A space flexible deployable structure orthopedic and folding storage device

Abstract

The application provides a space flexible deployable structure orthopedic and folding storage device, which comprises a first folding assembly, a second folding assembly, an orthopedic assembly and a storage assembly; the first folding assembly, the second folding assembly and the storage assembly are all installed on a storage box body of the flexible deployable structure; two ends of the orthopedic assembly are respectively connected with the end portions of the first folding assembly and the second folding assembly; the first folding assembly, the second folding assembly and the orthopedic assembly clamp and constrain the front and back surfaces of the flexible array to be folded of the flexible deployable structure; the orthopedic assembly corrects the deformed flexible array; the flexible array constrained by the connecting rod is folded; the storage assembly stores and constrains and compacts the folded flexible array; and multiple groups of flexible arrays are repeatedly orthopedic and folded and stored through the cooperation of the assemblies.

Description

Technical Field

[0001] This invention relates to the field of mechanical design and application technology of spacecraft deployable structures, and in particular to a deformation correction and repeated deployment and retraction device for large-scale flexible deployable space structures. Background Technology

[0002] With the rapid development of aerospace technology, missions such as Earth observation and deep space exploration are placing increasingly higher demands on satellite imaging accuracy. As a key component for satellite information acquisition, the performance of spaceborne antennas directly affects the overall performance of the satellite. To meet the needs of higher resolution and wider coverage, spaceborne antennas are developing towards larger size, greater flexibility, and higher precision. Space flexible deployable structures, as key components of spacecraft, face the technical challenges of precise and repeatable deployment and folding in orbit.

[0003] However, existing flexible deployable structures in space generally suffer from lightweight, high flexibility, and weak damping. During on-orbit operation, they are susceptible to various space environmental factors such as thermal radiation gradients, space debris impacts, and attitude adjustments, making them prone to thermo-elastic-plastic deformation and vibration, and unable to achieve effective, precise, and repeated folding and unfolding. Furthermore, during on-orbit operation, manual assistance is limited by the lag in tactile feedback from gloves and the difficulty in controlling torque in a microgravity environment, making it highly susceptible to breakage of brittle flexible deployable structures due to deviations in operational force.

[0004] Commercial satellites are currently trending towards miniaturization and mass production (e.g., Starlink deploys over 60 satellites in a single batch). However, mainstream flexible deployable structures, such as the Aurora System developed by ESA, still employ customized designs. Replacing the flexible deployable structure requires redesigning the mechanical fixtures and control programs, with equipment modification costs accounting for 23%-35% of the total project cost. Emerging mission scenarios, such as lunar base construction, require deployable devices to withstand extreme temperatures (-180°C to +120°C), while existing equipment's temperature control systems still rely on external circulation devices, significantly increasing system complexity.

[0005] Existing folding devices for flexible deployable structures in space lack sufficient flexibility and adaptability when folding flexible deployable and retractable structures of different sizes and structures, making it difficult to meet the diverse needs of aerospace missions. Therefore, developing an efficient, convenient, versatile, and environmentally friendly orthogonalization and folding storage device for flexible space structures is of significant practical importance. Summary of the Invention

[0006] In view of the shortcomings of the existing technology, the purpose of this invention is to provide an orthopedic and folding storage device that can accurately and repeatedly unfold and fold up a flexible and expandable structure that can adapt to large-size, large-flexible spaces.

[0007] According to the solution provided by the present invention, a spatial flexible deployable structure orthopedic and foldable storage device is provided. The spatial flexible deployable structure is composed of a storage box and a plurality of flexible arrays connected end to end. The device includes a first folding component, an orthopedic component and a storage component. The first folding component is installed on the bottom side of the storage box and has two ends, one being a folding end and the other an output end. The folding end is positioned below the folding position where the two flexible surfaces of the storage box are connected. One end of the corrective component is connected to the output end of the first folding component and positioned above the flexible surfaces. The distance between the corrective component and the folding end does not exceed the length of a single flexible surface. The two flexible surfaces near the storage box are constrained and corrected under the coupling effect of the first folding component and the corrective component, and are folded into the storage box under the action of the folding end. The storage component installed above the storage box stores and constrains the folded flexible surfaces within the storage box.

