A deployment mechanism with linear and rotational dual degrees of freedom

Abstract

This invention relates to a deployment mechanism with both linear and rotational degrees of freedom, comprising: a base; a sliding opening and closing assembly nested within the base; and a linear motion drive for providing linear drive to the opening and closing assembly. The base includes: a hollow cylinder open at one end and closed at the other; and an annular limiting plate connected to the open end of the hollow cylinder. A limiting protrusion is provided on the inner surface of the annular limiting plate. A first sliding limiting groove matching the limiting protrusion is provided on the side of the opening and closing assembly, and the bottom end of the first sliding limiting groove is closed. The linear motion drive is used to drive the opening and closing assembly to extend along a linear direction until the bottom end of the first sliding limiting groove abuts against the limiting protrusion, and the opening and closing assembly rotates and unfolds axially. This invention can be used for the deployment of structures on spacecraft, enabling linear and rotational movements to be completed sequentially and locking to be achieved with a single unlock, thus fulfilling the requirements of both degrees of freedom of movement and locking with a single unlock.

Description

Technical Field

[0001] This invention relates to a spacecraft deployment mechanism, and more particularly to a deployment mechanism having both linear and rotational degrees of freedom. Background Technology

[0002] Because launch vehicles have limited carrying capacity and payload space, spacecraft payloads carried on the launch vehicle need to be fixed within the payload bay during launch. To improve the utilization of space within the payload bay, structures with large footprints are designed for on-orbit deployment, such as solar panels and antennas. After the spacecraft is launched to the designated location, the deployment mechanism can be autonomously controlled by the ground control center or the spacecraft to deploy as required, lock into place, and operate normally. These deployment mechanisms generally need to lock into place after deployment, and the success of this locking mechanism after deployment has a significant impact on the success or failure of the spacecraft launch.

[0003] Currently, the plate-type deployment mechanisms most commonly used in spacecraft generally have only one degree of freedom, such as being able to perform rotational deployment or linear motion. If deployment in two directions is required, two sets of mechanisms are needed, resulting in large structural size, heavy weight, and complex design, making it difficult to apply in spacecraft. Especially when the effective payload is limited, reducing the structural complexity and weight of traditional deployment mechanisms has become an urgent problem to be solved. Summary of the Invention

[0004] The purpose of this invention is to provide a deployment mechanism with both linear and rotational degrees of freedom.

[0005] To achieve the above-mentioned objectives, the present invention provides an unfolding mechanism with linear and rotational degrees of freedom, comprising: a base, an opening and closing assembly nested within the base and slidable, and a linear motion drive for providing linear drive to the opening and closing assembly;

[0006] The base includes: a hollow column with one end open and the other end closed, and an annular limiting plate connected to the open end of the hollow column;

[0007] The inner side of the annular limiting plate is provided with a limiting protrusion;

[0008] The side of the opening and closing component is provided with a first sliding limiting groove that matches the limiting protrusion, and the bottom end of the first sliding limiting groove is closed.

[0009] The linear motion drive is used to drive the opening and closing assembly to extend along a straight line until the bottom end of the first sliding limiting groove abuts against the limiting protrusion, and the opening and closing assembly rotates and unfolds along the axial direction.

[0010] According to one aspect of the present invention, the opening and closing assembly includes: a hollow sliding cylinder, a rotatable rotating column nested inside the sliding cylinder, and a torsion spring for connecting the rotating column and the sliding cylinder;

[0011] The torsion spring is coaxially sleeved on the rotating column, and the two elastic arms of the torsion spring are respectively connected to the rotating column and the sliding cylinder;

[0012] The first sliding limiting groove is disposed on one side of the sliding cylinder;

[0013] The rotating column is provided with a second sliding limiting groove and an annular groove for matching the limiting protrusion.

[0014] The annular groove is connected to the bottom end of the second sliding limiting groove.

