Scissor fork type space one-dimensional unfolding mechanism based on spring-motor distributed driving

Abstract

The invention discloses a shear fork type space one-dimensional unfolding mechanism based on spring-motor distributed driving. The shear fork type space one-dimensional unfolding mechanism aims at solving the problems that an existing space unfolding mechanism is low in unfolding speed, poor in stability and the like. The unfolding mechanism is composed of a plurality of shear fork units and mainly comprises a spring driving device and a lead screw motor system. The spring driving device provides initial unfolding force and continuously supports the stretching process, and it is ensured that the unfolding mechanism can be kept in a stable state after being completely unfolded. The lead screw motor system is used for accurately controlling the unfolding speed. The shear fork units of each span are connected through the hinge blocks, and are provided with the folding hinge rods and the limiting bosses, so that the stability and the reliability after the shear fork units are completely unfolded are ensured. By means of precise mechanical design and lightweight materials, the unfolding mechanism achieves a high unfolding and folding ratio and a compact structure, and meanwhile friction is reduced and durability is improved. The invention is suitable for a large-scale structure which needs to be quickly and stably unfolded in a space environment.

Description

Technical Field

[0001] The present invention relates to the field of aerospace, and in particular to a space deployable mechanism, in particular to a scissor-type space one-dimensional deployment mechanism based on a spring-motor distributed drive. Background Art

[0002] With the continuous development of aerospace technology, the requirements for the functions and missions of spacecraft are also increasing. Modern aerospace missions require that spacecraft can be deployed on a large scale after launch. At the same time, they can be folded efficiently during launch to adapt to the space limitations of the rocket's launch cabin, and quickly unfolded after entering the predetermined orbit. Existing mechanical deployment mechanisms mainly rely on rope linkage and hinge structures. These mechanisms usually have the following three problems: first, the deployment speed is slow and it is difficult to respond quickly to mission requirements; second, the structural stability is poor, especially in the space environment, affected by microgravity and temperature changes, which can easily lead to structural deformation and functional failure; finally, the existing deployment mechanism is complex in design and manufacturing, high cost, and difficult to maintain. In order to overcome the above problems, there is an urgent need for a new type of space deployable mechanism that can be deployed quickly and efficiently in the space environment and has high stability and reliability. This mechanism must not only meet the stringent requirements of the space environment, but also have a lightweight and modular design, easy to transport and assemble, and suitable for a variety of space missions. Summary of the invention

[0003] In view of the above problems, the present invention proposes a scissor-type spatial one-dimensional deployment mechanism based on spring-motor distributed drive, aiming to overcome the problems of slow deployment speed, poor stability and low reliability existing in the rope-linked deployment mechanism in the prior art.

[0004] The invention discloses a space unfolding mechanism based on multiple driving of springs and lead screw motors, comprising a control part, a power part, a limit part, a working part and a plurality of stretching units.

[0005] The control part is composed of a base plate, three sets of ball screws and three synchronous motors. The three sets of ball screws are arranged at equal angles in the circumferential direction and installed on the base plate, and their axes intersect, with the intersection point located on the central axis of the base plate. The three sets of ball screws are covered with connecting tables, the top surface of which is parallel to the top surface of the base plate and is connected and fixed to the screw nut; the output shafts of the three synchronous motors are coaxially fixed to the three sets of ball screws respectively.

[0006] The stretching unit is composed of three scissor mechanisms and three articulated seats. Each set of scissor mechanisms is composed of two scissor rods connected in the middle by a revolving pair. The cross section of the articulated seat is an isosceles obtuse triangle with an angle of 120°. Two articulated grooves are designed on the left and right sides of the articulated seat along the length direction of the side, and the positions of the articulated grooves on the left and right sides correspond to each other, which are used to connect the scissor rods.

[0007] The three sets of scissor mechanisms in one stretching unit are scissor mechanisms A, B, and C, which are respectively located on the three side faces A, B, and C of a regular triangular prism in space. The scissor rods at the bottom ends of the adjacent scissor mechanisms A, B, and scissor mechanisms A, C, and scissor mechanisms B, C are connected to an articulated seat, which are respectively articulated seats A, B, and C located at the three edges of the regular triangular prism in space, thereby forming a set of stretching units; between adjacent stretching units, the scissor rods at the top ends of the adjacent scissor mechanisms A, B, and scissor mechanisms A, C of the lower stretching unit and the scissor mechanisms B, C are respectively connected to the articulated seats A, B, and C in the upper stretching unit. Among them, the middle parts of the bottom surfaces of the three articulated seats at the bottom of the stretching unit at the lowest layer are respectively fixed on the connecting platform in the set of ball screws. At the same time, the articulated seats A, B, and C are connected above the stretching unit at the top in the same way as mentioned above, for connecting the working part. Thus, the scissor mechanisms in each stretching unit are driven to unfold synchronously by three synchronous motors, and the distance between the working part and the bottom plate is increased.

[0008] The power part is a spring arranged between the three hinged seats at the bottom of each stretching unit and the three hinged seats at the top of the topmost stretching unit, which provides power for the expansion of each stretching unit. The specific installation method of the springs between the three hinged seats is as follows: a hook is installed between the top corners and the hinge grooves adjacent to the two sides of the three hinged seats. The two ends of the three springs are respectively hung with hooks at opposite positions on adjacent hinged seats, and the angle between adjacent springs is 60°. The combined force of every two springs acts on a hinged seat connected to the two, and the direction is toward the center of the plane surrounded by the three hinged seats.

