High-rigidity step-by-step coordination repeated unfolding and folding space stretching arm mechanism

Abstract

The invention discloses a high-rigidity step-by-step coordination repeated unfolding and folding space stretching arm mechanism, and relates to the technical field of spaceflight, the high-rigidity step-by-step coordination repeated unfolding and folding space stretching arm mechanism comprises a frame, a base, a driving mechanism, a corner connecting block, a locking mechanism, a limiting mechanism and a telescopic rod assembly, the base is fixedly connected to the lower portion of the frame, and limiting frames are symmetrically arranged on one side of the frame; a gear-driven driving mechanism is arranged at the bottom of the frame, a plurality of corner connecting blocks are movably connected to the driving mechanism at equal intervals, a locking mechanism is arranged on the portion, between the corner connecting blocks, of the driving mechanism, and a limiting mechanism is arranged on the side, close to the corner connecting blocks, of the upper end of the frame body; the driving mechanism drives the corner connecting block to move along the lead screw through gear transmission and synchronous belt transmission to achieve mechanism unfolding. When the locking mechanism is unfolded in place, locking is completed through cooperation of the guide pin cone and the unlocking inclined face, and the structural stability is guaranteed. The limiting mechanism utilizes an extrusion block and a compression spring to precisely limit the moving position of the corner connecting block; the telescopic rod assembly adapts to the distance change of the corner connecting blocks through sliding of inner and outer rods and buffering reset of a compression spring.

Description

Technical Field

[0001] The invention relates to the field of aerospace technology, in particular to a high-rigidity step-by-step coordinated and repeated expansion and contraction space extension arm mechanism. Background Art

[0002] With the development of the aerospace industry, the technology of deployable space structures has developed rapidly. In particular, driven by the demand for major applications such as high-power space power generation and space-based remote sensing, deployable space structures are showing a development trend of large-scale, lightweight, and high-precision. In the aerospace field, satellite solar panels, communication antennas, etc. need to be deployed in space by space deployment mechanisms to realize their functions.

[0003] Existing spatial deployment mechanisms commonly suffer from several problems. Some mechanisms utilize complex drive systems, resulting in high energy consumption and low reliability, making them prone to failure during operation. Other deployment mechanisms lack effective locking and limiting devices, making it difficult to ensure structural stability and accurate positioning after deployment, thus impacting operational effectiveness. Furthermore, some spatial deployment mechanisms have poor cushioning performance in their telescopic rod assemblies, which can easily generate significant impact during deployment and retraction, shortening the mechanism's service life. Therefore, those skilled in the art have provided a high-rigidity, step-by-step, coordinated, and reproducible spatial extension arm mechanism to address the aforementioned background issues. Summary of the Invention

[0004] The object of the present invention is to provide a high-rigidity space extension arm mechanism that can be repeatedly extended and retracted in a coordinated and step-by-step manner to solve the problems raised in the above-mentioned background technology.

[0005] To achieve the above object, the present invention provides the following technical solutions:

[0006] A high-rigidity, step-by-step, coordinated, and repeatedly expandable and retractable space extension arm mechanism comprises a frame, a base, a driving mechanism, an angle block, a locking mechanism, a limiting mechanism, and a telescopic rod assembly. The base is fixedly connected to the bottom of the frame, a limiting frame is symmetrically arranged on one side of the frame, a gear-driven driving mechanism is arranged at the bottom of the frame, a plurality of angle blocks are movably connected at equal distances on the driving mechanism, a locking mechanism is arranged on the driving mechanism between the angle blocks, and a limiting mechanism is arranged on one side of the upper end of the frame close to the angle block.

[0007] As a further solution of the present invention: the driving mechanism includes a driving box, a driving motor, a first driving rod, a driving wheel, a screw rod, a first synchronous wheel, a transmission wheel, a rotating shaft, a second driving rod and a second synchronous wheel, one side of the frame is fixedly connected to the driving box, the inside of the driving box is fixedly connected to the driving motor, the output end of the driving motor is fixedly connected to the driving wheel, and a rotating shaft is arranged in an annular shape inside the frame, and the first driving rod, the second driving rod and the third driving rod are respectively arranged on the rotating shaft, the first driving rod and the second driving rod are fixedly connected to the screw rod, the first driving rod is fixedly connected to the transmission wheel, the gears between the transmission wheel and the driving wheel are meshed with each other, and the transmission wheel is fixedly connected to the first synchronous wheel, the second driving rod is fixedly connected to the second synchronous wheel, and a synchronous belt is sleeved between the first synchronous wheel and the second synchronous wheel.

