Modularized space large-scale deployable platform based on metamorphic self-locking

Abstract

The invention discloses a modular space large-scale deployable platform based on metamorphic self-locking, which comprises a deployable platform formed by splicing a plurality of platform mechanism units and a driving device for driving the platform mechanism units to unfold or fold, and each platform mechanism unit is formed by splicing a plurality of planar linkage mechanisms. The mechanism is high in rigidity, so that the expandable mechanism has good load capacity and high expandability, and can be used for constructing a large-scale multifunctional on-orbit service station for three-dimensional space service.

Description

Technical Field

[0001] The invention relates to a large-scale deployable platform, and in particular to a modular space large-scale deployable platform based on metamorphic self-locking. Background Art

[0002] Constructing a large-scale on-orbit service station with multiple functions aims to provide three-dimensional space services, which is crucial for performing maintenance operations such as on-orbit upgrades, module failure replacement, material replenishment and component assembly. However, the stable operation of such service stations is inseparable from the support and stability of large-scale deployable aerospace platforms. The platform is composed of multiple modular deployable units connected to each other through networking technology. These units must have high stiffness, large load, light weight, high folding and unfolding ratio, high precision and other performance. Large-scale deployable mechanisms in space are core components of various spacecraft in space, such as large-scale deployable platforms in space, large-scale satellite-borne deployable antennas in space, and deployable solar wings. However, the transportation of spacecraft is usually limited by the carrying capacity of launch vehicles or space shuttles, and it is difficult to directly send spacecraft with fixed postures into space. Therefore, the spacecraft needs to be folded before launch, launched into the space environment in a compact folded state, and then unfolded by a drive device. With the increasing number of spacecraft, the demand for space service stations is increasing. Therefore, it is particularly important to design a space deployable platform with a large folding and unfolding ratio.

[0003] The Chinese invention patent with the authorization announcement number CN202211263082.X discloses a space deployable unit and a large-scale deployable platform. The space deployable unit is a symmetrical multi-closed-loop mechanism, including a first platform, a second platform, and a plurality of planar 4R branches connected to the first platform and the second platform; the planar 4R branch has a first link, a second link and a third link, one end of the first link is connected to the first platform through a first hinge point, the other end of the first link is connected to the second link through a second hinge point, one end of the third link is hinged to the second link through a third hinge point, and the other end of the third link is connected to the second platform through a fourth hinge point; wherein the rotation axes of the revolute pairs formed at the first hinge point, the second hinge point, the third hinge point and the fourth hinge point are parallel to each other; the second links in adjacent planar 4R branches are connected by two symmetrically distributed planar 3R branches. The present invention uses a planar branch consisting of a revolute pair with parallel rotation axes as a basic cell to achieve foldability and single degree of freedom.

[0004] Although the current large-scale deployable platforms can meet the size requirements when deployed, they are still large in the folded state and have complex structures. Therefore, in order to avoid the shortcomings of the prior art, it is necessary to improve the prior art. Summary of the invention

[0005] The purpose of the present invention is to overcome the shortcomings and deficiencies in the prior art and to provide a modular space large-scale deployable platform based on metamorphic self-locking with good stiffness performance and strong scalability.

[0006] The present invention is achieved through the following technical solutions:

[0007] A modular space large-scale deployable platform based on metamorphic self-locking, comprising a deployable platform formed by splicing a plurality of platform mechanism units and a driving device for driving the platform mechanism units to expand or collapse, wherein the platform mechanism units are formed by connecting a plurality of planar connecting rod mechanisms.

[0008] Furthermore, the planar linkage mechanism includes a first support rod, a second support rod, a connecting seat assembly provided on the first support rod or the second support rod, and a connecting rod assembly hinged between the first support rod and the second support rod through the connecting seat assembly, the connecting rod assembly has a horizontally fully expanded state or an upwardly retracted state, the first support rod or the second support rod constitutes a common connecting assembly of two adjacent planar linkage mechanisms, and the planar linkage mechanism constitutes a common splicing assembly of two adjacent platform mechanism units.