[0009] The limiting part is a hinge rod installed between the hinge seats corresponding to the upper and lower positions of each scissor mechanism, including two hinge rod bodies, the front ends of the two hinge rod bodies are hinged by an intermediate hinge, and a hinge head is installed on the end to connect the hinge seat; and a limiting boss is designed. When each extension unit is fully unfolded, each hinge rod reaches the unfolded state together; at this time, the hinge rod is perpendicular to the cross section of the space triangular prism, and the limiting bosses at both ends of the hinge rod cooperate with the upper and lower hinge seats, so that each extension unit cannot be further unfolded.

[0010] The hinge joints at both ends of the above-mentioned folding hinge rod are respectively hinged to two hinge grooves corresponding to the positions designed along the bottom edge at the top corners of the two hinge seats at corresponding upper and lower positions; and the hinge joints at both ends of the two adjacent folding hinge rods are respectively hinged to the hinge grooves at different corresponding positions.

[0011] The working part is composed of a top circular plate, three slide rails and three sliders; wherein the top circular plate is provided with three radially arranged slide rails at equal angles in the circumference. The three sliders are respectively located at the lower side of the three slide rails and fixedly connected to the middle of the three hinged seats above the topmost extension unit.

[0012] The present invention is based on a space unfolding mechanism driven by multiple factors of springs and screw motors. In a fully retracted state, the screw nuts on the three ball screws are located at the outer ends of the screws; the hinge seats at the same circumferential position are stacked. At the same time, the inner and outer scissor rods in each scissor mechanism are in a retracted state, and the axes of the outer scissor rods and the inner scissor rods of each scissor mechanism on the same side are parallel and stacked; each hinge rod is in a folded state, the angle between the two hinge rods in the hinge rod is 0°, and the torsion spring is in a compressed state; and the hinge rods in each hinge rod are stacked; the three hinge seats at the top of the top extension unit are respectively located at the outermost ends of the three slide rails of the top circular plate, and at this time, the vertical distance between the top circular plate and the bottom plate is the smallest.

[0013] The process from the folded state to the fully expanded state is as follows: the three ball screws are controlled to rotate by a synchronous motor, and the three bottom hinge seats are driven by the ball screws to move synchronously toward the center of the bottom plate, and all the extension units are simultaneously expanded during the movement. During the expansion process, the hinge rods between the upper and lower adjacent hinge seats are expanded together, and the torsion spring elastic force provides auxiliary force for the expansion of the hinge rods; at the same time, the top circular plate moves up in the vertical direction, and the top three hinge seats slide along the three slide rails toward the center of the top circular plate.

[0014] During the above-mentioned unfolding process, the initial unfolding force of the unfolding mechanism is provided by the elastic force of the springs between the three hinged seats of each layer, and the unfolding force is continuously provided during the unfolding process.

[0015] When in the fully expanded state, each hinge rod is also in the fully expanded state. At this time, the spring leaf is interlocked with the limit boss, and the limit bosses at both ends of the hinge rod cooperate with the upper and lower hinge seats to limit the position. Each extension unit cannot continue to expand, and the overall expansion and retraction mechanism is in the shape of a regular triangular prism, and the vertical distance between the top circular platform and the bottom plate is the largest.

[0016] The beneficial effects of the present invention are as follows:

[0017] 1. The present invention is based on a scissor-type one-dimensional spatial unfolding mechanism driven by a spring-motor distributed drive, and has strong stability: a hinge rod is added between adjacent extension units, and a limit boss and an adjusting screw are designed on the hinge rod to ensure that the unfolding mechanism has high stability after being fully unfolded, and the unfolding angle of the hinge rod can be adjusted as needed, thereby improving the stability and accuracy of the structure.

[0018] 2. The present invention is based on a scissor-type one-dimensional spatial unfolding mechanism with a spring-motor distributed drive, and has a strong unfolding force: the main unfolding force is provided by connecting springs between the hinged seats at each layer, thereby ensuring that the unfolding mechanism unfolds quickly, and the residual tension of the spring helps to maintain a stable state after unfolding.

[0019] 3. The present invention is based on the scissor-type spatial one-dimensional unfolding mechanism of spring-motor distributed drive, which has reliable locking and anti-interference performance: by setting a locking device at the middle hinge position of the folding hinge rod, when the folding hinge rod is fully unfolded, the spring leaves and bosses respectively installed on the rod bodies of the two folding hinge rods cooperate to achieve automatic locking of the unfolding mechanism after full unfolding, thereby improving the stability and anti-interference ability of the structure.

[0020] 4. The present invention is based on a scissor-type one-dimensional spatial unfolding mechanism with spring-motor distributed drive, and has precise unfolding control: three sets of ball screws and synchronous motors arranged on the bottom plate are connected to the bottom hinged seat, which can accurately control the unfolding speed of the unfolding mechanism and ensure the stability and controllability of the unfolding process.

[0021] 5. The present invention is based on a scissor-type one-dimensional spatial deployment mechanism with spring-motor distributed drive, which has a high deployment ratio and compactness: adjacent extension units can be completely compressed when the deployment mechanism is folded, ensuring a highly compact structure, significantly improving the deployment ratio, and facilitating transportation and storage.

