CN217361878U - Antenna folding and unfolding mechanism - Google Patents

Abstract

The application discloses an antenna folding and unfolding mechanism which comprises a linkage rod, a horizontal unfolding rod and a vertical unfolding rod; the ends of the two linkage rods are rotationally connected through first rotating joints, and the two ends of the horizontal rod are connected to the two first rotating joints; one end of the horizontal unfolding rod is connected to the linkage rod through a second rotary joint, and one end of the vertical unfolding rod is connected to the other end of the horizontal unfolding rod through a third rotary joint; the linkage rod rotates around the first rotating joint to realize folding and unfolding actions, the horizontal unfolding rod rotates around the second rotating joint to realize folding and unfolding actions, and the vertical unfolding rod rotates around the third rotating joint to realize folding and unfolding actions; after the linkage rod, the horizontal unfolding rod and the vertical unfolding rod are unfolded, the linkage rod, the horizontal unfolding rod and the vertical unfolding rod are locked by an additional locking piece. The antenna folding and unfolding mechanism has the advantages of higher rigidity, light weight, small folding volume, high folding rate, capability of balancing mirror image pressure, overall prestress balance and the like, and has important practical significance for the development of aerospace industry.

Description

Antenna folding and unfolding mechanism

Technical Field

The application relates to the technical field of aerospace, in particular to an antenna folding and unfolding mechanism.

Background

In recent years, the development of the industries such as earth observation, space communication, deep space exploration, manned space flight and the like is very rapid, the requirements on a light-weight, high-folding-rate and large-scale large-space deployable antenna mechanism are greatly increased, the international large-space deployable mechanism at present adopts a structural form of a unit framework, the technology is relatively mature, but along with the increase of the deployment scale, the mass of the international large-space deployable mechanism is also increased due to the fact that the international large-space deployable mechanism comprises a large number of joints, chains and rods, the rigidity is seriously reduced, and the application of the future ultra-large space deployable structure in the aerospace field is greatly limited.

The deployable antenna mechanism is beginning to be developed in a large size, light weight, and excellent deployable performance. Therefore, a folding and unfolding mechanism which solves the contradiction between the large-scale antenna mechanism and the rigidity and light weight of the structure is needed to be designed so as to better meet the requirements of future spacecrafts.

Content of application

Therefore, the purpose of the application is to provide an antenna folding and unfolding mechanism which is simple and efficient, light in weight, excellent in unfolding performance and high in rigidity.

In order to solve the technical problem, the technical scheme of the application is as follows:

an antenna folding and unfolding mechanism comprising:

a foldable link assembly including a pair of foldable links arranged in parallel and a plurality of horizontal bars connected between the pair of foldable links; the foldable connecting rods comprise a plurality of linkage rods, and the end parts of two adjacent linkage rods are rotatably connected through a first rotating joint; two ends of the horizontal rod are respectively connected to the two first rotating joints corresponding to the positions; in the process that the linkage rods rotate around the first rotating joints, the foldable connecting rods are provided with a first folding state that the linkage rods are folded and a first unfolding state that the linkage rods are arranged in the same straight line;

a first locking member connected between the first rotational joint and the linkage rod when the foldable link is in the first unfolded state to lock the foldable link in the first unfolded state;

one end of the horizontal unfolding rod is connected to the outer side wall of the linkage rod through a second rotating joint; in the process that the horizontal unfolding rod rotates around the second rotating joint, the horizontal unfolding rod has a second folding state that the horizontal unfolding rod is folded above the foldable connecting rod assembly, and a second unfolding state that the horizontal unfolding rod is overturned outwards to be arranged on the same horizontal plane with the foldable connecting rod assembly;

a second locking member connected between the second rotational joint and the horizontal deployment rod when the horizontal deployment rod is in the second deployed state to lock the horizontal deployment rod in the second deployed state;

one end of the vertical unfolding rod is connected to the other end of the horizontal unfolding rod through a third rotary joint; in the process that the vertical unfolding rod rotates around the third rotating joint, the vertical unfolding rod has a third folding state that the vertical unfolding rod is folded above the horizontal unfolding rod and the longitudinal extension direction of the vertical unfolding rod is parallel to the longitudinal extension direction of the horizontal unfolding rod, and a third unfolding state that the vertical unfolding rod rotates upwards to the state that the longitudinal extension direction of the vertical unfolding rod is perpendicular to the longitudinal extension direction of the horizontal unfolding rod;

a third locking member connected between the third rotational joint and the vertical deployment rod to lock the vertical deployment rod in the third deployed state when the vertical deployment rod is in the third deployed state.

Further, the first rotating joint comprises a first hinge joint arranged at one end of one linkage rod and a first hinge plate arranged at the other end of the adjacent linkage rod; the first hinge joint comprises a pair of first lug plates which are oppositely arranged, and the thickness of the first hinge joint is the same as the gap between the pair of first lug plates; each first lug plate is provided with a first lug plate hole I and a first lug plate hole II, and the first hinge plate is provided with a first hinge plate hole I and a first hinge plate hole II; the first lug plate hole and the first hinge plate hole are both located on a straight line where the lengthwise extending direction of the linkage rods is located, and when two adjacent linkage rods are arranged in the same straight line, the first lug plate hole and the first hinge plate hole are arranged in the same axis; the second first lug plate hole and the second first hinge plate hole are coaxially arranged and deviate from the lengthwise extending direction of the linkage rod; the first rotating joint further comprises a first hinge shaft which is arranged between the first lug plate hole II and the first hinge plate hole II in a penetrating mode; the first locking piece is a first fixing pin which is fixed between the first lug plate hole I and the first hinge plate hole I in a penetrating mode.