[0008] Preferably, the device further includes a second folding assembly; the second folding assembly and the first folding assembly are installed on the left and right sides of the bottom of the storage box; both have two ends, one is a folding end and the other is an output end; the folding end is placed below the folding parts of the two connected flexible surfaces near the storage box panel; the two ends of the corrective assembly are connected to the output ends of the first folding assembly and the second folding assembly, and are placed above the flexible surfaces, the distance between the corrective assembly and the folding end does not exceed the length of a single flexible surface; the two flexible surfaces near the storage box are constrained and corrected under the coupling effect of the first folding assembly, the second folding assembly and the corrective assembly, and are folded into the storage box under the action of the folding ends of the first folding assembly and the second folding assembly.

[0009] Preferably, the first folding assembly and the second folding assembly each include a housing fixing module, a linkage drive module, a transmission rod group, a transmission joint module, a folding rod drive module, a folding rod, and an output rod; The housing fixing module is used to connect the folding component and the storage housing. The linkage drive module is mechanically fixed to the housing fixing module. The linkage drive module is connected to one end of the transmission rod group, and the other end of the transmission rod group is connected to the transmission joint module. The folding rod and the output rod are installed at an angle to each other on the transmission joint module. The folding rod is the folding end of the component, and its direction is parallel to the storage surface of the storage housing. The output rod is the output end of the component, and its direction is perpendicular to the folding rod and parallel to the movement direction of the flexible array. The linkage drive module drives the folding rod and output rod through the transmission rod assembly and transmission joint module. The folding rod constrains the lower bottom of the connection part of two adjacent flexible surfaces, and the output rod is connected to the orthopedic component and constrains the upper end of the flexible surface. Under the action of the linkage drive module, the two flexible surfaces near the storage box are folded. After the two flexible surfaces are folded, the folding rod drive module drives the folding rod to rotate 90°, so that the folding rod leaves the folding part of the two flexible surfaces. When the folding component is reset, the folding rod resets its initial angle and continues to fold the subsequent flexible surfaces.

[0010] Preferably, the box fixing module includes a base, a pull rod, a tension spring, a threaded sleeve, and a movable handle; the base has a claw, the size of which is consistent with the edge structure of the storage box and can be snapped onto the edge of the storage box; the pull rod is connected to the claw and can rotate, and the tension spring is placed between the claw and the base to provide a constraint force for the base to hold the storage box tightly; the threaded sleeve passes through the pull rod and is installed on the base, and the threaded sleeve is used to adjust the tension of the tension spring by moving along the thread pair; the movable handle is connected to the pull rod and fixed to the pull rod by a nut, and pulling the movable handle adjusts the holding state of the box fixing module and the storage box.

[0011] Preferably, the linkage drive module is connected to the housing fixing module by mechanical fasteners, and consists of a fixed bracket, an input shaft and a driven shaft. The input shaft and the driven shaft are supported by bearings at both ends and fixed to the fixed bracket. The input shaft is connected to a drive motor or a manual rotating handle to realize electric or manual drive. The transmission rod assembly includes a driving transmission rod and a driven transmission rod. One end of the driving transmission rod is connected to the input shaft of the linkage drive module via a key and rotates under its action. The other end of the driving transmission rod is equipped with a gear and is rotatably connected to the transmission joint module. The output rod is equipped with a gear and is rotatably connected to the transmission joint module. The two gears mesh together. When the linkage drive module drives the transmission rod to rotate, the output rod will rotate synchronously with the transmission rod. The two ends of the driven transmission rod are rotatably connected to the driven shaft of the linkage drive module and the transmission joint module, respectively, and move synchronously with the driving transmission rod.

[0012] Preferably, the folding rod drive module is fixed on the transmission joint module and consists of a connecting bracket and a drive handle. The drive handle is directly connected to the folding rod and fixed on the connecting bracket. The drive handle can be manually operated by the astronaut or driven by a motor to rotate the folding rod 90° or any other arbitrary angle, thereby constraining and releasing the folding surface.

[0013] Preferably, the output rod of the first folding assembly is connected to the orthopedic assembly by mechanical fasteners, and a locking and fixing module is installed on the output rod of the second folding assembly. The locking and fixing module includes a locking buckle and an unlocking handle. Rotating the unlocking handle connects the locking buckle to the orthopedic assembly and fixes it.