[0015] According to one aspect of the invention, the opening and closing assembly further includes: a locking assembly;

[0016] The locking assembly includes: a support member, a locking pin slidably connected to the support member, and an elastic pressure member disposed between the support member and the locking pin;

[0017] The locking pin is positioned opposite to the upper end of the rotating column;

[0018] The upper end of the rotating column is provided with a fitting groove. In the closed state, the end of the locking pin abuts against the upper end face of the rotating column. In the unfolded state, the end of the locking pin is engaged with the fitting groove for a locking connection.

[0019] According to one aspect of the invention, the locking pin is provided with a locking protrusion that matches the shape of the fitting groove, wherein, in the closed state, the locking protrusion is misaligned with the fitting groove; in the unfolded state, the locking protrusion is aligned with the fitting groove; and, under the action of the elastic pressure member, the locking protrusion is embedded in the fitting groove.

[0020] According to one aspect of the invention, the locking protrusion is a regular columnar structure having at least one oblique section in the circumferential direction;

[0021] The cross-sectional area of ​​the locking protrusion gradually decreases along the direction close to the rotating column.

[0022] According to one aspect of the invention, the locking pin (242) further includes: a sliding body (242b) and a limiting post;

[0023] The locking protrusion and the sliding body are respectively provided on opposite sides of the limiting post;

[0024] The sliding body is slidably connected to the support member, and a rotation limiting surface for limiting the rotation of the locking pin is provided on one side of the sliding body;

[0025] The limiting column is positioned to abut against the elastic pressure member.

[0026] According to one aspect of the present invention, a toggle structure is provided at the end of the sliding body away from the limiting post.

[0027] According to one aspect of the invention, the rotating column is a stepped cylinder, comprising: a first column portion, a second column portion, and a third column portion arranged coaxially;

[0028] The diameters of the first column portion and the third column portion are smaller than the diameter of the second column portion;

[0029] The torsion spring is sleeved on the third column portion;

[0030] The second sliding limiting groove and the annular groove are disposed on the side of the second column portion;

[0031] The fitting groove is disposed on the end face of the first column portion away from the second column portion.

[0032] According to one aspect of the invention, a first mounting plate for mounting an unfolded load is provided on the side of the first column portion;

[0033] The support member is provided with a second mounting plate for mounting the deployment load.

[0034] According to one aspect of the invention, the linear motion drive is a compression spring.

[0035] According to one aspect of the present invention, the present invention can complete linear motion and rotational motion sequentially with a single unlocking, thereby achieving the requirement of simultaneously satisfying two degrees of freedom of motion and locking with a single unlocking.

[0036] According to one aspect of the present invention, the structure of the present invention is simple, and it can achieve locking in that direction after movement in each direction is completed, thus meeting the need for spacecraft to further reduce the launch envelope.

[0037] According to one aspect of the present invention, the present invention can fully meet the two-degree-of-freedom deployment requirements of spacecraft antennas or solar arrays that need to undergo linear and rotational motions successively, and has high structural strength and good reliability.

[0038] According to one aspect of the present invention, after the rotating column completes its rotation and unfolding, the limiting protrusion is misaligned with the second sliding limiting groove, thereby effectively locking the opening and closing component when it pops out, effectively preventing the opening and closing component from retracting, and ensuring that the opening and closing component is accurately and stably positioned in the extended state.

[0039] According to one aspect of the present invention, the rotation angle of the rotating column can be further reliably and accurately controlled by controlling the length of the annular groove provided on the rotating column. This allows the present invention to achieve accurate control of the unfolding position based on a simple structure, effectively reducing structural complexity while improving overall reliability.

[0040] According to one aspect of the present invention, the present invention can realize the linear and rotational two-degree-of-freedom unfolding process by simply storing the elastic energy of the internal elastic element, without the need for any external drive (such as a motor), thus realizing the overall passive drive. This fully solves the drawbacks of traditional unfolding structures that rely on external drives, such as large size and heavy weight, making the present invention simple in structure and comprehensive in function. Attached Figure Description

[0041] Figure 1 This is a perspective view schematically showing the unfolding mechanism in the retracted state according to an embodiment of the present invention;

[0042] Figure 2 This is a schematic cross-sectional view showing the unfolding mechanism in the retracted state according to an embodiment of the present invention;