Furthermore, a driving motor is installed on the linkage rod, a chain wheel mechanism is arranged between an output shaft of the driving motor and the first hinged shaft, and the driving motor drives the first hinged shaft to rotate through the chain wheel mechanism so as to drive the foldable connecting rod to be switched between the first folding state and the first unfolding state.

Further, when the foldable connecting rod is locked in a first unfolding state by the first fixing pin, the end part of the first hinge joint and the end part of the adjacent linkage rod are rigidly abutted along the length extending direction of the two linkage rods.

Furthermore, the second rotating joint comprises a second hinge joint vertically and fixedly connected to the outer side wall of the linkage rod and a second hinge plate provided with a corresponding end part of the horizontal unfolding rod; the second hinge joint comprises a pair of second ear plates which are oppositely arranged, and the thickness of the second hinge joint is the same as the gap between the pair of second ear plates; each second lug plate is provided with a first lug plate hole and a second lug plate hole, and the second hinge plate is provided with a first hinge plate hole and a second hinge plate hole; the first second lug plate hole is located on a straight line where the lengthwise extending direction of the horizontal unfolding rod is located, and when the horizontal unfolding rod is in the second unfolding state, the first second lug plate hole and the second hinge plate hole are arranged along the same axis; the second lug plate hole II and the second hinge plate hole II are coaxially arranged and deviate from the lengthwise extension direction of the horizontal unfolding rod; the second rotary joint further comprises a second hinge shaft which is arranged between the second lug plate hole II and the second hinge plate hole II in a penetrating mode; the second locking piece is for wearing to establish to fix second fixed pin between second otic placode hole one and the second hinge plate hole one.

Further, the second hinge shaft is sleeved with a second torsion spring, and the second torsion spring has an elastic force for driving the horizontal unfolding rod to move from the second folding state to the second unfolding state.

Further, when the horizontal unfolding rod is locked in a second unfolding state by the second fixing pin, the horizontal unfolding rod and the linkage rod are pre-pressed with each other along the lengthwise extension direction of the horizontal unfolding rod. The end part of the second hinged joint and the end part of the horizontal unfolding rod are rigidly abutted along the lengthwise extension directions of the two horizontal unfolding rods.

Further, the third rotary joint comprises a third hinge joint arranged at the end part of the horizontal unfolding rod and a third hinge plate arranged at the corresponding end part of the vertical unfolding rod; the third hinge joint comprises a pair of third ear plates which are oppositely arranged, and the thickness of the third hinge joint is the same as the gap between the pair of third ear plates; each third lug plate is provided with a first third lug plate hole and a second third lug plate hole, and the third hinge plate is provided with a first third hinge plate hole and a second third hinge plate hole; the first third lug plate hole is located on a straight line where the longitudinal extension direction of the horizontal unfolding rod is located, and the second third lug plate hole deviates from the longitudinal extension direction of the horizontal unfolding rod; the first third hinge plate hole is positioned on a straight line of the longitudinal extension direction of the vertical unfolding rod, and the second third hinge plate hole deviates from the longitudinal extension direction of the vertical unfolding rod; the third rotary joint further comprises a third hinge shaft which is arranged between the second third lug hole and the second third hinge plate hole in a penetrating mode; the third locking piece comprises a tail end fixing ring positioned between the pair of third lug plates, a tail end fixing ring hole which is coaxial with the first lug plate hole is formed in the tail end fixing ring, and the tail end fixing ring is fixed between the pair of third lug plates through a third fixing pin penetrating through the first lug plate hole and the tail end fixing ring hole; when the vertical unfolding rod is in the third unfolding state, the lower end face of the third hinge plate is rigidly abutted against the upper end face of the tail end fixing ring; third locking piece still including wear to establish on the second hole of third hinge plate and with terminal fixed ring fixed connection's locking structure.

Further, the third hinge epaxial cover is equipped with the third torsional spring, the third torsional spring has the drive vertical expansion pole by the motion of third folding state arrives the elastic force of third expansion state.

Furthermore, the length of the plurality of linkage rods is the same, the length of the plurality of horizontal expansion rods is the same, and the length of the plurality of vertical expansion rods is the same.

This application technical scheme has following advantage:

1. according to the antenna folding and unfolding mechanism, the folding and unfolding of the antenna folding and unfolding mechanism are realized by utilizing the folding and unfolding of the linkage rod, the horizontal unfolding rod and the vertical unfolding rod; when the antenna folding and unfolding mechanism is in a folded state, the actually occupied space is small, and the antenna folding and unfolding mechanism is convenient to store and transport; when the antenna folding and unfolding mechanism is in an unfolding state, the first locking piece locks two adjacent linkage rods, so that the connection relation between the adjacent linkage rods is converted into a rigid abutting relation from a one-way hinged relation, and the adjacent linkage rods can be ensured to have higher geometric rigidity; the second locking piece locks the horizontal unfolding rod in the second unfolding state, so that the connection relationship between the horizontal unfolding rod and the second rotating joint is converted into a rigid abutting relationship from a one-way hinged relationship, the horizontal unfolding rod can be ensured to have higher geometric rigidity, the third locking piece locks the vertical unfolding rod in the third unfolding state, so that the connection relationship between the vertical unfolding rod and the third rotating joint is converted into the rigid abutting relationship from the one-way hinged relationship, the vertical unfolding rod can be ensured to have higher geometric rigidity, the antenna folding and unfolding mechanism in the unfolding state can have higher structural rigidity without the help of a guy cable through the plurality of locking pieces, and the antenna folding and unfolding mechanism has the advantages of high rigidity, few members, light weight, small folding volume, high folding rate, large unfolding breadth and balanced overall prestress.