[0022] 6. The present invention is based on a scissor-type spatial one-dimensional unfolding mechanism with a spring-motor distributed drive, which can reduce friction and achieve lightweight: micro bearings are arranged at the rod heads of the scissor rods and the hinge rods, which effectively reduces the friction at the hinges, and carbon fiber is used in the middle of the rod to achieve lightweight unfolding mechanism. BRIEF DESCRIPTION OF THE DRAWINGS

[0023] Figure 1 It is a structural schematic diagram of the deployment mechanism of the present invention in a fully deployed state;

[0024] Figure 2 It is a schematic diagram of the structure of the control part in the unfolding mechanism of the present invention;

[0025] Figure 3 It is a schematic diagram of the structure of the working part of the unfolding mechanism of the present invention;

[0026] Figure 4 It is a schematic diagram of the scissor rod structure in the unfolding mechanism of the present invention;

[0027] Figure 5 It is a schematic diagram of the connection mode between adjacent extension units in the unfolding mechanism of the present invention;

[0028] Figure 6 It is a schematic diagram of the structure of the folding hinge rod in the unfolding mechanism of the present invention;

[0029] Figure 7 It is a structural schematic diagram of the unfolding mechanism of the present invention when it is in a fully folded state.

[0030] In the figure:

[0031] 1-Control part 2-Power part 3-Limit part

[0032] 4-working part 5-stretching unit 101-bottom plate

[0033] 102- ball screw 103- synchronous motor 201- hook

[0034] 301- folding hinge rod head 302- folding hinge rod shaft 303- middle hinge

[0035] 303a-pin shaft 303b-torsion spring 304-spring leaf

[0036] 305-limiting boss 306-circlip 401-top round plate

[0037] 402-three slide rails 403-three sliders 501-scissor mechanism

[0038] 502- articulated seat 501a- scissor rod head 501b- scissor rod shaft

[0039] 501c-middle connection block DETAILED DESCRIPTION

[0040] The present invention will be described in detail below with reference to the accompanying drawings and embodiments.

[0041] The present invention is based on a spring-motor distributed drive scissor-type spatial one-dimensional unfolding mechanism, comprising a control part 1, a power part 2, a limit part 3, a working part 4 and a plurality of stretching units 5, such as Figure 1 , Figure 2 and Figure 3 shown.

[0042] The control part 1 is composed of a base plate 101, three sets of ball screws 102 and three synchronous motors 103, and is used to realize the extension control of the entire unfolding mechanism. The base plate 1 is an isosceles triangle plate with a hollow design, retaining a central ring structure and three mounting beams along three angle bisectors, and the three mounting beams are respectively connected to the central ring structure.

[0043] Three sets of ball screws 102 are fixedly mounted on three mounting beams, and their axes are arranged along three angular bisectors of the base 1. The two ends of the ball screw 102 are respectively connected to the inner and outer support seats designed on the mounting beam to form a rotating pair. Three synchronous motors 103 are respectively fixedly mounted on the outer support seats on the three mounting beams, and the output shaft is coaxially fixedly connected to the ball screw 102. A connecting table is sleeved on the ball screw 102, and the top surface of the connecting table is parallel to the top surface of the base plate 1, and is connected and fixed to the nut of the ball screw 102. At the same time, the connecting table is inserted into the longitudinal plates designed along the axial direction on both sides of the ball screw through the limit groove designed at the bottom to limit the rotational movement of the connecting table. The extension unit 5 located at the bottom is connected through the connecting table installed on the above three sets of ball screws 102.

[0044] The stretching unit 5 is composed of three scissor-fork mechanisms 501 and three hinged seats 502. Each set of scissor-fork mechanisms 501 is composed of two scissor-fork rods. Figure 4 As shown, it is composed of two scissor rod heads 501a, two carbon fiber scissor rod shafts 501b and an intermediate connecting block 501c. Among them, the intermediate connecting block 501c is a cubic structure, and the opposite side walls are coaxially designed with columnar joints, which are coaxially plugged with the front ends of the two scissor rod shafts 501b and fixed by AB glue, and the front ends of the scissor rod shafts 501b are further connected to the columnar joints by screws arranged at equal angles in the circumference. A middle bearing hole is opened on the other opposite side of the intermediate connecting piece 501c, and the axis of the middle bearing hole is perpendicular to and intersects with the axis of the shaft 501c; a miniature bearing is installed in the middle bearing hole, and the bearing is fixed by a spring retaining ring. The ends of the two scissor rod heads 501a are designed with columnar joints, which are coaxially plugged with the ends of the two scissor rod shafts 501b and fixed by AB glue, and the ends of the scissor rod shafts 501b are further connected to the columnar joints by screws arranged at equal angles in the circumference. The two scissor rod heads 501a are provided with end bearing holes, which are parallel to the axis of the middle bearing hole and intersect with the axis of the scissor rod body 501b; miniature bearings are also installed in the end bearing holes, and the bearings are fixed by spring retaining rings.