[0009] Further, the connecting rod assembly includes a first upper connecting rod, a second upper connecting rod, a third upper connecting rod, a fourth upper connecting rod, a first middle connecting rod, a second middle connecting rod, a first lower connecting rod and a second lower connecting rod, and the connecting seat assembly includes a first upper connecting seat installed on the upper part of the first support rod, a first middle connecting seat installed in the middle part of the first support rod, a first lower connecting seat installed in the lower part of the first support rod, a second upper connecting seat installed on the upper part of the second support rod, a second middle connecting seat installed in the middle part of the second support rod and a second lower connecting seat installed in the lower part of the second support rod, the starting end of the first upper connecting rod is hinged to the first upper connecting seat, and the starting end of the second upper connecting rod is hinged to the The second upper connecting seat is hinged, the starting end of the first middle connecting rod is hinged to the first middle connecting seat, the starting end of the second middle connecting rod is hinged to the second middle connecting seat, the starting end of the first lower connecting rod is hinged to the first lower connecting seat, the starting end of the second lower connecting rod is hinged to the second lower connecting seat, the starting end of the third upper connecting rod is hinged to the end of the first middle connecting rod and the end of the second lower connecting rod respectively, the starting end of the fourth upper connecting rod is hinged to the end of the second middle connecting rod and the end of the first lower connecting rod respectively, the end of the first upper connecting rod, the end of the second upper connecting rod, the end of the third upper connecting rod and the end of the fourth upper connecting rod are hinged.

[0010] Furthermore, the first upper connecting seat, the first middle connecting seat, the first lower connecting seat, the second upper connecting seat, the second middle connecting seat and the second lower connecting seat are respectively provided with two, three or four hinged joints, and the hinged joints are respectively hinged to adjacent connecting rod assemblies.

[0011] Furthermore, the angle between two adjacent hinged joints is 90 degrees.

[0012] Furthermore, the rod body of the first lower connecting rod is provided with an elongated slot, and the second lower connecting rod passes through the elongated slot and slides in the elongated slot.

[0013] Furthermore, the driving device includes a driving rod, a pushing seat, a driving rod and a driver for driving the driving rod to move, the pushing seat is sleeved outside the driving rod, the starting end of the driving rod is hinged to the pushing seat, and the end of the driving rod is hinged to the planar connecting rod mechanism.

[0014] Furthermore, a connecting head is provided at the end of the push rod, and the connecting head is hinged to the end of the first upper connecting rod, the end of the second upper connecting rod, the end of the third upper connecting rod and the end of the fourth upper connecting rod respectively.

[0015] Furthermore, the driving device includes at least two pushing rods.

[0016] Furthermore, the platform mechanism unit is formed by connecting four planar connecting rod mechanisms.

[0017] The present invention generates multiple singular positions when fully deployed by coupling multiple planar linkage mechanisms, thereby realizing the constraint transformation of the deployable platform mechanism unit and forming a self-locking state. The self-locking mechanism enables the deployable platform mechanism unit to fully exert its stability and enhances the rigidity of the mechanism, so that the deployable mechanism has good load capacity and can be used to construct a large multifunctional on-orbit service station for three-dimensional space services.

[0018] The present invention adopts a single-degree-of-freedom driving method to couple the deployable platform mechanism unit with the driving device to form a single module. The number of modules can be increased or decreased according to the needs of Nanjing University, and the scalability is high. The coupled platform mechanism unit can achieve smooth deployment under single-degree-of-freedom conditions, and the driving is simple. BRIEF DESCRIPTION OF THE DRAWINGS

[0019] In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings required for use in the embodiments or the description of the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative labor.

