Spatial variable-configuration platform capable of being repeatedly folded and unfolded and rope driving system

Abstract

The invention discloses a space variable configuration type platform capable of being repeatedly folded and unfolded and a rope driving system. The platform comprises a flexible folding and unfolding sail surface, a plurality of folding and unfolding arms used for supporting the flexible folding and unfolding sail surface and a driving device used for driving the folding and unfolding arms to move. The folding and unfolding arms are stretched or bent to deform under the action of corresponding driving motors in the driving devices; the flexible folding and unfolding sail surface is connected with the folding and unfolding arms; the driving device drives the driving rope to release and retract through the motor so as to realize folding and unfolding control of the folding and unfolding arm; under the driving of the folding and unfolding arms, the flexible folding and unfolding sail surface can be deformed, so that the surface area of the antenna is increased or reduced. According to the platform and the system, repeated folding and unfolding of the antenna and switching of a plurality of different configurations can be realized, so that the working range of a space deployable structure is expanded.

Description

Technical Field

[0001] The present invention relates to the field of aerospace, specifically to the field of foldable antennas and rope drive technology, in particular to a repeatedly foldable space-variable configuration platform and a rope drive system. Background Art

[0002] With the vigorous development of aerospace technology, fixed-form satellite payloads have been unable to meet the requirements of multi-task execution capabilities, strong environmental adaptability and risk resistance. Space deployable structures provide an effective solution for this. They can achieve the transition from a tightly folded state to a controllable unfolded state to meet different application requirements. They have been widely used in solar cells, large-aperture satellite antennas, space station folding arms, space robots and other fields.

[0003] However, most of the existing space deployable structures are one-time deployment, and the deployment mechanism provides the deployment driving force through its own springs, elastic materials or driving ropes, etc., and locks and maintains the deployed state after the deployment action is completed. With the development of satellite technology, the size span of space deployable structures has increased, the functional requirements have increased, and the maneuverability of spacecraft has become more stringent, so the demand for repeatable deployment and folding structures has become more and more urgent. In response to the urgent needs of space applications for diversified functions, lightweight structures, and multiple reuses, the present invention proposes a type of repeatable foldable space variable configuration platform and rope drive design. Different from traditional space deployable structures, the present invention can realize the repeated folding and unfolding of antennas, as well as switching between multiple different configurations. The present invention will greatly expand the working range of space deployable structures and can be applied to solar cells, satellite antennas, space robots, etc. Summary of the invention

[0004] In view of the problems existing in the prior art, the purpose of the present invention is to provide a repeatedly foldable and deployable spatially variable configuration platform and rope drive system, which can realize the repeated folding and unfolding of the antenna and the switching of multiple different configurations, thereby expanding the working range of the spatially deployable structure.

[0005] To achieve the above-mentioned purpose, the present invention provides a spatially variable configuration platform that can be repeatedly folded and unfolded, the platform comprising a flexible folding sail surface, a plurality of folding arms for supporting the flexible folding sail surface, and a driving device for driving the folding arms to move; wherein the folding arms are extended or bent under the action of a corresponding driving motor in the driving device; the flexible folding sail surface is connected to the folding arm; the driving device drives the release and retraction of the driving rope through the motor to realize the folding and unfolding control of the folding arm; under the drive of the folding arm, the flexible folding sail surface can be deformed, so that the surface area of ​​the antenna is increased or decreased; when the lengths of the folding arms are at the maximum L max When the flexible folding sail surface is at most S max , the antenna is in a fully extended state; when the length of the folded arms is at the minimum Lmin When the flexible folding sail surface is the smallest, S min , at this time the antenna is in a fully folded state; the length of the folding arm can also be set to L; ; The folding arm is at a certain length between the longest and the shortest. At this time, the area of ​​the flexible folding sail surface is S. .

[0006] Furthermore, the folding arm includes a plurality of folding units, and the folding arm is controlled by controlling each folding unit through the driving device, so that the flexible folding sail surface can be switched between a fully expanded state, a fully folded state and a partially expanded state.

[0007] Furthermore, the flexible foldable sail surface is a circular planar antenna configuration, the driving device is arranged at the center of the circle, and a plurality of folding arms are radially extended from the driving device to the outer periphery of the flexible foldable sail surface, one end of the folding arm is connected to the driving device, and the other end is connected to the edge of the flexible foldable sail surface; the folding of the antenna is achieved by telescopic control of the folding arm.

