in the third top hinge joint through a threaded hole.

[0029] The fifth back frame rod hinge joint includes joint one, joint two, and torsion spring one. The two joints are hinged together by a rotating shaft. The two legs of torsion spring one are respectively inserted into the torsion spring holes of the two joints, and the axis of the torsion spring coincides with the rotation axis of the two joints. Joint one has a boss structure, which serves as a limit. Joint one is fixedly connected to the back frame rod in the ninth sub-plate hinge joint, and joint two is fixedly connected to the back frame rod in the third top hinge joint. The sixth to eighth back frame rod hinge joints have the same composition and matching method as the fifth back frame rod hinge joint.

[0030] The second joint in the sixth back frame rod hinge joint is fixedly connected to the back frame rod in the sixth sub-plate hinge joint, and the first joint is fixedly connected to the back frame rod in the third top hinge joint.

[0031] The first joint in the seventh back frame rod hinge joint is fixedly connected to the back frame rod in the sixth sub-plate hinge joint, and the second joint is fixedly connected to the back frame rod in the fourth top hinge joint.

[0032] The second joint in the eighth back frame rod hinge joint is fixedly connected to the back frame rod in the third sub-plate hinge joint, and the first joint is fixedly connected to the back frame rod in the fourth top hinge joint.

[0033] Furthermore, when the antenna mechanism is in its fully deployed state, the back frame mechanism forms a stable set of multiple quadrangular pyramidal structures, which provide support for the antenna panel mechanism.

[0034] Furthermore, by changing the size and geometric angle of each antenna panel in the antenna panel mechanism, the unfolding ratio can be adjusted to obtain deployable antenna structures that meet different unfolding ratio requirements.

[0035] Furthermore, after determining the dimensions of the antenna panel mechanism and the back frame mechanism, and taking into account the required standard parts dimensions and the free space constraints during the unfolding process, adjustments can be made to the structure of the inter-panel rotating hinge and the hinge joint, selecting either a hinge or a hinge joint.

[0036] Furthermore, the antenna panel mechanism and its corresponding back frame mechanism can be infinitely extended in one direction to obtain a structure with 3 rows. n The array antenna panel mechanism and the array antenna unit with a larger unfolded surface; the antenna unit can be placed on both sides of the star through mirror operation.

[0037] Compared with the prior art, the beneficial effects of the technical solution of the present invention are:

[0038] 1. This invention provides a new approach to the design of the folding and unfolding motion of a two-dimensional array antenna and its back frame mechanism. Currently, the folding and unfolding mechanism design of array antennas is mostly based on one-dimensional folding methods, which have limited dimensions in their fully unfolded state. Two-dimensional folding methods, however, offer a larger unfolding surface. This invention designs a novel two-dimensional antenna panel folding method based on Miura-ori origami, utilizing the large folding-to-unfold ratio of rigid origami to apply origami to the folding of array antennas.

[0039] 2. The present invention can fold the array structure with a back frame into a compact multi-layer plate stacked structure, which has a large folding-to-expansion ratio and can carry array antennas with larger unfolded dimensions within a limited carrying space.

[0040] 3. The back of the unfolded panel of this invention is supported by a back frame, which makes the overall antenna structure stable and has high rigidity, which is conducive to meeting the requirements of high resolution and large imaging width; the folded size is small and the structure is stable, making it easy to transport and store.

[0041] 4. The overall folding process of the present invention is divided into two steps. The first step of the folding process realizes the folding of one row of plates and the back frame. In the second step of the folding process, the back frame is folded up along with the sub-plates. The overall structure has a high folding efficiency.

[0042] 5. Each step of the folding and unfolding process of this invention has a single degree of freedom, and the folding and unfolding actions can be completed by a single drive. The structure is simple and the movement is reliable.

[0043] 6. The components of this invention are connected by threaded fastening, which facilitates disassembly and replacement, is easy to process and manufacture, has low maintenance costs, and the overall structure has high stability and reliability.

[0044] 7. The present invention can select an appropriate scaling ratio to design the dimensions of the panel and the back frame rod according to actual needs, and the dimensions of the joint can be determined according to the dimensions of standard parts, thereby obtaining a series of array antenna mechanisms that meet actual size requirements and have different unfolded dimensions.

[0045] 8. Feature angle in this invention Adjustments can be made based on a combination of size requirements and motion reliability requirements. Characteristic angle. The closer to 90°, the greater the ratio of inflection; characteristic angle The smaller the size, the more reliable the motion performance. Considering both size and motion reliability, a suitable characteristic angle can be chosen arbitrarily.

[0046] 9. In this invention, torsion springs are introduced at some hinge joints as auxiliary drives. The elastic potential energy stored in the torsion springs assists the back frame mechanism in unfolding smoothly, ensuring the smoothness and reliability of the antenna mechanism's movement.

[0047] 10. In this invention, the 3×3 antenna panel unit and its back frame structure can be aligned in one direction ( x (Direction) Expands infinitely, forming a folded structure with a larger working surface in its fully unfolded state. Attached Figure Description

[0048] Figure 1 This is a planar schematic diagram of the invention in its fully unfolded state.