2. According to the antenna folding and unfolding mechanism, the second torsion spring can provide unidirectional prestress for the horizontal unfolding rod to move from the second folding state to the second unfolding state, and after the horizontal unfolding rod moves to the second unfolding state, the second fixing pin can balance the residual unidirectional prestress of the second torsion spring, so that the structural rigidity between the horizontal unfolding rod and the second rotating node is ensured; the third torsion spring can provide unidirectional prestress for the vertical unfolding rod to move from the third folding state to the third unfolding state, and after the vertical unfolding rod moves to the third unfolding state, the tail end fixing ring and the locking structure can balance the residual unidirectional prestress of the third torsion spring, so that the structural rigidity between the vertical unfolding rod and the third rotating node is ensured.

Drawings

In order to more clearly illustrate the detailed description of the present application or the technical solutions in the prior art, the drawings needed to be used in the detailed description of the present application or the prior art description will be briefly introduced below, and it is obvious that the drawings in the following description are some embodiments of the present application, and other drawings can be obtained by those skilled in the art without creative efforts.

Fig. 1 is a schematic structural diagram of an antenna folding and unfolding mechanism in a retracted state according to an embodiment of the present invention;

fig. 2 is a schematic structural diagram of an antenna folding and unfolding mechanism in an unfolded state according to an embodiment of the present invention;

FIG. 3 is a top view of an antenna folding and unfolding mechanism in an embodiment of the present invention;

FIG. 4 is a side view of an antenna folding and unfolding mechanism in an embodiment of the present invention;

fig. 5 is an isometric view of an antenna folding and unfolding mechanism in an embodiment of the invention;

fig. 6 is a schematic view of a folded state of a first rotary joint of the antenna folding and unfolding mechanism in the embodiment of the invention;

FIG. 7 is a schematic view of the first rotary joint of the antenna folding mechanism in an embodiment of the present invention in an unfolded state;

fig. 8 is a schematic view of the antenna folding mechanism in a second folded state according to the embodiment of the present invention;

fig. 9 is a schematic view showing a second revolute joint of the antenna folding mechanism according to the embodiment of the present invention in an unfolded state;

fig. 10 is a schematic view of a third folded state of the antenna folding mechanism according to the embodiment of the present invention;

fig. 11 is a schematic view showing a deployed state of the third rotary joint of the antenna folding mechanism according to the embodiment of the present invention;

fig. 12 is a schematic view showing the unfolding process of the antenna folding and unfolding mechanism according to the embodiment of the present invention.

Description of reference numerals: 100. an antenna folding and unfolding mechanism; 200. a spacecraft main body; 300. a solar panel mechanism; 1. a linkage rod; 2. a horizontal bar; 3. a horizontal deployment rod; 4. vertically deploying the rod; 5. a first revolute joint; 51. a first ear plate; 511. the first lug plate hole is formed; 512. the second lug plate hole; 52. a first hinge plate; 521. the first hinge plate hole I; 53. a first hinge shaft; 6. a second revolute joint; 61. a second ear panel; 611. the first lug plate is arranged; 612. a second lug hole II; 62. a second hinge plate; 621. the first second hinge plate is provided with a first hinge plate hole; 63. a second hinge shaft; 7. a third revolute joint; 71. a third ear plate; 711. the first hole of the third lug plate; 712. the second lug plate hole; 72. a third hinge plate; 721. the third hinge plate has a first hole; 73. a third hinge shaft; 74. a terminal fixing ring; 8. a first fixing pin; 9. a second fixing pin; 10. a third fixing pin; 11. a sprocket mechanism; 12. a connecting rod; 13. a hinged block.

Detailed Description

The technical solutions of the present application will be described clearly and completely with reference to the accompanying drawings, and it should be understood that the described embodiments are only some embodiments of the present application, but not all embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present application.

In the description of the present application, it should be noted that the terms "center", "upper", "lower", "left", "right", "vertical", "horizontal", "inner", "outer", and the like indicate orientations or positional relationships based on the orientations or positional relationships shown in the drawings, and are only for convenience of description and simplicity of description, and do not indicate or imply that the device or element being referred to must have a particular orientation, be constructed and operated in a particular orientation, and thus, should not be construed as limiting the present application. Furthermore, the terms "first," "second," and "third" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance.

In the description of the present application, it is to be noted that, unless otherwise explicitly specified or limited, the terms "mounted," "connected," and "connected" are to be construed broadly, e.g., as meaning either a fixed connection, a removable connection, or an integral connection; can be mechanically or electrically connected; they may be connected directly or indirectly through intervening media, or they may be interconnected between two elements. The specific meaning of the above terms in the present application can be understood in a specific case by those of ordinary skill in the art.

In addition, the technical features mentioned in the different embodiments of the present application described below can be combined with each other as long as they do not conflict with each other.