[0043] Figure 3 This is a perspective view schematically showing the unfolding mechanism in the unfolded state according to an embodiment of the present invention;

[0044] Figure 4 This is a schematic cross-sectional view showing the unfolding mechanism in the unfolded state according to an embodiment of the present invention;

[0045] Figure 5 This is a schematic diagram illustrating the structure of a sliding cylinder according to one embodiment of the present invention;

[0046] Figure 6 This is a schematic diagram illustrating the structure of a rotating column according to one embodiment of the present invention;

[0047] Figure 7 This is a schematic diagram illustrating the structure of the limiting protrusion 121 according to one embodiment of the present invention;

[0048] Figure 8 This is a schematic diagram illustrating the position of the locking pin and the rotating column abutting in the retracted state of the unfolding mechanism according to an embodiment of the present invention.

[0049] Figure 9 This is a schematic diagram showing the engagement position of the locking pin and the rotating column in the unfolded state of the unfolding mechanism according to an embodiment of the present invention. Detailed Implementation

[0050] To more clearly illustrate the technical solutions in the embodiments of the present invention or the prior art, the drawings used in the embodiments will be briefly described below. Obviously, the drawings described below are merely some embodiments of the present invention, and those skilled in the art can obtain other drawings based on these drawings without creative effort.

[0051] In describing embodiments of the present invention, the terms "longitudinal," "lateral," "upper," "lower," "front," "rear," "left," "right," "vertical," "horizontal," "top," "bottom," "inner," and "outer" express orientations or positional relationships based on the orientations or positional relationships shown in the relevant drawings. They are only for the convenience of describing the present invention and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, the above terms should not be construed as limitations on the present invention.

[0052] The present invention will now be described in detail with reference to the accompanying drawings and specific embodiments. The embodiments cannot be described in detail here, but the embodiments of the present invention are not limited to the following embodiments.

[0053] Combination Figure 1 , Figure 2 , Figure 3 and Figure 4 As shown, according to one embodiment of the present invention, an unfolding mechanism with linear and rotational degrees of freedom includes: a base 1, an opening / closing assembly 2 nested within the base 1 and slidable, and a linear motion drive 3 for providing linear drive to the opening / closing assembly 2. In this embodiment, the base 1 includes: a hollow cylinder 11 with one end open and the other end closed, and an annular limiting plate 12 connected to the open end of the hollow cylinder 11. In this embodiment, the annular limiting plate 12 is detachably connected to the hollow cylinder 11 to facilitate the nesting installation of the opening / closing assembly 2 in the base 1. In this embodiment, the hollow cylinder 11 can be a regular-shaped cylinder, such as a cylinder or a prism.

[0054] In this embodiment, a limiting protrusion 121 is provided on the inner side of the annular limiting plate 12; wherein, the shape of the annular limiting plate 12 matches the shape of the open end of the hollow column 11. In this embodiment, the limiting protrusion 121 protrudes into the annular limiting plate 12 to limit the movement of the opening and closing component 2, so that the opening and closing component 2 can only move linearly along the axial direction of the base 1, ensuring the accuracy and reliability of the movement direction.

[0055] In this embodiment, the opening and closing component 2 has a first sliding limiting groove 2a on its side that matches the limiting protrusion 121, and the bottom end of the first sliding limiting groove 2a is closed. The first sliding limiting groove 2a is a linear groove with an opening at its upper end to facilitate linear movement of the opening and closing component 2 along the limiting protrusion 121. In this embodiment, the linear motion drive 3 drives the opening and closing component 2 to extend until the bottom end of the first sliding limiting groove 2a abuts against the limiting protrusion 121, and to rotate and unfold axially after the opening and closing component 2 has moved into position.

[0056] Combination Figure 1 , Figure 2 , Figure 3 and Figure 4 As shown, according to one embodiment of the present invention, the linear motion drive 3 is a compression spring, which is disposed at the bottom end of the opening / closing assembly 2 and abuts against the bottom of both the opening / closing assembly 2 and the base 1. Furthermore, when the opening / closing assembly 2 is retracted into the base 1, the linear motion drive 3 is in a compressed state. Therefore, when the opening / closing assembly 2 needs to extend, it can be directly ejected based on the elastic force of the linear motion drive 3, effectively ensuring the extension speed of the opening / closing assembly 2. In addition, the linear motion drive 3, made of a compression spring, has a simple structure and high reliability, effectively ensuring the reliability of the ejection of the opening / closing assembly 2.

