Modular parabolic structure folding and unfolding mechanism based on unequal height tetrahedron basic unit

Abstract

The application provides a modular parabolic frame folding and unfolding mechanism based on unequal-height tetrahedron basic units, which comprises three combined deployable units, upper folding rods, lower folding rods and connecting flower discs connecting the three combined deployable units, each combined deployable unit comprises a center flower disc, three basic folding and unfolding units, three pairs of equal-length lower synchronous rods and three pairs of equal-length upper synchronous rods, the three basic folding and unfolding units are evenly arranged on the outer side of the center flower disc, and adjacent two basic folding and unfolding units are connected through the lower synchronous rods and the upper synchronous rods, and adjacent two combined deployable units are connected through the upper folding rods, the lower folding rods and the connecting flower discs. The application has the characteristics of high rigidity, large folding and unfolding ratio, strong expandability, high reliability and the like, has a large folding rate and high stability, and can be applied to the supporting mechanism of the folding and unfolding antenna on the upper frame of the carrier rocket.

Description

Technical Field

[0001] The present invention relates to the technical field of foldable antenna mechanisms, and in particular to a modular parabolic frame foldable mechanism based on unequal height tetrahedron basic units. Background Art

[0002] With the rapid development of aerospace technology, requirements for the size, precision, and variety of space mechanisms are becoming increasingly stringent. How to accommodate larger, more precise, and more reliable space mechanisms within limited space has become an urgent challenge. Space deployable mechanisms have emerged as a result. These mechanisms can be folded during launch and transport, and then deployed once in orbit, thus fully utilizing the limited space. Therefore, large-aperture, high-precision, and high-rigidity space deployable antennas designed based on space deployable mechanisms have become increasingly important in aerospace engineering. They are essential equipment for human space exploration. Currently, the types of large-aperture, satellite-borne space deployable antennas that have been successfully developed mainly include frame-type deployable antennas, ring-type truss-type deployable antennas, extendable rib-type deployable antennas, and ring-type cylindrical deployable antennas. The numerous frame-type deployable antenna mechanisms proposed internationally and domestically often suffer from complex structures, difficulty ensuring precision, difficulty controlling the deployment process, and low reliability during deployment. Therefore, the present invention proposes a novel frame-type deployable antenna mechanism to improve the deployment precision, reliability, and stability of the antenna, thereby addressing the above issues. Summary of the Invention

[0003] In response to the problems existing in the prior art, the present invention provides a modular parabolic frame folding and unfolding mechanism based on unequal height tetrahedron basic units, which has the advantages of few degrees of freedom, simple structure, large folding ratio, high rigidity, good unfolding performance, high reliability and easy control.

[0004] The technical scheme adopted by the present application is a modular parabolic frame folding and unfolding mechanism based on unequal-height tetrahedron basic units, which comprises three combined deployable units, upper folding rods connecting the three combined deployable units, lower folding rods connecting the three combined deployable units, and connecting flower discs, wherein each of the three combined deployable units comprises a center flower disc, three basic folding and unfolding units, three pairs of equal-length lower synchronous rods, and three pairs of equal-length upper synchronous rods, and the three basic folding and unfolding units comprise a first basic folding and unfolding unit, a second basic folding and unfolding unit, and a third basic folding and unfolding unit, the first, second, and third basic folding and unfolding units are arranged around the outer side of the center flower disc, the first vertex flower disc of the first basic folding and unfolding unit and the second vertex flower disc of the second basic folding and unfolding unit, the second vertex flower disc of the second basic folding and unfolding unit and the third vertex flower disc of the third basic folding and unfolding unit, and the third vertex flower disc of the third basic folding and unfolding unit and the first vertex flower disc of the first basic folding and unfolding unit are connected by the three pairs of upper synchronous rods, the first side flower disc on the first basic folding and unfolding unit and the first outer side flower disc on the second basic folding and unfolding unit, the first inner side flower disc on the second basic folding and unfolding unit and the second inner side flower disc on the third basic folding and unfolding unit, and the second outer side flower disc on the third basic folding and unfolding unit and the second side flower disc on the first basic folding and unfolding unit are connected by the three pairs of lower synchronous rods; three connections are provided between adjacent two combined deployable units, the second vertex flower disc on the second basic folding and unfolding unit in one of the adjacent two combined deployable units is connected to the third vertex flower disc on the third basic folding and unfolding unit in the other combined deployable unit by the upper folding rod, the first outer side flower disc on the second basic folding and unfolding unit in the combined deployable unit is connected to the second outer side flower disc on the third basic folding and unfolding unit in the adjacent combined deployable unit by the lower folding rod, and the first inner side flower disc on the second basic folding and unfolding unit in the combined deployable unit is connected to the second inner side flower disc on the third basic folding and unfolding unit in the adjacent combined deployable unit by the connecting flower disc.

[0005] Preferably, six center branches are evenly distributed in the circumferential direction of the center faceplate, and the six center branches include the first center branch, the second center branch, the third center branch, the fourth center branch, the fifth center branch and the sixth center branch, and the angle between the perpendiculars of the rotation sub-axis of two adjacent center branches is 60°, and three upper center branches are evenly distributed on the upper end surface of the center faceplate around its center axis, and the three upper center branches include the first upper center branch, the second upper center branch and the third upper center branch, and the angle between the perpendiculars of the rotation sub-axis of two adjacent upper center branches is 120°, and the first upper center branch is located between the first center branch and the second center branch, the second upper center branch is located between the third center branch and the fourth center branch, and the third upper center branch is located between the fifth center branch and the sixth center branch, and the angle between the perpendicular of the rotation sub-axis of each center branch and the perpendicular of the rotation sub-axis of the adjacent upper center branch is 30°.

[0006] Furthermore, the first basic folding and unfolding unit includes a first vertex flower disc, a first side flower disc, a second side flower disc, four equal-length webs, a first synchronization rod and a first connecting bottom rod, the central flower disc, the first vertex flower disc, the first side flower disc and the second side flower disc together constitute the four vertices of the first basic folding and unfolding unit, and the four equal-length webs, the first synchronization rod and the first connecting bottom rod together constitute the edges of the first basic folding and unfolding unit, the four equal-length webs include the first web, the second web, the third web and the fourth web, the angle between the first web and the second web is α; the circumferential square of the first side flower disc is Three side branches are evenly distributed upward, and the three side branches include a first side branch, a second side branch and a third side branch. The angle between the perpendiculars of the rotation sub-axis of two adjacent side branches is 60°. The first end of the upper end surface of the first side faceplate is provided with a first side upper branch, and the first side upper branch is located between the first side branch and the second side branch. The angle between the bisector of the angle formed by the intersection of the perpendicular of the rotation sub-axis of the first side branch and the perpendicular of the rotation sub-axis of the second side branch and the rotation sub-axis of the first side upper branch is (3α+π) / 6. The three side branches are evenly distributed in the circumferential direction of the second side faceplate. The three side branches include a fourth side branch, a fifth side branch and a sixth side branch, and the angle between the perpendiculars of the rotation sub-axis of two adjacent side branches is 60°, the second end of the upper end surface of the second side disc is provided with a second side upper branch, and the second side upper branch is located between the fifth side branch and the sixth side branch, and the angle between the bisector of the angle formed by the intersection of the perpendicular of the rotation sub-axis of the fifth side branch and the perpendicular of the rotation sub-axis of the sixth side branch and the rotation sub-axis of the sixth side branch is (3α+π) / 6; the first end of the first web is rotatably connected to the first side upper branch on the first side disc, and the first web The second end is rotatably connected to the third lower vertex branch on the first vertex flower, the first end of the second web is rotatably connected to the second upper side branch on the second side flower disc, and the second end of the second web is rotatably connected to the first lower vertex branch on the first vertex flower disc, the first end of the third web is rotatably connected to the second side branch on the first side flower disc, and the second end of the third web is rotatably connected to the first central branch on the central flower disc, the first end of the fourth web is rotatably connected to the fifth side branch on the second side flower disc, and the second end of the fourth web is rotatably connected to the second central branch on the central flower disc;The first synchronization rod includes a first connecting rod and a second connecting rod, the first connecting rod and the second connecting rod are of equal length, and the first end of the first connecting rod is rotatably connected to the second lower vertex branch on the first vertex faceplate, the second end of the first connecting rod is rotatably connected to the first end of the second connecting rod, and the second end of the second connecting rod is rotatably connected to the first upper central branch on the central faceplate. The first connecting bottom rod includes a first bottom rod and a second bottom rod, the first bottom rod and the second bottom rod are of equal length, the first end of the first bottom rod is rotatably connected to the first side branch on the first side faceplate, the second end of the first bottom rod is rotatably connected to the first end of the second bottom rod, and the second end of the second bottom rod is rotatably connected to the sixth side branch on the second side faceplate.

