Deployment and locking integrated mechanism based on coupled branched singular metamorphic cells

Abstract

The present invention discloses an integrated deployment and locking mechanism based on singular cell of coupled branch chains. Multiple kinematic chains are connected in parallel between a first platform and a second platform to constrain the telescopic deformation of the first platform relative to the second platform. Each kinematic chain includes a first coupling member, two second coupling members, a main branch chain, and a coupling branch chain. The first coupling member is pivotally connected to the first platform, and the two second coupling members are pivotally connected to the second platform. The two ends of the main branch chain are respectively pivotally connected to the first coupling member and one of the two second coupling members. The two ends of the coupling branch chain are respectively pivotally connected to the first coupling member and the other of the two second coupling members. When a singular position appears in each kinematic chain during the telescopic deformation process, the coupling branch chain locks and unlocks the main branch chain. The present invention has a simple structure and higher rigidity and stability.

Description

Technical Field

[0001] The present invention relates to the technical field of deployment mechanisms with locking capabilities, and in particular to a design of an integrated deployment and locking mechanism based on coupled branched singular metamorphic cells. Background Art

[0002] Deployable structures are widely used in industries such as industry, medicine, and exploration. Their advantages lie in their easily placed collapsed state, adaptable deployed state to different requirements, and controllable deployment path. After the deployment structure is deformed, it needs to be locked to resist the load and maintain its shape. Traditional locking designs usually involve designing additional locking mechanisms on existing deployment structures. For example, the movable joints of the mechanism are locked by latches, mast tracks, barbed grooves, spring devices, etc., which reduces the degree of freedom and achieves locking of the overall structure.

[0003] Among the multistable structural designs that combine deployment and locking, energy-type and contact metamorphic multistable structures are predominant. Energy-type multistable structures rely on the minimum value of potential energy at a specific posture to achieve locking. Existing energy storage structures include curved beams, springs, electromagnets, and origami structures. Contact metamorphic structures rely on changing the contact surface or interaction force between components, thereby changing the overall topological structure to achieve locking. The few designs that utilize the singularity of the mechanism are concentrated in Bricard-like single rings and universal hinges, and are generally not suitable for locking.

[0004] In addition, the existing singular metamorphic mechanism is designed based on the parallel mechanism. Since the branch design of the traditional parallel mechanism is a single branch directly connecting the two platforms, the overall stiffness will be restricted in different directions, resulting in a lower stiffness of this mechanism. Summary of the Invention

[0005] The present invention aims to solve at least one of the technical problems existing in the prior art. To this end, one object of the present invention is to provide an integrated deployment and locking mechanism based on coupled branched singular metamorphic cells, which has a simple structure and higher rigidity and stability.

[0006] The deployment and locking integrated mechanism based on coupled branched singular metamorphic cells according to an embodiment of the present invention includes:

[0007] a first platform and a second platform, wherein the first platform and the second platform are arranged opposite to each other;

[0008] Multiple motion chains, multiple motion chains are connected in parallel between the first platform and the second platform, and are used to constrain the telescopic deformation of the first platform relative to the second platform; each motion chain includes a first coupling member, two second coupling members, a main branch chain, and a coupling branch chain, the first coupling member is pivotally connected to the first platform, the two second coupling members are pivotally connected to the second platform and are located at different positions of the second platform, the two ends of the main branch chain are respectively pivotally connected to the first coupling member and one of the two second coupling members, and the two ends of the coupling branch chain are respectively pivotally connected to the first coupling member and the other of the two second coupling members; when each motion chain appears in a singular position during the telescopic deformation process, the coupling branch chain locks and unlocks the main branch chain.