[0020] Figure 1 It is a schematic diagram of the structure of the planar linkage mechanism of the modular space large-scale deployable platform based on metamorphic self-locking of the present invention in the deployed state;

[0021] Figure 2 It is a schematic diagram of the structure of the planar connecting rod mechanism of the modular space large-scale deployable platform based on metamorphic self-locking of the present invention in a folded state;

[0022] Figure 3 The first support rod or the second support rod of the modular space large-scale deployable platform based on metamorphic self-locking of the present invention is a schematic diagram of the structure. In the figure, from left to right, there are a schematic diagram of the structure with two hinged joints (a), a schematic diagram of the structure with three hinged joints (b), and a schematic diagram of the structure with four hinged joints (c);

[0023] Figure 4 It is a schematic diagram of the structure of the platform mechanism unit in the unfolded state of the modular space large-scale unfoldable platform based on metamorphic self-locking of the present invention;

[0024] Figure 5 It is a schematic structural diagram of the platform mechanism unit in the folded state of the modular space large-scale deployable platform based on metamorphic self-locking of the present invention;

[0025] Figure 6 It is a schematic diagram of the structure of the driving device of the modular space large-scale deployable platform based on metamorphic self-locking of the present invention in the deployed state;

[0026] Figure 7 It is a schematic structural diagram of the folded state of the driving device of the modular space large-scale deployable platform based on metamorphic self-locking of the present invention;

[0027] Figure 8 It is a schematic diagram of the unfolded state of a single platform mechanism unit of the modular space large-scale unfoldable platform based on metamorphic self-locking of the present invention;

[0028] Fig. 9 It is a schematic diagram of a folded state of a single platform mechanism unit of the modular space large-scale deployable platform based on metamorphic self-locking of the present invention;

[0029] Fig.10 It is a schematic diagram of the unfolded state of two platform mechanism units of the modular space large-scale unfoldable platform based on metamorphic self-locking of the present invention;

[0030] Fig.11 It is a schematic diagram of the unfolded state of three platform mechanism units of the modular space large-scale unfoldable platform based on metamorphic self-locking of the present invention;

[0031] Fig.12 It is a schematic diagram of the unfolded state of four platform mechanism units of the modular space large-scale unfoldable platform based on metamorphic self-locking of the present invention;

[0032] Fig.13 It is a schematic diagram of the unfolded state of twenty-five platform mechanism units of the modular space large-scale unfoldable platform based on metamorphic self-locking of the present invention;

[0033] Fig.14 It is a schematic diagram of the folded state of twenty-five platform mechanism units of the modular space large-scale deployable platform based on metamorphic self-locking of the present invention;

[0034] Fig.15 It is a structural schematic diagram of the modular space large-scale deployable platform based on metamorphic self-locking of the present invention applied to a three-dimensional space service station.

[0035] In the figure: 1-platform mechanism unit; 2-expandable platform; 3-driving device; 4-planar linkage mechanism; 5-first support rod; 6-second support rod; 7-first upper connecting rod; 8-second upper connecting rod; 9-third upper connecting rod; 10-fourth upper connecting rod; 11-first middle connecting rod; 12-second middle connecting rod; 13-first lower connecting rod; 14-second lower connecting rod; 15-first upper connecting seat; 16-first middle connecting seat; 17-first lower connecting seat; 18-second upper connecting seat; 19-second middle connecting seat; 20-second lower connecting seat; 21-hinge head; 22-driving rod; 23-pushing seat; 24-pushing rod; 25-connecting head; 26-satellite. DETAILED DESCRIPTION

[0036] The following will be combined with the drawings in the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0037] The main shortcomings of the existing large-scale space deployable platforms are reflected in the following aspects: First, the current large-scale space deployable platforms are only designed for their mechanisms, and their driving methods are not clear. The more degrees of freedom required for mechanism driving, the more drivers there will be, which increases the overall mass of the mechanism and makes transportation complicated. Secondly, the rocket's carrying capacity is limited, so during transportation, the space it occupies should be minimized. Many large-scale space deployable platforms only consider the scale after deployment, but ignore the scale in the folded state, which makes their transportation difficult. The deployable properties should be considered based on the actual folding and unfolding ratio as an indicator. It is one-sided to judge its deployment performance simply by the unfolding dimension. Finally, considering the practical application of the large-scale deployable platform, when designing the structure, the mechanism should have good stiffness and good load capacity, and can be used to carry objects.