[0049] Figure 2(a) is a plan view of the antenna panel mechanism in its fully deployed state, and Figure 2(b) is a plan view of the back frame mechanism in its fully deployed state.

[0050] Figures 3(a)-3(g) These are schematic diagrams of the inter-plate rotary hinges corresponding to each embodiment.

[0051] Figures 4(a)-4(f) are schematic diagrams of the composition and fit of the hinge joints of some sub-plates.

[0052] Figures 5(a)-5(d) This is a schematic diagram showing the composition and mating relationship of the top hinge joint (including a side view of part of the joint).

[0053] Figures 6(a)-6(f) This is a schematic diagram showing the composition and fit of the hinge joint of the back frame rod.

[0054] Figures 7(a)-7(g) This is a schematic diagram of the folding process of the antenna panel unit and its back frame mechanism. Figures 7(a) to 7(d) This is a schematic diagram of the first step of the unfolding process. Figures 7(e) to 7(g) Figure 7(a) shows the antenna element in its fully folded state, and Figure 7(g) shows the antenna element in its fully unfolded state.

[0055] Figures 8(a)-8(d) This is a side view of the movement of the antenna panel and its back frame during the second folding process. Detailed Implementation

[0056] The present invention will be further described in detail below with reference to the accompanying drawings and specific embodiments. It should be understood that the specific embodiments described herein are only for explaining the present invention and are not intended to limit the present invention.

[0057] like Figures 1 to 6(f) This embodiment provides a two-dimensional array antenna folding unit and a two-dimensional folding antenna mechanism that fold in stages, including an antenna panel mechanism, an inter-panel rotating hinge mechanism, and a back frame mechanism.

[0058] Antenna panel mechanism includes along x Three rows of antenna panels with directional distribution; the first row of antenna panels includes three along the direction. y The antenna panels are arranged in three directions: P1 for the first antenna, P2 for the second antenna, and P3 for the third antenna, with the antennas fully deployed. y direction and x The orientation is vertical; the second row of antenna panels includes three along... y The antenna panels are arranged directionally as follows: fourth antenna panel P4, fifth antenna panel P5, and sixth antenna panel P6; the third row of antenna panels includes three along... y The directional panels are designated as the seventh antenna panel P7, the eighth antenna panel P8, and the ninth antenna panel P9.

[0059] First antenna panel P1, fourth antenna panel P4, seventh antenna panel P7 and their adjacent y The second antenna panel P2, the fifth antenna panel P5, and the eighth antenna panel P8, which are adjacent in direction, are hinged one-to-one to form the first inter-panel rotary hinge H12. The rotation axis of the hinge is parallel to the adjacent edges of the panels. The third antenna panel P3 and the sixth antenna panel P6 form the second inter-panel rotary hinge H5. The rotation axis of the hinge is parallel to the adjacent edges of the panels. To enhance the constraint effect of the hinge, the first inter-panel rotary hinge H12 is added between the two panels. The fourth antenna panel P4 and the seventh antenna panel P7 form the third inter-panel rotary hinge H9. To enhance the constraint, two rotary hinges are distributed at both ends of the panel. The sixth antenna panel P6 and the ninth antenna panel P9 form the fourth inter-panel rotary hinge H3. The second antenna panel P2 and the fifth antenna panel P5 form the fifth inter-panel rotary hinge H10. The rotation axes of all five inter-panel rotary hinges are parallel to the adjacent edges of the connected antenna panels. Between the first antenna panel P1 and the fourth antenna panel P4, and between the fifth antenna panel P5 and the eighth antenna panel P8 x There are no inter-plate slewing hinges connecting either direction.

[0060] The second antenna panel P2, the fifth antenna panel P5, the eighth antenna panel P8 and their adjacent... yThe third antenna panel P3, the sixth antenna panel P6, and the ninth antenna panel P9, which are adjacent in direction, are hinged one-to-one to form the sixth inter-panel rotary hinge (H7 and H8), the seventh inter-panel rotary hinge (H4 and H6), and the eighth inter-panel rotary hinge (H1 and H2). The hinge axes of rotary hinges H7 and H8 always coincide, and their constraint effect on the connected panels is equivalent to a revolute joint. The two rotary hinges together serve as the fifth inter-panel rotary hinge. Similarly, the hinge axes of rotary hinges H4 and H6 always coincide, and the hinge axes of rotary hinges H1 and H2 always coincide. Furthermore, the rotation axes of all rotary hinges are at a certain angle to the edge of the panel. Each antenna panel P i ( i =1~9) and the corresponding inter-plate rotary hinge H i ( i =1~12) are all fitted with threaded fasteners.

[0061] The back frame mechanism includes hinge joints and back frame rods. The hinge joints include a top hinge joint, a sub-plate hinge joint, and a back frame rod hinge joint.

[0062] The top hinge connector includes a first top hinge connector UA, a second top hinge connector UB, a third top hinge connector UC, and a fourth top hinge connector UD. The first top hinge connector UA and the third top hinge connector UC are disposed on the eighth antenna panel P8, and the second top hinge connector UB and the fourth top hinge connector UD are disposed on the fifth antenna panel P5.