[0009] According to the deployment and locking integrated mechanism based on the coupled branch singular cell of the embodiment of the present invention, when working, a plurality of parallel motion chains are used to constrain the telescopic deformation of the first platform relative to the second platform. When the motion chain appears a singular position during the elongation deformation of the first platform relative to the second platform, the coupled branch can lock the main branch through its own local degree of freedom, so that the motion chain becomes an inelastic fixed structure, thereby making the deployment and locking integrated mechanism based on the coupled branch singular cell of the embodiment of the present invention in the elongated state become a fixed structure, and the main branch 303 in the locked state can also be unlocked through the local degree of freedom of the coupled branch itself, so that the motion chain can perform telescopic movement, that is, the present invention The deployment and locking integrated mechanism based on the coupled branch singular cell of the embodiment can be telescopically deformed; when the motion chain appears in another singular position during the contraction deformation of the first platform relative to the second platform, the coupled branch can lock the main branch through its own local degree of freedom, so that the motion chain becomes a non-retractable fixed structure, thereby making the deployment and locking integrated mechanism based on the coupled branch singular cell of the embodiment of the present invention in the extended state become a fixed structure, and the main branch 303 in the locked state can also be unlocked through the local degree of freedom of the coupled branch itself, so that the motion chain can be telescopically deformed, that is, the deployment and locking integrated mechanism based on the coupled branch singular cell of the embodiment of the present invention can be telescopically deformed.

[0010] The deployment and locking integrated mechanism based on the coupled branch singular cell according to the embodiment of the present invention has the following advantages over the prior art: on the one hand, since a parallel mechanism composed of multiple parallel kinematic chains is adopted between the first platform and the second platform, and coupled branches are introduced into the kinematic chains of the parallel mechanism, the rigidity of the overall mechanism is improved; on the other hand, when each kinematic chain appears in a singular position during the telescopic deformation of the first platform relative to the second platform, the coupled branch can lock the main branch through its own local degree of freedom, so that the deployment and locking integrated mechanism based on the coupled branch singular cell according to the embodiment of the present invention becomes a fixed structure, thereby improving the stability of the overall mechanism. At this time, the main branch 303 in the locked state can also be unlocked through the local degree of freedom of the coupled branch itself, so that the kinematic chain can perform telescopic movement, that is, the deployment and locking integrated mechanism based on the coupled branch singular cell according to the embodiment of the present invention can perform telescopic deformation. In short, the deployment and locking integrated mechanism based on the coupled branch singular cell according to the embodiment of the present invention has higher rigidity and stability.

[0011] In some embodiments, the number of the first coupling members on the first platform is the same as the number of the second coupling members on the second platform and they are distributed circumferentially at intervals; each of the first coupling members is connected to two adjacent second coupling members through one of the main branches and one of the coupling branches, and each of the second coupling members is connected to two adjacent first coupling members through one of the main branches and one of the coupling branches.

[0012] In some embodiments, each of the first coupling members includes a first rod and a second rod, the first rod and the second rod are arranged in a V shape, one end of the first rod and one end of the second rod are fixed and pivotally connected to the first platform, the other end of the first rod is used to be pivotally connected to one end of the main branch chain, and the other end of the second rod is used to be pivotally connected to one end of the coupling branch chain.

[0013] In some embodiments, each of the second coupling members includes a third rod and a fourth rod, and the third rod and the fourth rod are arranged in a V shape, one end of the third rod and one end of the fourth rod are fixed and pivotally connected to the second platform, the other end of the third rod is used to be pivotally connected to the other end of the main branch chain, and the other end of the fourth rod is used to be pivotally connected to the other end of the coupling branch chain.

[0014] In some embodiments, in the same kinematic chain, the main branch includes a fifth rod, both ends of the fifth rod are pivotally connected to the other end of the first rod and the other end of the third rod of one of the two second coupling members, and the pivot axes at both ends of the fifth rod are parallel to each other; the coupling branch includes a sixth rod, a seventh rod, and an eighth rod, one end of the sixth rod is pivotally connected to the other end of the second rod, the other end of the sixth rod is pivotally connected to one end of the seventh rod, the other end of the seventh rod is pivotally connected to one end of the eighth rod, and the other end of the eighth rod is pivotally connected to the other end of the fourth rod of the other of the two second coupling members, and the pivot axes at both ends of the seventh rod are parallel to each other;