[0045] The scissor rod head 501a and the middle connecting block 501c are both made of high-strength aluminum alloy. At the same time, the thickness of the two scissor rod heads 501a and the middle connecting block 501c in the axial direction is designed to be just enough to open the bearing hole, so that the length of the scissor rod body 501b accounts for the largest proportion of the overall scissor rod length, reducing the proportion of aluminum alloy and achieving maximum lightweight.

[0046] The scissor rods of the above structure are grouped into two, and the bolts are passed through the bearing holes provided on the middle connecting blocks 501c of the two scissor rods, and are connected with the nut threads; the bare rod section of the bolt is connected with the miniature bearings in the two bearing holes; thus, a set of scissor mechanism 501 is formed. In the case of no other connection, the two scissor rods in the scissor mechanism 501 can freely rotate 360°, and the two scissor rods will not interfere with each other.

[0047] The three sets of scissor mechanisms 501 in one extension unit 5 are scissor mechanisms A, B, and C, which are respectively located on the three side faces A, B, and C of a regular triangular prism in space, and the lower part is connected to the hinge seat 502 located at the three edges of the regular triangular prism in space, and the three hinge seats 502 are respectively hinge seats A, B, and C, which are respectively located at the edge positions where the side faces A, B, and the side faces A, C intersect with the side faces B, C, thereby forming a set of extension units 5. Figure 5 As shown, the structure of the specific articulated seat 502 and the specific connection method between it and the three sets of scissor-fork mechanisms 501 are as follows:

[0048] The cross section of the articulated seat 502 is an isosceles obtuse triangle with an angle of 120°, and the middle part is weight-reduced. Two articulated grooves are designed along the length direction on the left and right sides of the articulated seat 502, and the positions of the articulated grooves on the left and right sides correspond to each other, and are used to connect the scissor rods.

[0049] The bottom ends of the scissor rods on the inner side of the scissor mechanism 501 on the side A and the side B are respectively placed in the two hinge grooves on both sides of the hinge seat A near the top corners, and are connected to form a revolving pair through the rotating shaft, the shaft hole on the hinge seat A and the bearing hole on the scissor rod head 501a. The top ends of the scissor rods on the outer side of the scissor mechanism 501 on the side A and the side B in the lower scissor mechanism 501 are arranged in the two hinge grooves on both sides of the hinge seat A away from the top corners, and are connected to form a revolving pair through the rotating shaft, the shaft hole on the hinge seat A and the bearing hole on the scissor rod head 501a.

[0050] Similarly, the bottom ends of the scissor rods on the outside of the scissor mechanism 501 on side A and side C are respectively placed in two hinge grooves on both sides of the hinge seat B away from the top corners, and are connected with the shaft hole on the hinge seat A and the bearing hole on the rod head 501a of the scissor rod to form a revolving pair; and the top ends of the scissor rods on the inside of the scissor mechanism 501 on side A and side C in the lower scissor mechanism 501 are arranged in the two hinge grooves on both sides of the hinge seat B close to the top corners, and are connected with the shaft hole on the hinge seat and the bearing hole on the rod head 501a of the scissor rod to form a revolving pair.

[0051] Similarly, the bottom ends of the scissor rods on the outside of the scissor mechanism 501 on side B and side C are respectively placed in two hinge grooves on both sides of the hinge seat C away from the top corners, and are connected with the shaft hole on the hinge seat A and the bearing hole on the rod head 501a of the scissor rod to form a revolving pair; and the top ends of the scissor rods on the inside of the scissor mechanism 501 on side B and side C in the lower scissor unit are arranged in the two hinge grooves on both sides of the hinge seat C close to the top corners, and are connected with the shaft hole on the hinge seat A and the bearing hole on the rod head 501a of the scissor rod to form a revolving pair.

[0052] Through the above method, the connection between the stretching units 5 is realized; the middle of the bottom surface of the three hinge seats 502 at the bottom of the stretching unit 5 at the bottom layer is respectively fixed to the connecting platform in the three sets of ball screws 102, and the bisector of the top angle of the hinge seat 502 corresponds to the axis position of the ball screw 102. At the same time, the hinge seats A, B, and C are connected above the stretching unit 5 at the top in the same way as above to connect the working part.

[0053] The power part 2 is a spring disposed between the three hinge seats 502 at the bottom of each set of extension units 5 and the three hinge seats 502 at the top of the topmost extension unit 5, which provides power for the expansion of each extension unit 5. The specific installation method of the springs between the three hinge seats 502 is as follows: a hook 201 is installed between the top corners and the hinge grooves adjacent to the two sides of the three hinge seats 502; the two ends of the three springs are respectively hung with the hooks 201 located opposite to each other on the adjacent hinge seats 502, and the angle between the adjacent springs is 60°; the combined force of every two springs acts on a hinge seat 502 connected to the two springs, and the direction is toward the center of the plane surrounded by the three hinge seats 502.

[0054] The limiting part 3 is a hinge rod installed between the hinge seats 502 corresponding to the upper and lower positions of each scissor mechanism 501, which is mainly used for limiting the position of each extension unit 5 after it is unfolded, and is not used as a main load-bearing rod. Its material is the same as the scissor rod, which is a carbon fiber rod. The structure is similar to the scissor rod structure. The difference is that a limiting boss 304 is designed on the circumferential direction of the connection position between the two hinge rod heads 301 and the hinge rod shaft 302, and the two hinge rod shafts 302 are connected by an intermediate hinge 303, so that the two hinge rod shafts 302 have 180° rotational freedom. Figure 6 shown.