[0057] Combination Figure 1 , Figure 2 , Figure 3 , Figure 4 , Figure 5 and Figure 6 As shown, according to one embodiment of the present invention, the opening / closing assembly 2 includes: a hollow sliding cylinder 21, a rotatable rotating column 22 nested within the sliding cylinder 21, and a torsion spring 23 for connecting the rotating column 22 and the sliding cylinder 21. In this embodiment, the rotating column 22 and the sliding cylinder 21 are coaxially arranged, wherein the torsion spring 23 is coaxially sleeved on the rotating column 22, and the two elastic arms of the torsion spring 23 are respectively connected to the rotating column 22 and the sliding cylinder 21. The torsion spring 23 can provide a rotational driving force to the rotating column 22 to realize the rotational unfolding of the opening / closing assembly 2 after it moves into place along the base 1.

[0058] In this embodiment, the first sliding limiting groove 2a is disposed on one side of the sliding cylinder 21, and the first sliding limiting groove 2a can penetrate through both the inner and outer sides of the side wall of the sliding cylinder 21. In this embodiment, the first sliding limiting groove 2a forms an opening at the upper end of the sliding cylinder 21, while the lower end is closed, so as to achieve abutment against the limiting protrusion 121 after moving into position. In this embodiment, the length of the first sliding limiting groove 2a is set according to the extension stroke of the opening and closing component 2.

[0059] In this embodiment, the rotating column 22 is provided with a second sliding limiting groove 2b and an annular groove 2c for matching the limiting protrusion 121; wherein the annular groove 2c is connected to the bottom end of the second sliding limiting groove 2b. In this embodiment, the rotating column 22 is initially aligned with the first sliding limiting groove 2a to facilitate the sliding insertion of the limiting protrusion 121, so that the rotating column 22 is limited during the pop-out process of the opening and closing component 2 to prevent its rotation; furthermore, by providing the annular groove 2c at the bottom end of the second sliding limiting groove 2b, while the first sliding limiting groove 2a abuts against the limiting protrusion 121, the limiting protrusion 121 can disengage from the second sliding limiting groove 2b and be in the annular groove 2c. Thus, the limiting protrusion 121 can limit the extension of the rotating column 22 while eliminating the restriction on the rotation of the rotating column 22. Then, under the action of the torsion spring 23, the rotating column 22 rotates and unfolds under the cooperation of the annular groove 2c and the limiting protrusion 121.

[0060] Furthermore, after the rotating column 22 completes its rotation and unfolding, the limiting protrusion 121 is misaligned with the second sliding limiting groove 2b, thereby effectively locking the opening and closing component 2 when it pops out, effectively preventing the opening and closing component 2 from retracting, and ensuring that the opening and closing component 2 is accurately and stably positioned in the extended state.

[0061] Furthermore, by controlling the length of the annular groove 2c provided on the rotating column 22, the rotation angle of the rotating column 22 can be controlled more reliably and accurately.

[0062] like Figure 7 As shown, according to one embodiment of the present invention, the limiting protrusion 121 is trapezoidal, and along the direction close to the rotating column 22, the two opposite sides of the limiting protrusion 121 are inclined away from each other. In this embodiment, the inclination angles of the opposite sides of the first sliding limiting groove 2a and the second sliding limiting groove 2b are matched with the inclination angles of the opposite sides of the limiting protrusion 121.