[0015] When the motion chain appears in a singular position, the pivot axes at both ends of the seventh rod are parallel to the pivot axes at both ends of the fifth rod, and the pivot axis at one end of the sixth rod is coaxial with the pivot axis at the other end of the eighth rod. At this time, the seventh rod can rotate around the sixth rod and the eighth rod. If the pivot axes at both ends of the seventh rod and the pivot axes at both ends of the fifth rod are not parallel to each other, the coupling branch chain locks the main branch chain. If the pivot axes at both ends of the seventh rod and the pivot axes at both ends of the fifth rod are parallel to each other, the coupling branch chain unlocks the main branch chain.

[0016] In some embodiments, the first platform is fixed with the same number of first bases as the first coupling members, and the first bases are pivotally connected to the first coupling members in a one-to-one correspondence;

[0017] The second platform is fixed with the same number of second bases as the second coupling members, and the second bases are pivotally connected to the second coupling members in a one-to-one correspondence.

[0018] In some embodiments, the plurality of first bases and the plurality of second bases are directly opposite to each other in the direction of the telescopic deformation.

[0019] In some embodiments, in the same kinematic chain, the coupling branch is located between the first base and the second base that are opposite to each other.

[0020] In some embodiments, the first platform and the second platform are both ring-shaped, the plurality of first bases are all located on the inner side of the first platform, and the plurality of second bases are all located on the inner side of the second platform.

[0021] Additional aspects and advantages of the present invention will be set forth in part in the description which follows and, in part, will be obvious from the description which follows, or may be learned by practice of the present invention. BRIEF DESCRIPTION OF THE DRAWINGS

[0022] The above and / or additional aspects and advantages of the present invention will become apparent and readily understood from the following description of the embodiments with reference to the accompanying drawings, in which:

[0023] Figure 1 Schematic diagram of the contracted state of the expansion and locking integrated mechanism based on the coupled branched singular metamorphic cell of the present invention;

[0024] Figure 2 It is a front view of the kinematic chain in the contracted state of the expansion and locking integrated mechanism based on the coupled branch chain singular metamorphic cell of the present invention;

[0025] Figure 3 A side view of the kinematic chain in the contracted state of the deployment and locking integrated mechanism based on the coupled branch chain singular metamorphic cell of the present invention;

[0026] Figure 4 Schematic diagram of the extended state of the deployment and locking integrated mechanism based on the coupled branched singular metamorphic cell of the present invention;

[0027] Figure 5 It is a front view of the kinematic chain in the extended state of the deployment and locking integrated mechanism based on the coupled branch chain singular metamorphic cell of the present invention;

[0028] Figure 6 It is a side view of the kinematic chain in the extended state of the deployment and locking integrated mechanism based on the coupled branch chain singular metamorphic cell of the present invention;

[0029] Figure 7 It is a front view of the coupled branch in the extended state of the deployment and locking integrated mechanism based on the coupled branch singular metamorphosis of the present invention;

[0030] Figure 8 A side view of the coupled branch in the extended state of the deployment and locking integrated mechanism based on the coupled branch singular metamorphosis of the present invention;

[0031] Figure 9 It is a front view of the main branch chain in the extended state of the deployment and locking integrated mechanism based on the coupled branch chain singular metamorphosis of the present invention;

[0032] Figure 10 A side view of the main branch chain in the extended state of the deployment and locking integrated mechanism based on the coupled branch chain singular metamorphosis of the present invention;

[0033] Figure 11 Schematic diagram of the locked state of the deployment and locking integrated mechanism based on the coupled branched singular metamorphic cell of the present invention;

[0034] Figure 12 It is a front view of the locked state of the deployment and locking integrated mechanism based on the coupled branch chain singular metamorphic cell of the present invention.