[0055] The above-mentioned middle hinge 303 is two cylindrical frames connected by a pin 303a. The two cylindrical frames are respectively fixedly sleeved on the front ends of the two folding hinge rod shafts 302; the two ends of the middle hinge 303 are connected by a pin 303a to form a rotating pair, and a torsion spring 303b is sleeved on the pin 303a, and the two ends of the torsion spring 303b are respectively fixed to the two ends of the middle hinge 303. Therefore, the elastic force of the torsion spring 303b can drive the two folding hinge rod shafts 302 to rotate to a coaxial state, in which the front ends of the two folding hinge rod shafts 302 are connected. At this time, the folding hinge rod is in an unfolded state, and in this state, the two folding hinge rod shafts 302 are kept in the unfolded state by designing a locking mechanism.

[0056] The locking mechanism includes a spring 304 and a limiting boss 305. The spring 304 is a plate-shaped rectangular frame, one side of which is fixedly mounted on the outer wall of the cylindrical frame on one of the hinge rod shafts 302 by screws, and the other end exceeds the front end face of the hinge rod shaft 302, and is used to connect the limiting boss 305. The limiting boss 305 is designed on the outer wall of the other hinge rod shaft 302 near the front end, and the circumferential position corresponds to the spring 304. The clamp 306 is a plate-shaped structure, which is tilted toward the end of the hinge rod shaft 302. Thus, the two folding hinge rods 302 are assisted to unfold by the elastic force of the torsion spring 303b. When the two folding hinge rods 302 are close to the unfolded state, the spring leaf 304 contacts the limiting boss 305, and is then lifted by the limiting boss 305 until the limiting boss 305 reaches the opening of the spring leaf 304. At this time, the spring leaf 304 returns to its original position, and the limiting boss 305 falls into the spring leaf 304. The folding hinge rod reaches the fully unfolded state, and the limiting boss 305 hooks the spring leaf 304, so that the unfolded state of the two folding hinge rods 302 is locked. In the unfolded state of the folding hinge rod, the elastic force of the torsion spring 303b further provides a pressing force after the spring leaf 304 is locked, which is conducive to the stability of the self-locking of the middle hinge 303. At the same time, bosses are designed at relative positions on the sides of the two cylindrical frames of the above-mentioned middle hinge 303, and a threaded hole is opened on one of the bosses. The thread in the hole cooperates with the installation of a limit bolt. By rotating the limit bolt, the distance between the end of the bolt and the other boss is adjusted, and then the expansion angle of the hinge rod can be adjusted through the cooperation of the two.

[0057] The connection between the hinge rod of the above structure and the two hinge seats 502 at the upper and lower corresponding positions is as follows: two grooves are provided at the top corners of the hinge seats 502 along the length direction of the bottom edge, and the two ends of the hinge rod are respectively arranged in any corresponding set of grooves on the upper and lower hinge seats 502, and the rotating shaft is connected with the shaft hole on the hinge seat 502 and the bearing hole on the rod head 301 of the hinge rod to form a rotating pair; and the upper and lower adjacent hinge rods are arranged alternately, that is, the two ends of the upper and lower hinge rods are connected with different sets of grooves of the hinge seat 502. Therefore, when each extension unit 3 is fully unfolded, each hinge rod reaches the unfolded state together; at this time, the hinge rod is perpendicular to the cross section of the space triangular prism, and the limiting bosses 308 at both ends of the hinge rod cooperate with the upper and lower hinge seats 502, so that each extension unit 3 cannot be further unfolded.

[0058] The working part 4 is used to set the mission load, such as the communication antenna of the spacecraft. The working part 4 is composed of a top circular plate 401, three slide rails 402 and three sliders 403. Figure 3 As shown. Among them, the top circular flat plate 401 is hollowed out for weight reduction, retaining the central circular ring structure and the three support beams along the three angular bisectors. Three radially arranged slide rails 402 are installed at equal angles around the top circular flat plate 401. Each slide rail 402 is also hollowed out for weight reduction, and a slider 403 is installed for sliding cooperation. The three sliders 403 are respectively located on the lower side of the three slide rails, and are fixedly connected to the middle part of the three articulated seats 502 above the topmost extension unit 5. Therefore, during the unfolding process of the extension unit 5, the three articulated seats 502 above the topmost extension unit 5 can move along the slide rails 402 away from the center of the figure surrounded by the three articulated seats 502, while the lateral position of the top circular flat plate 401 remains unchanged, and only the distance from the bottom plate 101 continues to increase.

[0059] The deployment mechanism of the present invention, when in a fully folded state, Figure 7 As shown, the screw nuts on the three ball screws are in contact with the limit baffles set at the outer ends of the screws. The hinge seats 502 with the same circumferential position are stacked; at the same time, the inner and outer scissor rods in each scissor mechanism 501 are in a retracted state, that is, the angle between the left and right sides of the scissor mechanism 501 is the smallest, and the axes between the outer scissor rods and the inner scissor rods of each scissor mechanism 501 on the same side are parallel and stacked; the angle between the two folding hinge rods 302 in each folding hinge rod is 0°, the axes are parallel, and the torsion spring is in a compressed state; and the folding hinge rods 302 in each folding hinge rod are stacked. The three hinge seats 502 at the top of the top extension unit 5 are respectively located at the outermost ends of the three slide rails 402 on the top circular plate 401, and at this time, the vertical distance between the top circular plate 401 and the bottom plate 101 is the smallest.