[0007] Furthermore, the second basic folding and unfolding unit includes a second vertex flower disc, a first inner flower disc, a first outer flower disc, four equal-length webs, a second synchronization rod and a second connecting bottom rod. The central flower disc, the second vertex flower disc, the first inner flower disc and the first outer flower disc together constitute the four vertices of the second basic folding and unfolding unit, and the four equal-length webs, the second synchronization rod and the second connecting bottom rod together constitute the edges of the second basic folding and unfolding unit. The four equal-length webs include a fifth web, a sixth web, a seventh web and an eighth web, and the angle between the fifth web and the sixth web is α; four side branches are provided in the circumferential direction of the first inner flower disc, The four side branches include a first inner branch, a second inner branch, a third inner branch and a fourth inner branch, and the angle between the perpendicular line of the first inner branch rotation sub-axis and the perpendicular line of the second inner branch rotation sub-axis is 60°, the angle between the perpendicular line of the second inner branch rotation sub-axis and the perpendicular line of the third inner branch rotation sub-axis is 60°, and the angle between the perpendicular line of the third inner branch rotation sub-axis and the perpendicular line of the fourth inner branch rotation sub-axis is 90°, and the angle between the perpendicular line of the fourth inner branch rotation sub-axis and the perpendicular line of the first inner branch rotation sub-axis is 170°. The upper end surface of the first inner faceplate is provided with a fifth inner branch, and the fifth The inner branch is located between the first inner branch and the second inner branch, and the angle between the bisector of the angle formed by the intersection of the perpendicular line of the first inner branch's rotation sub-axis and the perpendicular line of the second inner branch's rotation sub-axis and the rotation sub-axis of the fifth inner branch is (3α+π) / 6. The first outer faceplate is symmetrical about the middle plane, and four side branches are provided in the circumferential direction of the first outer faceplate, and the four side branches include the first outer branch, the second outer branch, the third outer branch and the fourth outer branch, and the angle between the perpendicular line of the first outer branch's rotation sub-axis and the perpendicular line of the second outer branch's rotation sub-axis is 60°, and the perpendicular line of the second outer branch's rotation sub-axis is 60°. The included angle between the perpendiculars of the third outer branch rotation secondary axis is 60°, and the included angle between the perpendicular of the third outer branch rotation secondary axis and the perpendicular of the fourth outer branch rotation secondary axis is 60°, and the included angle between the perpendicular of the fourth outer branch rotation secondary axis and the perpendicular of the first outer branch rotation secondary axis is 180°. A fifth outer branch is provided at the middle of the upper end surface of the first outer faceplate, and the fifth outer branch is located between the second outer branch and the third outer branch. The included angle between the bisector of the angle formed by the intersection of the perpendicular of the second outer branch rotation secondary axis and the perpendicular of the third outer branch rotation secondary axis and the fifth outer branch rotation secondary axis is (3α+π) / 6;The first end of the fifth web is rotatably connected to the fifth inner branch on the first inner flower disc, and the second end of the fifth web is rotatably connected to the third lower vertex branch on the second vertex flower disc, the first end of the sixth web is rotatably connected to the fifth outer branch on the first outer flower disc, and the second end of the sixth web is rotatably connected to the first lower vertex branch on the second vertex flower disc, the first end of the seventh web is rotatably connected to the second inner branch on the first inner flower disc, and the second end of the seventh web is rotatably connected to the fifth central branch on the central flower disc, the first end of the eighth web is rotatably connected to the third outer branch on the first outer flower disc, and the second end of the eighth web is rotatably connected to the sixth central branch on the central flower disc. The second synchronization rod includes a third link and a fourth link, the third link and the fourth link are of equal length, and the first end of the third link is rotatably connected to the second lower vertex branch on the second vertex faceplate, the second end of the third link is rotatably connected to the first end of the fourth link, and the second end of the fourth link is rotatably connected to the third upper center branch on the center faceplate. The second connecting bottom rod includes a third bottom rod and a fourth bottom rod, the third bottom rod and the fourth bottom rod are of equal length, the first end of the first bottom rod is rotatably connected to the first inner branch on the first inner faceplate, the second end of the third bottom rod is rotatably connected to the first end of the fourth bottom rod, and the second end of the fourth bottom rod is rotatably connected to the second outer branch on the first outer faceplate.

[0008] Furthermore, the third basic folding and unfolding unit includes a third vertex flower disc, a second outer flower disc, a second inner flower disc, four equal-length webs, a third synchronization rod and a third connecting bottom rod, the central flower disc, the third vertex flower disc, the second outer flower disc and the second inner flower disc together constitute the four vertices of the third basic folding and unfolding unit, and the four equal-length webs, the third synchronization rod and the third connecting bottom rod together constitute the edges of the third basic folding and unfolding unit, the four equal-length webs include a ninth web, a tenth web, an eleventh web and a twelfth web, and the angle between the ninth web and the tenth web is α; the second outer flower disc is symmetrical about the middle plane, and the Four side branches are provided in the circumferential direction of the second outer flower disc, and the four side branches include a sixth outer branch, a seventh outer branch, an eighth outer branch and a ninth outer branch, and the angle between the perpendicular line of the sixth outer branch rotation sub-axis and the perpendicular line of the seventh outer branch rotation sub-axis is 60°, the angle between the perpendicular line of the seventh outer branch rotation sub-axis and the perpendicular line of the eighth outer branch rotation sub-axis is 60°, and the angle between the perpendicular line of the eighth outer branch rotation sub-axis and the perpendicular line of the ninth outer branch rotation sub-axis is 60°, the angle between the perpendicular line of the sixth outer branch rotation sub-axis and the perpendicular line of the ninth outer branch rotation sub-axis is 180°, and the second outer A tenth outer branch is provided at the middle of the upper end surface of the flower disc, and the tenth outer branch is located between the seventh outer branch and the eighth outer branch, and the angle between the bisector of the angle formed by the intersection of the perpendicular line of the seventh outer branch's rotation sub-axis and the perpendicular line of the eighth outer branch's rotation sub-axis and the tenth outer branch's rotation sub-axis is (3α+π) / 6, and four side branches are provided in the circumferential direction of the second inner flower disc, and the four side branches include the sixth inner branch, the seventh inner branch, the eighth inner branch and the ninth inner branch, the angle between the perpendicular line of the sixth inner branch's rotation sub-axis and the perpendicular line of the seventh inner branch's rotation sub-axis is 90°, and the perpendicular line of the seventh inner branch's rotation sub-axis is The angle between the second inner faceplate and the perpendicular to the eighth inner branch rotation secondary axis is 60°, and the angle between the perpendicular to the eighth inner branch rotation secondary axis and the perpendicular to the ninth inner branch rotation secondary axis is 60°. The angle between the perpendicular to the sixth inner branch rotation secondary axis and the perpendicular to the ninth inner branch rotation secondary axis is 170°. The upper end surface of the second inner faceplate is provided with a tenth inner branch, and the tenth inner branch is located between the eighth inner branch and the ninth inner branch. The angle between the bisector of the angle formed by the intersection of the perpendicular to the sixth inner branch rotation secondary axis and the perpendicular to the seventh inner branch rotation secondary axis and the tenth inner branch rotation secondary axis is (3α+π) / 6;The first end of the ninth web is rotatably connected to the tenth outer branch on the second outer flower disc, the second end of the ninth web is rotatably connected to the third lower vertex branch on the third vertex flower disc, the first end of the tenth web is rotatably connected to the tenth inner branch on the second inner flower disc, and the second end of the tenth web is rotatably connected to the first lower vertex branch on the third vertex flower disc, the first end of the eleventh web is rotatably connected to the eighth outer branch on the second outer flower disc, and the second end of the eleventh web is rotatably connected to the third central branch on the central flower disc, the first end of the twelfth web is rotatably connected to the eighth inner branch on the second inner flower disc, and the second end of the twelfth web is rotatably connected to the fourth central branch on the central flower disc. The third synchronization rod includes a fifth link and a sixth link, the fifth link and the sixth link being of equal length, and a first end of the fifth link being rotatably connected to the second lower vertex branch on the third vertex faceplate, a second end of the fifth link being rotatably connected to the first end of the sixth link, and a second end of the sixth link being rotatably connected to the second upper center branch on the center faceplate; the third connecting bottom rod includes a fifth bottom rod and a sixth bottom rod, the fifth bottom rod and the sixth bottom rod being of equal length, a first end of the fifth bottom rod being rotatably connected to the seventh outer branch on the second outer faceplate, a second end of the fifth bottom rod being rotatably connected to the first end of the sixth bottom rod, and a second end of the sixth bottom rod being rotatably connected to the ninth inner branch on the second inner faceplate.

[0009] Furthermore, the first vertex face plate, the second vertex face plate and the third vertex face plate have the same structure, and the first vertex face plate is evenly distributed with six vertex branches in the circumferential direction, the six vertex branches include the first vertex branch, the second vertex branch, the third vertex branch, the fourth vertex branch, the fifth vertex branch and the sixth vertex branch, and the angle between the perpendiculars of the rotation sub-axis of two adjacent vertex branches is 60°, the lower end face of the first vertex face plate is evenly distributed with three lower vertex branches around its central axis, and the three lower vertex branches include the first lower vertex branch, the second lower vertex branch and the third lower vertex branch, the perpendiculars of the rotation sub-axis of two adjacent lower vertex branches are 120°, and the first lower vertex branch is located between the second vertex branch and the third vertex branch, the second lower vertex branch is located between the fourth vertex branch and the fifth vertex branch, the third lower vertex branch is located between the sixth vertex branch and the first vertex branch, and the angle between the perpendicular of the rotation sub-axis of each vertex branch and the perpendicular of the rotation sub-axis of the adjacent lower vertex branch is 30°.

