Soft adaptive space folding and unfolding mechanical hand with net

Abstract

The application provides a soft-adaptive space folding and unfolding capturing manipulator with a net, relates to the technical field of space capturing, and comprises a supporting assembly, a folding and unfolding assembly, a capturing assembly, a connecting assembly and a rope, the folding and unfolding assembly is located at the circumferential side of the supporting assembly, the capturing assembly is arranged at the circumferential side of the folding and unfolding assembly, the connecting assembly is arranged between the capturing assemblies, and the rope is located in the capturing assembly. The application adopts a modular design, and the stretching of the capturing assembly can be realized by only a single lead screw motor, so that the stability of the device is improved. The movement of the folding and unfolding arms is realized by the movement of the folding and unfolding disc in the folding and unfolding assembly, the folding and unfolding and the unfolding of the capturing assembly and the connecting assembly are realized, the folding and unfolding and the resetting of the capturing net can also be realized by the driving of the rope, the internal space of the capturing assembly is hexagonal, the capturing space is large, meanwhile, the capturing assembly can be folded up in the transportation process by cooperation with the folding and unfolding assembly, so that the volume is reduced and the transportation burden is reduced.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of space capture, in particular to a soft adaptive space folding and unfolding capture manipulator. BACKGROUND

[0002] By the end of 2022, there were 7218 spacecraft in orbit around the world, of which about 700 were in China. These spacecraft have played an important role in driving China's economy, military, scientific research, and people's livelihood. However, spacecraft not only bring scientific and social progress, but also create space debris: in the vacuum, microgravity, strong radiation, multiple meteorites, and large temperature differences in space, spacecraft are constantly threatened by disintegration and explosion, and after disintegration and explosion, space debris such as space debris is formed, occupying valuable orbital resources. Currently, contact capture is mainly used for capturing space debris, but existing rigid contact capture has high reliability and high success rate, but is difficult to control, has a complex structure, and has high production costs.

[0003] As disclosed in document CN113002805B, a multi-mode space capture mechanism is disclosed, comprising: a first branch chain, a second branch chain, a third branch chain, a fourth branch chain, a base, a lock platform, and an external mechanism, the base is provided with a gear transmission system, which drives the first to fourth branch chains to change position and form two capture modes, and the appropriate capture mode can be selected according to the shape and size of the target. The multi-mode space capture mechanism is driven by eight steering engines and a DC speed reducer, which realizes the functions of folding, unfolding, and tightening, can capture the target whole star, reduces the docking accuracy requirement, and improves the capture ability of the multi-mode capture.

[0004] The capture mechanism in the above document is rigid capture, and has too many driving elements, a complex structure, and is not suitable for working in space environment. Therefore, it is necessary to propose a soft adaptive space folding and unfolding capture manipulator, which increases the capture space and better adapts to the shape of the target. SUMMARY

[0005] In view of the problems existing in the prior art, the present application provides a soft adaptive space folding and unfolding capture manipulator, which adopts modular design and can realize the stretching of the capture assembly by only a single lead screw motor, thereby improving the stability of the device; the movement of the folding and unfolding disc in the folding and unfolding assembly drives the folding and unfolding arm to move, thereby driving the frame main rod to be bundled and unfolded, realizing the bundling and unfolding of the capture assembly and the connecting assembly, and the capture net can also be driven by the rope to realize the bundling and resetting; the capture assembly adopts a hexagonal internal space, which has a large capture space and can better cope with the capture of non-cooperative targets; at the same time, through cooperation with the folding and unfolding assembly, the capture assembly can be folded up during transportation, reducing the volume and reducing the transportation burden.