[0063] By configuring the limiting protrusion 121 as a trapezoidal protrusion, the position of the annular limiting plate 12 relative to the hollow column 11 can achieve the fitting clearance between the two sides of the limiting protrusion 121 and the first sliding limiting groove 2a and the second sliding limiting groove 2b. This further enhances the stability of the relative movement between the sliding cylinder 21, the rotating column 22, and the hollow column 11 in the horizontal direction. Especially during linear movement, the structural cooperation between the limiting protrusion 121 and the sliding limiting groove effectively limits the linear movement direction of the opening and closing component 2 within a preset range, effectively ensuring the extension accuracy. In addition, by adopting the above-mentioned matching limiting protrusion 121 and sliding limiting groove, the slight shaking of the opening and closing component 2 during the extension process can also be effectively eliminated, improving the stability of the extension process.

[0064] Combination Figure 1 , Figure 2 , Figure 3 , Figure 4 , Figure 5 , Figure 6 , Figure 8 and Figure 9 As shown, according to one embodiment of the present invention, the opening and closing assembly 2 further includes a locking assembly 24. In this embodiment, the locking assembly 24 includes a support member 241, a locking pin 242 slidably connected to the support member 241, and an elastic pressure member 243 disposed between the support member 241 and the locking pin 242. In this embodiment, the support member 241 includes a mounting and positioning part 2411 detachably connected to the open end of the sliding cylinder 21, a vertical support part 2412 vertically connected to the mounting and positioning part 2411, and a positioning sleeve 2413 connected to the vertical support part 2412. In this embodiment, the mounting and positioning part 2411 is generally a regular plate-shaped body that matches the shape of the open end of the sliding cylinder 21, and has a rotation limiting hole for the rotating column 22 to pass through in the middle position, as well as a limiting groove opening that matches the upper end of the first sliding limiting groove 2a and the second sliding limiting groove 2b.

[0065] In this embodiment, the positioning sleeve 2413 is a hollow cylinder, coaxially arranged with the rotation limiting hole on the mounting positioning part 2411. This allows for easy alignment of the locking pin 242 with the upper end of the rotating column 22, facilitating locking control of the rotating column 22. In this embodiment, the locking pin 242 is slidably nested within the positioning sleeve 2413. Elastic pressure members 243 abut against corresponding positions on both the locking pin 242 and the positioning sleeve 2413 to provide elastic restoring force to the locking pin 242.

[0066] In this embodiment, the upper end of the rotating column 22 is provided with a fitting groove 22a. In the closed state, the end of the locking pin 242 abuts against the upper end face of the rotating column 22. In the unfolded state, the end of the locking pin 242 is engaged with the fitting groove 22a for locking connection.

[0067] Combination Figure 1 , Figure 2 , Figure 3 , Figure 4 , Figure 6 , Figure 8 and Figure 9 As shown, according to one embodiment of the present invention, the locking pin 242 is provided with a locking protrusion 242a that matches the shape of the fitting groove 22a. In the closed state, the locking protrusion 242a and the fitting groove 22a are misaligned. In the unfolded state, the locking protrusion 242a and the fitting groove 22a are aligned. Under the action of the elastic pressure member 243, the locking protrusion 242a is embedded in the fitting groove 22a.

[0068] Combination Figure 1 , Figure 2 , Figure 3 , Figure 4 , Figure 6 , Figure 8 and Figure 9 As shown, according to one embodiment of the present invention, the locking protrusion 242a is a regular columnar structure with at least one oblique cut surface 242a1 in the circumferential direction. In this embodiment, the locking protrusion 242a is configured as a cylindrical structure with an oblique cut surface 242a1, wherein the cross-sectional area of ​​the locking protrusion 242a gradually decreases along the direction close to the rotating column 22.

[0069] With the above configuration, the method of setting the chamfered surface 242a1 on the locking protrusion 242a allows the locking protrusion 242a to connect with the fitting groove 22a more quickly and stably during the connection process, based on the guiding effect and self-positioning effect of the chamfered surface 242a1.