[0008] As a further solution of the present invention: a thread groove is opened on one side of the corner block, a fixing rod is fixedly connected to the upper side of the third driving rod, and the fixing rod and the screw rod cooperate with the thread groove.

[0009] As a further solution of the present invention: the limit frame is provided with a scale mark, and the scale mark is used to indicate the expansion degree of the space expansion mechanism.

[0010] As a further solution of the present invention: the locking mechanism includes a first folding arm, a pull rod, a return spring, a fixed block, a guide groove, an unlocking shaft, a movable shaft and a second folding arm, and the first folding arm and the second folding arm are movably connected between the corner blocks on both sides, and the first folding arm and the second folding arm are movably connected with a movable shaft, and the second folding arm is fixedly connected with an unlocking inclined surface on the side close to the first folding arm, and the first folding arm surface is symmetrically provided with guide grooves, and the unlocking shaft is slidably connected in the guide grooves, and the unlocking shafts are fixedly connected, and the first folding arm is slidably connected with a pull rod close to the fixed block, and a return spring is sleeved on the pull rod between the first folding arm and the fixed block, and the fixed block is fixedly connected with a guide pin cone on the side away from the return spring, and the guide pin cone cooperates with the unlocking inclined surface.

[0011] As a further solution of the present invention: a connecting rod is fixedly connected between the multiple groups of the corner blocks, and the first folding arm and the second folding arm cooperate with each other.

[0012] As a further solution of the present invention: the limiting mechanism includes a support frame, a guide seat, a guide rod, a first compression spring and an extrusion block. The support frame is fixedly connected to the side of the upper surface of the frame close to the angle block, and a guide seat is provided on the side of the support frame away from the frame. The guide seat is movably connected to the guide rod, and one end of the guide rod is fixedly connected to the extrusion block.

[0013] As a further solution of the present invention: a first compression spring is sleeved on the guide rod between the extrusion block and the support frame, and limiting grooves are provided on both sides of the angle block, and the limiting grooves and the extrusion block cooperate with each other.

[0014] As a further solution of the present invention: the telescopic rod assembly includes an outer rod, a joint, an inner rod, a sliding groove, a second compression spring and a limit block. Multiple groups of the corner blocks are triangular in structure. The corner blocks are movably connected with joints, and the joints are fixedly connected to the outer rod and the inner rod respectively. A sliding groove is provided inside the outer rod, and the inner rod is fixedly connected to the limit block in the sliding groove. A second compression spring is sleeved on the inner rod between the sliding groove and the limit block.

[0015] Compared with the prior art, the present invention has the following beneficial effects:

[0016] When the gear train is in gear, the first gear is in gear with the second end of the gear train, and the gear train is in gear with the first end of the gear train, so that the gear train is in gear with the first end of the gear train. When the gear train is in gear, the first gear is in gear with the second end of the gear train, so that the gear train is in gear with the first end of the gear train. When the gear train is in gear, the first gear is in gear with the second end of the gear train, so that the gear train is in gear with the

[0017] 2. During the movement of the angle block, the locking mechanism operates, and the first and second folding arms gradually unfold under the drive of the angle block. When unfolded to the predetermined position, the guide pin cone contacts the unlocking slope of the second folding arm. Under the thrust of the movement, the guide pin cone pushes the fixed block, causing the unlocking shaft to slide in the guide groove, compressing the return spring. Finally, the guide pin cone is embedded in the appropriate position, locking the first and second folding arms and ensuring the stability of the structure after unfolding.

[0018] 3. The limiting mechanism also participates in the expansion process. As the corner block moves, when it reaches the predetermined expansion position, the limiting grooves on both sides of the corner block are aligned with the extrusion block. Under the elastic force of the first compression spring, the extrusion block is embedded in the limiting groove, further limiting the movement of the corner block and ensuring that the space expansion mechanism accurately stops at the preset expansion degree. The scale mark on the limit frame can intuitively display the expansion degree of the space expansion mechanism, which is convenient for the operator to monitor and adjust.

[0019] 4. During the expansion process, the telescopic rod assembly also plays a role. The outer rod and the inner rod are connected to the angle block through a joint. When the angle block moves, the outer rod and the inner rod slide relative to each other, and the limit block on the inner rod slides in the sliding groove. The second compression spring plays a buffering and reset role, ensuring that the telescopic rod assembly can work stably during the expansion and contraction process and adapt to the changes in the distance between the angle blocks. BRIEF DESCRIPTION OF THE DRAWINGS

[0020] Figure 1 This is a structural diagram of a high-rigidity, step-by-step, coordinated, and repeatedly retractable spatial extension arm mechanism.