[0014] Preferably, the orthopedic assembly includes a telescopic sleeve, orthopedic rollers, a tension handle, and a fixed base; the orthopedic assembly is connected to the output rod of the first folding assembly via the fixed base, the tension handle is suspended or fixed to the second folding assembly, each sleeve end of the telescopic sleeve is equipped with an orthopedic roller, the orthopedic roller is used to apply a corrective force to the front of the flexible surface and works in conjunction with the folding rod to fold the flexible surface; the tension handle is used to unfold and retract the telescopic sleeve.

[0015] Preferably, the storage assembly includes a box fixing module, a storage driving module, a rotation guide module, and a clamping module; The housing fixing module is used to connect and fix the housing to the storage housing. The storage drive module is installed on the housing fixing module and connected to the clamping module. The rotation guide module is composed of a spatial cam and is fixed on the housing fixing module. The storage drive module drives the clamping module to rotate along the cam curve of the rotation guide module. The clamping module rotates to different positions relative to the flexible surface to realize the storage, clamping and release of the flexible surface.

[0016] A method for folding and storing a spatial flexible deployable structure using the aforementioned spatial flexible deployable structure straightening and folding storage device includes: The first step involves the first folding component, or the second folding component, synchronously driving the folding end to constrain the bottom folding position of the two flexible surfaces near the box plate, while the output end drives the orthopedic component to constrain the front of the flexible surfaces. The second step involves the first folding assembly, or the second folding assembly, driving the folding end and the output end to rotate synchronously, so that the two flexible surfaces near the box panel fold to the position of the storage box. The third step involves rotating the storage component and pressing the two flexible surfaces together and tightly against the storage box. The first folding component or the second folding component simultaneously drives the folding end out of the folding position to continue folding and closing the remaining two flexible surfaces.

[0017] A method for deploying a spatial flexible deployable structure using the aforementioned spatial flexible deployable structure straightening and folding storage device includes: The first step is to rotate the storage component to release the constraint on the flexible array, and the first folding component or the second folding component synchronously drive the folding rod to enter the bottom folding position of the two outermost flexible arrays. The second step involves the first folding assembly or the second folding assembly synchronously driving the folding rod and the output rod to rotate synchronously, causing the two outermost flexible surfaces to unfold. The third step involves the first folding component or the second folding component simultaneously driving the folding rod to exit the bottom folding position of the flexible array, and causing the folding rod and the driving rod to rotate and reset, thus continuing to complete the unfolding of the next two flexible arrays.

[0018] Compared with the prior art, the present invention has the following beneficial effects: 1. The present invention provides a spatial flexible structure correction and folding storage device that uses a simple linkage mechanism to correct the bending deformation of the spatial flexible deployable structure and fold it for storage. This overcomes the engineering problem of repeated unfolding and folding of traditional spatial deployable structures in practical applications, and has the advantages of simple structure and strong practicality.

[0019] 2. The spatial flexible structure orthopedic and folding storage device provided by the present invention has the advantages of modular combination design. The design takes into account the shrinking and unfolding functions of the whole device, which is convenient for transfer and installation, and has the characteristics of flexible use and good versatility.

[0020] 3. The spatial flexible structure correction and folding storage device provided by the present invention acts on both sides of the flexible and retractable structure. By adjusting the rotation direction of the mechanism and the cooperative operation of different modules, the auxiliary unfolding function of the spatial flexible structure can be realized. Attached Figure Description

[0021] Other features, objects, and advantages of the present invention will become more apparent from the following detailed description of non-limiting embodiments with reference to the accompanying drawings: Figure 1 This is a schematic diagram of the overall structure of the spatial flexible deployable structure straightening and folding storage device of the present invention, fixed to the flexible deployable and retractable structure storage box. Figure 2 This is a schematic diagram of the spatial flexible deployable structure straightening and folding storage device of the present invention holding multiple sets of flexible surfaces. Figure 3 This is a schematic diagram of the structure of the first folding component in this invention; Figure 4 This is a schematic diagram of the transmission rod group and output rod group of the first folding component in this invention; Figure 5 This is a schematic diagram of the structure of the second folding component in this invention; Figure 6 This is a schematic diagram of the box fixing module in this invention; Figure 7 This is a schematic diagram of the linkage drive module and transmission rod group of the first and second folding components in this invention; Figure 8This is a schematic diagram of the folding rod drive module of the first and second folding components in this invention; Figure 9 This is a schematic diagram illustrating the motion principle of the folding rod and the output rod in this invention. Figure 10 This is a schematic diagram of the orthopedic component in its retracted state according to the present invention; Figure 11 This is a schematic diagram of the orthopedic component in its deployed state according to the present invention; Figure 12 This is a schematic diagram of the structure of the first folding component, the second folding component, and the orthopedic component combination in this invention; Figure 13 This is a schematic diagram of the structure of the storage component in this invention; Figure 14 This is a schematic diagram of the structure of Embodiment 2 of the present invention; Figure 15 This diagram illustrates the implementation steps of the spatial flexible expandable structure folding and storage method in this invention.