[0070] Combination Figure 1 , Figure 2 , Figure 3 , Figure 4 , Figure 6 , Figure 8 and Figure 9As shown, according to one embodiment of the present invention, the locking protrusion 242a is a cylindrical structure with at least one oblique surface 242a1 circumferentially provided. In this embodiment, the oblique surface 242a1 can be used to accurately position the rotation angle of the rotating column 22. For example, the locking protrusion 242a has an oblique surface 242a1, which starts from one end of the cylindrical structure and extends to the other end, making the cross-section of the cylindrical structure semi-circular, and the cross-sectional area gradually changes monotonically along the axial direction of the cylindrical structure. With the above arrangement, the locking protrusion 242a can be made similar to a semi-cylindrical structure, thereby enabling it to be embedded in the fitting groove 22a after the rotating column 22 rotates to its final position. Furthermore, by providing an oblique surface 242a1, accurate positioning of the rotation angle of the rotating column 22 within a range of 180° can be further achieved.

[0071] Of course, in another embodiment, the locking protrusion 242a may be provided with two oblique surfaces 242a1, and the two oblique surfaces 242a1 are arranged to intersect so that the cross-section of the locking protrusion 242a is fan-shaped, and the cross-sectional area gradually changes monotonically along the axial direction of the cylindrical structure. With the above arrangement, the locking protrusion 242a can resemble a fan-shaped column structure, thereby enabling it to be embedded into the fitting groove 22a after the rotating column 22 rotates to its final position. Furthermore, by providing two intersecting oblique surfaces 242a1, more accurate positioning of the rotation angle of the rotating column 22 can be achieved over a wider range.

[0072] Combination Figure 1 , Figure 2 , Figure 3 , Figure 4 , Figure 6 , Figure 8 and Figure 9 As shown, according to one embodiment of the present invention, the locking pin 242 further includes: a sliding body 242b and a limiting post 242c; wherein, the locking protrusion 242a and the sliding body 242b are respectively provided on opposite sides of the limiting post 242c. In this embodiment, the sliding body 242b is slidably connected to the support member 241, and a rotation limiting surface 242b1 for limiting the rotation of the locking pin 242 is provided on one side of the sliding body 242b. In this embodiment, the limiting post 242c is abutting against the elastic pressure member 243. In this embodiment, the cross-sectional area of ​​the limiting post 242c is larger than the cross-sectional area of ​​the sliding body 242b and the locking protrusion 242a.

[0073] In this embodiment, the locking pin 242 is installed in the positioning cavity 2413a of the positioning sleeve 2413. The positioning cavity 2413a is a stepped cavity in the vertical direction, comprising: a first cavity portion for sliding connection with the sliding body 242b, and a second cavity portion for sliding connection with the limiting post 242c. In this embodiment, the cross-sectional shape of the first cavity portion matches the cross-sectional shape of the sliding body 242b, and the cross-sectional shape of the second cavity portion matches the cross-sectional shape of the limiting post 242c.

[0074] The above-mentioned design effectively ensures the stable installation and precise vertical movement of the locking pin 242. Furthermore, the rotation limit surface 242b1 effectively prevents the locking pin 242 from rotating, making its operation more reliable.

[0075] like Figure 1 As shown, according to one embodiment of the present invention, a toggle structure 242b2 is provided at one end of the sliding body 242b away from the limiting post 242c. In this embodiment, the toggle structure 242b2 is a through hole penetrating the sliding body 242b.

[0076] With the above configuration, the locking pin 242 can be easily pulled out of the fitting groove 22a by the toggle mechanism 242b2, thereby facilitating the retraction of the entire unfolding mechanism.

[0077] Combination Figure 1 , Figure 2 , Figure 3 , Figure 4 and Figure 6 As shown, according to one embodiment of the present invention, the rotating column 22 is a stepped cylinder, comprising: a first column portion 221, a second column portion 222, and a third column portion 223 coaxially arranged. In this embodiment, the diameters of the first column portion 221 and the third column portion 223 are smaller than the diameter of the second column portion 222; wherein, a torsion spring 23 is sleeved on the third column portion 223. In this embodiment, a second sliding limiting groove 2b and an annular groove 2c are provided on the side surface of the second column portion 222; in this embodiment, an engaging groove 22a is provided on the end face of the first column portion 221 away from the second column portion 222.