[0021] Figure 2 A top view of a frame in a high-rigidity, step-by-step, coordinated, and repeatedly retractable spatial extension arm mechanism;

[0022] Figure 3 This is a schematic diagram of the structure of a limit mechanism in a high-rigidity, step-by-step, coordinated, and repeatedly extended and retracted spatial extension arm mechanism;

[0023] Figure 4 This is a schematic diagram of the structure of a locking mechanism in a high-rigidity, step-by-step, coordinated, and repeatedly extended and retracted spatial extension arm mechanism;

[0024] Figure 5 This is a schematic diagram of the coordination between the corner block and the locking mechanism in a high-rigidity, step-by-step, coordinated, and repeatedly extended and retracted spatial extension arm mechanism;

[0025] Figure 6 A schematic diagram of the coordination between the corner block and the telescopic rod assembly in a high-rigidity, step-by-step, coordinated, and repeatedly retractable spatial extension arm mechanism;

[0026] Figure 7 This is a schematic diagram of the structure of a limit mechanism in a high-rigidity, step-by-step, coordinated, and repeatedly extended and retracted spatial extension arm mechanism;

[0027] Figure 8 The diagram shows the structure of a telescopic rod assembly in a high-rigidity, step-by-step, coordinated, and repeatedly extended and retracted spatial extension arm mechanism.

[0028] In the figure: 1. Frame; 2. Base; 3. Driving mechanism; 301. Driving box; 302. Driving motor; 303. First driving rod; 304. Driving wheel; 305. Screw; 306. First synchronous wheel; 307. Transmission wheel; 308. Rotating shaft; 309. Second driving rod; 310. Second synchronous wheel; 311. Synchronous belt; 312. Third driving rod; 4. Angle block; 5. Locking mechanism; 501. First folding arm; 502. Pull rod; 503. Return spring; 504. Fixed block; 50 5. Guide groove; 506. Unlocking shaft; 507. Movable shaft; 508. Second folding arm; 509. Guide pin cone; 510. Unlocking slope; 6. Limiting mechanism; 601. Support frame; 602. Guide seat; 603. Guide rod; 604. First compression spring; 605. Extrusion block; 7. Telescopic rod assembly; 701. Outer rod; 702. Joint; 703. Inner rod; 704. Sliding groove; 705. Second compression spring; 706. Limiting block; 8. Limiting frame; 9. Connecting rod; 10. Threaded groove. DETAILED DESCRIPTION

[0029] The following will clearly and completely describe the technical solutions in the embodiments of the present invention in conjunction with the accompanying drawings. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. All other embodiments obtained by ordinary technicians in this field based on the embodiments of the present invention without making any creative efforts shall fall within the scope of protection of the present invention.

[0030] Example 1

[0031] Reference Figures 1-8 This embodiment provides a high-rigidity, step-by-step, coordinated, and repeatedly expandable and retractable space-extending arm mechanism, comprising a frame 1, a base 2, a driving mechanism 3, a corner block 4, a locking mechanism 5, a limiting mechanism 6, and a telescopic rod assembly 7. The base 2 is fixedly connected to the bottom of the frame 1, and a limiting frame 8 is symmetrically provided on one side of the frame 1. A gear-driven driving mechanism 3 is provided at the bottom of the frame 1. A plurality of corner blocks 4 are movably connected to the driving mechanism 3 at equal intervals. Locking mechanisms 5 are provided on the driving mechanism 3 between the corner blocks 4, and a limiting mechanism 6 is provided on each side of the upper end of the frame body near the corner block 4.

[0032] In this embodiment, specifically, the driving mechanism 3 includes a driving box 301, a driving motor 302, a first driving rod 303, a driving wheel 304, a screw 305, a first synchronous wheel 306, a transmission wheel 307, a rotating shaft 308, a second driving rod 309 and a second synchronous wheel 310. The frame 1 is fixedly connected to the driving box 301 on one side, the driving motor 302 is fixedly connected to the inside of the driving box 301, the output end of the driving motor 302 is fixedly connected to the driving wheel 304, and the frame 1 is provided with a rotating shaft 308 in an annular shape. A first driving rod 303, a second driving rod 309 and a third driving rod 312 are respectively provided. The first driving rod 303 and the second driving rod 309 are fixedly connected to a screw rod 305. The first driving rod 303 is fixedly connected to a transmission wheel 307. The transmission wheel 307 and the driving wheel 304 are meshed with each other. The transmission wheel 307 is fixedly connected to a first synchronous wheel 306. The second driving rod 309 is fixedly connected to a second synchronous wheel 310. A synchronous belt 311 is sleeved between the first synchronous wheel 306 and the second synchronous wheel 310.