[0063] On the first top hinge joint UA, the edge of joint A1 and the edge of A4 form a first hinge. Mirror-image, the edge of joint A2 and the edge of A3 are hinged. The structure at the hinge joints all uses a pin and shaft hole fit. Furthermore, in order to achieve the integrity of the back frame, joint A1 and joint A2 form a second hinge, and joint A3 and joint A4 form a hinge. The hinge axis is located at the edge of the contact surface of the two joints. The transverse connecting rods G1 and G2 above the back frame form a third hinge with joints A4 and A3 respectively. The axis of the third hinge is parallel to the axis of the first hinge. Joints A1, A2, A3, and A4 are fixed to back frame rods 71, 41, 51, and 81 respectively through threaded holes, and assembled into a whole. The second top hinge joint UB is composed in the same way as the first top hinge joint UA: joint B1 is hinged to joints B2 and B3 respectively, and joint B4 is also hinged to joints B2 and B3 respectively; joints B1, B2, B3, and B4 are connected to the sub-plate hinge joints through back frame rods 41, 11, 51, and 21 respectively.

[0064] On the third top hinge joint UC, the edge of joint C1 is hinged to the edge of C3, and mirror image, the edge of joint C2 is hinged to the edge of C4; the transverse connecting rods G1 and G2 above the back frame are hinged to joints C3 and C4 respectively, and the axes of the two hinged rotating pairs are parallel to each other; joints C1, C2, C3, and C4 are fixed to back frame rods 86, 56, 94, and 64 respectively through threaded holes; there is a torsion spring C5 between joints C1 and C3, and mirror image, there is a torsion spring C6 between joints C2 and C4. The two legs of the torsion springs are inserted into the torsion spring holes on the two joints respectively, and the axis of the torsion springs coincides with the rotation axis of the two joints, playing a supporting and auxiliary driving role. The fourth top hinge joint UD is composed in a similar manner to the third top hinge joint UC: joint D1 is hinged to joint D3, and the hinge axis coincides with the axis of torsion spring D5; joint D2 is hinged to joint D4, and the hinge axis coincides with the axis of torsion spring D6; an additional passive hinge is added between joint D3 and joint D4; joints D1, D2, D3, and D4 are fixed to back frame rods 57, 26, 65, and 34 respectively through threaded holes.

[0065] The first top hinge joint UA and the third top hinge joint UC are connected by transverse connecting rods G1 and G2; the fourth top hinge joint UD and the second top hinge joint UB are connected by transverse connecting rods G3 and G4.

[0066] The sub-board hinge joint includes a first sub-board hinge joint U1, a second sub-board hinge joint U2, a third sub-board hinge joint U3, a fourth sub-board hinge joint U4, a fifth sub-board hinge joint U5, a sixth sub-board hinge joint U6, a seventh sub-board hinge joint U7, an eighth sub-board hinge joint U8, and a ninth sub-board hinge joint U9, which are sequentially disposed on the first antenna panel to the ninth antenna panel.

[0067] The hinge boss 72 and the boss 73 in the hinge connector U7 of the seventh sub-board are hinged together. The boss 73 is fixed to the back frame rod 71 through the threaded hole. The hinge boss 72 is fixed to the seventh antenna panel P7.

[0068] The hinge boss 83 in the hinge connector U8 of the eighth sub-board is hinged to the bosses 84 and 85 respectively. The bosses 84 and 85 are fixed to the back frame rods 81 and 82 respectively through threaded holes. The hinge boss 83 is fixed to the eighth antenna panel P8.

[0069] The hinge boss 92 and boss 93 in the hinge connector U9 of the ninth sub-board are hinged together. The boss 93 is fixed to the back frame rod 91 through a threaded hole. The hinge boss 92 is fixed to the ninth antenna panel P9.

[0070] The hinge boss 43 in the fourth sub-board hinge connector U4 is hinged to the boss 42. The boss 42 is fixed to the back frame rod 41 through a threaded hole. The hinge boss 43 is fixed to the fourth antenna panel P4.

[0071] The hinge boss 55 in the fifth sub-board hinge connector U5 is hinged to the bosses 53 and 54 respectively. The bosses 53 and 54 are fixed to the back frame rods 51 and 52 respectively through threaded holes. The hinge boss 55 is fixed to the fifth antenna panel P5.

[0072] The hinge boss 63 and boss 62 of the sixth sub-board hinge connector U6 have the same structure as the hinge boss 43 and boss 42, respectively. The hinge boss 63 is fixedly connected to the sixth antenna panel P6.

[0073] Without considering the back support pole, the hinge joint U1 of the first sub-board is mirror-symmetrical to the hinge joint U7 of the seventh sub-board and is fixedly connected to the first antenna panel P1; the hinge joint U2 of the second sub-board is mirror-symmetrical to the hinge joint U8 of the eighth sub-board and is fixedly connected to the second antenna panel P2; the hinge joint U3 of the third sub-board is mirror-symmetrical to the hinge joint U7 of the seventh sub-board and is fixedly connected to the third antenna panel P3.