[0060] In order to ensure the volume and stability of the overall unfolding mechanism in the fully folded state, the present invention also has the following designs:

[0061] 1) The outer diameter of the scissor rod shaft 501b in the two extension units at the bottom is designed to be 30mm and the wall thickness is 1mm; the outer diameter of the scissor rod shaft 501b in the remaining extension units is 20mm and the wall thickness is 1mm; the outer diameter of the hinge rod shaft 302 is 15mm.

[0062] At the same time, based on the size design of the scissor rods in the aforementioned extension units, the thickness of the hinged seat 502 connected to the two lowest extension units 5 is designed to be 40 mm. The thickness of the remaining hinged seats 502 is 20 mm.

[0063] Furthermore, the intersection position on the articulated seat 502 with a thickness of 20 mm is located in the longitudinal middle position of the articulated groove. At the same time, two upper and lower articulated positions are designed in each articulated groove in the articulated seat 502 with a thickness of 40 mm. The vertical distance between the two articulated positions is 20 mm, which are respectively used to articulate with the scissor rods in the upper and lower extension units.

[0064] As a result, after the articulated seats 502 are stacked, the vertical distance between the corresponding hinge points in the upper and lower positions of each articulated seat 502 is uniformly 20 mm, ensuring that the axes of each stacked articulated seat 502, scissor rod and hinge rod are in a parallel state and tightly stacked.

[0065] 2) On the cylindrical frame of the middle hinge 303 of each hinge rod, there are U-shaped protrusions of different sizes on the side where the spring leaf 304 is located. When the hinge rod is in the folded state, the U-shaped protrusion on the cylindrical frame on one side of the fixed spring leaf can be located inside the U-shaped protrusion on the cylindrical frame on the other side, so that the U-shaped protrusions on both sides are nested and matched. At the same time, a flange is designed on the outer edge of the top surface of each hinge seat 502; when the upper and lower adjacent hinge seats 502 are stacked, the bottom of the upper hinge seat 502 and the flange of the top surface of the lower hinge seat 502 are nested with each other. As a result, after the hinge seat 502 and the hinge rod are stacked, the lateral positions are mutually restricted, making the overall structure more compact.

[0066] The process of the large-scale spatial deployment mechanism of the present invention from the folded state to the fully deployed state is as follows:

[0067] Since the unfolding mechanism is close to the dead point in the fully folded state, the synchronous motor 10 in the control part 1 provides power to the unfolding mechanism at the moment of starting to unfold, so that the unfolding mechanism can unfold smoothly. Further, by controlling the three synchronous motors 103 to control the rotation of the three ball screws 102 at the designed speed, the three lowest hinge seats 502 are driven by the ball screws 102 to move synchronously toward the center of the bottom plate 101. During the movement, the lower stretching unit between the adjacent stretching units can synchronously drive the upper stretching unit to unfold, thereby making all the stretching units unfold synchronously. During the unfolding process, the hinge rods between the upper and lower adjacent hinge seats are also unfolded together, and the torsion spring elastic force provides auxiliary force for the unfolding of the hinge rods. At the same time, the top circular plate 401 moves up in the vertical direction, and the three hinge seats 502 on the top layer slide along the three slide rails 502 toward the center of the top circular plate 401.

[0068] During the above-mentioned unfolding process, the initial unfolding force of the unfolding mechanism is provided by the spring elastic force between the three articulated seats 502 on each layer, and the unfolding force is continuously provided during the unfolding process, so that the unfolding mechanism has a greater unfolding power, so that the unfolding mechanism can be unfolded smoothly and quickly without the need for rope linkage. At the same time, the unfolding process of the unfolding mechanism can be accurately controlled by the synchronous motor at the bottom of the unfolding mechanism, thereby ensuring the stability and reliability of the unfolding mechanism in the space environment.

[0069] When in the fully expanded state, each hinge rod is also in the fully expanded state. At this time, the spring leaf 304 is interlocked with the limit boss 305, and the limit bosses 308 at both ends of the hinge rod cooperate with the upper and lower hinge seats 502 to limit the position. Each extension unit cannot continue to expand, and the overall expansion and retraction mechanism is in the shape of a regular triangular prism, and the vertical distance between the top circular platform 401 and the bottom plate 101 is the largest; the remaining spring tension of each spring is conducive to maintaining the expanded state of the expansion mechanism, and the expansion mechanism can withstand greater disturbances; and due to the limitations of each hinge rod, the remaining tension of the spring will not cause the expansion mechanism to continue to extend.