[0035] Reference numerals:

[0036] First platform 1; first base 101; second platform 2; second base 102; kinematic chain 3; first coupling member 301; first rod 3011; second rod 3012; second coupling member 302; third rod 3021; ​​fourth rod 3022; main branch 303; fifth rod 3031; coupling branch 304; sixth rod 3041; seventh rod 3042; eighth rod 3042. DETAILED DESCRIPTION

[0037] The following describes embodiments of the present invention in detail. Examples of the embodiments are shown in the accompanying drawings, wherein the same or similar reference numerals throughout represent the same or similar elements or elements having the same or similar functions. The embodiments described below with reference to the accompanying drawings are exemplary and are intended only to explain the present invention and are not to be construed as limiting the present invention.

[0038] The following combination Figures 1 to 12 To describe the deployment and locking integrated mechanism based on coupled branch chain singular metamorphic cells according to an embodiment of the present invention.

[0039] like Figures 1 to 12 As shown, the deployment and locking integrated mechanism based on coupled branch chain singular metamorphosis according to an embodiment of the present invention includes a first platform 1, a second platform 2 and multiple kinematic chains 3.

[0040] Specifically, the first platform 1 and the second platform 2 are arranged opposite to each other, for example, in the up-down direction.

[0041] Multiple motion chains 3 are connected in parallel between the first platform 1 and the second platform 2, and are used to constrain the telescopic deformation of the first platform 1 relative to the second platform 2, providing constraints for the telescopic deformation movement of the first platform 1 relative to the second platform 2, that is, the telescopic deformation movement of the unfolding and locking integrated mechanism based on the coupled branch chain singular cell in an embodiment of the present invention.

[0042] As reference Figures 2 to 3 、 Figures 5 and 6Each kinematic chain 3 includes a first coupling member 301, two second coupling members 302, a main branch 303, and a coupling branch 304. The first coupling member 301 is pivotally connected to the first platform 1, and the two second coupling members 302 are pivotally connected to the second platform 2 and are located at different positions on the second platform 2. The two ends of the main branch 303 are pivotally connected to the first coupling member 301 and one of the two second coupling members 302, respectively. The two ends of the coupling branch 304 are pivotally connected to the first coupling member 301 and the other of the two second coupling members 302. When each kinematic chain 3 reaches a singular position during the telescopic deformation process, the coupling branch 304 locks and unlocks the main branch 303. Specifically, when the motion chain 3 appears in a singular position during the elongation deformation of the first platform 1 relative to the second platform 2, the coupling branch 304 can lock the main branch 303 through its own local degree of freedom, so that the motion chain 3 becomes a non-retractable fixed structure, thereby making the expansion and locking integrated mechanism based on the coupling branch singular cell of the embodiment of the present invention in the elongated state become a fixed structure, and at this time the main branch 303 in the locked state can also be unlocked through the local degree of freedom of the coupling branch 304 itself, so that the motion chain 3 can perform telescopic movement, that is, the expansion and locking integrated mechanism based on the coupling branch singular cell of the embodiment of the present invention can be telescopically deformed. shape; when the motion chain 3 appears another singular position in the contraction deformation of the first platform 1 relative to the second platform 2, the coupling branch 304 can lock the main branch 303 through its own local degree of freedom, so that the motion chain 3 becomes a non-retractable fixed structure, thereby making the expansion and locking integrated mechanism based on the coupling branch singular cell of the embodiment of the present invention in the contracted state become a fixed structure, and at this time the main branch 303 in the locked state can also be unlocked through the local degree of freedom of the coupling branch 304 itself, so that the motion chain 3 can perform telescopic movement, that is, the expansion and locking integrated mechanism based on the coupling branch singular cell of the embodiment of the present invention can perform telescopic deformation.