[0008] Furthermore, the flexible foldable sail surface is a parabolic antenna configuration, a driving device is arranged at the bottom of the parabola, and a plurality of folding arms are radially extended from the driving device to the outer periphery of the flexible foldable sail surface, one end of the folding arm is connected to the driving device, and the other end is connected to the edge of the flexible foldable sail surface; the folding of the antenna is achieved by controlling the bending of the folding arm.

[0009] Furthermore, the folding arm is composed of multiple folding units, each folding unit has a square support base and a folding part, each folding part includes two symmetrical roughly triangular units, one end of one triangle has a rectangular part; the square support base is fixedly connected to the rectangular part at one end of one of the triangles, and is hinged to the base of the other triangle. Each folding arm is provided with eight unfolding drive ropes for control.

[0010] On the other hand, the present invention also provides a rope drive system, which is applied to a spatially variable configuration platform that can be repeatedly folded and unfolded. Each folding arm is provided with 8 unfolding drive ropes and 4 folding drive ropes, namely the first unfolding drive rope 111, the second unfolding drive rope 112, the third unfolding drive rope 121, the fourth unfolding drive rope 122, the fifth unfolding drive rope 131, the sixth unfolding drive rope 132, the seventh unfolding drive rope 141 and the eighth unfolding drive rope 142; and the first folding drive rope 113, the second folding drive rope 123, the third folding drive rope 133, and the fourth folding drive rope 143; two groups of folding motors are arranged on each side of the folding arm, which are respectively responsible for the contraction drive and the unfolding drive of the side.

[0011] Furthermore, under the action of the folding motor, the first deployment driving rope 111 and the second deployment driving rope 112 are folded to shorten them; the routing mode of the first deployment driving rope 111 on the folding arm structure is as follows: The routing of the second deployment drive rope 112 on the folding arm structure is as follows: , where A is located at one end of the lower triangle rectangle near the base; point C is located at the boundary between the triangular part and the rectangular part of the lower triangle; B and D are located at the hinge positions of the lower triangle and the upper triangle respectively; E and F are located near the vertex of the triangular part of the lower triangle respectively, and the subscripts 1, 2, and 3 of each letter represent the number of each folding unit respectively.

[0012] Furthermore, the end point of the first deployment drive rope 111 With the folding arm structure The end point of the second deployment drive rope 112 is fixedly connected to With the folding arm structure under the action of the drive motor, the lengths of the first deployment drive rope 111 and the second deployment drive rope 112 are shortened, and the folding arm structure is from a fully folded state to a fully unfolded state.

[0013] Further, the first deployment drive rope 111 is Passed by twice. , where the first time The point is only in contact with this point and not from Pass through the hole for the second time Point from Therefore, during the structural deployment process, the first deployment drive rope 111 segment, can be After crossing the critical configuration, the first deployment drive rope 111 Segment and The points are no longer in contact and separation occurs; when the structure reaches configuration iii, the drive motor is powered off and it is finally fully deployed under the action of the structural elastic force.

[0014] Furthermore, for the folding driving rope, the folding of the structure connected thereto is achieved by contracting the length of the folding driving rope. For the array structure composed of each bistable unit connected in series, only one folding driving rope is needed to achieve complete folding of the series array structure. The location is a folding motor, under the action of which the folding drive rope is folded to shorten it.

[0015] Beneficial effects: The present invention can realize the repeated folding and unfolding of the antenna, as well as the switching of multiple different configurations, thereby expanding the working range of the space deployable structure. In particular, the unfolding drive rope and the folding drive rope adopt different routing methods in structure, ensuring that the structure can be both unfolded and folded under the control of different motors. Compared with the hybrid drive method (such as air drive and motor rope hybrid drive), the drive method is more single, so that the design of the control system supporting the structure is simpler. In addition, the use of this design facilitates the on-orbit application of the platform and can better adapt to the space vacuum, high and low temperature alternation and other environments. BRIEF DESCRIPTION OF THE DRAWINGS