[0006] The application provides a soft-adaptive space folding and capturing mechanical hand, which comprises a supporting assembly, a folding assembly, a capturing assembly, a connecting assembly and a rope, the folding assembly is located at the periphery of the supporting assembly, the capturing assembly is arranged at the periphery of the folding assembly, the connecting assembly is arranged between the capturing assemblies, and the rope is located inside the capturing assembly; the supporting assembly comprises a base, a support column, a supporting table, a sleeve, a bearing, a sleeve end cover, a wire distribution disc and a lead screw motor, the first end of the support column is connected with the first end of the base, the first end of the supporting table is connected with the second end of the support column, the sleeve is arranged in the supporting table, the bearing is arranged in the first end of the sleeve, the sleeve end cover is connected with the second end of the sleeve, the wire distribution disc is arranged at the periphery of the second end of the base, the motor end of the lead screw motor is connected with the base, and the lead screw end of the lead screw motor is connected with the bearing; the folding assembly comprises a folding disc and a folding arm, the folding disc is threadedly connected with the lead screw of the lead screw motor of the supporting assembly through a lead screw nut, and the folding arm is rotationally connected with the folding disc; the folding arm comprises a transmission rod, a folding disc pin shaft, a first folding rod, a transmission pin shaft, a second folding rod and a supporting table pin shaft, the first end of the transmission rod is rotationally connected with the folding disc through the folding disc pin shaft, the middle position of the first folding rod is rotationally connected with the second end of the transmission rod through a transmission pin shaft, the first end of the first folding rod is rotationally connected with the first supporting table of the supporting assembly through a supporting table pin shaft, and the first end of the second folding rod is rotationally connected with the second supporting table through a supporting table pin shaft; the capturing assembly comprises a frame main rod, a main rod pin shaft, a first pulley, a second pulley, a pulley pin shaft, a connecting rope and an elastic rope, the frame main rod is rotationally connected with the first folding rod and the second folding rod of the folding assembly through the main rod pin shaft, the first pulley and the second pulley are symmetrically arranged at the two ends of the frame main rod through the pulley pin shaft, the connecting rope is arranged on one side of the frame main rod, and the first end of the elastic rope is sequentially wound around the first pulley, a groove in the frame main rod, the second pulley, a elastic rope hole of the connecting rope and the second end of the elastic rope.

[0007] Preferably, the connecting assembly comprises a first connecting rod, a connecting rod pin shaft, a second connecting rod, a first connecting frame, a connecting frame pin shaft, a second connecting frame and a guide column, the first end of the first connecting rod is rotationally connected with the frame main rod of the capturing assembly through the connecting rod pin shaft, the first end of the second connecting rod is rotationally connected with the frame main rod through the connecting rod pin shaft, the two ends of the first connecting frame are symmetrically rotationally connected with the first connecting rod through the connecting frame pin shaft, the two ends of the second connecting frame are symmetrically rotationally connected with the second connecting rod through the connecting frame pin shaft, the first end of the guide column is connected with the first connecting frame, and the second end of the guide column is slidingly connected with the second connecting frame.

[0008] Preferably, the support assembly further comprises a bearing and a sleeve end cover, the bearing is arranged in the first end of the sleeve, the screw rod of the screw rod motor is connected with the bearing, the sleeve end cover is connected with the second end of the sleeve, the support table is provided with a first support table and a second support table, the first support table and the second support table are coaxial and have the same size.

[0009] Preferably, the inside of the frame main rod is provided with a groove, the connecting rope is provided with a plurality of elastic rope holes and rope holes which are perpendicular to each other, the rope is provided with three groups, and the two ends of the rope are simultaneously spirally wound on the rope holes of the connecting rope from top to bottom, thereby forming a capture net.

[0010] Preferably, the inside of the base is provided with a hollow, the first end surface of the base is uniformly provided with a conical boss with a cylindrical groove, the inside of the base is provided with a motor of a screw rod motor, the inside of the support table is cylindrical and hollow, and the first end surface of the support table is uniformly provided with a conical boss corresponding to the first end surface of the base.

[0011] Preferably, the support column is provided with six groups, which are uniformly distributed on the side of the screw rod of the screw rod motor, and the two ends of the support column are connected with the conical bosses of the base and the support table, respectively.

[0012] Preferably, the two ends of the folding and unfolding disc pin shaft, the transmission pin shaft, the support table pin shaft, the main rod pin shaft, the pulley pin shaft, the connecting rod pin shaft and the connecting frame pin shaft are symmetrically provided with pin shaft end covers, and the first end of the guide column is provided with a pin shaft end cover.

[0013] Preferably, the distribution disc is annular as a whole and is provided with three distribution holes which are uniformly distributed along the circumference, and the included angle between the two ends of the first connecting frame and the second connecting frame is 120°.

[0014] Preferably, six groups of the folding and unfolding arms are uniformly distributed on the side of the support assembly, six groups of the frame main rods are connected with the six groups of the folding and unfolding arms, and the connecting assembly is arranged in the middle of each two adjacent frame main rods.