[0022] The diagram shows: First folding component 1: Box fixing module 1-01, base 1-01-01, pull rod 1-01-02 Tension spring 1-01-03, threaded sleeve 1-01-04, moving handle 1-01-05 Linkage drive module 1-02, fixed bracket 1-02-01, input shaft 1-02-02, driven shaft 1-02-03 Transmission rod assembly 1-03, driving transmission rod 1-03-01, driven transmission rod 1-03-02. Transmission joint module 1-04 Folding rod drive module 1-05: connecting bracket 1-05-01, drive handle 1-05-02 Folding rod 1-06 Output rod 1-07 First folding component 2 Locking and fixing module 2-01 Orthopedic Component 3 Telescopic sleeve 3-01, orthopedic roller 3-02, stretching handle 3-03, fixed base 3-04 Storage component 4 Box fixing module 4-01 Storage drive module 4-02: Rotating handle 4-02-01, rotating shaft 4-02-01, fixed base 4-02-03, rotation guide module 4-03 Clamping module 4-04: Clamping rod 4-04-01, clamping roller 4-04-02, rotating joint 4-04-03, clamping spring 4-04-04 Flexible and retractable storage box A The retracted flexible array B-0 Unfolded flexible arrays B-1, B-2, B-3, and B-4. Detailed Implementation

[0023] The present invention will now be described in detail with reference to specific embodiments. These embodiments will help those skilled in the art to further understand the present invention, but do not limit the invention in any way. It should be noted that those skilled in the art can make several changes and improvements without departing from the concept of the present invention. These all fall within the protection scope of the present invention.

[0024] The purpose of this invention is to provide a corrective and folding storage device that can accurately and repeatedly unfold and retract flexible deployable structures that can adapt to large-size, highly flexible spaces, solving the engineering problem of difficulty in repeatedly unfolding and retracting flexible deployable structures in practical applications. It possesses the advantages of simple structure and high practicality. Specific embodiments are as follows: Example 1: This invention provides a spatial flexible deployable structure for straightening and folding storage, wherein the overall structure fixed to the flexible deployable storage box is as follows: Figure 1 As shown, it includes a first folding assembly, a second folding assembly, an orthopedic assembly, and a storage assembly. The first folding assembly, the second folding assembly, and the storage assembly are all mounted on a storage box with a flexible, expandable spatial structure. The first folding assembly and the second folding assembly are mounted on the left and right sides of the storage box. One end of the orthopedic assembly is mounted on one end of the first folding assembly, and the other end of the orthopedic assembly is connected to the end of the second folding assembly.

[0025] The working principle of the orthopedic and folding storage device provided by this invention for flexible and retractable structures is as follows: Figure 2 As shown, its working process is as follows: The flexible surfaces of the spatial flexible structure are clamped and constrained on both sides of the storage box by the first folding component, the second folding component, and the straightening component. The straightening component corrects the deformation of the front of the flexible surface. The first and second folding components fold the constrained flexible surfaces and bring them close to the storage box. Finally, the storage component stores and constrains the folded flexible surfaces within the storage box. Through the coordinated operation of the first folding component, the second folding component, the straightening component, and the storage component, several sets of flexible surfaces of the spatial flexible structure are repeatedly straightened and folded for storage.