[0010] Preferably, the three pairs of lower synchronization rods of equal length include a first lower synchronization rod, a second lower synchronization rod and a third lower synchronization rod, the first lower synchronization rod includes a first lower rod and a second lower rod, the first lower rod and the second lower rod are equal in length, and the first end of the first lower rod is rotatably connected to the fourth outer branch on the first outer flower disc, the second end of the first lower rod is rotatably connected to the first end of the second lower rod, and the second end of the second lower rod is rotatably connected to the third side branch on the first side flower disc, the second lower synchronization rod includes a third lower rod and a fourth lower rod, the third lower rod and the fourth lower rod are equal in length, and the third lower rod The first end of the fifth lower rod is rotatably connected to the seventh inner branch on the second inner flower disc, the second end of the third lower rod is rotatably connected to the first end of the fourth lower rod, and the second end of the fourth lower rod is rotatably connected to the third inner branch on the first inner flower disc, and the third lower synchronous rod includes a fifth lower rod and a sixth lower rod, the fifth lower rod and the sixth lower rod are equal in length, and the first end of the fifth lower rod is rotatably connected to the fourth side branch on the second side flower disc, the second end of the fifth lower rod is rotatably connected to the first end of the sixth lower rod, and the second end of the sixth lower rod is rotatably connected to the ninth outer branch on the second outer flower disc; The three pairs of upper synchronization rods of equal length include a first upper synchronization rod, a second upper synchronization rod and a third upper synchronization rod, the first upper synchronization rod includes a first upper rod and a second upper rod, the first upper rod and the second upper rod are equal in length, and the first end of the first upper rod is rotatably connected to the fourth center branch on the second vertex flower disk, the second end of the first upper rod is rotatably connected to the first end of the second upper rod, and the second end of the second upper rod is rotatably connected to the fifth center branch on the first vertex flower disk, the second upper synchronization rod includes a third upper rod and a fourth upper rod, the third upper rod and the fourth upper rod are equal in length, and the first end of the third upper rod It is rotatably connected to the fourth center branch on the third vertex flower disc, the second end of the third upper rod is rotatably connected to the first end of the fourth upper rod, and the second end of the fourth upper rod is rotatably connected to the fifth center branch on the second vertex flower disc, the third upper synchronization rod includes a fifth upper rod and a sixth upper rod, the fifth upper rod and the sixth upper rod are equal in length, and the first end of the fifth upper rod is rotatably connected to the fourth center branch on the first vertex flower disc, the second end of the fifth upper rod is rotatably connected to the first end of the sixth upper rod, and the second end of the sixth upper rod is rotatably connected to the fifth center branch on the third vertex flower disc.

[0011] Preferably, the upper folding rod includes a first upper folding rod and a second upper folding rod, the first upper folding rod and the second upper folding rod are of equal length, the first end of the first upper folding rod is universally hinged to the first center branch on the second vertex flower disk on the second basic folding unit in the combined expandable unit, and the second end of the first upper folding rod is rotatably connected to the first end of the second upper folding rod, and the second end of the second upper folding rod is universally hinged to the fourth center branch on the third vertex flower disk on the third basic folding unit in the adjacent combined expandable unit; the lower folding rod includes a first lower folding rod and a second lower folding rod, the first lower folding rod and the second lower folding rod are of equal length, the first end of the first lower folding rod is universally hinged to the first center branch on the second basic folding unit in the combined expandable unit The first outer branch on the outer faceplate is universally hinged, and the second end of the first lower folding rod is rotatably connected to the first end of the second lower folding rod, and the second end of the second lower folding rod is universally hinged to the sixth outer branch on the second outer faceplate on the third basic folding unit in the adjacent combined expandable unit; a first connecting branch and a second connecting branch are provided on the connecting faceplate, and the angle between the rotation sub-axis of the first connecting branch and the rotation sub-axis of the second connecting branch is 60°, the first connecting branch is rotatably connected to the fourth inner branch on the first inner faceplate on the second basic folding unit in the combined expandable unit, and the second connecting branch is rotatably connected to the sixth inner branch on the second inner faceplate on the third basic folding unit in the adjacent combined expandable unit.

[0012] The characteristics and beneficial effects of the present invention are:

[0013] 1. The modular parabolic frame folding and unfolding mechanism based on unequal-height tetrahedral basic units provided by the present invention has a symmetrical tetrahedral structure in which the various components in the mechanism are connected by a revolute pair. Compared with the existing tetrahedral basic folding and unfolding units, one revolute pair and a pair of folding rods are reduced, and the folding form of the mechanism's reflective surface gathering at three points is improved to a folding form of the reflective surface gathering at two points, which facilitates the realization of a high-rigidity structural design of the mechanism.

[0014] 2. The modular parabolic structure folding and unfolding mechanism based on unequal-height tetrahedron basic units provided by the present invention can change the height difference of the antenna reflector disk by changing the length of the web in the basic deployable unit, thereby fitting paraboloids with different focal lengths. At the same time, when the lengths of the webs are equal, the antenna can be completely folded.

[0015] 3. The modular parabolic frame folding and unfolding mechanism based on unequal-height tetrahedral basic units provided by the present invention has a combined expandable unit with one degree of freedom, which can be completely folded; the combined expandable units are connected by an upper folding rod 2 and a lower folding rod 3 to form a URU connecting rod, and the combined expandable units are connected by connecting discs to form a U pair. By adding U pairs and URU connecting rods between the combined expandable units, the combined expandable units have one degree of freedom for posture adjustment, so that its modular structure can achieve complete columnar folding.

[0016] 4. The modular parabolic frame folding and unfolding mechanism based on unequal-height tetrahedron basic units provided by the present invention has strong scalability and can form a large-scale deployable antenna support mechanism with a small degree of freedom and a large folding rate of any caliber by designing the size of the module itself and changing the number of modules. BRIEF DESCRIPTION OF THE DRAWINGS

[0017] Figure 1 It is a three-dimensional schematic diagram of the foldable antenna mechanism of the present invention in a fully unfolded state;

[0018] Figure 2 It is a three-dimensional schematic diagram of the foldable antenna mechanism of the present invention in a semi-expanded state;

[0019] Figure 3 It is a three-dimensional schematic diagram of the foldable antenna mechanism of the present invention in a fully folded state;

[0020] Figure 4 It is a schematic diagram of the connection between the combined deployable units in the foldable antenna mechanism of the present invention;

[0021] Figure 5 It is a structural schematic diagram of the connection faceplate in the foldable antenna mechanism of the present invention;

[0022] Figure 6 It is a fully expanded three-dimensional schematic diagram of the first combined expandable unit of the present invention;

[0023] Figure 7 is a three-dimensional schematic diagram of the first combined deployable unit of the present invention in a semi-deployed state;

[0024] Figure 8 It is a three-dimensional schematic diagram of the first combined expandable unit of the present invention in a fully collapsed state;

[0025] Figure 9 It is a structural diagram of the central flower disc of the present invention;

[0026] Figure 10 is a fully unfolded top view of the first basic folding and unfolding unit of the present invention;

[0027] Figure 11 It is a three-dimensional schematic diagram of the first basic folding unit of the present invention in a semi-expanded state;

[0028] Figure 12 It is a three-dimensional schematic diagram of the first basic folding unit of the present invention in a fully folded state;

[0029] Figure 13 It is a structural schematic diagram of the first vertex disc in the first basic folding and unfolding unit of the present invention;

[0030] Figure 14 It is a structural schematic diagram of the first side faceplate in the first basic folding and unfolding unit of the present invention;

[0031] Figure 15 It is a structural diagram of the second side disc in the first basic folding unit of the present invention;

[0032] Figure 16 It is a structural schematic diagram of the first inner faceplate in the second basic folding and unfolding unit of the present invention;

[0033] Figure 17 It is a structural schematic diagram of the first outer faceplate in the second basic folding and unfolding unit of the present invention;

[0034] Figure 18 It is a structural diagram of the second outer disc in the third basic folding and unfolding unit of the present invention;

[0035] Figure 19 It is a structural schematic diagram of the second inner faceplate in the third basic folding and unfolding unit of the present invention. DETAILED DESCRIPTION

[0036] To fully describe the technical content, structural features, objectives and effects of the present invention, the following is a detailed description with reference to the accompanying drawings.

[0037] The present invention is a modular parabolic frame folding and unfolding mechanism based on unequal height tetrahedron basic units, such as Figures 1 to 3 As shown, it comprises three combined deployable units 1 and an upper folding rod 2 , a lower folding rod 3 and a connecting disc 4 connecting the three combined deployable units 1 .

[0038] like Figures 1 to 3As shown, three connections are provided between two adjacent combined expandable units 1, and the second vertex flower disc 131 on the second basic folding unit 13 in one of the two adjacent combined expandable units 1 is connected to the third vertex flower disc 141 on the third basic folding unit 14 in the other combined expandable unit 1 through an upper folding rod 2, the first outer flower disc 133 on the second basic folding unit 13 in the combined expandable unit 1 is connected to the second outer flower disc 142 on the third basic folding unit 14 in the adjacent combined expandable unit 1 through a lower folding rod 3, and the first inner flower disc 132 on the second basic folding unit 13 in the combined expandable unit 1 is connected to the second inner flower disc 143 on the third basic folding unit 14 in the adjacent combined expandable unit 1 through a connecting flower disc 4.