Claims

1. A scissor-type one-dimensional spatial unfolding mechanism based on spring-motor distributed drive, characterized in that: It includes a control part, a power part, a limit part, a working part and several extension units; The control part is composed of a base plate, three sets of ball screws and three synchronous motors; wherein the three sets of ball screws are arranged at equal angles in the circumferential direction and installed on the base plate, and their axes intersect, and the intersection point is located on the central axis of the base plate; the three sets of ball screws are covered with connecting platforms, the top surface of the connecting platforms is parallel to the top surface of the base plate, and is connected and fixed to the screw nuts; the output shafts of the three synchronous motors are coaxially fixedly connected to the three sets of ball screws respectively; The stretching unit is composed of three scissor-type mechanisms and three articulated seats; each set of scissor-type mechanisms is composed of two scissor-type rods connected in the middle by a rotating pair; the cross section of the articulated seat is an isosceles obtuse triangle of 120 degrees, and two articulated grooves are designed on the left and right sides of the articulated seat along the length direction of the side, and the positions of the articulated grooves on the left and right sides correspond to each other, which are used to connect the scissor-type rods; The three sets of scissor mechanisms in one stretching unit are scissor mechanisms A, B, and C, which are respectively located on the three side faces A, B, and C of a regular triangular prism in space. The scissor rods at the bottom ends of the adjacent scissor mechanisms A, B, and scissor mechanisms A, C and scissor mechanisms B, C are connected to an articulated seat, which are respectively the articulated seats A, B, and C located at the three edges of the regular triangular prism in space, thereby forming a set of stretching units; between adjacent stretching units, the scissor rods at the top ends of the adjacent scissor mechanisms A, B, and scissor mechanisms A, C of the lower stretching unit and the scissor rods at the top ends of the scissor mechanisms B, C are respectively connected to the articulated seats A, B, and C in the upper stretching unit; the middle parts of the bottom surfaces of the three articulated seats at the bottom of the stretching unit at the lowest layer are respectively fixed to the connecting platform in the set ball screw; at the same time, the articulated seats A, B, and C are connected above the stretching unit at the top in the same way as mentioned above, for connecting the working part; thereby, the scissor mechanisms in each stretching unit are driven to unfold synchronously through three synchronous motors, and the distance between the working part and the bottom plate is increased; The power part is a spring arranged between three hinged seats at the bottom of each set of extension units and between three hinged seats at the top of the topmost extension unit, which provides power for the expansion of each extension unit; the specific installation method of the springs between the three hinged seats is as follows: a hook is installed between the top corners and the hinged grooves adjacent to the two sides of the three hinged seats; the two ends of the three springs are respectively hung with hooks at opposite positions on adjacent hinged seats, and the angle between adjacent springs is 60°; the combined force of every two springs acts on an hinged seat connected to the two springs, and the direction is toward the center of the plane surrounded by the three hinged seats; The limiting part is a hinge rod installed between the hinge seats corresponding to the upper and lower positions of each scissor-fork mechanism, including two hinge rod bodies, the front ends of the two hinge rod bodies are hinged by an intermediate hinge, and a hinge head is installed on the end to connect the hinge seat; and a limiting boss is designed; when each extension unit is fully unfolded, each hinge rod reaches an unfolded state together; at this time, the hinge rod is perpendicular to the cross section of the spatial triangular prism, and the limiting bosses at both ends of the hinge rod cooperate with the upper and lower hinge seats, so that each extension unit cannot be further unfolded; The hinge joints at both ends of the folding hinge rod are respectively hinged to two hinge grooves corresponding to the positions designed along the bottom edge at the top corners of the two hinge seats at corresponding upper and lower positions; and the hinge joints at both ends of the two adjacent folding hinge rods are respectively hinged to the hinge grooves at different corresponding positions; The working part is composed of a top circular plate, three slide rails and three sliders; wherein, three radially arranged slide rails are installed at equal angles in the circumference of the top circular plate; the three sliders are respectively located at the lower sides of the three slide rails and are fixedly connected to the middle parts of the three hinged seats above the topmost extension unit.

2. A scissor-type spatial one-dimensional unfolding mechanism based on spring-motor distributed drive as claimed in claim 1, characterized in that: In the fully retracted state, the screw nuts on the three ball screws are located at the outer ends of the screws; The hinge seats at the same circumferential position are stacked; at the same time, the inner and outer scissor rods in each scissor mechanism are in a folded state, and the axes of the outer scissor rods and the inner scissor rods of each scissor mechanism on the same side are parallel and stacked; each hinge rod is in a folded state, the angle between the two hinge rods in the hinge rod is 0 degrees, and the torsion spring is in a compressed state; and the hinge rods in each hinge rod are stacked; the three hinge seats at the top of the top extension unit are respectively located at the outermost ends of the three slide rails of the top circular plate, and at this time the vertical distance between the top circular plate and the bottom plate is the smallest; The process from the folded state to the fully expanded state is as follows: the three ball screws are controlled to rotate by controlling a synchronous motor, and the three bottom hinge seats are driven by the ball screws to move synchronously toward the center of the bottom plate, and all extension units are synchronously expanded during the movement; during the expansion process, the hinge rods between the upper and lower adjacent hinge seats are expanded together, and the torsion spring elastic force provides auxiliary force for the expansion of the hinge rods; at the same time, the top circular plate moves up in the vertical direction, and the three top hinge seats slide along the three slide rails toward the center of the top circular plate. During the above-mentioned unfolding process, the initial unfolding force of the unfolding mechanism is provided by the elastic force of the springs between the three hinged seats of each layer, and the unfolding force is continuously provided during the unfolding process. When in the fully expanded state, each folding hinge rod is also in the fully expanded state. At this time, the spring leaf is interlocked with the limit boss, and the limit bosses at both ends of the folding hinge rod cooperate with the upper and lower hinge seats to limit the position. The overall expansion and contraction mechanism is in the shape of a regular triangular prism, and the vertical distance between the top circular platform and the bottom plate is the largest.