A spacecraft as shown in fig. 1-2 includes a spacecraft body 200, an antenna folding mechanism 100, and a solar panel mechanism 300. The spacecraft main body 200 is a cuboid, the number of the antenna folding and unfolding mechanisms 100 and the number of the solar panel mechanisms 300 are two, and the two antenna folding and unfolding mechanisms 100 and the two solar panel mechanisms 300 are respectively installed on four different side surfaces of the spacecraft main body 200, the two antenna folding and unfolding mechanisms 100 are located on two opposite side surfaces of the spacecraft main body 200, and the two solar panel mechanisms 300 are located on the other two opposite side surfaces of the spacecraft main body 200. The antenna folding and unfolding mechanism 100 and the solar panel mechanism 300 are both foldable and unfoldable mechanisms.

The structure of the antenna folding and unfolding mechanism 100 provided by the embodiment of the present application is shown in fig. 2 to 5, and the antenna folding and unfolding mechanism 100 includes a foldable link assembly, a horizontal unfolding rod 3, a vertical unfolding rod 4, a first locking member, a second locking member, and a third locking member. Wherein the foldable connecting rod assembly comprises a pair of foldable connecting rods arranged in parallel and a plurality of horizontal rods 2 connected between the pair of foldable connecting rods. The foldable connecting rod comprises a plurality of linkage rods 1 which are connected in sequence, the end parts of two adjacent linkage rods 1 are rotatably connected through first rotating joints 5, and two end parts of the horizontal rod 2 are respectively connected to two first rotating joints 5 corresponding to the positions; one end of the horizontal unfolding rod 3 is connected to the outer side wall of the linkage rod 1 through a second rotating joint 6, and one end of the vertical unfolding rod 4 is connected to the other end of the horizontal unfolding rod 3 through a third rotating joint 7.

Specifically, each group of foldable connecting rods comprises P linkage rods 1; accordingly, the number of the horizontal bars 2 is P, the number of the horizontal deployment bars 3 is 2 (P-1), and the number of the vertical deployment bars 4 is 2 (P-1). The 2P linkage rods 1 are contracted and folded in a W shape, the horizontal rods 2 are parallel to each other, folding surfaces are formed between the two linkage rods 1 and the horizontal rods 2, and the number of the folding surfaces is P. The length of 2P linkage rods 1 is the same, the length of P horizontal rods 2 is the same, the length of 2 (P-1) horizontal unfolding rods 3 is the same, and the length of 2 (P-1) vertical unfolding rods 4 is the same. The length of the horizontal spreading rods 3 is L, and the distance between two adjacent horizontal spreading rods 3 is 2L.

The antenna folding and unfolding mechanism 100 has a folding state and an unfolding state, wherein in the folding state, the first rotating joint 5, the second rotating joint 6, the third rotating joint 7, the linkage rod 1, the horizontal unfolding rod 3 and the vertical unfolding rod 4 are connected in a one-way hinged mode, and the rotating direction is that the plane of the rod piece rotates to a specified position around the corresponding rotating joint; in the unfolding state, the connection of the first rotating joint 5, the second rotating joint 6, the third rotating joint 7, the linkage rod 1, the horizontal unfolding rod 3 and the vertical unfolding rod 4 is fixed through corresponding locking pieces, unidirectional hinging is changed into rigid connection, and the locking pieces balance the prestress of the rod pieces.

The 2P linkage rods 1 are contracted and folded in a W shape, and in the process that the linkage rods 1 rotate around the first rotating joints 5, the foldable connecting rod is provided with a first folding state that the linkage rods 1 are in a folding shape and a first unfolding state that the linkage rods 1 are in collinear arrangement. When the foldable connecting rod is in a first unfolded state, the first locking piece is fixedly connected between the first rotating joint 5 and the linkage rod 1, and the foldable connecting rod can be locked in the first unfolded state by the first locking piece; at this time, the magnitude of the prestress between any two adjacent linkage rods 1 in the first unfolding state is the same.

The horizontal unfolding rod 3 is folded inwards around the second rotating joint 6, in the process that the horizontal unfolding rod 3 rotates around the second rotating joint 6, the horizontal unfolding rod 3 is folded and parallel to the horizontal rod 2, and the horizontal unfolding rod 3 has a second folding state that the horizontal unfolding rod is folded and folded above the foldable connecting rod assembly and a second unfolding state that the horizontal unfolding rod is overturned outwards to be arranged in the same horizontal plane with the foldable connecting rod assembly. When the horizontal unfolding rod 3 is in the second unfolding state, the second locking piece is fixedly connected between the second rotating joint 6 and the horizontal unfolding rod 3 so as to lock the horizontal unfolding rod 3 in the second unfolding state; at this time, the plurality of horizontal deployment rods 3 in the second deployed state receive the same magnitude of prestress.

In the process that the vertical unfolding rod 4 rotates around the third rotating joint 7, the vertical unfolding rod 4 has a third folding state that is folded and folded above the horizontal unfolding rod 3 and the longitudinal extension direction of the third folding state is parallel to the longitudinal extension direction of the horizontal unfolding rod 3, and a third unfolding state that rotates upwards to the state that the longitudinal extension direction of the third folding state is perpendicular to the longitudinal extension direction of the horizontal unfolding rod 3. When the vertical deployment rod 4 is in the third deployment state, the third locking member is fixedly connected between the third rotational joint 7 and the vertical deployment rod 4 to lock the vertical deployment rod 4 in the third deployment state; at this time, the plurality of vertical deployment rods 4 in the third deployed state receive the same prestress.