[0039] like Figure 1 and Figure 2 As shown, the upper folding rod 2 includes a first upper folding rod 21 and a second upper folding rod 22. The first upper folding rod 21 and the second upper folding rod 22 are of equal length. The first end of the first upper folding rod 21 is universally hinged to the first center branch 111 on the second vertex disc 131 on the second basic folding unit 13 in the combined expandable unit 1, and the second end of the first upper folding rod 21 is rotatably connected to the first end of the second upper folding rod 22. The second end of the second upper folding rod 22 is universally hinged to the fourth center branch 114 on the third vertex disc 141 on the third basic folding unit 14 in the adjacent combined expandable unit 1. The lower folding rod 3 includes a first lower folding rod 31 and a second lower folding rod 32. The first lower folding rod 31 and the second lower folding rod 32 are equal in length. The first end of the first lower folding rod 31 is universally hinged to the first outer branch 1331 on the first outer disc 133 on the second basic folding unit 13 in the combined expandable unit 1, and the second end of the first lower folding rod 31 is rotatably connected to the first end of the second lower folding rod 32. The second end of the second lower folding rod 32 is universally hinged to the sixth outer branch 1421 on the second outer disc 142 on the third basic folding unit 14 in the adjacent combined expandable unit 1.

[0040] like Figure 4 and Figure 5 As shown, the connecting faceplate 4 is provided with a first connecting branch 41 and a second connecting branch 42. The angle between the rotational secondary axis of the first connecting branch 41 and the rotational secondary axis of the second connecting branch 42 is 60°. The first connecting branch 41 is rotationally connected to the fourth inner branch 1324 on the first inner faceplate 132 on the second basic folding unit 13 in the combined expandable unit 1, and the second connecting branch 42 is rotationally connected to the sixth inner branch 1431 on the second inner faceplate 143 on the third basic folding unit 14 in the adjacent combined expandable unit 1. In particular, as Figure 4As shown, when the three deployable units 1 are connected, their center portion forms an equilateral triangle in the fully deployed state. This not only enhances structural stability but also ensures the shape accuracy of the antenna in the deployed state. The antenna mechanism has two degrees of freedom. When a driving force is applied to the upper folding rod 2 or the lower folding rod 3 on any deployable unit 1, the entire foldable antenna structure begins to collapse. Either upper folding rod 2 or lower folding rod 3 serves as an auxiliary actuator for posture adjustment, allowing the antenna mechanism to adjust its posture as needed during the folding and unfolding process to adapt to different application scenarios.

[0041] like Figures 6 to 8 As shown, each combined expandable unit 1 includes a central flower disc 11, three basic folding units, three pairs of equal-length lower synchronization rods and three pairs of equal-length upper synchronization rods, and the three basic folding units include a first basic folding unit 12, a second basic folding unit 13 and a third basic folding unit 14. The first basic folding unit 12, the second basic folding unit 13 and the third basic folding unit 14 are all arranged around the outside of the central flower disc 11, and between the first vertex flower disc 121 of the first basic folding unit 12 and the second vertex flower disc 131 of the second basic folding unit 13, and between the second vertex flower disc 131 of the second basic folding unit 13 and the third basic folding unit 14. Three pairs of upper synchronization rods connect the third vertex faceplate 141 of the element 14 and the third vertex faceplate 141 of the third basic foldable unit 14 to the first vertex faceplate 121 of the first basic foldable unit 12. Three pairs of lower synchronization rods connect the first side faceplate 122 of the first basic foldable unit 12 to the first outer faceplate 133 of the second basic foldable unit 13, the first inner faceplate 132 of the second basic foldable unit 13 to the second inner faceplate 143 of the third basic foldable unit 14, and the second outer faceplate 142 of the third basic foldable unit 14 to the second side faceplate 123 of the first basic foldable unit 12. The combined deployable unit 1 has one degree of freedom. When a driving force is applied to any of the lower or upper synchronization rods on the combined deployable unit 1, the entire frame-type deployable antenna mechanism begins to collapse.

[0042] like Figures 6 to 8As shown, three pairs of equal-length lower synchronization rods include a first lower synchronization rod 15, a second lower synchronization rod 17 and a third lower synchronization rod 19, the first lower synchronization rod 15 includes a first lower rod 151 and a second lower rod 152, the first lower rod 151 and the second lower rod 152 are equal in length, and the first end of the first lower rod 151 is rotatably connected to the fourth outer branch 1334 on the first outer disc 133, the second end of the first lower rod 151 is rotatably connected to the first end of the second lower rod 152, and the second end of the second lower rod 152 is rotatably connected to the third side branch 1223 on the first side disc 122, the second lower synchronization rod 17 includes a third lower rod 171 and a fourth lower rod 172, the third lower rod 171 and the fourth lower rod 172 are equal in length, and the third lower rod 171 The first end of the third lower rod 171 is rotatably connected to the seventh inner branch 1432 on the second inner disc 143, the second end of the third lower rod 171 is rotatably connected to the first end of the fourth lower rod 172, and the second end of the fourth lower rod 172 is rotatably connected to the third inner branch 1323 on the first inner disc 132, the third lower synchronization rod 19 includes a fifth lower rod 191 and a sixth lower rod 192, the fifth lower rod 191 and the sixth lower rod 192 are equal in length, and the first end of the fifth lower rod 191 is rotatably connected to the fourth side branch 1231 on the second side disc 123, the second end of the fifth lower rod 191 is rotatably connected to the first end of the sixth lower rod 192, and the second end of the sixth lower rod 192 is rotatably connected to the ninth outer branch 1424 on the second outer disc 142;

[0043] like Figures 6 to 8As shown, the three pairs of equal-length upper synchronizing rods include a first upper synchronizing rod 16, a second upper synchronizing rod 18, and a third upper synchronizing rod 20. The first upper synchronizing rod 16 includes a first upper rod 161 and a second upper rod 162, the first upper rod 161 and the second upper rod 162 are equal in length, and a first end of the first upper rod 161 is rotationally connected to the fourth central branch 114 on the second vertex flower disc 131, a second end of the first upper rod 161 is rotationally connected to a first end of the second upper rod 162, and a second end of the second upper rod 162 is rotationally connected to the fifth central branch 115 on the first vertex flower disc 121. The second upper synchronizing rod 18 includes a third upper rod 181 and a fourth upper rod 182, the third upper rod 181 and the fourth upper rod 182 are equal in length, and a first end of the third upper rod 181 is rotationally connected to the fourth central branch 114 on the third vertex flower disc 141, a second end of the third upper rod 181 is rotationally connected to a first end of the fourth upper rod 182, and a second end of the fourth upper rod 182 is rotationally connected to the fifth central branch 115 on the second vertex flower disc 131. The third upper synchronizing rod 20 includes a fifth upper rod 201 and a sixth upper rod 202, the fifth upper rod 201 and the sixth upper rod 202 are equal in length, and a first end of the fifth upper rod 201 is rotationally connected to the fourth central branch 114 on the first vertex flower disc 121, a second end of the fifth upper rod 201 is rotationally connected to a first end of the sixth upper rod 202, and a second end of the sixth upper rod 202 is rotationally connected to the fifth central branch 115 on the third vertex flower disc 141.

[0044] As shown in FIG. 1, the central flower disc 11 is arranged on the central axis of the central flower disc 11, and the central flower disc 11 is arranged on the central axis of the central flower disc 11. Figure 9 As shown, the circumferential direction of the central flower disc 11 is uniformly provided with six central branches, the six central branches include a first central branch 111, a second central branch 112, a third central branch 113, a fourth central branch 114, a fifth central branch 115, and a sixth central branch 116, and the included angle between the perpendicular lines of the rotation sub-axes of the adjacent two central branches is 60°. The upper end surface of the central flower disc 11 is uniformly provided with three upper central branches around the central axis thereof, and the three upper central branches include a first upper central branch 117, a second upper central branch 118, and a third upper central branch 119. The included angle between the perpendicular lines of the rotation sub-axes of the adjacent two upper central branches is 120°, the first upper central branch 117 is located between the first central branch 111 and the second central branch 112, the second upper central branch 118 is located between the third central branch 113 and the fourth central branch 114, and the third upper central branch 119 is located between the fifth central branch 115 and the sixth central branch 116. The included angle between the perpendicular line of each central branch rotation sub-axis and the perpendicular line of the adjacent upper central branch rotation sub-axis is 30°.