[0015] Preferably, the axes of the base, the support table, the distribution disc, the screw rod of the screw rod motor and the folding and unfolding disc are collinear.

[0016] The characteristics and advantages of the present application are:

[0017] 1. The soft adaptive space folding and unfolding capture manipulator of the present application adopts modular design for the folding and unfolding assembly and the capture assembly, which is convenient for maintenance and replacement, and only a single screw rod motor is needed to realize the stretching of the capture assembly, so that the complete capture behavior is completed by using fewer drives, thereby improving the stability of the device.

[0018] 2. The soft adaptive space folding capture manipulator of the present application, through the movement of the folding disc in the folding assembly, the folding arm is moved, the frame main rod is retracted and unfolded, the capture assembly and the connecting assembly are retracted and unfolded, and the capture net can be retracted and reset by the rope drive.

[0019] 3. The soft adaptive space folding capture manipulator of the present application, the capture assembly adopts a hexagonal internal space, has a larger capture space, and can better cope with the capture of non-cooperative targets; at the same time, through cooperation with the folding assembly, the capture assembly can be retracted during transportation, reducing the volume and reducing the transportation burden. BRIEF DESCRIPTION OF DRAWINGS

[0020] Figure 1 is a schematic diagram of the overall structure of the soft adaptive space folding capture manipulator of the present application;

[0021] Figure 2 is a schematic diagram of the structure of the support assembly in the present application;

[0022] Figure 3 is a schematic diagram of the partial structure of the support assembly in the present application;

[0023] Figure 4 is a schematic diagram of the structure of the folding assembly in the present application;

[0024] Figure 5 is a schematic diagram of the structure of the capture assembly in the present application;

[0025] Figure 6 is a schematic diagram of the structure of the connecting assembly in the present application;

[0026] Figure 7 is a schematic diagram of the threading method of the rope on the rope connecting piece in the present application.

[0027] MAIN REFERENCE NUMBERS:

[0028] support assembly 1, base 11, support column 12, support table 13, first support table 131, second support table 132, sleeve 14, wire distribution disc 15, lead screw motor 16, bearing 17, sleeve end cover 18, folding assembly 2, folding disc 21, folding arm 22, transmission rod 221, folding disc pin shaft 222, first folding rod 223, transmission pin shaft 224, second folding rod 225, support table pin shaft 226, capture assembly 3, frame main rod 31, main rod pin shaft 32, first pulley 33, second pulley 34, pulley pin shaft 35, rope connecting piece 36, elastic rope 37, connecting assembly 4, first connecting rod 41, connecting rod pin shaft 42, second connecting rod 43, first connecting frame 44, connecting frame pin shaft 45, second connecting frame 46, guide column 47, rope 5. DETAILED DESCRIPTION

[0029] To fully describe the technical content, structural features, objectives, and effects of this invention, a detailed description will be provided below in conjunction with the accompanying drawings.

[0030] This invention relates to a mesh-type soft-adaptive spatial unfolding and capturing robotic arm, such as... Figure 1 As shown, the system includes a support assembly 1, a folding assembly 2, a capturing assembly 3, a connecting assembly 4, and ropes 5. The folding assembly is located around the support assembly 1, the capturing assembly 3 is located around the folding assembly 2, the connecting assembly 4 is located between the capturing assemblies 3, and the ropes 5 are located inside the capturing assembly 3. Three sets of ropes 5 are provided, and both ends of each rope 5 are simultaneously spirally wound from top to bottom around the rope holes of each connecting rope member 36, forming a capturing net. The system also includes a folding disc pin 222, a transmission pin 221, and a support platform. Pins 226, main rod pin 32, pulley pin 35, connecting rod pin 42 and connecting frame pin 45 are symmetrically provided with pin end caps at both ends, and the first end of the guide column 47 is provided with a pin end cap; six sets of folding arms 22 are evenly distributed around the support assembly 1, and six sets of frame main rods 31 are connected to the six sets of folding arms 22. The connecting assembly 4 is located in the middle of each two adjacent frame main rods 31; the axes of the lead screw of the base 11, support platform 13, distribution plate 15, lead screw motor 18 and folding plate 21 are collinear.