[0043] According to the deployment and locking integrated mechanism based on the coupled branch singular cell of the embodiment of the present invention, when working, a plurality of parallel motion chains 3 are used to constrain the telescopic deformation of the first platform 1 relative to the second platform 2. When the motion chain 3 appears a singular position in the elongation deformation of the first platform 1 relative to the second platform 2, the coupled branch 304 can lock the main branch 303 through its own local degree of freedom, so that the motion chain 3 becomes a non-retractable fixed structure, thereby making the deployment and locking integrated mechanism based on the coupled branch singular cell of the embodiment of the present invention in the extended state become a fixed structure, and at this time the main branch 303 in the locked state can also be unlocked through the local degree of freedom of the coupled branch 304 itself, so that the motion chain 3 can perform telescopic movement, that is, the present invention The unfolding and locking integrated mechanism based on the coupled branch singular cell of the embodiment of the invention can be extended and deformed; when the motion chain 3 appears in another singular position during the contraction deformation of the first platform 1 relative to the second platform 2, the coupled branch 304 can lock the main branch 303 through its own local degree of freedom, so that the motion chain 3 becomes a non-extendable fixed structure, thereby making the unfolding and locking integrated mechanism based on the coupled branch singular cell of the embodiment of the present invention in the contracted state become a fixed structure, and the main branch 303 in the locked state can also be unlocked through the local degree of freedom of the coupled branch 304 itself, so that the motion chain 3 can be extended and deformed, that is, the unfolding and locking integrated mechanism based on the coupled branch singular cell of the embodiment of the present invention can be extended and deformed.

[0044] The deployment and locking integrated mechanism based on coupled branch singular metamorphic cells according to the embodiment of the present invention has the following advantages over the prior art: on the one hand, since a parallel mechanism composed of multiple parallel kinematic chains 3 is adopted between the first platform 1 and the second platform 2, and coupled branches 304 are introduced into the kinematic chains 3 of the parallel mechanism, i.e., the kinematic chains 3 include main branches 303 and coupling chains 304, the rigidity of the entire mechanism is improved; on the other hand, when each kinematic chain 3 reaches a singular position during the telescopic deformation of the first platform 1 relative to the second platform 2, the coupling branches 304 can lock the main branches 303 through their own local degrees of freedom, making the deployment and locking integrated mechanism based on coupled branch singular metamorphic cells according to the embodiment of the present invention a fixed structure, thereby improving the stability of the entire mechanism. At this time, the main branches 303 in the locked state can also be unlocked through the local degrees of freedom of the coupling branches 304 themselves, allowing the kinematic chains 3 to perform telescopic movement, that is, the deployment and locking integrated mechanism based on coupled branch singular metamorphic cells according to the embodiment of the present invention can perform telescopic deformation. In short, the deployment and locking integrated mechanism based on coupled branch singular metamorphic cells according to the embodiment of the present invention has higher rigidity and stability.

[0045] In some implementations, the number of the first coupling members 301 on the first platform 1 is the same as the number of the second coupling members 302 on the second platform 2 and they are spaced apart along the circumference, for example. Figure 1 、 Figure 4 、 Figure 11 As shown, there are three kinematic chains 3. The number of first coupling members 301 on the first platform 1 and the number of second coupling members 302 on the second platform 2 are both three, and they are equally spaced along the circumference. Each first coupling member 301 is connected to two adjacent second coupling members 302 via a main branch 303 and a coupling branch 304, while each second coupling member 302 is connected to two adjacent first coupling members 301 via a main branch 303 and a coupling branch 304. As a result, this embodiment's integrated deployment and locking mechanism based on the singular metamorphosis of the coupling branches offers a simple structure and enhanced rigidity and stability.

[0046] In some embodiments, as Figures 5 and 6 As shown, each first coupling member 301 includes a first rod 3011 and a second rod 3012 arranged in a V-shape. One end of the first rod 3011 and one end of the second rod 3012 are fixed and pivotally connected to the first platform 1. The other end of the first rod 3011 is pivotally connected to one end of the main branch 303, and the other end of the second rod 3012 is pivotally connected to one end of the coupling branch 304. This embodiment's integrated deployment and locking mechanism based on the singular metamorphosis of the coupling branch is simple in structure and has higher rigidity and stability.