[0026] The first folding component, such as Figure 3As shown, it mainly includes a housing fixing module 1-01, a linkage drive module 1-02, a transmission rod assembly 1-03, a transmission joint module 1-04, a folding rod drive module 1-05, a folding rod 1-06, and an output rod 1-07. The linkage drive module is driven by a motor, manually, or by any other means, and can drive the folding rod and output rod through the transmission rod assembly and transmission joint module. The transmission method of the transmission rod assembly and output rod is as follows... Figure 4 As shown, the rods are connected by gear transmission. The folding rod is fixed to the transmission joint module and moves synchronously with the output rod. The folding rod constrains the bottom of the flexible, retractable structure, and the flexible, retractable structure folds under the action of the linkage drive module. The folding rod drive module is driven by a motor, manually, or by any other means, and can drive the folding rod to rotate a certain angle, thereby changing the working state of the folding rod and realizing the constraint and release of the folded flexible surface.

[0027] The second folding component, such as Figure 5 As shown, the structure is basically the same as that of the first folding component, except that the output rod of the second folding component is equipped with a locking and fixing module 2-01, which can fix the orthopedic component.

[0028] Box fixing module 1-01 as shown Figure 6 As shown, it includes a base 1-01-01, a pull rod 1-01-02, a tension spring 1-01-03, a threaded sleeve 1-01-04, and a moving handle 1-01-05. The base has a claw, the size of which is consistent with the edge structure of the storage box and can be snapped onto the edge of the storage box. The pull rod is connected to the claw and can rotate. The tension spring is placed between the claw and the base, providing a constraint force for the base to hold the storage box tightly. The threaded sleeve passes through the pull rod and is installed on the base. The threaded sleeve is used to adjust the tension of the tension spring by moving along the threaded pair. The moving handle is connected to the pull rod and fixed to the pull rod by a nut. Pulling the moving handle adjusts the holding state of the box fixing module and the storage box.

[0029] like Figure 7 As shown, the linkage drive module 1-02 is connected to the housing fixing module by mechanical fasteners. It consists of a fixed bracket 1-02-01, an input shaft 1-02-02, and a driven shaft 1-02-03. The input shaft and the transmission shaft are supported by bearings at both ends and fixed to the fixed bracket. The input shaft can be connected to a drive motor or a manual rotating handle to realize electric or manual drive. The transmission rod assembly 1-03 includes a driving transmission rod 1-03-01 and a driven transmission rod 1-03-02. One end of the driving transmission rod is connected to the input shaft of the linkage drive module via a key and rotates under its action. The other end of the driving transmission rod is equipped with a gear and is rotatably connected to the transmission joint module. The output rod is equipped with a gear and is rotatably connected to the transmission joint module. The two gears mesh together. When the linkage drive module drives the transmission rod to rotate, the output rod will rotate synchronously with the transmission rod. The two ends of the driven transmission rod are rotatably connected to the linkage drive module and the transmission joint module respectively, and move synchronously with the driving transmission rod.

[0030] like Figure 8 As shown, the folding rod drive module 1-05 is fixed on the transmission joint module and consists of a connecting bracket 1-05-01 and a drive handle 1-05-02. The drive handle is directly connected to the folding rod and fixed on the connecting bracket. The drive handle can be operated manually by the astronaut or driven by a motor to rotate the folding rod 90° or any other arbitrary angle, thereby constraining and releasing the folding surface.

[0031] Figure 9 The diagram illustrates the motion principle of the drive rod and output rod. The folding assembly's transmission rod assembly can be simplified into a four-bar linkage, connected to the output rod via gear transmission. When the transmission rod assembly rotates under the action of the linkage drive module, the output rod rotates synchronously, achieving the folding or unfolding of the flexible surface. This mechanism contains 5 components, 5 revolute joints, and 1 gear pair. The degrees of freedom of a planar mechanism are calculated using the following formula:

[0032] The above calculations demonstrate that the mechanism proposed in this invention can achieve motion under the drive of a single motor.

[0033] The orthotic assembly includes a telescopic sleeve 3-01, an orthotic roller 3-02, a tension handle 3-03, and a fixed base 3-04. The orthotic assembly is connected to the output rod of the first folding assembly via the fixed base, and its other end is fixed to the locking module of the second folding assembly. The orthotic assembly applies corrective force to the front of the flexible surface through the orthotic roller, and works in conjunction with the folding rod under the action of the first and second folding assemblies to fold the flexible surface. The orthotic assembly consists of several sets of telescopic sleeves 3-01, and the tension handle 3-03 allows the orthotic assembly to be unfolded and retracted. The retracted state of the orthotic assembly is as follows... Figure 10 As shown, the unfolded state is as follows Figure 11 As shown. The combined state of the orthopedic component with the first fold component and the second fold component is as follows. Figure 12 As shown.