[0031] like Figure 2 and Figure 3 As shown, the support assembly 1 includes a base 11, a support column 12, a support platform 13, a sleeve 14, a distribution plate 15, a lead screw motor 16, a bearing 17, and a sleeve end cap 18. The first end of the support column 12 is connected to the first end of the base 11, and the first end of the support platform 13 is connected to the second end of the support column 12. The sleeve 14 is disposed within the support platform 13, the bearing 17 is disposed within the first end of the sleeve 14, and the sleeve end cap 18 is connected to the second end of the sleeve 14. The distribution plate 15 is disposed on the periphery of the second end of the base 11. The motor end of the lead screw motor 16 is connected to the base 11, and the lead screw end of the lead screw motor 16 is connected to the bearing 17. The support platform 13 is provided with a first support platform 13. The first support platform 131 and the second support platform 132 have the same shape and size and are coaxial. The base 11 has a hollow interior. The first end face of the base 11 is evenly distributed with conical protrusions containing cylindrical grooves. The motor of the lead screw motor 16 is installed inside the base 11. The support platform 13 has a cylindrical hollow interior. The first end face of the support platform 13 is evenly distributed with conical protrusions corresponding to the first end face of the base. Six sets of support columns 12 are evenly distributed around the lead screw of the lead screw motor 16. The two ends of the support columns 12 are connected to the conical protrusions of the base 11 and the support platform 13, respectively. The cable distribution plate 15 is generally annular and has three cable distribution holes evenly distributed along the circumference.

[0032] like Figure 4As shown, the folding assembly 2 includes a folding disc 21 and a folding arm 22. The folding disc 22 is threadedly connected to the lead screw motor 16 of the support assembly 1 via a lead screw nut. The folding arm 22 is rotatably connected to the folding disc 22. The folding arm 22 includes a transmission rod 221, a folding disc pin 222, a first folding rod 223, a transmission pin 224, a second folding rod 225, and a support platform pin 226. The first end of the transmission rod 221 is rotatably connected to the folding disc 21 via the folding disc pin 222. The middle position of the first folding rod 223 is rotatably connected to the second end of the transmission rod 221 via the transmission pin 224. The first end of the first folding rod 223 is rotatably connected to the first support platform 131 of the support assembly 1 via the support platform pin 226. The first end of the second folding rod 225 is rotatably connected to the second support platform 132 via the support platform pin 226.

[0033] like Figure 5 As shown, the capture assembly 3 includes a frame main rod 31, a main rod pin 32, a first pulley 33, a second pulley 34, a pulley pin 35, a connecting rope 36, and an elastic rope 37. The frame main rod 31 is rotatably connected to the first folding rod 223 and the second folding rod 225 of the folding assembly 2 via the main rod pin 32. The first pulley 33 and the second pulley 34 are symmetrically arranged at both ends of the frame main rod 31 via the pulley pin 35. The connecting rope 36 is arranged on one side of the frame main rod 31. The first end of the elastic rope 37 passes sequentially around the first pulley 33, the groove inside the frame main rod 31, the second pulley 34, and the elastic rope hole of the connecting rope 36, and connects to the second end of the elastic rope 37. The frame main rod 31 has a groove inside, and the connecting rope 36 has elastic rope holes and rope holes that are perpendicular to each other.

[0034] like Figure 6 As shown, the connecting assembly 4 includes a first connecting rod 41, a connecting rod pin 42, a second connecting rod 43, a first connecting frame 44, a connecting frame pin 45, a second connecting frame 46, and a guide post 47. The first end of the first connecting rod 41 is rotatably connected to the main frame rod 31 of the capture assembly 3 via the connecting rod pin 42. The first end of the second connecting rod 43 is rotatably connected to the main frame rod 31 via the connecting rod pin 42. The two ends of the first connecting frame 44 are symmetrically rotatably connected to the first connecting rod 41 via the connecting frame pin 45. The two ends of the second connecting frame 46 are symmetrically rotatably connected to the second connecting rod 43 via the connecting frame pin 45. The first end of the guide post 47 is connected to the first connecting frame 44, and the second end of the guide post 47 is slidably connected to the second connecting frame 46. The included angle between the two ends of the first connecting frame 44 and the second connecting frame 46 is 120°.