[0033] A thread groove 10 is provided on one side of the corner block 4 , and a fixing rod is fixedly connected to the upper side of the third driving rod 312 , and the fixing rod and the screw rod 305 cooperate with the thread groove 10 .

[0034] The limit frame 8 is provided with a scale mark, which is used to indicate the degree of expansion of the space expansion mechanism;

[0035] When the space unfolding mechanism needs to be unfolded, the driving motor 302 in the driving mechanism 3 is started, and the driving wheel 304 at the output end of the driving motor 302 starts to rotate. Since the driving wheel 304 and the transmission wheel 307 are meshed with each other, the driving wheel 304 drives the transmission wheel 307 to rotate, and the transmission wheel 307 is fixed on the first driving rod 303, thereby causing the first driving rod 303 to rotate, and the screw rod 305 on the first driving rod 303 also rotates accordingly. At the same time, the first synchronous wheel 306 on the transmission wheel 307 drives the second driving rod 303 through the synchronous belt 311. The second synchronous wheel 310 on 09 rotates, thereby rotating the second drive rod 309, and its screw rod 305 also starts to rotate. The screw rod 305 cooperates with the thread groove 10 on one side of the angle block 4. When the screw rod 305 rotates, the angle block 4 will move along the axial direction of the screw rod 305, and the fixed rod on the upper side of the third drive rod 312 cooperates with the thread groove 10 of the angle block 4 to play an auxiliary support and guiding role, ensuring that the angle block 4 moves stably. Driven by the driving mechanism, multiple angle blocks 4 gradually move away from each other to realize the expansion action of the mechanism.

[0036] Example 2

[0037] Reference Figure 4-Figure 6This embodiment is based on the previous embodiment, and is different from the previous embodiment in that the locking mechanism 5 includes a first folding arm 501, a pull rod 502, a return spring 503, a fixed block 504, a guide groove 505, an unlocking shaft 506, a movable shaft 507 and a second folding arm 508. The first folding arm 501 and the second folding arm 508 are movably connected between the corner blocks 4 on both sides, and a movable shaft 507 is movably connected between the first folding arm 501 and the second folding arm 508. The second folding arm 508 is fixedly connected to the unlocking shaft on the side close to the first folding arm 501. The locking bevel 510 and the first folding arm 501 are symmetrically provided with guide grooves 505. An unlocking shaft 506 is slidably connected in the guide groove 505. A fixed block 504 is fixedly connected between the unlocking shaft 506. A pull rod 502 is slidably connected to the first folding arm 501 near the fixed block 504. A return spring 503 is sleeved on the pull rod 502 between the first folding arm 501 and the fixed block 504. A guide pin cone 509 is fixedly connected to the side of the fixed block 504 away from the return spring 503. The guide pin cone 509 cooperates with the unlocking bevel 510.

[0038] Connecting rods 9 are fixedly connected between the multiple sets of corner blocks 4, and the first folding arm 501 and the second folding arm 508 cooperate with each other;

[0039] During the movement of the corner block 4, the locking mechanism 5 comes into play, and the first folding arm 501 and the second folding arm 508 are gradually unfolded under the drive of the corner block 4. When unfolded to the predetermined position, the guide pin cone 509 contacts the unlocking inclined surface 510 of the second folding arm 508. Under the thrust of the movement, the guide pin cone 509 pushes the fixed block 504, causing the unlocking shaft 506 to slide in the guide groove 505, compressing the reset spring 503, and finally the guide pin cone 509 is embedded in the appropriate position to realize the locking of the first folding arm 501 and the second folding arm 508, thereby ensuring the stability of the structure after unfolding.

[0040] Example 3

[0041] Reference Figure 7 This embodiment is based on the previous embodiment and differs from the previous embodiment in that the limiting mechanism 6 includes a support frame 601, a guide seat 602, a guide rod 603, a first compression spring 604 and an extrusion block 605. The support frame 601 is fixedly connected to the side of the upper surface of the frame 1 close to the corner block, and the guide seat 602 is provided on the side of the support frame 601 away from the frame 1. The guide seat 602 is movably connected to the guide rod 603, and one end of the guide rod 603 is fixedly connected to the extrusion block 605.