[0016] Figure 1 The overall schematic diagram of the satellite-borne variable configuration structure that can be repeatedly folded and unfolded according to the present invention is shown; Figure 2 A schematic diagram of a fully deployed state of a satellite-borne variable-configuration antenna that can be repeatedly folded and unfolded according to the present invention is shown; Figure 3 A schematic diagram of a fully folded state of a satellite-borne variable configuration antenna that can be repeatedly folded and unfolded according to the present invention is shown; Figure 4 A schematic diagram of a partially unfolded state of a satellite-borne variable-configuration antenna that can be repeatedly folded and unfolded according to the present invention is shown; Figure 5 A schematic diagram of the planar structure of the repeatedly foldable and expandable structure according to the present invention is shown; Figure 6 A schematic diagram showing a parabola opening upward of a parabola configuration of a repeatably foldable antenna according to the present invention; Figure 7 A schematic diagram showing a parabola opening downward of a parabola configuration of a repeatably foldable antenna according to the present invention is shown; Figure 8 It shows a schematic diagram of a fully unfolded configuration of the unfolding drive rope of the folding and unfolding arm 1 according to the present invention; Fig. 9 A schematic diagram showing a fully folded configuration of the unfolding drive rope of the folding and unfolding arm 1 according to the present invention is shown; Fig.10 It shows a fully unfolded configuration of the unfolding drive rope of the folding and unfolding arm 1 according to the present invention, a front view schematic diagram; Fig.11 It shows a fully folded configuration of the unfolding drive rope of the folding arm 1 according to the present invention, a front schematic view; Fig.12 A schematic diagram showing the routing of the deployment drive rope according to the present invention is shown; Fig.13 A schematic diagram of the routing of the foldable drive rope according to the present invention is shown. DETAILED DESCRIPTION

[0017] The technical solution of the present invention will be described clearly and completely below in conjunction with the accompanying drawings. 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.

[0018] In the description of the present invention, it should be noted that the terms "center", "upper", "lower", "left", "right", "vertical", "horizontal", "inner", "outer", etc., indicating the orientation or positional relationship, are based on the orientation or positional relationship shown in the drawings, and are only for the convenience of describing the present invention and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore cannot be understood as limiting the present invention. In addition, the terms "first", "second", and "third" are used for descriptive purposes only, and cannot be understood as indicating or implying relative importance.

[0019] In the description of the present invention, it should be noted that, unless otherwise clearly specified and limited, the terms "installed", "connected", and "connected" should be understood in a broad sense, for example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be a direct connection, or it can be indirectly connected through an intermediate medium, or it can be the internal communication of two components. For ordinary technicians in this field, the specific meanings of the above terms in the present invention can be understood according to specific circumstances.

[0020] The following combination Figure 1-Figure 13 The specific embodiments of the present invention are described in detail. It should be understood that the specific embodiments described herein are only used to illustrate and explain the present invention, and are not used to limit the present invention.

[0021] exist Figure 1In the illustrated embodiment, the space-variable platform that can be repeatedly folded and unfolded according to the present invention includes a flexible folding sail surface 6, a plurality of folding arms for supporting the flexible folding sail surface, and a driving device 5 for driving the movement of the folding arms; wherein, in this embodiment, four folding arms 1-4 are used to expand or contract or bend under the action of corresponding driving motors in the driving device; the driving device 5 includes a driving motor and a mounting box; in this embodiment, the flexible folding sail surface 6 is an important component of the antenna, and the flexible folding sail surface 6 is connected to the four folding arms 1-4 (for example, bonded). Under the drive of the folding arms, the flexible folding sail surface 6 can be deformed, so that the surface area of ​​the antenna increases or decreases. The flexible folding sail surface 6 is preferably circular, and the driving device 5 is arranged at the center of the circle. A plurality of folding arms are radially extended from the driving device 5 to the outer periphery of the flexible folding sail surface, and one end of the folding arm is connected to the driving device, and the other end is connected to the edge of the flexible folding sail surface. Each folding arm is composed of multiple folding units, each of which has an unfolded state and a folded state. The folding arm is telescopically controlled by the control of each folding unit by the driving device, so that the flexible folding sail surface can be in a fully unfolded state ( Figure 2 ), fully folded state ( Figure 3 ) and partially expanded state ( Figure 4 The driving device 5 drives the driving rope to release and retract through the motor to realize the folding and unfolding control of the folding and unfolding arm.