3. A scissor-type spatial one-dimensional unfolding mechanism based on spring-motor distributed drive as claimed in claim 1, characterized in that: In the extension unit, the scissor rod is composed of two scissor rod heads, two scissor rod shafts made of carbon fiber material and an intermediate connecting block; wherein, the two ends of the side wall of the intermediate connecting block are coaxially fixed to the front ends of the two scissor rod shafts; a middle bearing hole is opened on the circumferential side wall of the intermediate connecting piece, and a miniature bearing is installed in the middle bearing hole; the ends of the two scissor rod heads are coaxially fixed to the ends of the two scissor rod shafts; the two scissor rod heads are opened with end bearing holes, and miniature bearings are installed in the end bearing holes for connecting the hinged seat.

4. A scissor-type spatial one-dimensional unfolding mechanism based on spring-motor distributed drive as claimed in claim 3, characterized in that: The rod heads and the middle connecting blocks of the scissor rods are both made of high-strength aluminum alloy; at the same time, the axial thickness of the two scissor rod heads and the middle connecting blocks is designed to be just enough to open the bearing holes, so that the length of the scissor rod body accounts for the maximum proportion of the overall scissor rod length.

5. The scissor-type spatial one-dimensional unfolding mechanism based on spring-motor distributed drive as claimed in claim 1, characterized in that: In the folding hinge rod, the middle hinge is two cylindrical frames connected by a pin; the two cylindrical frames are fixedly sleeved on the front ends of the two folding hinge rods respectively; the two ends of the middle hinge are connected by a pin to form a rotating pair, and a torsion spring is sleeved on the pin, and the two ends of the torsion spring are respectively fixed to the two ends of the middle hinge; through the elastic force of the torsion spring, the two folding hinge rods can be driven to rotate to a coaxial state, in which the front ends of the two folding hinge rods are connected; at this time, the folding hinge rod is in an unfolded state.

6. The scissor-type one-dimensional spatial unfolding mechanism based on spring-motor distributed drive as claimed in claim 1, characterized in that: When the two folding hinge rods in the folding hinge rod are unfolded to be coaxial, the two are locked by a locking mechanism; the locking mechanism includes a spring and a limiting boss; wherein the spring is a plate-shaped rectangular frame, one side of which is fixedly installed on the outer wall of a folding hinge rod near the front end by screws, and the other end exceeds the front end face of the folding hinge rod, and is used to connect the limiting boss; the limiting boss is designed on the outer wall of the other folding hinge rod near the front end, and the circumferential position corresponds to the spring. The limiting boss is a plate-shaped structure, which is tilted toward the end of the folding hinge rod; when the two folding hinge rods are close to the unfolded state, the spring contacts the limiting boss, and is then lifted up by the limiting boss until the limiting boss reaches the opening of the spring, at which time the spring returns to its original position, the limiting boss falls into the spring, the folding hinge reaches the fully unfolded state, and the limiting boss hooks the spring, so that the unfolded state of the two folding hinge rods is locked.

7. The scissor-type spatial one-dimensional unfolding mechanism based on spring-motor distributed drive as claimed in claim 1, characterized in that: Bosses with opposite positions are designed on the outer walls of the two folding hinge rod body segments in the folding hinge rod; a threaded hole is opened on one of the bosses, and the threads in the hole cooperate to install a limit bolt. By rotating the limit bolt, the distance between the end of the bolt and the other boss is adjusted, and then the expansion angle of the folding hinge rod can be adjusted through the cooperation of the two.

8. The scissor-type spatial one-dimensional unfolding mechanism based on spring-motor distributed drive as claimed in claim 1, characterized in that: The outer diameter of the scissor rod body in the two extension units at the bottom is 30mm, and the wall thickness is 1mm; the outer diameter of the scissor rod body in the remaining extension units is 20mm, and the wall thickness is 1mm; the outer diameter of the hinge rod body is 15mm; at the same time, the thickness of the hinge seat connected to the two extension units at the bottom is designed to be 40mm, and the thickness of the remaining hinge seats 502 is 20mm; further, the hinge position on the hinge seat with a thickness of 20mm is located in the longitudinal middle position of the hinge groove, and at the same time, two upper and lower hinge positions are designed in each hinge groove in the hinge seat with a thickness of 40mm, and the vertical distance between the two hinge positions is 20mm, which are respectively used to hinge with the scissor rods in the upper and lower extension units.

9. The scissor-type spatial one-dimensional unfolding mechanism based on spring-motor distributed drive as claimed in claim 1, characterized in that: On the cylindrical frame of the middle hinge of each folding hinge rod, a protrusion is designed along the circumferential direction on the side where the spring leaf is located; when each folding hinge rod is in a folded state, the protrusions on the cylindrical frames at the ends of the folding hinge rod bodies of the upper and lower adjacent folding hinge rods are nested with each other; at the same time, a flange is designed on the outer edge of the top surface of each articulated seat; when the upper and lower adjacent articulated seats are stacked, the bottom of the upper articulated seat and the flange of the top surface of the lower articulated seat are nested with each other.

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