The antenna folding and unfolding mechanism 100 is folded and unfolded by utilizing the linkage rod 1, the horizontal unfolding rod 3 and the vertical unfolding rod 4; when the antenna folding and unfolding mechanism 100 is in a folded state, the actually occupied space is relatively small, and the antenna folding and unfolding mechanism is convenient to store and transport; when the antenna folding and unfolding mechanism 100 is in an unfolded state, the first locking piece locks two adjacent linkage rods 1, so that the connection relation between the adjacent linkage rods 1 is converted from a one-way hinged relation into a rigid abutting relation, and the adjacent linkage rods 1 can be ensured to have higher geometric rigidity; the second locking member locks the horizontal unfolding rod 3 in the second unfolding state, so that the connection relationship between the horizontal unfolding rod 3 and the second rotating joint 6 is converted from the one-way hinged relationship into the rigid abutting relationship, and it can be ensured that the horizontal unfolding rod 3 has higher geometric rigidity, the third locking member locks the vertical unfolding rod 4 in the third unfolding state, so that the connection relationship between the vertical unfolding rod 4 and the third rotating joint 7 is converted from the one-way hinged relationship into the rigid abutting relationship, and it can be ensured that the vertical unfolding rod 4 has higher geometric rigidity, and the plurality of locking members can ensure that the antenna folding and unfolding mechanism 100 in the unfolding state can have higher structural rigidity without using a guy cable, and the antenna folding and unfolding mechanism has the advantages of high rigidity, few members, light weight, small folding volume, high folding rate, large unfolding breadth and balanced overall prestress.

As shown in fig. 6-7, the first rotary joint 5 comprises a first hinge joint integrally formed at the end of one linkage rod 1 and a first hinge plate 52 integrally formed at the end of the other adjacent linkage rod 1; the thickness of the first hinge joint is the same as that of the linkage rod 1, and the thickness of the first hinge plate 52 is smaller than that of the linkage rod 1. The first hinge joint comprises a pair of first ear plates 51 which are oppositely arranged, and the thickness of the first hinge plate 52 is the same as the distance between the pair of first ear plates 51; first otic placode hole 511 and first otic placode hole two 512 have all been seted up on every first otic placode 51, have seted up first articulated plate hole 521 and first articulated plate hole two on the first articulated plate 52. First otic placode hole 511 and first hinge plate hole 521 all lie in the straight line that gangbar 1 lengthwise extension direction belonged to, and when two adjacent gangbar 1 were the collinear arrangement, first otic placode hole 511 and first hinge plate hole 521 were arranged the coaxial line. The second first lug plate hole 512 and the second first hinge plate hole are coaxially arranged and deviate from the lengthwise extension direction of the linkage rod 1. The first rotating joint 5 further comprises a first hinge shaft 53 which is arranged between the first lug plate hole II 512 and the first hinge plate hole II in a penetrating manner; the first locking member is a first fixing pin 8 fixed between the first lug plate hole I511 and the first hinge plate hole I521 in a penetrating manner. The first hinge shaft 53 is coaxially disposed with the corresponding horizontal rod 2, and the first hinge shaft 53 may be independent of the horizontal rod 2 or a rod-shaped structure integrally formed on both end portions of the horizontal rod 2.

Referring to fig. 2, a driving motor (not shown) is mounted on the linkage rod 1, a chain wheel mechanism 11 is disposed between an output shaft of the driving motor and the first hinge shaft 53, and the driving motor drives the first hinge shaft 53 to rotate through the chain wheel mechanism 11 to drive the foldable connecting rod to switch between the first folding state and the first unfolding state. In the folded state, the foldable connecting rod assembly maintains the first folded state of the foldable connecting rod assembly by means of the first rotating joint 5, the chain wheel mechanism 11 and the driving motor; in the unfolding state, the first hinge shaft 53 is driven to rotate by the operation of the driving motor and the transmission of the chain wheel mechanism 11; when the foldable connecting rod component is unfolded to the first unfolding state, the chain wheel mechanism 11, the mechanical structure of the first rotating joint 5 and the driving motor are only used for locking. The chain wheel mechanisms 11 are installed on the left side and the right side of the foldable connecting rod assembly in a staggered mode, so that the P-th group of chain wheel mechanisms 11 can be matched with the first rotating joint 5 to complete power transmission of the P +2 connecting rods 1 under the motion of the P-th connecting rod 1.

As shown in fig. 2-4, one end of the foldable connecting rod is hinged on the main frame structure of the spacecraft main body 200, the main frame structure is also hinged with a connecting rod 12, and the connecting rod 12 and the linkage rod 1 have the same length and are arranged in parallel with one linkage rod 1 closest to the main frame structure. A hinge block 13 is hinged between the connecting rod 12 far away from the main body frame structure and the first rotating joint 5; the first hinge shaft 53 is inserted between the first rotary joint 5 and the hinge block 13. The main body frame structure, the linkage rod 1, the connecting rod 12 and the hinge block 13 form a parallel four-bar linkage 12 structure, the parallel four-bar linkage 12 structure can improve good support for the foldable connecting rod, and the stability of the foldable connecting rod in the first unfolding state is ensured.

Referring to fig. 7, when the foldable connecting rod is locked in the first unfolded state by the first fixing pin 8, the end of the first lug plate 51 and the end of the adjacent linkage rod 1 are abutted along the length extension direction rigid surface of the two linkage rods 1; this ensures the structural rigidity of the collapsible link in the first unfolded state.