[0022] When the lengths of the folding arms 1-4 are all at their maximum L max When the flexible folding sail surface is at most S max , the antenna is in a fully extended state, as shown in Figure 2; when the lengths of the folding arms 1-4 are all at the minimum L min When the flexible folding sail surface is the smallest, S min , at this time the antenna is in a completely folded state, as shown in FIG3 ; in addition, the length of the folding arms 1-4 can also be set to , that is, the folding arm is at a certain length between the longest and the shortest, and the area of ​​the flexible folding sail surface is S, that is, .

[0023] During the launch and transportation process, the antenna structure is in a folded and retracted state as shown in FIG3 in the rocket, which takes up the smallest space and is convenient for launch and transportation. After launch into orbit, it is folded and unfolded as needed, such as the partially unfolded configuration shown in FIG4 and the fully unfolded configuration shown in FIG2.

[0024] In addition to the above-mentioned planar antenna, in order to achieve high directivity of the antenna, that is, to converge radio waves into a narrow beam in a specific direction, or to receive radio waves from a specific direction, the repeatable foldable antenna proposed in the present invention can also realize a parabolic antenna configuration, as shown in Figures 6 and Figure 7At this time, the folding and spreading arms 1-4 are all bent and deformed.

[0025] Taking the folding and unfolding arm 1 as an example, the following describes in detail how to achieve the folding and unfolding of the folding and unfolding arm through the design of the driving rope.

[0026] like Figure 8 As shown, the folding arm 1 is composed of a plurality of folding units, each of which has a square support seat and a folding portion, and each of which includes two pairs of symmetrical roughly triangular units. One end of one pair of triangles has a rectangular portion, which is respectively fixed to the inner and outer sides of one side of the square support seat; the other end of the pair of triangles is connected to another pair of triangles through a hinge to form a folding unit. Several folding units are arranged in an axial direction, and the long sides of the rectangles are respectively connected to the long sides of the triangles through hinges to form a side surface of the folding arm. The side surface is then arranged in a circumferential direction to complete the folding arm 1. That is, each folding unit has four sides, and each side surface includes a rectangle located at the bottom and two symmetrically arranged triangles at the top.

[0027] Each folding arm is provided with 8 unfolding drive ropes and 4 folding drive ropes, namely, the first unfolding drive rope 111, the second unfolding drive rope 112, the third unfolding drive rope 121, the fourth unfolding drive rope 122, the fifth unfolding drive rope 131, the sixth unfolding drive rope 132, the seventh unfolding drive rope 141 and the eighth unfolding drive rope 142; and the first folding drive rope 113, the second folding drive rope 123, the third folding drive rope 133 and the fourth folding drive rope 143. Two groups of folding motors are provided on each side of the folding arm, which are respectively responsible for the contraction drive and the unfolding drive of the side.

[0028] In order to realize the transformation of the folding and unfolding arm 1 from the fully folded state shown in FIG. 9 to the fully unfolded state shown in FIG. 8 , the first unfolding driving rope 111, the second unfolding driving rope 112, the third unfolding driving rope 121, the fourth unfolding driving rope 122, the fifth unfolding driving rope 131, the sixth unfolding driving rope 132, the seventh unfolding driving rope 141 and the eighth unfolding driving rope 142 need to work together. Fig.11 When the first deployment driving rope 111, the second deployment driving rope 112, the fifth deployment driving rope 131 and the sixth deployment driving rope 132 shown in FIG11 are pulled to the right at the same time under the action of the driving motor, the folding arm 1 will gradually unfold and finally form the fully unfolded state shown in FIG10.