[0047] In some embodiments, as Figures 5 and 6 As shown, second coupling member 302 includes a third rod 3021 and a fourth rod 3022, which are arranged in a V-shape. One end of fourth rod 3022 is fixed to one end of third rod 3021 and pivotally connected to second platform 2. The other end of third rod 3021 is pivotally connected to the other end of main branch 303, and the other end of fourth rod 3022 is pivotally connected to the other end of coupling branch 304. This embodiment's integrated deployment and locking mechanism based on the singular metamorphosis of the coupling branch is simple in structure and has higher rigidity and stability.

[0048] In some embodiments, as Figures 5 and 6As shown, in the same motion chain 3, the main branch 303 includes a fifth rod 3031, both ends of the fifth rod 3031 are pivotally connected to the other end of the first rod 3011 and the other end of the third rod 3021 of one of the two second coupling members 302, and the pivot axes at both ends of the fifth rod 3031 are parallel to each other; the coupling branch 304 includes a sixth rod 3041, a seventh rod 3042 and an eighth rod 3042, one end of the sixth rod 3041 is pivotally connected to the other end of the second rod 3012, the other end of the sixth rod 3041 is pivotally connected to one end of the seventh rod 3042, the other end of the seventh rod 3042 is pivotally connected to one end of the eighth rod 3042, and the other end of the eighth rod 3042 is pivotally connected to the other end of the fourth rod 3022 of the other of the two second coupling members 302, and the pivot axes at both ends of the seventh rod 3042 are parallel to each other.

[0049] When the motion chain 3 reaches a singular position, the pivot axes at both ends of the seventh rod 3042 are parallel to the pivot axes at both ends of the fifth rod 3031, and the pivot axis at one end of the sixth rod 3041 is coaxial with the pivot axis at the other end of the eighth rod 3042. At this time, the seventh rod 3042 can rotate around the sixth rod 3041 and the eighth rod 3042. If the pivot axes at both ends of the seventh rod 3042 and the pivot axes at both ends of the fifth rod 3031 are not parallel to each other, the coupling branch chain 304 locks the main branch chain 303. If the pivot axes at both ends of the seventh rod 3042 and the pivot axes at both ends of the fifth rod 3031 are parallel to each other, the coupling branch chain 304 unlocks the main branch chain 303. Specifically, when the kinematic chain 3 reaches a singular position during the elongation deformation of the first platform 1 relative to the second platform 2, the pivot axes at both ends of the seventh rod 3042 are parallel to the pivot axes at both ends of the fifth rod 3031, and the pivot axis at one end of the sixth rod 3041 is coaxial with the pivot axis at the other end of the eighth rod 3042 (e.g., Figure 5 and Figure 6 As shown), at this time, the seventh rod 3042 can rotate around the sixth rod 3041 and the eighth rod 3042. If the pivot axes at both ends of the seventh rod 3042 and the pivot axes at both ends of the fifth rod 3031 are not parallel to each other (as shown), Figure 12 As shown), the coupling branch chain 304 locks the main branch chain 303, so that the kinematic chain 3 becomes an inextensible fixed structure, thereby making the deployment and locking integrated mechanism based on the coupling branch singular metamorphosis of this embodiment in the extended state a fixed structure, and at this time the main branch chain 303 in the locked state can also rotate around the sixth rod 3041 and the eighth rod 3042 through the seventh rod 3042, so that the pivot axes at both ends of the seventh rod 3042 and the pivot axes at both ends of the fifth rod 3031 are restored to a parallel state with each other (as shown). Figure 5 and Figure 6As shown), the main branch chain 303 is unlocked, thereby allowing the motion chain 3 to perform telescopic movement, that is, the deployment and locking integrated mechanism based on the coupling branch singular cell of the embodiment of the present invention can be telescopically deformed. When the motion chain 3 appears in a singular position during the contraction deformation of the first platform 1 relative to the second platform 2, the pivot axes at both ends of the seventh rod 3042 are parallel to the pivot axes at both ends of the fifth rod 3031, and the pivot axis at one end of the sixth rod 3041 is coaxial with the pivot axis at the other end of the eighth rod 3042. At this time, the seventh rod 3042 can rotate around the sixth rod 3041 and the eighth rod 3042. If the pivot axes at both ends of the seventh rod 3042 and the pivot axes at both ends of the fifth rod 3031 are not parallel to each other, the coupling branch chain 304 locks the main branch chain 303, so that the motion chain 3 becomes a non-retractable solid. The fixed structure makes the deployment and locking integrated mechanism based on the coupled branch singular metamorphic cell of this embodiment in the extended state become a fixed structure, while the main branch chain 303 in the locked state can also rotate around the sixth rod 3041 and the eighth rod 3042 through the seventh rod 3042, so that the pivot axes at both ends of the seventh rod 3042 and the pivot axes at both ends of the fifth rod 3031 return to a parallel state, thereby unlocking the main branch chain 303, and then allowing the kinematic chain 3 to perform telescopic movement, that is, the deployment and locking integrated mechanism based on the coupled branch singular metamorphic cell of this embodiment of the present invention can perform telescopic deformation. The deployment and locking integrated mechanism based on the coupled branch singular metamorphic cell of this embodiment is simple in structure and has higher rigidity and stability.