[0045] As shown in FIG. 1, the central flower disc 11 is arranged on the central axis of the central flower disc 11, and the central flower disc 11 is arranged on the central axis of the central flower disc 11. Figures 10 to 12As shown, the first basic folding and unfolding unit 12 includes a first vertex flower disc 121, a first side flower disc 122, a second side flower disc 123, four equal-length webs, a first synchronization rod 128 and a first connecting bottom rod 129. The center flower disc 11, the first vertex flower disc 121, the first side flower disc 122 and the second side flower disc 123 together constitute the four vertices of the first basic folding and unfolding unit 12, and the four equal-length webs, the first synchronization rod 128 and the first connecting bottom rod 129 together constitute the edges of the first basic folding and unfolding unit 12. The four equal-length webs include a first web 124, a second web 125, a third web 126 and a fourth web Rod 127, the angle between the first belly bar 124 and the second belly bar 125 is α; the first end of the first belly bar 124 is rotatably connected to the first side upper branch 1224 on the first side disc 122, and the second end of the first belly bar 124 is rotatably connected to the third lower vertex branch 1219 on the first vertex disc 121, the first end of the second belly bar 125 is rotatably connected to the second side upper branch 1234 on the second side disc 123, and the second end of the second belly bar 125 is rotatably connected to the first lower vertex branch 1217 on the first vertex disc 121, the first end of the third belly bar 126 is rotatably connected to the second side branch 122 on the first side disc 122 2 is rotatably connected, and the second end of the third web 126 is rotatably connected to the first central branch 111 on the central flower disc 11, the first end of the fourth web 127 is rotatably connected to the fifth side branch 1232 on the second side flower disc 123, and the second end of the fourth web 127 is rotatably connected to the second central branch 112 on the central flower disc 11; the first synchronization rod 128 includes a first connecting rod 1281 and a second connecting rod 1282, the first connecting rod 1281 and the second connecting rod 1282 are equal in length, and the first end of the first connecting rod 1281 is rotatably connected to the second lower vertex branch 1218 on the first vertex flower disc 121, and the second end of the first connecting rod 1281 is rotatably connected to the second lower vertex branch 1218 on the first vertex flower disc 121. The end is rotatably connected to the first end of the second connecting rod 1282, and the second end of the second connecting rod 1282 is rotatably connected to the first upper center branch 117 on the center flower disc 11, the first connecting bottom rod 129 includes a first bottom rod 1291 and a second bottom rod 1292, the first bottom rod 1291 and the second bottom rod 1292 are equal in length, and the first end of the first bottom rod 1291 is rotatably connected to the first side branch 1221 on the first side flower disc 122, the second end of the first bottom rod 1291 is rotatably connected to the first end of the second bottom rod 1292, and the second end of the second bottom rod 1292 is rotatably connected to the sixth side branch 1233 on the second side flower disc 123.

[0046] like Figure 13As shown, the first vertex disc 121 is evenly distributed with six vertex branches in the circumferential direction, and the six vertex branches include a first vertex branch 1211, a second vertex branch 1212, a third vertex branch 1213, a fourth vertex branch 1214, a fifth vertex branch 1215 and a sixth vertex branch 1216, and the angle between the perpendicular lines of the rotation secondary axis of two adjacent vertex branches is 60°, and the lower end surface of the first vertex disc 121 is evenly distributed with three lower vertex branches around its central axis, and the three lower vertex branches include a first lower vertex branch 1217, a second lower vertex branch 121 8 and the third lower vertex branch 1219, the angle between the perpendicular lines of the rotation sub-axis of the two adjacent lower vertex branches is 120°, and the first lower vertex branch 1217 is located between the second vertex branch 1212 and the third vertex branch 1213, the second lower vertex branch 1218 is located between the fourth vertex branch 1214 and the fifth vertex branch 1215, the third lower vertex branch 1219 is located between the sixth vertex branch 1216 and the first vertex branch 1211, and the angle between the perpendicular line of the rotation sub-axis of each vertex branch and the perpendicular line of the rotation sub-axis of the adjacent lower vertex branch is 30°.

[0047] like Figure 14 As shown, three side branches are evenly distributed in the circumferential direction of the first side disc 122, and the three side branches include a first side branch 1221, a second side branch 1222 and a third side branch 1223, and the angle between the perpendiculars of the rotation sub-axis of two adjacent side branches is 60°, and the first end of the upper end surface of the first side disc 122 is provided with a first side upper branch 1224, and the first side upper branch 1224 is located between the first side branch 1221 and the second side branch 1222, and the angle between the angular bisector of the angle formed by the intersection of the perpendicular to the rotation sub-axis of the first side branch 1221 and the perpendicular to the rotation sub-axis of the second side branch 1222 and the rotation sub-axis of the first side upper branch 1224 is (3α+π) / 6.

[0048] like Figure 15 As shown, three side branches are evenly distributed in the circumferential direction of the second side disc 123, and the three side branches include a fourth side branch 1231, a fifth side branch 1232 and a sixth side branch 1233, and the angle between the perpendiculars of the rotation sub-axis of two adjacent side branches is 60°, and the second end of the upper end surface of the second side disc 123 is provided with a second side upper branch 1234, and the second side upper branch 1234 is located between the fifth side branch 1232 and the sixth side branch 1233, and the angle between the angular bisector of the angle formed by the intersection of the perpendicular to the rotation sub-axis of the fifth side branch 1232 and the perpendicular to the rotation sub-axis of the sixth side branch 1233 and the rotation sub-axis of the sixth side branch 1233 is (3α+π) / 6.

[0049] like Figures 6 to 8As shown, the second basic folding unit 13 includes a second vertex flower disc 131, a first inner flower disc 132, a first outer flower disc 133, four equal-length webs, a second synchronization rod 138 and a second connecting bottom rod 139. The center flower disc 11, the second vertex flower disc 131, the first inner flower disc 132 and the first outer flower disc 133 together constitute the four vertices of the second basic folding unit 13, and the four equal-length webs, the second synchronization rod 138 and the second connecting bottom rod 139 together constitute the edges of the second basic folding unit 13. The four equal-length webs include a fifth web 134, a sixth web 135, a seventh web 136 and an eighth web The angle between the rod 137, the fifth web 134 and the sixth web 135 is α; the first end of the fifth web 134 is rotatably connected to the fifth inner branch 1325 on the first inner disc 132, and the second end of the fifth web 134 is rotatably connected to the third lower vertex branch 1219 on the second vertex disc 131, the first end of the sixth web 135 is rotatably connected to the fifth outer branch 1335 on the first outer disc 133, and the second end of the sixth web 135 is rotatably connected to the first lower vertex branch 1217 on the second vertex disc 131, the first end of the seventh web 136 is rotatably connected to the second inner branch 1322 on the first inner disc 132 The first end of the eighth web 137 is rotatably connected to the third outer branch 1333 on the first outer disc 133, and the second end of the eighth web 137 is rotatably connected to the sixth center branch 116 on the center disc 11; the second synchronization rod 138 includes a third connecting rod 1381 and a fourth connecting rod 1382, and the third connecting rod 1381 and the fourth connecting rod 1382 are of equal length, and the first end of the third connecting rod 1381 is rotatably connected to the second lower vertex branch 1218 on the second vertex disc 131, and the second end of the third connecting rod 1381 is rotatably connected to the second lower vertex branch 1218 on the second vertex disc 131. The end is rotatably connected to the first end of the fourth connecting rod 1382, and the second end of the fourth connecting rod 1382 is rotatably connected to the third upper center branch 119 on the center flower disc 11, the second connecting bottom rod 139 includes a third bottom rod 1391 and a fourth bottom rod 1392, the third bottom rod 1391 and the fourth bottom rod 1392 are equal in length, and the first end of the first bottom rod 1391 is rotatably connected to the first inner branch 1321 on the first inner flower disc 132, the second end of the third bottom rod 1391 is rotatably connected to the first end of the fourth bottom rod 1392, and the second end of the fourth bottom rod 1392 is rotatably connected to the second outer branch 1332 on the first outer flower disc 133.

[0050] like Figure 16As shown, four side branches are provided in the circumferential direction of the first inner faceplate 132, and the four side branches include a first inner branch 1321, a second inner branch 1322, a third inner branch 1323 and a fourth inner branch 1324, and the angle between the perpendicular line of the rotation axis of the first inner branch 1321 and the perpendicular line of the rotation axis of the second inner branch 1322 is 60 degrees, the angle between the perpendicular line of the rotation axis of the second inner branch 1322 and the perpendicular line of the rotation axis of the third inner branch 1323 is 60 degrees, and the angle between the perpendicular line of the rotation axis of the third inner branch 1323 and the rotation axis of the fourth inner branch 1324 is 60 degrees. The angle between the perpendicular lines is 90°, the angle between the perpendicular line of the fourth inner branch 1324 rotation sub-axis and the perpendicular line of the first inner branch 1321 rotation sub-axis is 170°, the upper end surface of the first inner disc 132 is provided with a fifth inner branch 1325, and the fifth inner branch 1325 is located between the first inner branch 1321 and the second inner branch 1322, and the angle between the bisector of the angle formed by the intersection of the perpendicular line of the rotation sub-axis of the first inner branch 1321 and the perpendicular line of the rotation sub-axis of the second inner branch 1322 and the rotation sub-axis of the fifth inner branch 1325 is (3α+π) / 6.