[0029] Taking one side of the folding arm as an example, each side includes a rectangle located at the bottom and two symmetrically arranged triangles above. The triangle connected to the rectangle is called the lower triangle, and the triangle symmetrically arranged with the lower triangle is called the upper triangle. The specific routing details of the unfolding drive rope inside the folding arm are shown in Figure 12, and all the lettered positions are on the central axis of this example surface. Among them, A is located near the bottom edge of one end of the lower rectangle; point C is located at the boundary between the triangular part and the rectangular part of the lower triangle; B and D are located at the hinge positions of the lower triangle and the upper triangle respectively (where B is on the inside of the folding arm and D is on the outside of the folding arm); E and F are located near the vertex of the triangular part of the lower triangle respectively (where E is on the inside of the folding arm and F is on the outside of the folding arm). The subscripts 1, 2, and 3 of each letter represent the number of each folding unit. Fig.12 In the schematic diagram, folding unit No. 1 is located at the top, folding unit No. 2 is located in the middle, and folding unit No. 3 is located at the bottom. The first deployment drive rope 111 and the second deployment drive rope 112 are folded and shortened by the folding motor; at the same time, the first folding drive rope 113 is released and extended. As shown in FIG12 (i), the routing method of the first deployment drive rope 111 on the folding arm structure is as follows: The routing of the second deployment drive rope 112 on the folding arm structure is as follows: The end point of the first deployment drive rope 111 With the folding arm structure The end point of the second deployment drive rope 112 is fixedly connected to With the folding arm structure Under the action of the driving motor, the lengths of the first deployment driving rope 111 and the second deployment driving rope 112 are shortened, causing the structure to gradually transform from configuration i in FIG. 11 to configuration ii and iii until it is fully deployed. It should be noted that for the first deployment driving rope 111, its Passed twice, namely , where the first time The point is only in contact with this point and not from Pass through the hole for the second time Point from Therefore, during the deployment of the structure, the first deployment drive rope 111 segment, can be The configuration shown in FIG12 (ii) is a critical configuration. After crossing this critical configuration, the first deployment drive rope 111 Segment and When the structure reaches configuration iii, the drive motor is powered off and the structure is fully unfolded under the elastic force of the structure. As shown in Figure 11, the bistable unit at the top of the folding arm Remain unchanged, the bistable unit below The array can be further vertically arranged downward to form a series of axial array units. , For the above series array structure, the first deployment drive rope 111 and the second deployment drive rope 112 only need to extend downward, and the routing method is the same as that of the bistable unit. Remain unchanged.

[0030] For the folding driving rope, the folding of the structure connected to it is achieved by shrinking the length of the folding driving rope, such as Fig.13 For each bistable unit array structure formed in series, only one folding drive rope is needed on each side to achieve complete folding of the series array structure.

[0031] The folding motor is located at the bottom of the folding drive rope. Under the action of the folding motor, the folding drive rope is folded to shorten it, and the unfolding drive rope is released to lengthen it. , the end point of the folded drive rope With the folding arm structure Under the action of the driving motor, the length of the folding driving rope is shortened, causing the structure to gradually transform from configuration i in FIG13 to configuration ii and iii until it is fully unfolded. The configuration shown in FIG13 (ii) is a critical configuration. After crossing this critical configuration, the folding driving rope is further shortened to completely fold the structure, or the driving motor is powered off and the structure is finally completely folded under the action of the elastic force of the structure.

[0032] Any process or method description in the flowchart of the present invention or described in other ways herein can be understood as a module, segment or part of a code including one or more executable instructions for implementing the steps of a specific logical function or process, which can be implemented in any computer-readable medium for use by an instruction execution system, device or equipment, and the computer-readable medium can be any medium containing storage, communication, propagation or transmission programs for use by execution systems, devices or equipment, including read-only memories, magnetic disks or optical disks, etc.

[0033] In the description of this specification, the description with reference to the terms "embodiment", "example", etc. means that the specific features, structures, materials or characteristics described in conjunction with the embodiment or example are included in at least one embodiment or example of the present invention. In this specification, the schematic representations of the above terms do not necessarily refer to the same embodiment or example. In addition, those skilled in the art can combine or combine different embodiments or examples described in this specification and the features therein without causing any contradiction.

[0034] Although the above contents have shown and described the embodiments of the present invention, it can be understood that the above embodiments are exemplary and cannot be understood as limitations of the present invention. Ordinary technicians in the field can change, modify, replace and modify the above embodiments within the scope of the present invention.

Claims

1. A spatially variable configuration platform that can be repeatedly folded and expanded, characterized in that: The platform comprises a flexible folding sail surface, a plurality of folding arms for supporting the flexible folding sail surface, and a driving device for driving the folding arms to move; wherein the folding arms are extended or bent under the action of a corresponding driving motor in the driving device; the flexible folding sail surface is connected to the folding arms; the driving device drives the driving rope to release and retract through the motor to realize the folding and unfolding control of the folding arms; under the drive of the folding arms, the flexible folding sail surface is deformed, so that the surface area of ​​the antenna increases or decreases; when the lengths of the folding arms are at the maximum L max When the flexible folding sail surface is at most S max , the antenna is in a fully extended state; when the length of the folded arms is at the minimum L min When the flexible folding sail surface is the smallest, S min , at this time the antenna is in a fully folded state; the length of the folding arm is set to L; ; The folding arm is at a certain length between the longest and the shortest. At this time, the area of ​​the flexible folding sail surface is S. .