[0035] like Figure 7As shown, A, B, C, D, E, F are respectively the contact points of the six frame main rods 31 and the connecting rope members, Ai, Bi, Ci, Di, Ei, Fi (i = 1, 2, ···, 12) respectively represent the contact points of the frame main rods 31 and the connecting rope members 36 from top to bottom. There are three ropes 5, which provide capture pressure by passing through the connecting rope members 36. One end of one rope is taken as the starting point of the connecting rope member A1B1, and then sequentially passes through the connecting rope members C2D2, E3F3, F4E4, D5C5, B6A6, A7B7, C8D8, E9F9, F10E10, D11C11, B12A12, and finally passes out of the bottom of the frame main rod. The other two ropes pass through the remaining connecting rope members in the same way, and the three ropes are uniformly distributed to form a uniformly distributed rope net.

[0036] The following describes the soft adaptive space folding and capturing mechanical hand of the present application in combination with an embodiment. The use process of the soft adaptive space folding and capturing mechanical hand of the present application is as follows:

[0037] First, the soft adaptive space folding and capturing mechanical hand is connected with the end of the mechanical arm.

[0038] When capturing, the mechanical hand changes from the folding state to the capturing state: the lead screw motor 18 works, the folding disc 21 moves along the support column 12 towards the support table 13, the frame main rod 31 is driven to move outward by the folding arm 22, the first connecting frame 44 and the second connecting frame 46 move away from each other, the circumferentially uniformly distributed frame main rods 31 are opened, and the capturing net is opened.

[0039] When the target enters the capturing range of the capturing net, the connecting rope member 36 drives the elastic rope 37, and both are pulled towards the internal space of the mechanical hand. The connecting rope member 26 contacts the capturing target. With the further tightening of the rope 5, the connecting rope member 36 applies contact pressure to the target, completes the capture, and the greater the tightening degree of the rope 5, the greater the contact pressure, and the more secure the capture.

[0040] After the capture is completed, the rope 5 is loosened, the lead screw motor 18 is operated, the folding disc 21 moves along the support column 12 away from the support table 13, and the mechanical hand returns to the folding state from the capturing state.

[0041] The soft adaptive space folding and capturing manipulator of the net type adopts modular design, and only a single lead screw motor 16 can realize the expansion of the capturing assembly 3, thereby improving the stability of the device; through the movement of the folding and expanding disc 21 in the folding and expanding assembly 2, the folding and expanding arm 22 is moved, the capturing assembly 3 and the connecting assembly 4 are realized to be bunched and expanded, and the bunching and resetting of the capturing net can also be realized by driving the rope 5; the capturing assembly 3 adopts a hexagonal internal space, has a larger capturing space, and at the same time, through cooperation with the folding and expanding assembly 2, the capturing assembly 3 can be folded up during transportation, the volume is reduced, and the transportation burden is reduced.

[0042] The above-described embodiments are only used to describe the preferred embodiments of the present application, and do not limit the scope of the present application. Without departing from the design spirit of the present application, various modifications and improvements of the technical solutions of the present application made by those skilled in the art shall fall within the protection scope determined by the claims of the present application.

Claims

1. A soft adaptive space folding and capturing manipulator with a bundle net, characterized in that, It includes support components, folding and unfolding components, capture components, connecting components and ropes, the folding and unfolding components are located on the side of the support components, the capture components are arranged on the side of the folding and unfolding components, the connecting components are arranged between the capture components, and the ropes are located inside the capture components; The support components include a base, a support column, a support table, a sleeve, a distribution box and a lead screw motor, the first end of the support column is connected with the first end of the base, the first end of the support table is connected with the second end of the support column, the sleeve is arranged in the support table, the distribution box is arranged on the side of the second end of the base, and the motor end of the lead screw motor is connected with the base; The folding and unfolding components include a folding and unfolding disc and a folding and unfolding arm, the folding and unfolding disc is threadedly connected with the lead screw of the lead screw motor of the support components through a lead screw nut, and the folding and unfolding arm is rotationally connected with the folding and unfolding disc; The folding and unfolding arm includes a transmission rod, a folding and unfolding disc pin shaft, a first folding and unfolding rod, a transmission pin shaft, a second folding and unfolding rod and a support table pin shaft, the first end of the transmission rod is rotationally connected with the folding and unfolding disc through the folding and unfolding disc pin shaft, the middle position of the first folding and unfolding rod is rotationally connected with the second end of the transmission rod through the transmission pin shaft, the first end of the first folding and unfolding rod is rotationally connected with the first support table of the support components through the support table pin shaft, and the first end of the second folding and unfolding rod is rotationally connected with the second support table through the support table pin shaft; The capture components include a frame main rod, a main rod pin shaft, a first pulley, a second pulley, a pulley pin shaft, a connecting rope and a spring rope, the frame main rod is rotationally connected with the first folding and unfolding rod and the second folding and unfolding rod of the folding and unfolding components through the main rod pin shaft, the first pulley and the second pulley are symmetrically arranged at the two ends of the frame main rod through the pulley pin shaft, the connecting rope is arranged on one side of the frame main rod, and the first end of the spring rope is sequentially wound around the first pulley, a groove in the frame main rod, the second pulley, a spring rope hole of the connecting rope and the second end of the spring rope.