As shown in fig. 8-9, the second rotary joint 6 comprises a second hinge joint vertically and fixedly connected to the outer side wall of the linkage rod 1, and a second hinge plate 62 integrally formed at the end of the horizontal unfolding rod 3; the thickness of the second hinge joint is the same as that of the horizontal deployment rod 3, and the thickness of the second hinge plate 62 is smaller than that of the horizontal deployment rod 3. The second hinge joint comprises a pair of second ear plates 61 which are oppositely arranged, and the thickness of the second hinge plate 62 is the same as the distance between the pair of second ear plates 61. Every second otic placode 61 has been seted up second otic placode hole one 611 and second otic placode hole two 612, has been seted up second articulated plate hole one 621 and second articulated plate hole two on the second articulated plate 62. The first second lug plate hole 611 is located on a straight line where the lengthwise extending direction of the horizontal unfolding rod 3 is located, and when the horizontal unfolding rod 3 is in the second unfolding state, the first second lug plate hole 611 and the first second hinge plate hole 621 are arranged coaxially; the second ear plate hole two 612 and the second hinge plate hole two are coaxially arranged and are both deviated from the lengthwise extending direction of the horizontal unfolding rod 3. The second rotating joint 6 further comprises a second hinge shaft 63 penetrating between the second lug plate hole II 612 and the second hinge plate hole II; the second locking piece is a second fixing pin 9 which is fixed between the first second lug plate hole 611 and the first second hinge plate hole 621 in a penetrating manner.

Specifically, a second torsion spring (not shown) is sleeved on the second hinge shaft 63, and the second torsion spring can rotate 180 degrees; the second torsion spring has an elastic force that drives the horizontal deployment rod 3 from the second folded state to the second unfolded state. The horizontal unfolding rod 3 is elastically twisted by the second torsion spring to apply prestress, and the prestress can be directly applied to the second hinge shaft 63 when a sample machine is installed, so that the horizontal unfolding rod 3 can be better limited by matching with a rope when the sample machine is in a folded state. In the folded state, the horizontal deployment rod 3 is secured using an additional positioning mechanism, for example a positioning cord with an explosive screw, to pre-balance the pre-stress of the second torsion spring. When the expansion state, the rope that will fix a position through the explosion of explosion screw disconnection, realize the drive of second torsional spring prestressing force to horizontal expansion pole 3 to make horizontal expansion pole 3 expand smoothly, rely on extra second fixed pin 9 to carry out the equilibrium of prestressing force after horizontal expansion pole 3 expands.

Further, when the horizontal unfolding rod 3 is locked in the second unfolding state by the second fixing pin 9, the end of the second hinge joint and the end of the horizontal unfolding rod 3 are rigidly abutted along the surface of the longitudinal extension direction of the horizontal unfolding rod 3, and an interaction force along the longitudinal extension direction of the horizontal unfolding rod 3 exists between the horizontal unfolding rod 3 and the linkage rod 1; thus, the structural rigidity of the horizontal unfolding rod 3 and the linkage rod 1 in the second unfolding state can be ensured.

As shown in fig. 10 to 11, the third rotary joint 7 includes a third hinge joint integrally formed at the other end portion of the horizontal deployment rod 3, and a third hinge plate 72 integrally formed at the end portion of the vertical deployment rod 4; the thickness of the third hinge joint is the same as that of the horizontal deployment rod 3, and the thickness of the third hinge plate 72 is smaller than that of the horizontal deployment rod 3. The third hinge joint includes a pair of third ear plates 71 oppositely disposed, and the thickness of the third hinge plate 72 is the same as the distance between the pair of third ear plates 71. Third otic placode hole one 711 and third otic placode hole two 712 have all been seted up on every third otic placode 71, have seted up third hinge plate hole one 721 and third hinge plate hole two on the third hinge plate 72. The first third lug hole 711 is located on a straight line where the longitudinal extension direction of the horizontal unfolding rod 3 is located, and the second third lug hole 712 deviates from the longitudinal extension direction of the horizontal unfolding rod 3; the first third hinge plate hole 721 is located on a straight line where the longitudinal extending direction of the vertical deploying rod 4 is located, and the second third hinge plate hole deviates from the longitudinal extending direction of the vertical deploying rod 4. The third rotating joint 7 further comprises a third hinge shaft 73 which is arranged between the second third lug hole 712 and the second third hinge plate hole in a penetrating manner; the third locking member includes a distal end fixing ring 74 located between the pair of third lug plates 71, the distal end fixing ring 74 is provided with a distal end fixing ring hole coaxially arranged with the first third lug plate hole 711, and the distal end fixing ring 74 is fixed between the pair of third lug plates 71 by a third fixing pin 10 passing through the first third lug plate hole 711 and the distal end fixing ring hole. When the vertical deployment rod 4 is in the third deployment state, the lower end face of the third hinge plate 72 and the upper end face of the end fixing ring 74 are rigidly abutted; the third locking piece further comprises a locking structure which is arranged on the second third hinge plate hole in a penetrating mode and fixedly connected with the end fixing ring 74.

Further, a third torsion spring (not shown) is sleeved on the third hinge shaft 73, and the second torsion spring can rotate 90 degrees; the third torsion spring has an elastic force that drives the vertical deployment rod 4 from the third folded state to the third deployed state. The vertical unfolding rod 4 is elastically twisted by the third torsion spring to exert a prestress which can be directly exerted at the third hinge shaft 73 when the prototype is installed, which is beneficial to realizing better limiting of the vertical unfolding rod 4 by matching with a rope when the prototype is in a folded state. In the folded state, the vertical deployment rod 4 is fixed using an additional positioning mechanism, such as a positioning rope with an explosive screw, to pre-balance the pre-stress of the third torsion spring. When the expansion state, the rope that will fix a position through the explosion of explosion screw disconnection, realize the drive of third torsional spring prestressing force to vertical expansion pole 4 to make vertical expansion pole 4 expand smoothly, rely on extra third fixed pin 10 and locking structure to carry out the equilibrium of prestressing force after vertical expansion pole 4 expands.