[0051] like Figure 17 As shown, the first outer disc 133 is symmetrical about the middle plane, and the first outer disc 133 is provided with four side branches in the circumferential direction, the four side branches include a first outer branch 1331, a second outer branch 1332, a third outer branch 1333 and a fourth outer branch 1334, and the angle between the perpendicular line of the rotation axis of the first outer branch 1331 and the perpendicular line of the rotation axis of the second outer branch 1332 is 60 degrees, the angle between the perpendicular line of the rotation axis of the second outer branch 1332 and the perpendicular line of the rotation axis of the third outer branch 1333 is 60 degrees, and the angle between the perpendicular line of the rotation axis of the third outer branch 1333 and the fourth outer branch 1334 is 60 degrees. The angle between the perpendiculars of the rotation sub-axis 1334 is 60°, the angle between the perpendicular of the rotation sub-axis of the fourth outer branch 1334 and the perpendicular of the rotation sub-axis of the first outer branch 1331 is 180°, and the fifth outer branch 1335 is provided in the middle of the upper end surface of the first outer disc 133, and the fifth outer branch 1335 is located between the second outer branch 1332 and the third outer branch 1333, and the angle between the bisector of the angle formed by the intersection of the perpendicular of the rotation sub-axis of the second outer branch 1332 and the perpendicular of the rotation sub-axis of the third outer branch 1333 and the rotation sub-axis of the fifth outer branch 1335 is (3α+π) / 6.

[0052] like Figures 6 to 8As shown, the third basic folding unit 14 includes a third vertex flower disc 141, a second outer flower disc 142, a second inner flower disc 143, four equal-length webs, a third synchronization rod 148 and a third connecting bottom rod 149. The center flower disc 11, the third vertex flower disc 141, the second outer flower disc 142 and the second inner flower disc 143 together constitute the four vertices of the third basic folding unit 14, and the four equal-length webs, the third synchronization rod 148 and the third connecting bottom rod 149 together constitute the edges of the third basic folding unit 14. The four equal-length webs include a ninth web 144, a tenth web 145, an eleventh web 146 and a twelfth web The angle between the belly bar 147, the ninth belly bar 144 and the tenth belly bar 145 is α; the first end of the ninth belly bar 144 is rotatably connected to the tenth outer branch 1425 on the second outer disc 142, and the second end of the ninth belly bar 144 is rotatably connected to the third lower vertex branch 1219 on the third vertex disc 141, the first end of the tenth belly bar 145 is rotatably connected to the tenth inner branch 1435 on the second inner disc 143, and the second end of the tenth belly bar 145 is rotatably connected to the first lower vertex branch 1217 on the third vertex disc 141, the first end of the eleventh belly bar 146 is rotatably connected to the eighth outer branch 1423 on the second outer disc 142 The third synchronous rod 148 includes a fifth connecting rod 1481 and a sixth connecting rod 1482, and the fifth connecting rod 1481 and the sixth connecting rod 1482 are of equal length. The first end of the fifth connecting rod 1481 is rotatably connected to the second lower vertex branch 1218 on the third vertex disc 141, and the first end of the fifth connecting rod 1481 is rotatably connected to the second lower vertex branch 1218 on the third vertex disc 141. The two ends are rotatably connected to the first end of the sixth connecting rod 1482, and the second end of the sixth connecting rod 1482 is rotatably connected to the second upper center branch 118 on the center flower disc 11, the third connecting bottom rod 149 includes a fifth bottom rod 1491 and a sixth bottom rod 1492, the fifth bottom rod 1491 and the sixth bottom rod 1492 are equal in length, and the first end of the fifth bottom rod 1491 is rotatably connected to the seventh outer branch 1422 on the second outer flower disc 142, the second end of the fifth bottom rod 1491 is rotatably connected to the first end of the sixth bottom rod 1492, and the second end of the sixth bottom rod 1492 is rotatably connected to the ninth inner branch 1434 on the second inner flower disc 143.

[0053] like Figure 18As shown, the second outer disc 142 is symmetrical about the middle plane, and four side branches are provided in the circumferential direction of the second outer disc 142, the four side branches include a sixth outer branch 1421, a seventh outer branch 1422, an eighth outer branch 1423 and a ninth outer branch 1424, and the angle between the perpendicular line of the rotation axis of the sixth outer branch 1421 and the perpendicular line of the rotation axis of the seventh outer branch 1422 is 60 degrees, the angle between the perpendicular line of the rotation axis of the seventh outer branch 1422 and the perpendicular line of the rotation axis of the eighth outer branch 1423 is 60 degrees, and the angle between the perpendicular line of the rotation axis of the eighth outer branch 1423 and the ninth outer branch is 60 degrees. The angle between the perpendiculars of the rotation sub-axis 1424 is 60°, the angle between the perpendiculars of the rotation sub-axis of the sixth outer branch 1421 and the perpendiculars of the rotation sub-axis of the ninth outer branch 1424 is 180°, and the tenth outer branch 1425 is provided in the middle of the upper end surface of the second outer disc 142, and the tenth outer branch 1425 is located between the seventh outer branch 1422 and the eighth outer branch 1423. The angle between the bisector of the angle formed by the intersection of the perpendiculars of the rotation sub-axis of the seventh outer branch 1422 and the perpendiculars of the rotation sub-axis of the eighth outer branch 1423 and the rotation sub-axis of the tenth outer branch 1425 is (3α+π) / 6.

[0054] like Figure 19 As shown, four side branches are provided in the circumferential direction of the second inner faceplate 143, and the four side branches include a sixth inner branch 1431, a seventh inner branch 1432, an eighth inner branch 1433 and a ninth inner branch 1434. The angle between the perpendicular line of the rotation axis of the sixth inner branch 1431 and the perpendicular line of the rotation axis of the seventh inner branch 1432 is 90°, the angle between the perpendicular line of the rotation axis of the seventh inner branch 1432 and the perpendicular line of the rotation axis of the eighth inner branch 1433 is 60°, and the angle between the perpendicular line of the rotation axis of the eighth inner branch 1433 and the rotation axis of the ninth inner branch 1434 is 90°. The angle between the perpendicular lines is 60°, the angle between the perpendicular line of the sixth inner branch 1431 rotation sub-axis and the perpendicular line of the ninth inner branch 1434 rotation sub-axis is 170°, the upper end face of the second inner disc 143 is provided with a tenth inner branch 1435, and the tenth inner branch 1435 is located between the eighth inner branch 1433 and the ninth inner branch 1434, and the angle between the bisector of the angle formed by the intersection of the perpendicular line of the sixth inner branch 1431 rotation sub-axis and the perpendicular line of the seventh inner branch 1432 rotation sub-axis and the rotation sub-axis of the tenth inner branch 1435 is (3α+π) / 6.

[0055] The embodiments described above are merely descriptions of preferred implementations of the present invention and are not intended to limit the scope of the present invention. Without departing from the spirit of the present invention, various modifications and improvements made to the technical solutions of the present invention by ordinary technicians in this field should fall within the scope of protection determined by the claims of the present invention.

Claims

1. A modular parabolic frame folding and unfolding mechanism based on unequal height tetrahedron basic units, characterized in that: It includes three combined deployable units and an upper folding rod, a lower folding rod and a connecting disc connecting the three combined deployable units. The three combined expandable units each include a central flower disc, three basic folding and expanding units, three pairs of lower synchronization rods of equal length, and three pairs of upper synchronization rods of equal length. The three basic folding and expanding units include a first basic folding and expanding unit, a second basic folding and expanding unit, and a third basic folding and expanding unit. The first basic folding and expanding unit, the second basic folding and expanding unit, and the third basic folding and expanding unit are all arranged around the outside of the central flower disc, between the first vertex flower disc of the first basic folding and expanding unit and the second vertex flower disc of the second basic folding and expanding unit, and between the second vertex flower disc of the second basic folding and expanding unit and the third basic folding and expanding unit. The third vertex flower discs of the folding units and the third vertex flower disc of the third basic folding unit are connected to the first vertex flower disc of the first basic folding unit through the three pairs of upper synchronization rods; the first side flower disc on the first basic folding unit and the first outer flower disc on the second basic folding unit, the first inner flower disc on the second basic folding unit and the second inner flower disc on the third basic folding unit, and the second outer flower disc on the third basic folding unit and the second side flower disc on the first basic folding unit are connected through the three pairs of lower synchronization rods; There are three connections between two adjacent combined expandable units. The second vertex flower disc on the second basic foldable unit in one of the two adjacent combined expandable units is connected to the third vertex flower disc on the third basic foldable unit in the other combined expandable unit through the upper folding rod. The first outer flower disc on the second basic foldable unit in the combined expandable unit is connected to the second outer flower disc on the third basic foldable unit in the adjacent combined expandable unit through the lower folding rod. The first inner flower disc on the second basic foldable unit in the combined expandable unit is connected to the second inner flower disc on the third basic foldable unit in the adjacent combined expandable unit through the connecting flower disc.

2. The modular parabolic frame folding and unfolding mechanism based on unequal height tetrahedron basic units according to claim 1, characterized in that: The central flower disc is evenly distributed with six central branches in the circumferential direction, and the six central branches include the first central branch, the second central branch, the third central branch, the fourth central branch, the fifth central branch and the sixth central branch, and the angle between the perpendiculars of the rotation sub-axis of two adjacent central branches is 60°. The upper end surface of the central flower disc is evenly distributed with three upper central branches around its central axis, and the three upper central branches include the first upper central branch, the second upper central branch and the third upper central branch, and the angle between the perpendiculars of the rotation sub-axis of two adjacent upper central branches is 120°, and the first upper central branch is located between the first central branch and the second central branch, the second upper central branch is located between the third central branch and the fourth central branch, and the third upper central branch is located between the fifth central branch and the sixth central branch, and the angle between the perpendicular of the rotation sub-axis of each central branch and the perpendicular of the rotation sub-axis of the adjacent upper central branch is 30°.