[0078] Combination Figure 1 , Figure 2 , Figure 3 , Figure 4 and Figure 6As shown, according to one embodiment of the present invention, a first mounting plate 221a for mounting a deployment load is provided on the side of the first column portion 221; wherein, a connecting hole penetrating its body is provided on the first mounting plate 221a to facilitate the passage of a connector for mounting and fixing with the deployment load. In this embodiment, the support member 241 is provided with a second mounting plate 241a for mounting a deployment load. The second mounting plate 241a is integrally formed with the vertical support portion 2412, and a connecting hole penetrating its body is provided on the second mounting plate 241a to facilitate the passage of a connector for mounting and fixing with the deployment load.

[0079] According to one embodiment of the present invention, the third column portion 223 is aligned with the positioning post at the bottom of the sliding cylinder 21. A torsion spring 23 is sleeved on the third column portion 223, with one end connected to the connection opening on the third column portion 223 and the other end connected to the connection opening of the positioning post at the bottom of the sliding cylinder 21. In this embodiment, the end of the third column portion 223 and the positioning post are nested together to achieve accurate positioning of the installation position and ensure coaxiality during rotation.

[0080] To further illustrate this plan, its working process will be described in conjunction with the accompanying drawings.

[0081] Unfolding action:

[0082] In this embodiment, the linear motion drive 3 and the torsion spring 23 are in a compressed state. At this time, the opening and closing assembly 2 is located inside the base 1, and the first mounting plate 221a and the second mounting plate 241a are arranged opposite to each other. At this time, when the linear motion drive 3 is released, the opening and closing assembly 2 is pushed out of the base 1 under the action of elastic force.

[0083] Furthermore, due to the limiting effect of the limiting protrusion 121, the limiting protrusion 121 abuts against the bottom of the first sliding limiting groove 2a. At this time, the limiting protrusion 121 is exactly located in the annular groove 2c.

[0084] Furthermore, under the elastic force of the torsion spring 23 and the limiting action of the limiting protrusion 121, the rotating column 22 is driven to rotate, so that the first mounting plate 221a unfolds relative to the second mounting plate 241a.

[0085] Furthermore, after the rotating column 22 is rotated into position, the locking protrusion 242a of the locking pin 242 aligns with the fitting groove 22a, and under the action of the elastic pressure member 243, the locking protrusion 242a extends into the fitting groove 22a, thus completing the rotation limit of the rotating column 22.

[0086] At this time, based on the rigid contact between the limiting protrusion 121 and the opposite sides of the annular groove 2c, and the fitting connection between the locking pin 242 and the fitting groove 22a, the rigid positioning of the unfolded state is achieved, ensuring the stable maintenance of the unfolded state.

[0087] Retract action:

[0088] In this embodiment, the locking protrusion 242a of the locking pin 242 is disengaged from the fitting groove 22a by the toggle structure 242b2, and then the first mounting plate 221a is rotated to the initial position opposite to the second mounting plate 241a. Then the opening and closing assembly 2 is pressed back into the base 1 to achieve retraction. At this time, the linear motion drive 3 needs to be restricted to ensure the stable maintenance of the retracted state.

[0089] It should be noted that in this invention, the driving force during the unfolding process can be adjusted by modifying the parameters of the linear motion drive 3 and the torsion spring 23, thereby controlling the unfolding efficiency and speed. Simultaneously, the annular groove 2c can be controlled to regulate the rotation angle during unfolding, and the dimensions of the base 1 and the opening / closing assembly 2 can be controlled to regulate the extended length.

[0090] The above description is merely an example of a specific solution of the present invention. For any devices and structures not described in detail herein, it should be understood that they are implemented using common devices and methods already available in the art.

[0091] The above description is merely one embodiment of the present invention and is not intended to limit the invention. Various modifications and variations can be made to the invention by those skilled in the art. Any modifications, equivalent substitutions, or improvements made within the spirit and principles of the present invention should be included within the scope of protection of the present invention.