2. The soft adaptive spatial folding and unfolding capture manipulator of claim 1, wherein, The connecting components include a first connecting rod, a connecting rod pin shaft, a second connecting rod, a first connecting frame, a connecting frame pin shaft, a second connecting frame and a guide column, the first end of the first connecting rod is rotationally connected with the frame main rod of the capture components through the connecting rod pin shaft, the first end of the second connecting rod is rotationally connected with the frame main rod through the connecting rod pin shaft, the two ends of the first connecting frame are symmetrically rotationally connected with the first connecting rod through the connecting frame pin shaft, the two ends of the second connecting frame are symmetrically rotationally connected with the second connecting rod through the connecting frame pin shaft, the first end of the guide column is connected with the first connecting frame, and the second end of the guide column is slidingly connected with the second connecting frame.

3. The soft adaptive spatial folding and unfolding capture manipulator of claim 1, wherein, The support components further include a bearing and a sleeve end cover, the bearing is arranged in the first end of the sleeve, the lead screw end of the lead screw motor is connected with the bearing, the sleeve end cover is connected with the second end of the sleeve, the support table includes a first support table and a second support table, and the first support table and the second support table are coaxial and have the same shape and size.

4. The bundle-net soft adaptive spatial folding and capturing manipulator according to claim 1, characterized in that, The inside of the frame main rod is provided with a groove, the connecting rope piece is respectively provided with a perpendicular elastic rope hole and a rope hole, the rope is provided with three groups, and the two ends of the rope are simultaneously spirally wound on the rope hole of each connecting rope piece from top to bottom to form a capture net.

5. The soft adaptive spatial folding and unfolding capture manipulator of claim 1, wherein, The inside of the base is provided with a hollow, the first end surface of the base is uniformly provided with a conical boss with a cylindrical groove, the inside of the base is provided with a motor of a lead screw motor, the inside of the support table is cylindrical hollow, and the first end surface of the support table is uniformly provided with a conical boss corresponding to the first end surface of the base.

6. The bundle-net soft adaptive spatial folding and capturing manipulator according to claim 1, wherein, The six groups of struts are uniformly distributed on the periphery of the lead screw of the lead screw motor, and the two ends of the struts are connected with the conical bosses of the base and the support table, respectively.

7. The soft adaptive spatial folding and unfolding capture manipulator of claim 2, wherein, The two ends of the folding and unfolding disc pin shaft, the transmission pin shaft, the support table pin shaft, the main rod pin shaft, the pulley pin shaft, the connecting rod pin shaft and the connecting frame pin shaft are symmetrically provided with pin shaft end covers, and the first end of the guide column is provided with a pin shaft end cover.

8. The soft adaptive spatial folding and unfolding capture manipulator of claim 2, wherein, The whole of the distribution disc is annular, provided with three distribution holes uniformly distributed along the circumference, and the included angle between the two ends of the first connecting frame and the second connecting frame is 120°.

9. The soft adaptive spatial folding and unfolding capture manipulator of claim 1 or 2, wherein, Six groups of the folding and unfolding arms are uniformly distributed on the periphery of the support assembly, six groups of the frame main rods are connected with the six groups of the folding and unfolding arms, and the connecting assembly is arranged between each two adjacent frame main rods.

10. The soft adaptive spatial folding and unfolding capture manipulator of claim 1, wherein, The axes of the base, the support table, the distribution disc, the lead screw of the lead screw motor and the folding and unfolding disc are collinear.

Images