[0074] The top hinge joint, the sub-plate hinge joint, and the back frame rod hinge joint are interconnected via the back frame rods. To meet the folding and unfolding requirements of the mechanism, a back frame rod connecting the top hinge joint and the sub-plate hinge joint is broken at a specific position to become two back frame rods. The back frame rod hinge joint connects the two broken back frame rods, forming a hinged joint at the break point of the back frame rod, making the entire back frame mechanism a closed-loop whole.

[0075] The first back frame rod hinge joint U10 includes a joint 101 and a joint 102, which are hinged together. The boss on the joint 102 and the groove on the joint 101 cooperate to limit the relative position of the two joints so that the relative position of the two joints will not exceed the limit relative position. The joint 102 is fixedly connected to the back frame rod 22 in the second sub-plate hinge joint U2 through a threaded hole, and the joint 101 is fixedly connected to the back frame rod 26 in the fourth top hinge joint UD through a threaded hole, forming a closed back frame rod.

[0076] The third back frame rod hinge joint U12 has the same structure as the first back frame rod hinge joint U10. Furthermore, the structures of the second back frame rod hinge joint U11 and the fourth back frame rod hinge joint U13 can be obtained, wherein the hinge joint 111 of the second back frame rod hinge joint U11 is fixedly connected to the back frame rod 52 in the fifth sub-plate hinge joint U5 through a threaded hole, and the hinge joint 112 is fixedly connected to the back frame rod 57 in the fourth top hinge joint UD through a threaded hole.

[0077] The fifth back frame rod hinge joint U14 includes a joint 141, a joint 143, and a torsion spring 142. The two joints are hinged together by a rotating shaft. The two legs of the torsion spring 142 are inserted into the torsion spring holes of the two joints respectively. The axis of the torsion spring coincides with the rotation axis of the two joints. The joint 141 also has a boss structure that can play a limiting role. The joint 141 is fixedly connected to the back frame rod 91 in the ninth sub-plate hinge joint U9, and the joint 143 is fixedly connected to the back frame rod 94 in the third top hinge joint UC.

[0078] The sixth to eighth back frame rod hinge joints U15~U17 have the same structure and mating method as the fifth back frame rod hinge joint U14. The sixth back frame rod hinge joint U15 has joint 153 fixedly connected to the back frame rod 61 in the sixth sub-plate hinge joint U6, and joint 151 is fixedly connected to the back frame rod 64 in the third top hinge joint UC; 152 is a torsion spring. The seventh back frame rod hinge joint U16 has joint 161 fixedly connected to the back frame rod 61 in the sixth sub-plate hinge joint U6, and joint 163 is fixedly connected to the back frame rod 65 in the fourth top hinge joint UD; 163 is a torsion spring. The eighth back frame rod hinge joint U17 has joint 173 fixedly connected to the back frame rod 31 in the third sub-plate hinge joint U3, and joint 171 is fixedly connected to the back frame rod 34 in the fourth top hinge joint UD; 173 is a torsion spring.

[0079] Specifically, Figure 1 This is an unfolded pattern of the antenna panel and its back frame mechanism in this invention, the pattern including each antenna panel P i ( i =1~9), Inter-plate slewing hinge H i ( i =1~12) and the back frame mechanism. The back frame design needs to be based on the folding method of the antenna panels. Figure 2(a) is a schematic diagram of the antenna panels in the fully unfolded state, in which the first antenna panel P1, the fourth antenna panel P4, the seventh antenna panel P7 and its surroundings y The second antenna panel P2, the fifth antenna panel P5, and the eighth antenna panel P8, which are adjacent in direction, are hinged one to one to form the first inter-panel rotary hinge H12. The rotation axis of the hinge is parallel to the edge of the panel. The distribution of the inter-panel rotary hinges H1 to H11 based on the 2×3 element Miura-ori thick plate origami design is shown in Figure 2(a).

[0080] According to the aforementioned distribution of the inter-panel hinges, during the first folding step, the first antenna panel P1, the fourth antenna panel P4, and the seventh antenna panel P7 can be folded as a whole, around the axis of the first inter-panel rotary hinge H12, with a single degree of freedom, to be folded below the second antenna panel P2, the fifth antenna panel P5, and the eighth antenna panel P8. During the second folding step, the seventh antenna panel P7 and the eighth antenna panel P8 are locked together by the back frame mechanism, panels P4 and P5 are locked together, and panels P1 and P2 are locked together. Then, folding is performed according to the single-degree-of-freedom folding method of Miura-ori thick plate origami, finally reaching the folded state.