Fig. 12 provides a schematic illustration of the unfolding process of the antenna folding mechanism 100, which comprises the following steps: unfolding the linkage rods 1 from an initial position until all the linkage rods 1 are positioned in the same horizontal plane, adding a first fixing pin 8 to the first rotating joint 5, and changing the connection relationship between the linkage rods 1 from unidirectional hinging to rigid connection; then, after the horizontal unfolding rod 3 is turned outwards by 180 degrees until the horizontal unfolding rod and the linkage rod 1 are positioned in the same horizontal plane, a second fixing pin 9 is added between a second hinge joint of the second rotating joint 6 and a second hinge plate 62 of the horizontal unfolding rod 3, so that the connection relationship between the horizontal unfolding rod 3 and the second hinge joint is changed from unidirectional hinge to rigid connection; finally, the vertical deployment rod 4 is turned 90 degrees outwards, and after reaching the position of the end fixing ring 74, the rigid connection of the vertical deployment rod 4 and the horizontal deployment rod 3 is realized through an additional locking structure.

To sum up, the antenna folding and unfolding mechanism 100 provided by the present application fully utilizes the rods bearing the axial force to form the self-balancing support structure of the antenna folding and unfolding mechanism 100, the structural rigidity is contributed by the rigidity of the locking mechanism, the folding and unfolding functions of the antenna are realized without changing the length of the inhaul cable in the antenna folding and unfolding mechanism 100, and the antenna folding and unfolding mechanism is directly folded by the folding motion of the linkage rod 1, the horizontal unfolding rod 3 and the vertical unfolding rod 4 in the transportation and launching stages, and is unfolded into the unfolding state after reaching the designated target. The antenna folding and unfolding mechanism 100 represents the future development direction of the field of space unfolding structures and has wide application in the fields of aerospace aviation, building structures, military engineering and the like.

It should be understood that the above examples are only for clarity of illustration and are not intended to limit the embodiments. Other variations and modifications will be apparent to persons skilled in the art in light of the above description. And are neither required nor exhaustive of all embodiments. And obvious variations or modifications of this invention are intended to be covered by the scope of the invention as expressed herein.

Claims (10)

1. An antenna folding and unfolding mechanism, comprising:

a foldable link assembly including a pair of foldable links arranged in parallel and a plurality of horizontal bars (2) connected between the pair of foldable links; the foldable connecting rod comprises a plurality of linkage rods (1), and the end parts of two adjacent linkage rods (1) are rotatably connected through a first rotating joint (5); two ends of the horizontal rod (2) are respectively connected to two first rotating joints (5) corresponding to the positions; in the process that the linkage rods (1) rotate around the first rotating joints (5), the foldable connecting rods are in a first folding state that the linkage rods (1) are folded and a first unfolding state that the linkage rods (1) are arranged in the same line;

a first locking member connected between the first rotational joint (5) and the linkage rod (1) when the foldable link is in the first unfolded state to lock the foldable link in the first unfolded state;

one end of the horizontal unfolding rod (3) is connected to the outer side wall of the linkage rod (1) through a second rotary joint (6); in the process that the horizontal unfolding rod (3) rotates around the second rotating joint (6), the horizontal unfolding rod (3) has a second folding state of being folded above the foldable connecting rod assembly and a second unfolding state of being outwards turned to be arranged on the same horizontal plane with the foldable connecting rod assembly;

a second locking member connected between the second rotational joint (6) and the horizontal deployment rod (3) when the horizontal deployment rod (3) is in the second deployed state to lock the horizontal deployment rod (3) in the second deployed state;

one end of the vertical unfolding rod (4) is connected to the other end of the horizontal unfolding rod (3) through a third rotary joint (7); during the rotation of the vertical unfolding rod (4) around the third rotary joint (7), the vertical unfolding rod (4) has a third folded state folded above the horizontal unfolding rod (3) and having its lengthwise extension direction parallel to the lengthwise extension direction of the horizontal unfolding rod (3), and a third unfolded state rotated upward to have its lengthwise extension direction perpendicular to the lengthwise extension direction of the horizontal unfolding rod (3);

a third locking member connected between the third revolute joint (7) and the vertical deployment rod (4) when the vertical deployment rod (4) is in the third deployed state to lock the vertical deployment rod (4) in the third deployed state.

2. The antenna folding and unfolding mechanism according to claim 1, wherein the first rotating joint (5) comprises a first hinge joint arranged at the end of one linkage rod (1) and a first hinge plate (52) arranged at the end of the other adjacent linkage rod (1); the first hinge joint comprises a pair of first ear plates (51) which are oppositely arranged, and the thickness of the first hinge plate (52) is the same as the gap between the pair of first ear plates (51); each first lug plate (51) is provided with a first lug plate hole (511) and a second lug plate hole (512), and the first hinge plate (52) is provided with a first hinge plate hole (521) and a second hinge plate hole; the first lug plate hole (511) and the first hinge plate hole (521) are both located on a straight line where the lengthwise extending direction of the linkage rod (1) is located, and when two adjacent linkage rods (1) are arranged in the same straight line, the first lug plate hole (511) and the first hinge plate hole (521) are arranged coaxially; the second first lug plate hole (512) and the second first hinge plate hole are coaxially arranged and deviate from the lengthwise extension direction of the linkage rod (1); the first rotating joint (5) further comprises a first hinge shaft (53) which is arranged between the first lug plate hole II (512) and the first hinge plate hole II in a penetrating mode; the first locking piece is a first fixing pin (8) which is fixedly arranged between the first lug plate hole I (511) and the first hinge plate hole I (521) in a penetrating mode.