3. The modular parabolic frame folding and unfolding mechanism based on unequal height tetrahedron basic units according to claim 1, characterized in that: The first basic folding and unfolding unit includes a first vertex flower disc, a first side flower disc, a second side flower disc, four equal-length webs, a first synchronization rod and a first connecting bottom rod. The center flower disc, the first vertex flower disc, the first side flower disc and the second side flower disc together constitute the four vertices of the first basic folding and unfolding unit, and the four equal-length webs, the first synchronization rod and the first connecting bottom rod together constitute the edges of the first basic folding and unfolding unit. The four equal-length webs include a first web, a second web, a third web and a fourth web. The angle between the first web and the second web is ; Three side branches are evenly distributed in the circumferential direction of the first side faceplate, and the three side branches include a first side branch, a second side branch and a third side branch. The angle between the perpendiculars of the rotation sub-axis of two adjacent side branches is 60°. The first end of the upper end surface of the first side faceplate is provided with a first side upper branch, and the first side upper branch is located between the first side branch and the second side branch. The angle between the bisector of the angle formed by the intersection of the perpendicular line of the rotation sub-axis of the first side branch and the perpendicular line of the rotation sub-axis of the second side branch and the rotation sub-axis of the first side upper branch is , is the angle between the first web and the second web; three side branches are evenly distributed in the circumferential direction of the second side flower disk, and the three side branches include a fourth side branch, a fifth side branch and a sixth side branch, and the angle between the perpendiculars of the rotation sub-axis of two adjacent side branches is 60°, the second end of the upper end face of the second side flower disk is provided with a second side upper branch, and the second side upper branch is located between the fifth side branch and the sixth side branch, and the angle between the angle bisector of the angle formed by the intersection of the perpendicular line of the rotation sub-axis of the fifth side branch and the perpendicular line of the rotation sub-axis of the sixth side branch and the rotation sub-axis of the sixth side branch is , is the angle between the first web member and the second web member; The first end of the first web is rotatably connected to the first upper side branch on the first side flower disc, and the second end of the first web is rotatably connected to the third lower vertex branch on the first vertex flower, the first end of the second web is rotatably connected to the second upper side branch on the second side flower disc, and the second end of the second web is rotatably connected to the first lower vertex branch on the first vertex flower disc, the first end of the third web is rotatably connected to the second side branch on the first side flower disc, and the second end of the third web is rotatably connected to the first central branch on the central flower disc, the first end of the fourth web is rotatably connected to the fifth side branch on the second side flower disc, and the second end of the fourth web is rotatably connected to the second central branch on the central flower disc; The first synchronization rod includes a first connecting rod and a second connecting rod, the first connecting rod and the second connecting rod are equal in length, and the first end of the first connecting rod is rotatably connected to the second lower vertex branch on the first vertex flower disc, the second end of the first connecting rod is rotatably connected to the first end of the second connecting rod, and the second end of the second connecting rod is rotatably connected to the first upper center branch on the center flower disc, the first connecting bottom rod includes a first bottom rod and a second bottom rod, the first bottom rod and the second bottom rod are equal in length, and the first end of the first bottom rod is rotatably connected to the first side branch on the first side flower disc, the second end of the first bottom rod is rotatably connected to the first end of the second bottom rod, and the second end of the second bottom rod is rotatably connected to the sixth side branch on the second side flower disc.

4. The modular parabolic frame folding and unfolding mechanism based on unequal height tetrahedron basic units according to claim 3, characterized in that: The second basic folding and unfolding unit includes a second vertex flower disc, a first inner flower disc, a first outer flower disc, four equal-length webs, a second synchronization rod and a second connecting bottom rod. The central flower disc, the second vertex flower disc, the first inner flower disc and the first outer flower disc together constitute the four vertices of the second basic folding and unfolding unit, and the four equal-length webs, the second synchronization rod and the second connecting bottom rod together constitute the edges of the second basic folding and unfolding unit. The four equal-length webs include a fifth web, a sixth web, a seventh web and an eighth web. The angle between the fifth web and the sixth web is ; The first inner faceplate is provided with four side branches in the circumferential direction, and the four side branches include a first inner branch, a second inner branch, a third inner branch and a fourth inner branch, and the angle between the perpendicular line of the first inner branch rotation secondary axis and the perpendicular line of the second inner branch rotation secondary axis is 60°, the angle between the perpendicular line of the second inner branch rotation secondary axis and the perpendicular line of the third inner branch rotation secondary axis is 60°, and the angle between the perpendicular line of the third inner branch rotation secondary axis and the perpendicular line of the fourth inner branch rotation secondary axis is 90°, and the angle between the perpendicular line of the fourth inner branch rotation secondary axis and the perpendicular line of the first inner branch rotation secondary axis is 170°. The upper end surface of the first inner faceplate is provided with a fifth inner branch, and the fifth inner branch is located between the first inner branch and the second inner branch, and the angle between the bisector of the angle formed by the intersection of the perpendicular line of the first inner branch rotation secondary axis and the perpendicular line of the second inner branch rotation secondary axis and the rotation secondary axis of the fifth inner branch is , is the angle between the fifth web and the sixth web; the first outer faceplate is symmetrical about the middle plane, and four side branches are provided in the circumferential direction of the first outer faceplate, the four side branches include a first outer branch, a second outer branch, a third outer branch and a fourth outer branch, and the angle between the perpendicular to the rotation secondary axis of the first outer branch and the perpendicular to the rotation secondary axis of the second outer branch is 60°, the angle between the perpendicular to the rotation secondary axis of the second outer branch and the perpendicular to the rotation secondary axis of the third outer branch is 60°, and the angle between the perpendicular to the rotation secondary axis of the third outer branch and the perpendicular to the rotation secondary axis of the fourth outer branch is 60°, and the angle between the perpendicular to the rotation secondary axis of the fourth outer branch and the perpendicular to the rotation secondary axis of the first outer branch is 180°, a fifth outer branch is provided at the middle of the upper end surface of the first outer faceplate, and the fifth outer branch is located between the second outer branch and the third outer branch, and the angle between the bisector of the angle formed by the intersection of the perpendicular to the rotation secondary axis of the second outer branch and the perpendicular to the rotation secondary axis of the third outer branch is , is the angle between the fifth and sixth web members; The first end of the fifth web is rotatably connected to the fifth inner branch on the first inner flower disc, and the second end of the fifth web is rotatably connected to the third lower vertex branch on the second vertex flower disc, the first end of the sixth web is rotatably connected to the fifth outer branch on the first outer flower disc, and the second end of the sixth web is rotatably connected to the first lower vertex branch on the second vertex flower disc, the first end of the seventh web is rotatably connected to the second inner branch on the first inner flower disc, and the second end of the seventh web is rotatably connected to the fifth central branch on the central flower disc, the first end of the eighth web is rotatably connected to the third outer branch on the first outer flower disc, and the second end of the eighth web is rotatably connected to the sixth central branch on the central flower disc; The second synchronization rod includes a third connecting rod and a fourth connecting rod, the third connecting rod and the fourth connecting rod are equal in length, and the first end of the third connecting rod is rotatably connected to the second lower vertex branch on the second vertex flower disc, the second end of the third connecting rod is rotatably connected to the first end of the fourth connecting rod, and the second end of the fourth connecting rod is rotatably connected to the third upper center branch on the center flower disc, the second connecting bottom rod includes a third bottom rod and a fourth bottom rod, the third bottom rod and the fourth bottom rod are equal in length, and the first end of the first bottom rod is rotatably connected to the first inner branch on the first inner flower disc, the second end of the third bottom rod is rotatably connected to the first end of the fourth bottom rod, and the second end of the fourth bottom rod is rotatably connected to the second outer branch on the first outer flower disc.