[0081] The inter-panel rotary hinges that can be used are either hinges or hinges with a shaft-hole fit. The specific implementation of the eight types of inter-panel rotary hinges in this example is shown in Figures 3(a)-(g). Two hinge bosses that can fit with a shaft-hole are used. A pin is inserted into the shaft hole to achieve relative rotation of the two hinge bosses. These bosses are then fixed to the two antenna panels that need to rotate relative to each other through threaded holes, thus achieving relative rotation of the two antenna panels. To achieve the step-by-step unfolding of the antenna panels, in addition to determining the distribution position and hinge axis direction of the inter-panel rotary hinges, it is also necessary to ensure the perpendicular distance between the hinge axis direction and the antenna panels. Assuming the effective thickness of the panel in Figure 2(a) is... It is necessary to ensure that the hinge axis of the first inter-plate rotary hinge H12 in Figure 3(a) and the second inter-plate rotary hinge H5 in Figure 3(b) is at a height from the end face of the connecting part. The height of the hinge axis from the end face of the connecting piece for the three types of hinges—the third inter-plate slewing hinge H9 in Figure 3(e), the sixth inter-plate slewing hinges H7 and H8 in Figure 3(f), and the seventh inter-plate slewing hinges H4 and H6 in Figure 3(g)—is as follows: The eighth inter-plate slewing hinges H1 and H2 have the same structure as the sixth inter-plate slewing hinges H7 and H8; the height of the hinge axis of the fourth inter-plate slewing hinge H3 in Figure 3(c) from the end face of the connector must meet the following requirements. In Figure 3(d), the height of the hinge axis of the fifth interplate pivot hinge H10 from the end face of the connector must meet the following requirements. .

[0082] The slewing hinge arrangement between antenna panels allows the antenna panels to transition from a fully retracted state to a fully extended state in two processes. Each extension process involves a single degree of freedom motion, making the actuation simple. This folding and unfolding method enriches the variety of existing deployable antenna elements.

[0083] The back frame mechanism includes hinge joints and back frame rods, as shown in Figure 2(b). Both ends of the back frame rod 11 are fixed to joint 13 in the first sub-plate hinge joint U1 and joint B2 in the second top joint UB through threaded holes, forming a back frame rod structure with shaft holes at both ends, facilitating hinge connection with adjacent back frame rods and enabling relative rotation. Joint 13 and joint 12 in the first sub-plate hinge joint U1 are hinged together by shaft hole engagement. Joint 12 is fixed to the first antenna panel P1, allowing the back frame rod 11 to rotate relative to the antenna panel P1. Joint B2 and joint B4 are hinged together, and joint B4 is fixed to the back frame rod 21, enabling relative rotation between the back frame rod 11 and back frame rod 21 during folding / unfolding. Similarly, back frame rods 41, 51, 71, and 81, and their hinge joints at both ends, can be designed based on this method.

[0084] As shown in Figure 2(b), the lower half of the back frame mechanism consists of segmented back frame rods. The break points of the back frame rods are connected using hinge joints, enabling the function of a rotating pair. As shown in Figure 6(a), the back frame rod hinge joint U10 includes two hinge joints with threaded holes. Shaft holes are distributed on the two hinge joints. Inserting a pin into the shaft holes allows for relative rotation of the two joints, with the rotation axis parallel to the rotation axis of the inter-plate rotary hinge H12. Hinge joint 101 is fixedly connected to back frame rod 26; hinge joint 102 is fixedly connected to back frame rod 22. By modifying the physical structure of the two joints, adding bosses and grooves respectively, the relative position of the back frame rods is limited. The maximum relative rotation angle between back frame rods 26 and 22 from the unfolded state to the folded state is 180°. Back frame rod hinge joints U11, U12, and U13 all have similar structures. The back frame pole hinge joint U11 includes hinge joint 111 and hinge joint 112, as shown in Figure 6(b).

[0085] The structure of the fifth back frame rod hinge joint U14 is shown in Figure 6(c). The structure includes joint 141, joint 143, and torsion spring 142. Pins are inserted into the shaft holes of the two joints for hinge connection. After the first folding process is completed, the axis of the hinged rotating pair of the two joints coincides with the rotation axis of the inter-plate rotary hinge H1 (or H2). The two legs of torsion spring 142 are respectively inserted into the torsion spring holes of the two joints, and the axis of the torsion spring coincides with the rotation axis of the two joints. A boss structure exists on joint 141, which can serve as a limiting element. Joint 141 is fixedly connected to the back frame rod 91 in the ninth sub-plate hinge joint U9, and joint 143 is fixedly connected to the back frame rod 94 in the third top hinge joint UC. The structures of the sixth to eighth back frame rod hinge joints U15~U17 are shown below. Figures 6(d) to 6(f)The sixth back frame rod hinge joint U15 includes joint 151, joint 153 and torsion spring 152; the seventh back frame rod hinge joint U16 includes joint 161, joint 163 and torsion spring 162; and the eighth back frame rod hinge joint U17 includes joint 171, joint 173 and torsion spring 172.

[0086] During the first folding step, the axis of the rotating joint in the back frame rod hinge joint U14 is at a certain angle to the axis of the inter-plate rotary hinge H12 and does not participate in the folding motion. The torsion spring 142 applies a certain supporting force to the joints 141 and 143, so that the back frame rods 91 and 94 connected to them are relatively fixed as a single back frame rod during the folding process.

[0087] In the lower half of the back frame mechanism in Figure 2(b), the back frame rods can be connected by adding top hinge joints UC and UD to the ends of the back frame rods. The hinge joints of the two back frame rods are connected in a manner similar to UA and UB. Furthermore, torsion springs are added between joints C1 and C3, C2 and C4, and D1 and D3, D2 and D4. These springs provide a driving force to the dead point position of the planar mechanism during the second unfolding process, helping the planar mechanism to unfold reliably and effectively from the dead point position.