[0038] In view of the problems existing in the large-scale deployable platform in the prior art, the present invention proposes a modular large-scale deployable platform based on metamorphic self-locking. The mechanism designs a basic module unit based on a planar linkage mechanism to form an deployable unit with a single degree of freedom. The deployable unit has a large folding and unfolding ratio, which has a great impact on the construction of a large-scale on-orbit service space station. The present invention couples the four sides of the deployable unit and designs a drive unit. Although theoretically, the deployment of the quadrilateral mechanism can be achieved by a driver with the same number of sides. However, the driving method of the present invention can achieve smooth deployment under single-degree-of-freedom conditions and can provide driving force for each deployable plane. Moreover, the cross-section of the deployable unit is a square, which has good symmetry and enhances the stability of the overall structure.

[0039] The spatial large-scale deployable platform of the present invention generates multiple singular positions when fully deployed by coupling multiple planar 4R mechanisms, thereby realizing the constrained cell transformation of the deployable unit and then forming a self-locking state. The self-locking mechanism enables the deployable unit to fully exert its stability and enhances the rigidity of the mechanism.

[0040] The large-scale spatial expandable platform of the present invention adopts a modular design. Four module units form an expandable unit. The expandable unit and the drive unit form a single module. The number of modules can be increased or decreased according to actual needs, and the expandability is high.

[0041] The large-scale spatial deployable platform of the present invention adopts a single-degree-of-freedom driving mode. The deployable unit is coupled with the driving unit, and the coupled module can be smoothly deployed under the condition of single-degree-of-freedom, and the driving is simple.

[0042] The large-scale spatial deployable platform of the present invention adopts a truss structure, which enhances the rigidity of the mechanism, so that the deployable mechanism has a good load capacity and can be used to construct a large-scale multifunctional on-orbit service station for three-dimensional space services.

[0043] like Figures 1 to 14 The present invention is a modular large-scale deployable platform based on metamorphic self-locking, including a deployable platform 2 formed by a plurality of platform mechanism units 1 and a driving device 3 for driving the platform mechanism unit 1 to expand or collapse. The platform mechanism unit 1 is formed by connecting a plurality of planar connecting rod mechanisms 4. The large-scale deployable platform 2 is highly symmetrical and has only one degree of freedom. In order to reduce the difficulty of processing and enhance the scalability, a modular design method is adopted. The deployable platform mechanism unit 1 is formed by networking the module basic units, and then a plurality of deployable platform mechanism units 1 and the driving device 3 are rectangularly networked to obtain a large-scale deployable platform 2. The large-scale deployable platform 2 can realize synchronous expansion and folding movements in a plane. In the design of the module unit, in order to achieve a larger folding ratio.

[0044] The planar linkage mechanism 4 includes a first support rod 5, a second support rod 6, a connecting seat assembly arranged on the first support rod 5 or the second support rod 6, and a connecting rod assembly hinged between the first support rod 5 and the second support rod 6 through the connecting seat assembly. The connecting rod assembly has a horizontally fully expanded state or an upwardly retracted state. The first support rod 5 or the second support rod 6 constitutes a common connecting assembly of two adjacent planar linkage mechanisms 4, and the planar linkage mechanism 4 constitutes a common splicing assembly of two adjacent platform mechanism units 1.