5. The modular parabolic frame folding and unfolding mechanism based on unequal height tetrahedron basic units according to claim 4, characterized in that: The third basic folding and unfolding unit includes a third vertex flower disc, a second outer flower disc, a second inner flower disc, four equal-length webs, a third synchronization rod and a third connecting bottom rod. The central flower disc, the third vertex flower disc, the second outer flower disc and the second inner flower disc together constitute the four vertices of the third basic folding and unfolding unit, and the four equal-length webs, the third synchronization rod and the third connecting bottom rod together constitute the edges of the third basic folding and unfolding unit. The four equal-length webs include a ninth web, a tenth web, an eleventh web and a twelfth web. The angle between the ninth web and the tenth web is ; The second outer faceplate is symmetrical about the middle plane, and four side branches are provided in the circumferential direction of the second outer faceplate, and the four side branches include a sixth outer branch, a seventh outer branch, an eighth outer branch and a ninth outer branch, and the angle between the perpendicular line of the sixth outer branch rotation secondary axis and the perpendicular line of the seventh outer branch rotation secondary axis is 60°, the angle between the perpendicular line of the seventh outer branch rotation secondary axis and the perpendicular line of the eighth outer branch rotation secondary axis is 60°, and the angle between the perpendicular line of the eighth outer branch rotation secondary axis and the perpendicular line of the ninth outer branch rotation secondary axis is 60°, and the angle between the perpendicular line of the sixth outer branch rotation secondary axis and the perpendicular line of the ninth outer branch rotation secondary axis is 180°. A tenth outer branch is provided at the middle of the upper end surface of the second outer faceplate, and the tenth outer branch is located between the seventh outer branch and the eighth outer branch, and the angle between the bisector of the angle formed by the intersection of the perpendicular line of the seventh outer branch rotation secondary axis and the perpendicular line of the eighth outer branch rotation secondary axis and the tenth outer branch rotation secondary axis is , is the angle between the ninth web bar and the tenth web bar; four side branches are provided in the circumferential direction of the second inner faceplate, and the four side branches include a sixth inner branch, a seventh inner branch, an eighth inner branch and a ninth inner branch. The angle between the perpendicular line of the sixth inner branch rotation secondary axis and the perpendicular line of the seventh inner branch rotation secondary axis is 90°, the angle between the perpendicular line of the seventh inner branch rotation secondary axis and the perpendicular line of the eighth inner branch rotation secondary axis is 60°, and the angle between the perpendicular line of the eighth inner branch rotation secondary axis and the perpendicular line of the ninth inner branch rotation secondary axis is 60°, the angle between the perpendicular line of the sixth inner branch rotation secondary axis and the perpendicular line of the ninth inner branch rotation secondary axis is 170°, the upper end surface of the second inner faceplate is provided with a tenth inner branch, and the tenth inner branch is located between the eighth inner branch and the ninth inner branch, the angle between the angle bisector of the angle formed by the intersection of the perpendicular line of the sixth inner branch rotation secondary axis and the perpendicular line of the seventh inner branch rotation secondary axis and the rotation secondary axis of the tenth inner branch is , is the angle between the ninth and tenth web members; The first end of the ninth belly bar is rotatably connected to the tenth outer branch on the second outer flower disc, the second end of the ninth belly bar is rotatably connected to the third lower vertex branch on the third vertex flower disc, the first end of the tenth belly bar is rotatably connected to the tenth inner branch on the second inner flower disc, and the second end of the tenth belly bar is rotatably connected to the first lower vertex branch on the third vertex flower disc, the first end of the eleventh belly bar is rotatably connected to the eighth outer branch on the second outer flower disc, and the second end of the eleventh belly bar is rotatably connected to the third central branch on the central flower disc, the first end of the twelfth belly bar is rotatably connected to the eighth inner branch on the second inner flower disc, and the second end of the twelfth belly bar is rotatably connected to the fourth central branch on the central flower disc; The third synchronization rod includes a fifth connecting rod and a sixth connecting rod, the fifth connecting rod and the sixth connecting rod are equal in length, and the first end of the fifth connecting rod is rotatably connected to the second lower vertex branch on the third vertex flower disc, the second end of the fifth connecting rod is rotatably connected to the first end of the sixth connecting rod, and the second end of the sixth connecting rod is rotatably connected to the second upper center branch on the center flower disc, the third connecting bottom rod includes a fifth bottom rod and a sixth bottom rod, the fifth bottom rod and the sixth bottom rod are equal in length, and the first end of the fifth bottom rod is rotatably connected to the seventh outer branch on the second outer flower disc, the second end of the fifth bottom rod is rotatably connected to the first end of the sixth bottom rod, and the second end of the sixth bottom rod is rotatably connected to the ninth inner branch on the second inner flower disc.

6. The modular parabolic frame folding and unfolding mechanism based on unequal height tetrahedron basic units according to claim 3, 4 or 5, characterized in that: The first vertex face disc, the second vertex face disc and the third vertex face disc have the same structure, and the first vertex face disc is evenly distributed with six vertex branches in the circumferential direction, the six vertex branches include the first vertex branch, the second vertex branch, the third vertex branch, the fourth vertex branch, the fifth vertex branch and the sixth vertex branch, and the angle between the perpendiculars of the rotation sub-axis of two adjacent vertex branches is 60°, the lower end face of the first vertex face disc is evenly distributed with three lower vertex branches around its central axis, and the three lower vertex branches include the first lower vertex branch, the second lower vertex branch and the third lower vertex branch, the perpendiculars between the rotation sub-axis of two adjacent lower vertex branches are 120°, and the first lower vertex branch is located between the second vertex branch and the third vertex branch, the second lower vertex branch is located between the fourth vertex branch and the fifth vertex branch, the third lower vertex branch is located between the sixth vertex branch and the first vertex branch, and the angle between the perpendicular of the rotation sub-axis of each vertex branch and the perpendicular of the rotation sub-axis of the adjacent lower vertex branch is 30°.

7. The modular parabolic frame folding and unfolding mechanism based on unequal height tetrahedron basic units according to claim 1, characterized in that: The three pairs of lower synchronization rods of equal length include a first lower synchronization rod, a second lower synchronization rod and a third lower synchronization rod, the first lower synchronization rod includes a first lower rod and a second lower rod, the first lower rod and the second lower rod are equal in length, and the first end of the first lower rod is rotatably connected to the fourth outer branch on the first outer flower disc, the second end of the first lower rod is rotatably connected to the first end of the second lower rod, and the second end of the second lower rod is rotatably connected to the third side branch on the first side flower disc, the second lower synchronization rod includes a third lower rod and a fourth lower rod, the third lower rod and the fourth lower rod are equal in length, and the first end of the third lower rod is rotatably connected to the third side branch on the first side flower disc One end is rotatably connected to the seventh inner branch on the second inner flower disc, the second end of the third lower rod is rotatably connected to the first end of the fourth lower rod, and the second end of the fourth lower rod is rotatably connected to the third inner branch on the first inner flower disc, the third lower synchronization rod includes a fifth lower rod and a sixth lower rod, the fifth lower rod and the sixth lower rod are equal in length, and the first end of the fifth lower rod is rotatably connected to the fourth side branch on the second side flower disc, the second end of the fifth lower rod is rotatably connected to the first end of the sixth lower rod, and the second end of the sixth lower rod is rotatably connected to the ninth outer branch on the second outer flower disc; The three pairs of equal-length upper synchronization rods include a first upper synchronization rod, a second upper synchronization rod and a third upper synchronization rod, the first upper synchronization rod includes a first upper rod and a second upper rod, the first upper rod and the second upper rod are equal in length, and the first end of the first upper rod is rotatably connected to the fourth center branch on the second vertex flower disk, the second end of the first upper rod is rotatably connected to the first end of the second upper rod, and the second end of the second upper rod is rotatably connected to the fifth center branch on the first vertex flower disk, the second upper synchronization rod includes a third upper rod and a fourth upper rod, the third upper rod and the fourth upper rod are equal in length, and the first end of the third upper rod is rotatably connected to the fifth center branch on the first vertex flower disk. The end is rotatably connected to the fourth center branch on the third vertex flower disc, the second end of the third upper rod is rotatably connected to the first end of the fourth upper rod, and the second end of the fourth upper rod is rotatably connected to the fifth center branch on the second vertex flower disc, the third upper synchronization rod includes a fifth upper rod and a sixth upper rod, the fifth upper rod and the sixth upper rod are equal in length, and the first end of the fifth upper rod is rotatably connected to the fourth center branch on the first vertex flower disc, the second end of the fifth upper rod is rotatably connected to the first end of the sixth upper rod, and the second end of the sixth upper rod is rotatably connected to the fifth center branch on the third vertex flower disc.

8. The modular parabolic frame folding and unfolding mechanism based on unequal height tetrahedron basic units according to claim 1, characterized in that: The upper folding rod includes a first upper folding rod and a second upper folding rod, the first upper folding rod and the second upper folding rod are equal in length, the first end of the first upper folding rod is universally hinged to the first center branch on the second vertex flower disc on the second basic folding unit in the combined expandable unit, and the second end of the first upper folding rod is rotatably connected to the first end of the second upper folding rod, and the second end of the second upper folding rod is universally hinged to the fourth center branch on the third vertex flower disc on the third basic folding unit in the adjacent combined expandable unit; The lower folding rod includes a first lower folding rod and a second lower folding rod, the first lower folding rod and the second lower folding rod are equal in length, the first end of the first lower folding rod is universally hinged to the first outer branch on the first outer disc on the second basic folding unit in the combined expandable unit, and the second end of the first lower folding rod is rotatably connected to the first end of the second lower folding rod, and the second end of the second lower folding rod is universally hinged to the sixth outer branch on the second outer disc on the third basic folding unit in the adjacent combined expandable unit; The connecting face disc is provided with a first connecting branch and a second connecting branch, and the angle between the rotation sub-axis of the first connecting branch and the rotation sub-axis of the second connecting branch is 60°. The first connecting branch is rotationally connected to the fourth inner branch on the first inner face disc on the second basic folding unit in the combined expandable unit, and the second connecting branch is rotationally connected to the sixth inner branch on the second inner face disc on the third basic folding unit in the adjacent combined expandable unit.

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