[0088] Specifically, the two-dimensional folding antenna mechanism deployment method in this embodiment includes the following steps:

[0089] S1: As Figures 7(a) to 7(d) As shown, the two-dimensional folding antenna mechanism is in the first step of the step-by-step unfolding process. During this unfolding process, antenna panels P1 and P2 are relatively fixed, antenna panels P4 and P5 are relatively fixed, and antenna panels P7 and P8 are relatively fixed. The remaining antenna panels, which can rotate relative to each other, are opened according to the folding method of Miura thick-plate origami. During this process, the back support rods are attached to the antenna panels and move with them. The antenna panels after the first step of unfolding are shown in Figure 7(d). The two rows of plates on the left unfold into a single plane, with antenna panels P1, P4, and P7 located below P2, P5, and P8, respectively.

[0090] S2: As Figures 7(d) to 7(g) As shown, the two-dimensional folding antenna mechanism is in the second step of the step-by-step unfolding process. During this unfolding, the three antenna panels on the right (P1, P4, P7) form the first flat plate, while the remaining six antenna panels form the second flat plate. The first flat plate rotates relative to the second flat plate around the rotation hinge H12. During this process, the back frame mechanism attached to the back of the antenna panels also opens, forming a quadrangular pyramidal truss structure, which is stably arranged to provide support for the flat plate antenna folding unit and improve the rigidity of the antenna panels in the unfolded state.

[0091] A side view of the back support pole moving with the antenna panel, as shown below. Figures 8(a)-8(d)As shown. From this perspective, the projections of the three rows of antenna panels and their back frame mechanisms all coincide, and their motion principles are also consistent. Taking the first row of antenna panels and its back frame mechanism as an example, we analyze its folding motion. During the folding process, antenna panel P1 rotates around antenna panel P2. The back frame rods 11 and 21 on the right side are hinged to the two panels respectively, forming a planar four-bar linkage. Back frame rods 31 and 34 remain relatively stationary and are considered as a single back frame rod 3, which, together with the intermediate connecting rod G4, back frame rod 21, and antenna panel P2, forms a parallelogram mechanism. The two planar four-bar linkages work together to achieve the coordinated motion process of the antenna panels and back frame mechanism with a single degree of freedom.

[0092] This invention is not limited to the embodiments described above. The above description of specific embodiments is intended to illustrate and explain the technical solutions of this invention. The specific embodiments described above are merely illustrative and not restrictive. Without departing from the spirit and scope of the claims, those skilled in the art can make many specific modifications based on the teachings of this invention, and these modifications all fall within the scope of protection of this invention.