2. The repeatedly foldable spatially variable configuration platform according to claim 1, characterized in that: The folding arm includes a plurality of folding units. The folding arm is controlled by controlling each folding unit through a driving device, so that the flexible folding sail surface switches between a fully expanded state, a fully folded state and a partially expanded state.

3. The repeatedly foldable spatially variable configuration platform according to claim 2, characterized in that: The flexible foldable sail surface is a circular planar antenna configuration, with a driving device arranged at the center of the circle. A plurality of folding arms are radially extended from the driving device to the outer periphery of the flexible foldable sail surface, with one end of the folding arm connected to the driving device and the other end connected to the edge of the flexible foldable sail surface. The folding and unfolding of the antenna is achieved by controlling the extension and retraction of the folding arm.

4. The repeatedly foldable and expandable spatially variable configuration platform according to claim 2, characterized in that: The flexible foldable sail surface is a parabolic antenna configuration, a driving device is arranged at the bottom of the parabola, and a plurality of foldable arms are radially extended from the driving device to the outer periphery of the flexible foldable sail surface. One end of the foldable arm is connected to the driving device, and the other end is connected to the edge of the flexible foldable sail surface; the folding of the antenna is achieved by controlling the bending of the foldable arm.

5. The repeatedly foldable and expandable spatially variable configuration platform according to claim 1, characterized in that: The folding and unfolding arm is composed of a plurality of folding and unfolding units, each folding and unfolding unit has a square support seat and a folding and unfolding part, and each folding and unfolding part includes two symmetrical roughly triangular units; each folding and unfolding arm is provided with eight unfolding driving ropes for control.

6. A rope drive system, applied to the re-foldable spatially variable configuration platform according to any one of claims 1 to 5, characterized in that: Each folding arm is provided with 8 unfolding drive ropes and 4 folding drive ropes, which are the first unfolding drive rope, the second unfolding drive rope, the third unfolding drive rope, the fourth unfolding drive rope, the fifth unfolding drive rope, the sixth unfolding drive rope, the seventh unfolding drive rope and the eighth unfolding drive rope; and the first folding drive rope, the second folding drive rope, the third folding drive rope and the fourth folding drive rope; two groups of folding motors are provided on each side of the folding arm, which are respectively responsible for the contraction drive and the unfolding drive of the side.

7. The rope drive system according to claim 6, characterized in that: Under the action of the folding motor, the first deployment drive rope and the second deployment drive rope are folded to shorten them; the routing method of the first deployment drive rope on the folding arm structure is as follows: ; The routing of the second deployment drive rope on the folding arm structure is as follows: , where A is located at one end of the lower triangle rectangle near the base; point C is located at the boundary between the triangular part and the rectangular part of the lower triangle; B and D are located at the hinge positions of the lower triangle and the upper triangle respectively; E and F are located near the vertex of the triangular part of the lower triangle respectively, and the subscripts 1, 2, and 3 of each letter represent the number of each folding unit respectively.

8. The rope drive system according to claim 7, characterized in that: End point of the first deployment drive rope With the folding arm structure The end point of the second deployment drive rope is fixedly connected to With the folding arm structure Under the action of the driving motor, the lengths of the first deployment driving rope and the second deployment driving rope are shortened, and the folding arm structure is from a fully folded state to a fully unfolded state.

9. The rope drive system according to claim 8, characterized in that: The first deployment drive rope Passed twice, specifically , where the first time The point is only in contact with this point and not from Pass through the hole for the second time Point from During the structural deployment, the first deployment drive rope segment, and Separation occurs at the point; after crossing the critical configuration, the first deployment drive rope Segment and The points are no longer in contact and separation occurs.

10. The rope drive system according to claim 6, characterized in that: For the folding driving rope, the folding of the structure connected to it is achieved by contracting the length of the folding driving rope. For each array structure composed of bistable units connected in series, only one folding driving rope is needed to achieve complete folding of the series array structure. The location is a folding motor, under the action of which the folding drive rope is folded to shorten it.

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