[0045] The connecting rod assembly includes a first upper connecting rod 7, a second upper connecting rod 8, a third upper connecting rod 9, a fourth upper connecting rod 10, a first middle connecting rod 11, a second middle connecting rod 12, a first lower connecting rod 13 and a second lower connecting rod 14. The connecting seat assembly includes a first upper connecting seat 15 installed on the upper part of the first support rod 5, a first middle connecting seat 16 installed in the middle of the first support rod 5, a first lower connecting seat 17 installed in the lower part of the first support rod 5, a second upper connecting seat 18 installed on the upper part of the second support rod 6, a second middle connecting seat 19 installed in the middle of the second support rod 6 and a second lower connecting seat 20 installed in the lower part of the second support rod 6. The starting end of the first upper connecting rod 7 is hinged to the first upper connecting seat 15, and the second upper connecting rod 8 is hinged to the first upper connecting seat 15. The starting end of the first middle connecting rod 11 is hinged to the first middle connecting seat 16, the starting end of the second middle connecting rod 12 is hinged to the second middle connecting seat 19, the starting end of the first lower connecting rod 13 is hinged to the first lower connecting seat 17, the starting end of the second lower connecting rod 14 is hinged to the second lower connecting seat 20, the starting end of the third upper connecting rod 9 is hinged to the end of the first middle connecting rod 11 and the end of the second lower connecting rod 14 respectively, the starting end of the fourth upper connecting rod 10 is hinged to the end of the second middle connecting rod 12 and the end of the first lower connecting rod 13 respectively, the end of the first upper connecting rod 7, the end of the second upper connecting rod 8, the end of the third upper connecting rod 9 and the end of the fourth upper connecting rod 10 are hinged.

[0046] The first upper connecting seat 15, the first middle connecting seat 16, the first lower connecting seat 17, the second upper connecting seat 18, the second middle connecting seat 19 and the second lower connecting seat 20 are respectively provided with two, three or four hinged joints 21, and the hinged joints 21 are respectively hinged to the adjacent connecting rod assemblies.

[0047] The angle between two adjacent hinged joints 21 is 90 degrees.

[0048] The rod body of the first lower connecting rod 13 is provided with an elongated slot, and the second lower connecting rod 14 passes through the elongated slot and slides in the elongated slot.

[0049] The driving device 3 includes a driving rod 22, a pushing seat 23, a pushing rod 24 and a driver for driving the driving rod 22 to move. The pushing seat 23 is sleeved outside the driving rod 22, the starting end of the pushing rod 24 is hinged to the pushing seat 23, and the end of the pushing rod 24 is hinged to the planar connecting rod mechanism 4.

[0050] The end of the push rod 24 is provided with a connector 25, and the connector 25 is hinged to the end of the first upper connecting rod 7, the end of the second upper connecting rod 8, the end of the third upper connecting rod 9 and the end of the fourth upper connecting rod 10 respectively. The driving device 3 includes at least two push rods 24. The driving device 3 is a single-degree-of-freedom mechanism. Each kinematic branch chain connects the driving device to the deployable platform mechanism unit 1 through a revolute pair to form a single module, and the degree of freedom of the single module is 1. When multiple modules are rectangularly networked, the deployable platform mechanism unit 1 shares the first support rod 5 and the second support rod 6. The driving device 3 couples the drive between the two modules through the connector 11. Therefore, the overall degree of freedom of the large-scale spatial deployable platform 2 is the same as that of a single module, which is also a single degree of freedom, making the drive simple.

[0051] The deployable platform 2 is in a folded state during transportation. When it needs to be deployed in the service space environment, it can be driven by a simple and reliable driver such as a servo motor or a nut screw. Under the action of the driving force, the large-scale deployable platform 2 is slowly deployed. The large-scale deployable platform 2 has a large folding and unfolding ratio and excellent single-degree-of-freedom driving characteristics. The single-degree-of-freedom multi-point driving method improves the stress condition of the overall mechanism during the deployment process, making it more stable and reliable. The special variable cell self-locking function makes the large-scale deployable platform 2 stable and reliable in operation, reduces the influence of prestress on the deployable platform 2, strengthens the rigidity of the deployable platform 2, and ensures the rigidity performance requirements required for the on-orbit operation of the space service station.

[0052] A single platform mechanism unit 1 can be expanded by adding units in the X direction, and on this basis, by adding units in the Y direction. It can be seen that the platform can be expanded in the X and Y directions according to demand, and has high scalability. Through this networking connection, the four planar linkage mechanisms 4 can be deployed at the same time, with a degree of freedom of 1 and simple driving. It is obvious that this networking method can be used to build a large-scale multifunctional on-orbit service station for three-dimensional space services.