[0050] In some embodiments, the first platform 1 is fixed with the same number of first bases 101 as first coupling members 301, and the first bases 101 are pivotally connected to the first coupling members 301 in a one-to-one correspondence. Thus, the first coupling members 301 are pivotally connected to the first platform 1 via the first bases 101, and the first coupling members 301 are easy to install.

[0051] The second platform 2 is fixed with the same number of second bases 102 as second coupling members 302, and the second bases 102 are pivotally connected to the second coupling members 302 in a one-to-one correspondence. Thus, the second coupling members 302 are pivotally connected to the second platform 2 through the second bases 102, and the second coupling members 302 are easy to install.

[0052] In some embodiments, the plurality of first bases 101 and the plurality of second bases 102 face each other in the direction of expansion and contraction. For example, when the first platform 1 and the second platform 2 are arranged vertically, the expansion and contraction direction of the first platform 1 relative to the second platform 2 is vertical, and the plurality of first bases 101 and the plurality of second bases 102 face each other in the vertical direction. This facilitates the rational arrangement of the kinematic chain 3 and improves the rigidity of the mechanism.

[0053] In some embodiments, in the same kinematic chain 3, the coupling branch 304 is located between the first base 101 and the second base 102 that are opposite to each other, thereby facilitating a reasonable spatial arrangement of the coupling chain.

[0054] In some embodiments, the first platform 1 and the second platform 2 are both ring-shaped, the plurality of first bases 101 are all located on the inner side of the first platform 1, and the plurality of second bases 102 are all located on the inner side of the second platform 2. Thus, the structures of the first platform 1 and the second platform 2 are simple, and the spatial arrangement of the first bases 101 and the second bases 102 is reasonable.

[0055] It should be noted that, in practical applications, the deployment and locking integrated mechanisms based on coupled branched singular metamorphic cells of all the above embodiments can be superimposed and used as needed.

[0056] Throughout this specification, reference to terms such as "one embodiment," "some embodiments," "illustrative embodiments," "examples," "specific examples," or "some examples" means that a specific feature, structure, material, or characteristic described in conjunction with that embodiment or example is included in at least one embodiment or example of the present invention. In this specification, illustrative uses of the above terms do not necessarily refer to the same embodiment or example. Furthermore, the specific features, structures, materials, or characteristics described may be combined in any suitable manner in any one or more embodiments or examples.

[0057] While embodiments of the present invention have been shown and described, it will be appreciated by those skilled in the art that various changes, modifications, substitutions, and variations may be made to the embodiments without departing from the principles and spirit of the invention, and that the scope of the invention is defined by the claims and their equivalents.