[0034] Storage components such as Figure 13As shown, it includes a box fixing module 4-01, a storage drive module 4-02, a rotation guide module 4-03, and a clamping module 4-04. The box fixing module is used to connect and fix the storage box. The box fixing module of the storage component has the same structure and working principle as that of the folding component. The storage drive module includes a rotating handle 4-02-01, a rotating shaft 4-02-01, and two fixed bases 4-02-03. The rotating handle and the rotating shaft are connected as one unit and are installed on the box fixing module through the two fixed bases. The fixed bases are equipped with bearings. The rotating shaft can rotate continuously in a circular motion under the action of manual rotation by the astronaut or motor drive. The clamping module consists of a clamping rod 4-04-01, a clamping roller 4-04-02, a rotating joint 4-04-03, and a clamping spring 4-04-04. The rotating shaft of the storage drive module is connected to the clamping module as a whole through the rotating joint, and the clamping spring is installed on the rotating joint. The rotating guide module consists of a spatial cam and is fixed on the housing fixing module. The storage drive module drives the clamping rod of the clamping module to rotate along the cam curve of the rotating guide module through the rotating shaft. The clamping spring makes the clamping rod of the clamping module fit with the curve of the cam. During the rotation of the clamping module, it contacts the flexible array through the clamping roller. The clamping module rotates to different positions relative to the flexible array to realize the storage, clamping, and release of the flexible array.

[0035] The spatial flexible deployable structure correction and folding storage device provided by the present invention can reverse the operation of the folding and storage function by adjusting the working order and working direction of the first folding component, the second folding component, the correction component and the storage component, so as to realize the repeated unfolding of the flexible surface.

[0036] Example 2: This embodiment is a preferred example of Embodiment 1.

[0037] This implementation example Figure 14 As shown, the first folding component, the corrective component, and the storage component are used in direct combination. The deformation is corrected and the structure is folded and stored by clamping one side of the flexible, expandable structure. The corrective component can be adjusted to any position on the flexible surface using the pull handle. The advantage of this embodiment is that it simplifies the overall device structure, making it simpler and easier to operate.

[0038] This invention proposes a method for folding and storing a spatially flexible, expandable structure, the specific steps of which are as follows: First step, such as Figure 15 (a) and (b) the first folding assembly and the second folding assembly synchronously drive the folding rod to constrain the bottom folding position of the two flexible surfaces near the box plate, and the output rod drives the orthopedic assembly to constrain the front of the flexible surfaces; The second step, as Figure 15 (c) The first folding assembly and the second folding assembly synchronously drive the folding rod and the output rod to rotate synchronously, so that the two flexible surfaces near the box panel are folded to the position of the storage box. The third step, as Figure 15 (d) The storage component rotates and closes the two flexible surfaces and presses them tightly into the storage box. The first folding component and the second folding component synchronously drive the folding rod to exit the folding position and continue to complete the folding and closing of the next two flexible surfaces.

[0039] By adjusting the working sequence and direction of the first folding component 1, the second folding component 2, the straightening component 3, and the storage component 4, the folding and storage function can be reversed, enabling repeated unfolding of the flexible and retractable structure. The specific steps are as follows: First step, such as Figure 15 (d) The storage component rotates to release the constraint on the flexible array, and the first folding component and the second folding component synchronously drive the folding rod to enter the bottom folding position of the two outermost flexible arrays. The second step, as Figure 15 (c) The first folding assembly and the second folding assembly synchronously drive the folding rod and the output rod to rotate synchronously, so that the two outermost flexible surfaces unfold. The third step, as Figure 15 (b) and (a) the first folding component and the second folding component synchronously drive the folding rod to exit the bottom folding position of the flexible array, and rotate the folding rod and the drive rod to reset, so as to continue to complete the unfolding of the next two flexible arrays.

[0040] In the description of this application, it should be understood that the terms "upper", "lower", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", etc., indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings. They are only for the convenience of describing this application and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, they should not be construed as limitations on this application.