[0053] like Fig.15 As shown, the satellite 26 is parked on the large-scale deployable platform 2. This will be further described in detail below through examples.

[0054] As a specific implementation, this example is described by using a spatially large-scale deployable platform 2 formed by 25 platform mechanism units 1 in a rectangular network. At this time, the design parameters meet the following conditions and connection methods.

[0055] Assumption d i(i=1, ..., 10) represents the length of each rod of the planar linkage mechanism 4, where d1 is the first upper connecting rod 7, d2 is the third upper connecting rod 9, d3 is the first middle connecting rod 11, d4 is the second lower connecting rod 14, d5 is the first supporting rod 5, d6 is the second upper connecting rod 8, d7 is the fourth upper connecting rod 10, d8 is the second middle connecting rod 12, d9 is the first lower connecting rod 13, d 10 is the second support rod 6, then the rod length condition of the planar linkage mechanism 4 is: 10 =d5=2d1=2d6=2d2=2d7=4d3=4d8, When 10 When d5 = 120 mm, the diameter folding / expansion ratio reaches 2.5. It can be seen that this large-scale spatially deployable platform 2 has an excellent folding / expansion ratio.

[0056] Working principle: the driving device 3 acts on all the driving rods 22 through the driver to stretch them upward at the same time, so that the connecting rod assemblies are all stretched upward, and at the same time, the first support rod 5 and the second support rod 6 move in opposite directions to achieve folding; similarly, the driving device 3 acts on all the driving rods 22 to stretch them downward, so that the connecting rod assemblies are all stretched downward, and at the same time, the first support rod 5 and the second support rod 6 move in opposite directions to achieve unfolding.

[0057] The large-scale spatial deployable platform 2 of the present invention has many advantages such as high rigidity, high stability, few degrees of freedom, simple driving system, etc., and can be widely used in constructing large-scale multifunctional on-orbit service stations for three-dimensional space services.

[0058] In order to realize a large folding and unfolding ratio of a large-scale deployable platform 2 in space, the present invention adopts a planar linkage mechanism 4 as a basic cell, connects four cell modules by networking, and constructs a deployable platform mechanism unit 1. The platform mechanism unit 1 has excellent folding and unfolding ratio and single degree of freedom characteristics, and shows stronger stability compared with solutions such as scissor mechanism and parallelogram mechanism.

[0059] In order to realize the single-degree-of-freedom driving characteristics of the large-scale deployable platform 2 in space, the present invention designs a driving unit so that the platform can be smoothly deployed under the condition of single degree of freedom and can provide power for each deployed plane. At the same time, under the condition of single degree of freedom, the number of drivers required for the platform is 1, and the number of drivers is small, the overall mass will be reduced, and the transportation cost will be reduced.

[0060] In order to achieve excellent rigidity of the large-scale deployable platform 2, the present invention adopts a variable cell self-locking design. After the platform mechanism unit 1 is fully deployed, the planar linkage mechanism 4 is moved to a singular position to form a dead point, thereby changing the constraint characteristics of the module unit, realizing a self-locking mechanism, and enhancing the rigidity of the large-scale deployable platform 2.

[0061] In order to realize the high expandability of the large-scale deployable platform 2 in space, the present invention adopts a modular design scheme. The platform mechanism unit 1 is formed by connecting four planar linkage mechanisms 4. The four planar linkage mechanisms 4 form an deployable platform mechanism unit 1, the deployable platform mechanism unit 1 and the drive device 3 form an deployable platform 2, and multiple deployable platforms 2 are networked to form a large-scale deployable platform 2. The number of deployable platform mechanism units 1 can be increased or decreased according to demand, and the expandability is high.

[0062] The above description is only a preferred embodiment of the present invention and is not intended to limit the present invention. Any modifications, equivalent substitutions, improvements, etc. made within the spirit and principle of the present invention should be included in the protection scope of the present invention.

Claims

1. A modular space large-scale deployable platform based on metamorphic self-locking, characterized by: The utility model comprises an expandable platform formed by splicing a plurality of platform mechanism units and a driving device for driving the platform mechanism units to expand or collapse. The platform mechanism units are formed by connecting a plurality of planar connecting rod mechanisms.