Claims

1. A deployment mechanism with linear and rotational degrees of freedom, characterized in that, include: A base (1), a sliding opening and closing assembly (2) nested within the base (1), and a linear motion drive (3) for providing linear drive to the opening and closing assembly (2). The base (1) includes: a hollow column (11) with one end open and the other end closed, and an annular limiting plate (12) connected to the open end of the hollow column (11). The inner side of the annular limiting plate (12) is provided with a limiting protrusion (121). The opening and closing component (2) is provided with a first sliding limiting groove (2a) on its side that matches the limiting protrusion (121), and the bottom end of the first sliding limiting groove (2a) is closed. The linear motion drive (3) is used to drive the opening and closing assembly (2) to extend along the linear direction until the bottom end of the first sliding limiting groove (2a) abuts against the limiting protrusion (121), and the opening and closing assembly (2) rotates and unfolds along the axial direction. The opening and closing assembly (2) includes: a hollow sliding cylinder (21), a rotating column (22) nested in the sliding cylinder (21) and rotatable, a torsion spring (23) for connecting the rotating column (22) and the sliding cylinder (21), and a locking assembly (24). The torsion spring (23) is coaxially sleeved on the rotating column (22) and the two elastic arms of the torsion spring (23) are respectively connected to the rotating column (22) and the sliding cylinder (21); The first sliding limiting groove (2a) is disposed on one side of the sliding cylinder (21); The rotating column (22) is provided with a second sliding limiting groove (2b) and an annular groove (2c) for matching the limiting protrusion (121). The annular groove (2c) is connected to the bottom end of the second sliding limiting groove (2b); The locking assembly (24) includes: a support member (241), a locking pin (242) slidably connected to the support member (241), and an elastic pressure member (243) disposed between the support member (241) and the locking pin (242). The locking pin (242) is positioned opposite to the upper end of the rotating column (22); The upper end of the rotating column (22) is provided with a fitting groove (22a). In the closed state, the end of the locking pin (242) abuts against the upper end face of the rotating column (22). In the unfolded state, the end of the locking pin (242) is engaged with the fitting groove (22a) for locking connection.

2. The unfolding mechanism according to claim 1, characterized in that, The locking pin (242) is provided with a locking protrusion (242a) that matches the shape of the fitting groove (22a). In the closed state, the locking protrusion (242a) and the fitting groove (22a) are misaligned. In the unfolded state, the locking protrusion (242a) and the fitting groove (22a) are aligned. Under the action of the elastic pressure member (243), the locking protrusion (242a) is embedded in the fitting groove (22a).

3. The unfolding mechanism according to claim 2, characterized in that, The locking protrusion (242a) is a regular columnar structure with at least one oblique cut surface (242a1) in the circumferential direction; The locking protrusion (242a) is configured to gradually decrease in cross-sectional area along the direction close to the rotating column (22).

4. The unfolding mechanism according to claim 3, characterized in that, The locking pin (242) further includes: a sliding body (242b) and a limiting post (242c); The locking protrusion (242a) and the sliding body (242b) are respectively provided on opposite sides of the limiting post (242c); The sliding body (242b) is slidably connected to the support member (241), and a rotation limiting surface (242b1) for limiting the rotation of the locking pin (242) is provided on one side of the sliding body (242b). The limiting post (242c) is arranged to abut against the elastic pressure member (243).

5. The unfolding mechanism according to claim 4, characterized in that, A toggle structure (242b2) is provided at the end of the sliding body (242b) away from the limiting post (242c).

6. The unfolding mechanism according to claim 5, characterized in that, The rotating column (22) is a stepped cylinder, which includes a first column part (221), a second column part (222) and a third column part (223) arranged coaxially. The diameters of the first column portion (221) and the third column portion (223) are smaller than the diameter of the second column portion (222); The torsion spring (23) is sleeved on the third column portion (223); The second sliding limiting groove (2b) and the annular groove (2c) are disposed on the side of the second column part (222); The fitting groove (22a) is disposed on the end face of the first column portion (221) away from the second column portion (222).

7. The unfolding mechanism according to claim 6, characterized in that, The first column portion (221) has a first mounting plate (221a) on its side for mounting the deployment load. The support member (241) is provided with a second mounting plate (241a) for mounting the deployment load.

8. The unfolding mechanism according to claim 7, characterized in that, The linear motion drive component (3) is a compression spring.

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