Claims

1. A two-dimensional array antenna mechanism that can be folded in stages, characterized in that, This includes the antenna panel mechanism, the inter-panel rotary hinge mechanism, and the back frame mechanism; The antenna panel mechanism includes along x Three rows of antenna panels with directional distribution; the first row of antenna panels includes three along the direction. y The antenna panels are arranged in three directions: the first antenna panel, the second antenna panel, and the third antenna panel, with the antennas fully deployed. y direction and x The orientation is vertical; the second row of antenna panels includes three along... y The antenna panels are arranged directionally, namely the fourth antenna panel, the fifth antenna panel, and the sixth antenna panel; the third row of antenna panels includes three along... y The directional panels are the seventh antenna panel, the eighth antenna panel, and the ninth antenna panel, respectively. The inter-plate rotary hinge mechanism includes a first inter-plate rotary hinge, a second inter-plate rotary hinge, a third inter-plate rotary hinge, a fourth inter-plate rotary hinge, a fifth inter-plate rotary hinge, a sixth inter-plate rotary hinge, a seventh inter-plate rotary hinge, and an eighth inter-plate rotary hinge. The first antenna panel and the second antenna panel are in y The fourth antenna panel and the fifth antenna panel are adjacent in direction and hinged to each other by a revolute joint. y The seventh antenna panel and the eighth antenna panel are adjacent in direction and hinged to each other by a revolute joint. y The three sets of revolute joints are adjacent in direction and hinged to each other through revolute joints. The structures of these three revolute joints are identical, forming the first inter-plate rotary hinge. The rotation axis of the first inter-plate rotary hinge is perpendicular to... x The directions are parallel; the third antenna panel and the sixth antenna panel form a second inter-plate rotation hinge, and the rotation axis of the hinge is parallel to... y To enhance the constraint effect of the hinges, a rotating hinge with the same structure as the first inter-plate rotating hinge and perpendicular to the axis of rotation is added between the third and sixth antenna panels. A third inter-plate rotating hinge is formed between the fourth and seventh antenna panels, and these hinges are respectively arranged at both ends of the fourth and seventh antenna panels to enhance the constraint effect on the panels. A fourth inter-plate rotating hinge is formed between the sixth and ninth antenna panels. A fifth inter-plate rotating hinge is formed between the second and fifth antenna panels. The rotation axes of the first to fifth inter-plate rotating hinges are all parallel to the adjacent sides of the connected antenna panels. The first antenna panel and the fourth antenna panel, and the fifth antenna panel and the eighth antenna panel are... x There are no inter-plate slewing hinges connecting either direction; The second antenna panel and the third antenna panel are in y The fifth antenna panel and the sixth antenna panel are adjacent in direction and are hinged together by a pivot hinge between the sixth plates. y The eighth and ninth antenna panels are adjacent in direction and hinged together by a pivot hinge between the seventh and ninth panels. y They are adjacent in direction and are hinged together by the pivot hinge between the eighth plates; The sixth, seventh, and eighth inter-plate slewing hinges each contain two slewing hinges. The hinge axes of the two slewing hinges always coincide, and their common axis of rotation forms a characteristic angle with the edge of the plate. , The angle is a sector angle in Miura-ori origami; the two pivot hinges contained in the sixth inter-plate pivot hinge have the exact same structure and size as the two pivot hinges contained in the eighth inter-plate pivot hinge; Each antenna panel and its corresponding inter-panel swivel hinge are connected by threaded fasteners. The two-dimensional folding unit obtained by arranging the inter-panel swivel hinges as described above can be finally folded into a tightly folded state through a two-step folding process. The first folding process is that the first antenna panel, the fourth antenna panel, and the seventh antenna panel are folded as a whole around the axis of the first inter-panel swivel hinge and placed below the second antenna panel, the fifth antenna panel, and the eighth antenna panel, respectively. The second folding process is to fold the antenna panels after the first folding process according to the single-degree-of-freedom folding process of Miura-ori thick plate origami. The back frame mechanism includes a hinge joint and a back frame rod; the hinge joint includes a top hinge joint, a sub-plate hinge joint, and a back frame rod hinge joint; The top hinge joint includes a first top hinge joint, a second top hinge joint, a third top hinge joint, and a fourth top hinge joint. The first top hinge joint and the third top hinge joint are disposed on the eighth antenna panel, and the second top hinge joint and the fourth top hinge joint are disposed on the fifth antenna panel. The sub-board hinge joint includes a first sub-board hinge joint, a second sub-board hinge joint, a third sub-board hinge joint, a fourth sub-board hinge joint, a fifth sub-board hinge joint, a sixth sub-board hinge joint, a seventh sub-board hinge joint, an eighth sub-board hinge joint, and a ninth sub-board hinge joint, which are sequentially disposed on the first antenna panel to the ninth antenna panel. The top hinge joint, the sub-plate hinge joint, and the back frame rod hinge joint are connected to each other through the back frame rod. The back frame rod hinge joint is a hinged joint at the break point on the back frame rod, so that the entire back frame mechanism forms a closed loop.

2. The two-dimensional array antenna mechanism that can be folded in stages according to claim 1, characterized in that, The first hinge boss in the hinge joint of the seventh sub-board is hinged to the second hinge boss, the second hinge boss is fixed to the back frame rod through a threaded hole, and then the first hinge boss is fixed to the seventh antenna panel. The first hinge boss in the hinge joint of the eighth sub-board is hinged to the second and third hinge bosses respectively. The second and third hinge bosses in the hinge joint of the eighth sub-board are fixed to the back frame rod through threaded holes respectively. The first hinge boss is fixed to the eighth antenna panel. The first hinge boss in the hinge joint of the ninth sub-board is hinged to the second hinge boss, the second hinge boss is fixed to the back frame rod through a threaded hole, and the first hinge boss is fixed to the ninth antenna panel. The first hinge boss in the hinge joint of the fourth sub-board is hinged to the second hinge boss, the second hinge boss is fixed to the back frame rod through a threaded hole, and the first hinge boss is fixed to the fourth antenna panel. The first hinge boss in the fifth sub-board hinge joint is hinged to the second and third hinge bosses respectively. The second and third hinge bosses in the fifth sub-board hinge joint are fixed to the back frame rod through threaded holes respectively. The first hinge boss is fixed to the fifth antenna panel. The structure of the first hinge boss and the second hinge boss of the sixth sub-board hinge joint are the same as the structure of the first hinge boss and the second hinge boss of the fourth sub-board hinge joint, respectively. The first hinge boss of the sixth sub-board hinge joint is fixedly connected to the sixth antenna panel. Without considering the back frame rod, the hinge joint of the first sub-plate and the hinge joint of the seventh sub-plate are along... y The direction is mirror symmetrical and fixed to the first antenna panel; the hinge joint of the second sub-board is along the eighth sub-board hinge joint. y The direction is mirror symmetrical and fixed to the second antenna panel; the hinge joint of the third sub-plate is along the first sub-plate hinge joint. x It is symmetrical in direction and fixed to the third antenna panel.