[0042] A first compression spring 604 is sleeved on the guide rod 603 between the extrusion block 605 and the support frame 601, and limiting grooves are provided on both sides of the angle block, and the limiting grooves cooperate with the extrusion block 605;

[0043] The limiting mechanism 6 also participates in the expansion process. As the corner block 4 moves, when it reaches the predetermined expansion position, the limiting grooves on both sides of the corner block 4 are aligned with the extrusion block 605. Under the elastic force of the first compression spring 604, the extrusion block 605 is embedded in the limiting groove, further limiting the movement of the corner block 4, ensuring that the space expansion mechanism accurately stops at the preset expansion degree, and the scale mark on the limiting frame 8 can intuitively display the expansion degree of the space expansion mechanism, which is convenient for the operator to monitor and adjust.

[0044] Example 4

[0045] Reference Figure 8 This embodiment is based on the previous embodiment, and differs from the previous embodiment in that the telescopic rod assembly 7 includes an outer rod 701, a joint 702, an inner rod 703, a sliding groove 704, a second compression spring 705 and a limit block 706. The multiple sets of angle blocks 4 are triangular in structure, and the angle blocks are movably connected to the joints 702 respectively. The joints 702 are fixedly connected to the outer rod 701 and the inner rod 703 respectively. A sliding groove 704 is opened inside the outer rod 701, and the inner rod 703 is fixedly connected to the limit block 706 in the sliding groove 704. A second compression spring 705 is sleeved on the inner rod 703 between the sliding groove 704 and the limit block 706.

[0046] During the expansion process, the telescopic rod assembly 7 also plays a role. The outer rod 701 and the inner rod 703 are connected to the corner block 4 through the joint 702. When the corner block 4 moves, the outer rod 701 and the inner rod 703 slide relative to each other, and the limit block 706 on the inner rod 703 slides in the sliding groove 704. The second compression spring 705 plays a buffering and resetting role, ensuring that the telescopic rod assembly can work stably during the expansion and folding process and adapt to the changes in the distance between the corner blocks 4.

[0047] It will be apparent to those skilled in the art that the present invention is not limited to the details of the exemplary embodiments described above and that the invention can be embodied in other specific forms without departing from the spirit or essential characteristics of the invention. Therefore, the embodiments should be considered in all respects as illustrative and non-restrictive, and the scope of the invention is defined by the appended claims, not the foregoing description, and all variations within the meaning and range of equivalents of the claims are intended to be included therein. Any reference sign in a claim should not be construed as limiting the claim to which it relates.

[0048] In addition, it should be understood that although this specification is described in terms of implementation methods, not every implementation method contains only one independent technical solution. This narrative method of the specification is only for the sake of clarity. Those skilled in the art should regard the specification as a whole. The technical solutions in each embodiment can also be appropriately combined to form other implementation methods that can be understood by those skilled in the art.

Claims

1. A high-rigidity, step-by-step coordinated, repeated expansion and contraction space extension arm mechanism, characterized in that: The invention comprises a frame (1), a base (2), a driving mechanism (3), an angle block (4), a locking mechanism (5), a limiting mechanism (6) and a telescopic rod assembly (7); the base (2) is fixedly connected to the bottom of the frame (1); a limiting frame (8) is symmetrically arranged on one side of the frame (1); a gear-driven driving mechanism (3) is arranged at the bottom of the frame (1); a plurality of angle blocks (4) are movably connected at equal distances on the driving mechanism (3); locking mechanisms (5) are arranged between the angle blocks (4) on the driving mechanism (3); and a limiting mechanism (6) is arranged on one side of the upper end of the frame body close to the angle block (4).