3. The antenna folding and unfolding mechanism according to claim 2, wherein a driving motor is installed on the linkage rod (1), a chain wheel mechanism (11) is installed between an output shaft of the driving motor and the first hinge shaft (53), and the driving motor drives the first hinge shaft (53) to rotate through the chain wheel mechanism (11) so as to drive the foldable connecting rod to switch between the first folding state and the first unfolding state.

4. The antenna folding and unfolding mechanism according to claim 2, characterized in that when said foldable connecting rod is locked in a first unfolded state by said first fixing pin (8), the end of said first hinge joint and the end of the adjacent linkage rod (1) are rigidly abutted along the length extension direction of the two linkage rods (1).

5. The antenna folding and unfolding mechanism according to claim 1, characterized in that said second rotary joint (6) comprises a second hinge joint vertically and fixedly connected to the outer side wall of said linkage rod (1), and a second hinge plate (62) provided with the corresponding end of said horizontal unfolding rod (3); the second hinge joint comprises a pair of second ear plates (61) which are oppositely arranged, and the thickness of the second hinge plate (62) is the same as the gap between the pair of second ear plates (61); each second lug plate (61) is provided with a first lug plate hole (611) and a second lug plate hole (612), and the second hinge plate (62) is provided with a first hinge plate hole (621) and a second hinge plate hole; the first second otic placode hole (611) is located on a straight line where the lengthwise extending direction of the horizontal unfolding rod (3) is located, and when the horizontal unfolding rod (3) is in the second unfolding state, the first second otic placode hole (611) and the first second hinge-connected plate hole (621) are coaxially arranged; the second ear plate hole II (612) and the second hinge plate hole II are coaxially arranged and deviate from the lengthwise extending direction of the horizontal unfolding rod (3); the second rotary joint (6) further comprises a second hinge shaft (63) which is arranged between the second lug plate hole II (612) and the second hinge plate hole II in a penetrating manner; the second locking piece is a second fixing pin (9) which is fixedly arranged between the first second lug plate hole (611) and the first second hinge plate hole (621).

6. The antenna folding and unfolding mechanism according to claim 5, characterized in that a second torsion spring is sleeved on said second hinge shaft (63), said second torsion spring having an elastic force for driving said horizontal unfolding rod (3) to move from said second folded state to said second unfolded state.

7. The antenna fold-out mechanism according to claim 5, characterized in that the end of the second hinge joint and the end of the horizontal spreading rod (3) are rigidly abutted in the lengthwise extension direction of the two horizontal spreading rods (3) when the horizontal spreading rod (3) is locked in the second unfolded state by the second fixing pin (9).

8. The antenna folding mechanism according to claim 1, characterized in that said third revolute joint (7) comprises a third articulated joint provided at the end of said horizontal unfolding rod (3) and a third articulated plate (72) provided at the end of the corresponding vertical unfolding rod (4); the third hinge joint comprises a pair of third ear plates (71) which are oppositely arranged, and the thickness of the third hinge plate (72) is the same as the gap between the pair of third ear plates (71); each third lug plate (71) is provided with a first third lug plate hole (711) and a second third lug plate hole (712), and the third hinge plate (72) is provided with a first third hinge plate hole (721) and a second third hinge plate hole; the first third lug plate hole (711) is located on a straight line where the longitudinal extension direction of the horizontal unfolding rod (3) is located, and the second third lug plate hole (712) deviates from the longitudinal extension direction of the horizontal unfolding rod (3); the first third hinge plate hole (721) is positioned on a straight line of the longitudinal extension direction of the vertical unfolding rod (4), and the second third hinge plate hole deviates from the longitudinal extension direction of the vertical unfolding rod (4); the third rotary joint (7) further comprises a third hinge shaft (73) which is arranged between the second third lug hole (712) and the second third hinge plate hole in a penetrating manner; the third locking piece comprises a terminal fixing ring (74) positioned between the pair of third lug plates (71), a terminal fixing ring hole which is coaxially arranged with the first third lug plate hole (711) is formed in the terminal fixing ring (74), and the terminal fixing ring (74) is fixed between the pair of third lug plates (71) through a third fixing pin (10) penetrating through the first third lug plate hole (711) and the terminal fixing ring hole; when the vertical unfolding rod (4) is in the third unfolding state, the lower end face of the third hinge plate (72) is rigidly abutted against the upper end face of the tail end fixing ring (74); the third locking piece further comprises a locking structure which is arranged on the second third hinge plate hole in a penetrating mode and fixedly connected with the tail end fixing ring (74).

9. An antenna folding and unfolding mechanism according to claim 8, characterized in that a third torsion spring is sleeved on said third hinge shaft (73), said third torsion spring having a spring force for driving said vertical unfolding rod (4) from said third folded state to said third unfolded state.

10. The antenna folding and unfolding mechanism according to claim 1, characterized in that the length of said linkage rods (1) is the same, the length of said horizontal rods (2) is the same, the length of said horizontal unfolding rods (3) is the same, and the length of said vertical unfolding rods (4) is the same.

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