3. The two-dimensional array antenna mechanism that can be folded in stages according to claim 1, characterized in that, On the first top hinge joint, the edge of the first joint and the edge of the fourth joint form a first hinge. Mirror-image, the edge of the second joint and the edge of the third joint are hinged. The hinge structure uses a pin and shaft hole fit, and the axis of the hinge is parallel to the axis of the first plate inter-rotation hinge. The first joint and the second joint form a second hinge, and the third joint and the fourth joint form a hinge. The hinge axes are all located at the edges of the contact surfaces of the two joints. The two transverse connecting rods above the back frame form third hinges with the third and fourth joints respectively. The axis of the third hinge is parallel to the axis of the first hinge. The first to fourth joints are fixed to the four back frame rods through threaded holes, assembling them into a whole. The composition of the second top hinge joint is the same as that of the first top hinge joint. On the third top hinge head, the edge of the first joint forms a first hinge with the edge of the third joint, mirror image, and the edge of the second joint forms a second hinge with the edge of the fourth joint; the two transverse connecting rods above the back frame form third and fourth hinges with the third and fourth joints respectively; the axial directions of the first, second, third, and fourth hinges of the third top hinge head are all parallel to each other and parallel to the axial direction of the first plate inter-rotation hinge; the first to fourth joints are respectively fixed to the four back frame rods through threaded holes; there is a torsion spring between the first joint and the third joint, mirror image, there is a torsion spring between the second joint and the fourth joint, and the two legs of each torsion spring are respectively inserted into the torsion spring holes on the corresponding two joints, and the axis of the torsion spring coincides with the rotation axis of the corresponding two joints, playing a supporting and auxiliary driving role; In the fourth top hinge joint, a follower hinge is added between the third and fourth joints; the other components and connection methods are the same as those of the third top hinge joint.

4. The two-dimensional array antenna mechanism that can be folded in stages according to claim 1, characterized in that, The back frame rod hinge joint includes a first to an eighth back frame rod hinge joint; the first back frame rod hinge joint includes a first joint and a second joint, which are hinged together. When they rotate relative to each other to a set position, the boss on the second joint and the groove on the first joint engage to limit the relative position of the two joints so that the relative position of the two joints will not exceed the limit relative position; the second joint is fixedly connected to the back frame rod in the second sub-plate hinge joint through a threaded hole, and the first joint is fixedly connected to the back frame rod in the fourth top hinge joint through a threaded hole, forming a closed back frame rod. The second, third, and fourth back frame rod hinge joints are all structurally identical to the first back frame rod hinge joint. One end of the second back frame rod hinge joint is fixedly connected to the back frame rod in the fifth sub-plate hinge joint through a threaded hole, and the other end is fixedly connected to the back frame rod in the fourth top hinge joint through a threaded hole. One end of the third back frame rod hinge joint is fixedly connected to the back frame rod in the fifth sub-plate hinge joint through a threaded hole, and the other end is fixedly connected to the back frame rod in the third top hinge joint through a threaded hole. One end of the fourth back frame rod hinge joint is fixedly connected to the back frame rod in the eighth sub-plate hinge joint through a threaded hole, and the other end is fixedly connected to the back frame rod in the third top hinge joint through a threaded hole. The fifth back frame rod hinge joint includes joint one, joint two, and torsion spring one. The two joints are hinged together by a rotating shaft. The two legs of torsion spring one are respectively inserted into the torsion spring holes of the two joints, and the axis of the torsion spring coincides with the rotation axis of the two joints. Joint one has a boss structure, which serves as a limit. Joint one is fixedly connected to the back frame rod in the ninth sub-plate hinge joint, and joint two is fixedly connected to the back frame rod in the third top hinge joint. The sixth to eighth back frame rod hinge joints have the same composition and matching method as the fifth back frame rod hinge joint. The second joint in the sixth back frame rod hinge joint is fixedly connected to the back frame rod in the sixth sub-plate hinge joint, and the first joint is fixedly connected to the back frame rod in the third top hinge joint. The first joint in the seventh back frame rod hinge joint is fixedly connected to the back frame rod in the sixth sub-plate hinge joint, and the second joint is fixedly connected to the back frame rod in the fourth top hinge joint. The second joint in the eighth back frame rod hinge joint is fixedly connected to the back frame rod in the third sub-plate hinge joint, and the first joint is fixedly connected to the back frame rod in the fourth top hinge joint.

5. The two-dimensional array antenna mechanism that can be folded in stages according to claim 1, characterized in that, When the antenna mechanism is in its fully deployed state, the back frame mechanism forms a stable set of multiple quadrangular pyramidal structures, which provide support for the antenna panel mechanism.

6. The two-dimensional array antenna mechanism that can be folded in stages according to claim 1, characterized in that, By changing the size and geometric angle of each antenna panel in the antenna panel mechanism, the unfolding ratio can be adjusted to obtain deployable antenna structures that meet different unfolding ratio requirements.

7. The two-dimensional array antenna mechanism that can be folded in stages according to claim 1, characterized in that, After determining the dimensions of the antenna panel mechanism and the back frame mechanism, and taking into account the required standard parts dimensions and the free space constraints during the unfolding process, adjustments can be made to the structure of the inter-panel rotating hinge and the hinge joint, and either a hinge or a hinge hinge can be selected.

8. The two-dimensional array antenna mechanism that can be folded in stages according to claim 1, characterized in that, The antenna panel mechanism and its corresponding back frame mechanism can be extended infinitely in one direction to obtain a three-row antenna. n The array antenna panel mechanism and the array antenna unit with a larger unfolded surface; the antenna unit can be placed on both sides of the star through mirror operation.

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