2. A high-rigidity step-by-step coordinated repeated expansion and contraction space extension arm mechanism according to claim 1, characterized in that: The driving mechanism (3) comprises a driving box (301), a driving motor (302), a first driving rod (303), a driving wheel (304), a screw rod (305), a first synchronous wheel (306), a transmission wheel (307), a rotating shaft (308), a second driving rod (309) and a second synchronous wheel (310); one side of the frame (1) is fixedly connected to the driving box (301); the driving motor (302) is fixedly connected inside the driving box (301); the output end of the driving motor (302) is fixedly connected to the driving wheel (304); and a rotating shaft (308) is provided in an annular shape inside the frame (1); the rotating shaft (308) A first driving rod (303), a second driving rod (309) and a third driving rod (312) are respectively provided on the first driving rod (303) and the second driving rod (309). A screw rod (305) is fixedly connected to the first driving rod (303) and the second driving rod (309). A transmission wheel (307) is fixedly connected to the first driving rod (303). Gears between the transmission wheel (307) and the driving wheel (304) are engaged with each other. A first synchronous wheel (306) is fixedly connected to the transmission wheel (307). A second synchronous wheel (310) is fixedly connected to the second driving rod (309). A synchronous belt (311) is sleeved between the first synchronous wheel (306) and the second synchronous wheel (310).

3. A high-rigidity step-by-step coordinated repeated expansion and contraction space extension arm mechanism according to claim 2, characterized in that: A thread groove (10) is provided on one side of the corner block (4), and a fixing rod is fixedly connected to the upper side of the third driving rod (312), and the fixing rod and the screw rod (305) are both matched with the thread groove (10).

4. The high-rigidity step-by-step coordinated repeated expansion and contraction space extension arm mechanism according to claim 1, characterized in that: The locking mechanism (5) includes a first folding arm (501), a pull rod (502), a return spring (503), a fixed block (504), a guide groove (505), an unlocking shaft (506), a movable shaft (507) and a second folding arm (508); the first folding arm (501) and the second folding arm (508) are movably connected between the corner blocks (4) on both sides; the movable shaft (507) is movably connected between the first folding arm (501) and the second folding arm (508); the second folding arm (508) is fixedly connected to an unlocking inclined surface (510) on one side close to the first folding arm (501); the first folding arm (501) and the second folding arm (508) are movably connected to each other; A guide groove (505) is symmetrically provided on the surface of (501), an unlocking shaft (506) is slidably connected in the guide groove (505), a fixed block (504) is fixedly connected between the unlocking shaft (506), and a pull rod (502) is slidably connected to the first folding arm (501) close to the fixed block (504), a reset spring (503) is sleeved on the pull rod (502) between the first folding arm (501) and the fixed block (504), and a guide pin cone (509) is fixedly connected to the side of the fixed block (504) away from the reset spring (503), and the guide pin cone (509) and the unlocking inclined surface (510) cooperate with each other.

5. The high-rigidity step-by-step coordinated repeated expansion and contraction space extension arm mechanism according to claim 1, characterized in that: The limiting mechanism (6) comprises a support frame (601), a guide seat (602), a guide rod (603), a first compression spring (604) and an extrusion block (605); the support frame (601) is fixedly connected to the side of the upper surface of the frame (1) close to the corner block; the guide seat (602) is provided on the side of the support frame (601) away from the frame (1); the guide seat (602) is movably connected to the guide rod (603); and one end of the guide rod (603) is fixedly connected to the extrusion block (605).

6. A high-rigidity step-by-step coordinated repeated expansion and contraction space extension arm mechanism according to claim 5, characterized in that: A first compression spring (604) is sleeved on the guide rod (603) between the extrusion block (605) and the support frame (601), and limiting grooves are provided on both sides of the corner block, and the limiting grooves and the extrusion block (605) cooperate with each other.

7. The high-rigidity step-by-step coordinated repeated expansion and contraction space extension arm mechanism according to claim 1, characterized in that: The telescopic rod assembly (7) comprises an outer rod (701), a joint (702), an inner rod (703), a sliding groove (704), a second compression spring (705) and a limit block (706); a plurality of groups of the corner blocks (4) are triangular in structure; the corner blocks are movably connected to the joints (702); the joints (702) are fixedly connected to the outer rod (701) and the inner rod (703); a sliding groove (704) is provided inside the outer rod (701); the inner rod (703) is fixedly connected to the limit block (706) in the sliding groove (704); and a second compression spring (705) is sleeved on the inner rod (703) between the sliding groove (704) and the limit block (706).

8. The high-rigidity step-by-step coordinated repeated expansion and contraction space extension arm mechanism according to claim 1, characterized in that: Connecting rods (9) are fixedly connected between the plurality of groups of corner blocks (4), and the first folding arm (501) and the second folding arm (508) cooperate with each other.

9. The high-rigidity step-by-step coordinated repeated expansion and contraction space extension arm mechanism according to claim 8, characterized in that: The limiting frame (8) is provided with a scale mark, and the scale mark is used to indicate the expansion degree of the space expansion mechanism.

Images