[0041] Specific embodiments of the present invention have been described above. It should be understood that the present invention is not limited to the specific embodiments described above, and those skilled in the art can make various changes or modifications within the scope of the claims, which do not affect the essence of the present invention. Unless otherwise specified, the embodiments and features described in this application can be arbitrarily combined with each other.

[0042] The parts of this invention not described in detail are common knowledge to those skilled in the art.

Claims

1. A space flexible deployable structure orthopedic and folding storage device, the space flexible deployable structure is composed of a storage box body and a plurality of flexible array surfaces connected in series, characterized in that, The device includes a first folding assembly, an orthopedic assembly, and a storage assembly; The first folding assembly is installed on the bottom side of the storage box and has two ends, one being a folding end and the other an output end. The folding end is positioned below the folding position where the two flexible surfaces of the storage box are connected. One end of the corrective assembly is connected to the output end of the first folding assembly and positioned above the flexible surfaces. The distance between the corrective assembly and the folding end does not exceed the length of a single flexible surface. The two flexible surfaces near the storage box are constrained and corrected under the coupling effect of the first folding assembly and the corrective assembly, and are folded into the storage box under the action of the folding end. The storage components installed on top of the storage box will store and restrain the folded flexible array within the storage box.

2. The spatial flexible deployable structure correction and folding storage device according to claim 1, characterized in that, It also includes a second folding component; The second folding assembly and the first folding assembly are installed on the bottom left and right sides of the storage box; both have two ends, one is a folding end and the other is an output end; the folding end is placed below the folding parts of the two connected flexible surfaces near the storage box panel; the two ends of the corrective assembly are connected to the output ends of the first folding assembly and the second folding assembly, and are placed above the flexible surfaces, the distance between the corrective assembly and the folding end does not exceed the length of a single flexible surface; the two flexible surfaces near the storage box are constrained and corrected under the coupling effect of the first folding assembly, the second folding assembly and the corrective assembly, and are folded into the storage box under the action of the folding ends of the first folding assembly and the second folding assembly.

3. The spatial flexible deployable structure correction and folding storage device according to claim 1 or 2, characterized in that, The first folding assembly and the second folding assembly both include a housing fixing module, a linkage drive module, a transmission rod group, a transmission joint module, a folding rod drive module, a folding rod, and an output rod; The housing fixing module is used to connect the folding component and the storage housing. The linkage drive module is mechanically fixed to the housing fixing module. The linkage drive module is connected to one end of the transmission rod group, and the other end of the transmission rod group is connected to the transmission joint module. The folding rod and the output rod are installed at an angle to each other on the transmission joint module. The folding rod is the folding end of the component, and its direction is parallel to the storage surface of the storage housing. The output rod is the output end of the component, and its direction is perpendicular to the folding rod and parallel to the movement direction of the flexible array. The linkage drive module drives the folding rod and output rod through the transmission rod assembly and transmission joint module. The folding rod constrains the lower bottom of the connection between two adjacent flexible surfaces, and the output rod is connected to the orthopedic component and constrains the upper end of the flexible surface. Under the action of the linkage drive module, the two flexible surfaces near the storage box are folded. After the two flexible surfaces are folded, the folding rod drive module drives the folding rod to rotate 90°, so that the folding rod leaves the folded position of the two flexible surfaces. When the folding component is reset, the folding rod resets its initial angle and continues to fold subsequent flexible surfaces.

4. The spatial flexible deployable structure correction and folding storage device according to claim 3, characterized in that, The aforementioned box fixing module includes a base, a pull rod, a tension spring, a threaded sleeve, and a movable handle. The base has a claw, the size of which is consistent with the edge structure of the storage box and can be snapped onto the edge of the storage box. The pull rod is connected to the claw and can rotate. The tension spring is placed between the claw and the base, providing a constraint force for the base to hold the storage box tightly. The threaded sleeve passes through the pull rod and is installed on the base. The threaded sleeve is used to adjust the tension of the tension spring by moving along the threaded pair. The movable handle is connected to the pull rod and fixed to the pull rod by a nut. Pulling the movable handle adjusts the holding state of the box fixing module and the storage box.