2. The modular space large-scale deployable platform based on metamorphic self-locking according to claim 1 is characterized by: The planar linkage mechanism includes a first support rod, a second support rod, a connecting seat assembly arranged on the first support rod or the second support rod, and a connecting rod assembly hinged between the first support rod and the second support rod through the connecting seat assembly, the connecting rod assembly has a horizontally fully expanded state or an upwardly retracted state, the first support rod or the second support rod constitutes a common connecting assembly of two adjacent planar linkage mechanisms, and the planar linkage mechanism constitutes a common splicing assembly of two adjacent platform mechanism units.

3. The modular space large-scale deployable platform based on metamorphic self-locking according to claim 2 is characterized by: The connecting rod assembly includes a first upper connecting rod, a second upper connecting rod, a third upper connecting rod, a fourth upper connecting rod, a first middle connecting rod, a second middle connecting rod, a first lower connecting rod and a second lower connecting rod, and the connecting seat assembly includes a first upper connecting seat installed on the upper part of the first support rod, a first middle connecting seat installed in the middle part of the first support rod, a first lower connecting seat installed in the lower part of the first support rod, a second upper connecting seat installed on the upper part of the second support rod, a second middle connecting seat installed in the middle part of the second support rod and a second lower connecting seat installed in the lower part of the second support rod, the starting end of the first upper connecting rod is hinged to the first upper connecting seat, and the starting end of the second upper connecting rod is hinged to the second The upper connecting seat is hinged, the starting end of the first middle connecting rod is hinged to the first middle connecting seat, the starting end of the second middle connecting rod is hinged to the second middle connecting seat, the starting end of the first lower connecting rod is hinged to the first lower connecting seat, the starting end of the second lower connecting rod is hinged to the second lower connecting seat, the starting end of the third upper connecting rod is hinged to the end of the first middle connecting rod and the end of the second lower connecting rod respectively, the starting end of the fourth upper connecting rod is hinged to the end of the second middle connecting rod and the end of the first lower connecting rod respectively, the end of the first upper connecting rod, the end of the second upper connecting rod, the end of the third upper connecting rod and the end of the fourth upper connecting rod are hinged.

4. The modular space large-scale deployable platform based on metamorphic self-locking according to claim 3 is characterized by: The first upper connecting seat, the first middle connecting seat, the first lower connecting seat, the second upper connecting seat, the second middle connecting seat and the second lower connecting seat are respectively provided with two, three or four hinged joints, and the hinged joints are respectively hinged to adjacent connecting rod assemblies.

5. The modular space large-scale deployable platform based on metamorphic self-locking according to claim 4 is characterized by: The angle between two adjacent hinged joints is 90 degrees.

6. The modular space large-scale deployable platform based on metamorphic self-locking according to claim 3 is characterized by: The rod body of the first lower connecting rod is provided with an elongated slot, and the second lower connecting rod passes through the elongated slot and slides in the elongated slot.

7. The modular space large-scale deployable platform based on metamorphic self-locking according to claim 3 is characterized by: The driving device includes a driving rod, a pushing seat, a driving rod and a driver for driving the driving rod to move. The pushing seat is sleeved outside the driving rod, the starting end of the driving rod is hinged to the pushing seat, and the end of the driving rod is hinged to the planar connecting rod mechanism.

8. The modular space large-scale deployable platform based on metamorphic self-locking according to claim 7 is characterized by: A connecting head is provided at the end of the push rod, and the connecting head is hinged to the end of the first upper connecting rod, the end of the second upper connecting rod, the end of the third upper connecting rod and the end of the fourth upper connecting rod respectively.

9. The modular space large-scale deployable platform based on metamorphic self-locking according to claim 7 is characterized by: The driving device comprises at least two pushing rods.

10. The modular space large-scale deployable platform based on metamorphic self-locking according to claim 1 is characterized by: The platform mechanism unit is formed by connecting four planar connecting rod mechanisms.

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