Claims

1. An integrated deployment and locking mechanism based on coupled branched singular metamorphic cells, characterized in that: include: a first platform and a second platform, wherein the first platform and the second platform are arranged opposite to each other; A plurality of kinematic chains, wherein the plurality of kinematic chains are connected in parallel between the first platform and the second platform, and are used to constrain the telescopic deformation of the first platform relative to the second platform; each of the kinematic chains includes a first coupling member, two second coupling members, a main branch, and a coupling branch; the first coupling member is pivotally connected to the first platform, the two second coupling members are pivotally connected to the second platform and are located at different positions on the second platform, the two ends of the main branch are respectively pivotally connected to the first coupling member and one of the two second coupling members, and the two ends of the coupling branch are respectively pivotally connected to the first coupling member and the other of the two second coupling members; when each kinematic chain has a singular position during the telescopic deformation process, the coupling branch locks and unlocks the main branch; The number of the first coupling members on the first platform is the same as the number of the second coupling members on the second platform, and they are spaced apart along the circumferential direction; each of the first coupling members is connected to two adjacent second coupling members via one of the main branches and one of the coupling branches, and each of the second coupling members is connected to two adjacent first coupling members via one of the main branches and one of the coupling branches; Each of the first coupling members includes a first rod and a second rod, the first rod and the second rod are arranged in a V shape, one end of the first rod and one end of the second rod are fixed and pivotally connected to the first platform, the other end of the first rod is used to be pivotally connected to one end of the main branch chain, and the other end of the second rod is used to be pivotally connected to one end of the coupling branch chain; Each second coupling member includes a third rod and a fourth rod, the third rod and the fourth rod are arranged in a V shape, one end of the third rod and one end of the fourth rod are fixed and pivotally connected to the second platform, the other end of the third rod is used to be pivotally connected to the other end of the main branch chain, and the other end of the fourth rod is used to be pivotally connected to the other end of the coupling branch chain; In the same kinematic chain, the main branch includes a fifth rod, both ends of the fifth rod are pivotally connected to the other end of the first rod and the other end of the third rod of one of the two second coupling members, and the pivot axes at both ends of the fifth rod are parallel to each other; the coupling branch includes a sixth rod, a seventh rod and an eighth rod, one end of the sixth rod is pivotally connected to the other end of the second rod, the other end of the sixth rod is pivotally connected to one end of the seventh rod, the other end of the seventh rod is pivotally connected to one end of the eighth rod, and the other end of the eighth rod is pivotally connected to the other end of the fourth rod of the other of the two second coupling members, and the pivot axes at both ends of the seventh rod are parallel to each other; When the motion chain appears in a singular position, the pivot axes at both ends of the seventh rod are parallel to the pivot axes at both ends of the fifth rod, and the pivot axis at one end of the sixth rod is coaxial with the pivot axis at the other end of the eighth rod. At this time, the seventh rod can rotate around the sixth rod and the eighth rod. If the pivot axes at both ends of the seventh rod and the pivot axes at both ends of the fifth rod are not parallel to each other, the coupling branch chain locks the main branch chain. If the pivot axes at both ends of the seventh rod and the pivot axes at both ends of the fifth rod are parallel to each other, the coupling branch chain unlocks the main branch chain.

2. The deployment and locking integrated mechanism based on coupled branched singular metamorphic cells according to claim 1 is characterized in that: The first platform is fixed with the same number of first bases as the first coupling members, and the first bases are pivotally connected to the first coupling members in a one-to-one correspondence; The second platform is fixed with the same number of second bases as the second coupling members, and the second bases are pivotally connected to the second coupling members in a one-to-one correspondence.

3. The deployment and locking integrated mechanism based on coupled branched singular metamorphic cells according to claim 2, characterized in that: The plurality of first bases and the plurality of second bases are directly opposite to each other in the direction of the telescopic deformation.

4. The deployment and locking integrated mechanism based on coupled branched singular metamorphic cells according to claim 3 is characterized in that: In the same kinematic chain, the coupling branch is located between the first base and the second base facing each other.

5. The deployment and locking integrated mechanism based on coupled branched singular metamorphic cells according to claim 4 is characterized in that: The first platform and the second platform are both ring-shaped, the plurality of first bases are all located on the inner side of the first platform, and the plurality of second bases are all located on the inner side of the second platform.

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