5. The spatial flexible deployable structure correction and folding storage device according to claim 3, characterized in that, The linkage drive module is connected to the housing fixing module by mechanical fasteners. It consists of a fixed bracket, an input shaft, and a driven shaft. The input shaft and the driven shaft are supported by bearings at both ends and fixed to the fixed bracket. The input shaft is connected to a drive motor or a rotating handle to realize electric or manual drive. The transmission rod assembly includes a driving transmission rod and a driven transmission rod. One end of the driving transmission rod is connected to the input shaft of the linkage drive module via a key and rotates under its action. The other end of the driving transmission rod is equipped with a gear and is rotatably connected to the transmission joint module. The output rod is equipped with a gear and is rotatably connected to the transmission joint module. The two gears mesh together. When the linkage drive module drives the transmission rod to rotate, the output rod will rotate synchronously with the transmission rod. The two ends of the driven transmission rod are rotatably connected to the driven shaft of the linkage drive module and the transmission joint module, respectively, and move synchronously with the driving transmission rod.

6. The spatial flexible deployable structure correction and folding storage device according to claim 3, characterized in that, The folding rod drive module is fixed on the transmission joint module and consists of a connecting bracket and a drive handle. The drive handle is directly connected to the folding rod and fixed on the connecting bracket. The drive handle can be operated manually by the astronaut or driven by a motor to rotate the folding rod 90° or any other arbitrary angle, thereby constraining and releasing the folding surface.

7. The spatial flexible deployable structure correction and folding storage device according to claim 2, characterized in that, The output rod of the first folding assembly is connected to the orthopedic assembly via mechanical fasteners. The output rod of the second folding assembly is equipped with a locking and fixing module, which includes a locking buckle and an unlocking handle. Rotating the unlocking handle connects the locking buckle to the orthopedic assembly and fixes it in place.

8. A spatial flexible deployable structure for straightening, folding, and storage according to claim 1 or 2, characterized in that, The orthopedic assembly includes a telescopic sleeve, orthopedic rollers, a tension handle, and a fixed base. The orthopedic assembly is connected to the output rod of the first folding assembly via the fixed base. The tension handle is suspended or fixed to the second folding assembly. Each end of the telescopic sleeve is equipped with an orthopedic roller, which is used to apply a corrective force to the front of the flexible surface and works in conjunction with the folding rod to fold the flexible surface. The tension handle is used to expand and contract the telescopic sleeve.

9. A spatial flexible deployable structure for straightening, folding, and storage according to claim 1 or 2, characterized in that, The storage components include a box fixing module, a storage drive module, a rotation guide module, and a clamping module; The housing fixing module is used to connect and fix the housing to the storage housing. The storage drive module is installed on the housing fixing module and connected to the clamping module. The rotation guide module is composed of a spatial cam and is fixed on the housing fixing module. The storage drive module drives the clamping module to rotate along the cam curve of the rotation guide module. The clamping module rotates to different positions relative to the flexible surface to realize the storage, clamping and release of the flexible surface.

10. A method for folding and storing a spatial flexible deployable structure using the spatial flexible deployable structure straightening and folding storage device as described in claim 1 or 2, characterized in that... include: The first step involves the first folding component, or the second folding component, synchronously driving the folding end to constrain the bottom folding position of the two flexible surfaces near the box plate, while the output end drives the orthopedic component to constrain the front of the flexible surfaces. The second step involves the first folding assembly, or the second folding assembly, driving the folding end and the output end to rotate synchronously, so that the two flexible surfaces near the box panel fold to the position of the storage box. The third step involves rotating the storage component and pressing the two flexible surfaces together and tightly against the storage box. The first folding component or the second folding component simultaneously drives the folding end out of the folding position to continue folding and closing the remaining two flexible surfaces.

11. A method for deploying a spatial flexible deployable structure using the spatial flexible deployable structure straightening and folding storage device as described in claim 1 or 2, characterized in that... include: The first step is to rotate the storage component to release the constraint on the flexible array, and the first folding component or the second folding component synchronously drive the folding rod to enter the bottom folding position of the two outermost flexible arrays. The second step involves the first folding assembly or the second folding assembly synchronously driving the folding rod and the output rod to rotate synchronously, causing the two outermost flexible surfaces to unfold. The third step involves the first folding component or the second folding component simultaneously driving the folding rod to exit the bottom folding position of the flexible array, and causing the folding rod and the driving rod to rotate and reset, thus continuing to complete the unfolding of the next two flexible arrays.

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