80results about How to "Large folding ratio" patented technology

The invention discloses a single-degree-of-freedom overconstrained shear-type deployable unit and space deployable mechanisms composed of the same. The single-degree-of-freedom overconstrained shear-type deployable unit comprises eight disc chucks, four sets of shear fork folding rods and eight sets of folding connecting rods; one set of the folding connecting rods limit the deployable degree of the basic deployable units by depending on the length of the connecting rods, the other seven sets of the folding connecting rods are all overconstrained connecting rods, and the overconstrained connecting rods can effectively improve the rigidity of the basic deployable units. Accordingly, the basic deployable units can be sequentially arranged in order, every two adjacent deployable units can form the first space deployable mechanism and the second space deployable mechanism by sharing four of the disc chucks and one set of the shear fork folding rods, and the length of the first space deployable mechanism and the size of the second space deployable mechanism can be changed by changing the quantity of the basic deployable units. The single-degree-of-freedom overconstrained shear-type deployable unit is simple in structure, has the high structural symmetry and is suitable for constructing an extendable space mast, a solar battery array support and a satellite plane reflecting antenna.

The invention relates to a three-structure-state transformation space deployable mechanism based on scissor units. The three-structure-state transformation space deployable mechanism based on scissorunits is formed by scissor units, hinges and chassises, wherein the scissor units can be converted into a first structure-state, a second structure-state or a third structure-state through unfolding or furling; the first structure-state is a triangular prism structure-state; the second structure-state is a quadrangular structure-state; the third structure-state is a pentagonal prism structure-state; the hinges include a double-revolute-pair hinge and a three-revolute-pair hinge; and one end of the double-revolute-pair hinge is connected with the chassises through pins, and the other end of thedouble-revolute-pair hinge is connected to the scissor units through pins. The three-structure-state transformation space deployable mechanism based on scissor units has the advantages of being lightin weight, being single in the component type, being large in the folding ratio, being small in the furled volume, being stable in mechanism deploying, and having variable three structure states, being able to be used as a polygonal space folding unit, and being suitable for an aerospace support frame and a planar transmitting antenna.

The invention relates to solar wings, in particular to a cubic unfoldable solar wing. One ends of a left protective plate and a right protective plate are separately connected with the two sides of a base through locking devices, and the other ends of the left protective plate and the right protective plate are connected with the two sides of an upper cap through hinges. A shear-fork type unfoldable solar cell mounting plate array comprises a plurality of units of the same structure. Each unit comprises a solar cell mounting plate, a supporting connecting rod and a solar cell which is mounted on the solar cell mounting plate. The two ends of each solar cell mounting plate are separately hinged to the adjacent solar cell mounting plates. The supporting connecting rods are hinged to the same sides of all the solar cell mounting plates. The two ends of each supporting connecting rod are separately hinged to the adjacent supporting connecting rods. The upper portion and the lower portion of the shear-fork type unfoldable solar cell mounting plate array are separately connected with the upper cap and the base through hinges. The cubic unfoldable solar wing is small in size, large in folding-unfolding ratio, novel in structure, flexible in control, high in reliability and large in number of the carried solar cells.

The invention discloses a ball spacing type repeated folding-unfolding wheel locking and unlocking mechanism. A ball spacing device is used for realizing the axial and circumferential motion conversion of a hub, i.e. when the hub moves along the axial direction in sequential motion, an axial push rod hinged with the hub carries out planar motion so as to drive a radial push rod fixedly connected to a hub sloping block to move along the radial direction, thereby regulating the radial size of a wheel; when the hub rotates along the circumferential direction in the sequential motion, the hub, a wheel axle, spokes and a wheel rim of the ball spacing type repeated folding-unfolding wheel locking and unlocking mechanism are formed into an integral wheel structure; the wheel is under the locking state; and the wheel can be driven to rotate so as to realize the driving function of the wheel. According to the ball spacing type repeated folding-unfolding wheel locking and unlocking mechanism disclosed by the invention, the radial size of the wheel can be effectively regulated according to different terrain conditions, the defect that the traditional moving obstacle-crossing probe vehicle has a poor adaptive capacity on the non-structural terrain can be overcome, and the terrain adaptability of the wheel is effectively improved.

The invention discloses a radial repeatedly-folding / unfolding wheel mechanism. The adaptability of a current complex terrain motion detection vehicle to an unstructured terrain remains to be enhanced. A crank hub of the mechanism is fixed with one end of a movable wheel spoke connecting shaft; the other end of the movable wheel spoke connecting shaft is connected with an axial movable wheel spoke through threads; the crank hub is provided with crank push rods; the top end of each of the crank push rods is hinged to a rolling sleeve; the top end of each of axial movable wheel spoke rods is connected with an axial sliding groove in a wheel rim in a sliding way; the middle of each of the axial movable wheel spoke rods is fixed with a locking block; a wheel flange push rod sliding groove is formed in the locking block; two ends of the wheel flange push rod sliding groove are provided with two bumps; radial sliding grooves in the wheel rim are respectively connected with wheel flange push rods in the sliding way; a sleeve connecting rod is fixedly arranged on the bottom part of each of the wheel flange push rods; the top parts of the wheel flange push rods are respectively fixed with wheel flange inclined blocks; a shrinkage locking groove is formed in one side wall of each of the wheel flange push rods; an unfolding locking groove is formed in the other side wall of each of the wheel flange push rods. According to the radial repeatedly-folding / unfolding wheel mechanism, the wheel diameter and the wheel-ground contact way can be changed, so that the adaptability of the complex terrain motion detection vehicle to the unstructured terrain is improved.

The invention discloses a foldable and unfoldable structure based on a rectangular six-fold paper folding unit. The folding unit of the paper folding structure comprises six boundary points, an internal foldable and unfoldable point, six boundaries and six folds; the four boundary points are respectively positioned at four corners of a rectangular frame, and the other two boundary points are respectively positioned in two parallel sides of a rectangle; the six boundary points and the internal point are connected to form six creases, the four creases are mountain creases, and the two creases are valley creases. According to the invention, the advantages of large folding and unfolding ratio, graceful configuration and capability of realizing negative Poisson's ratio of a traditional Waterbomb folding paper are reserved. However, the axial symmetry of a traditional Waterbomb paper folding basic unit is reduced, so that the basic unit only needs to meet the rotational symmetry, and the complete rectangular six-fold paper folding structure can be formed by expanding the basic unit in parallel in the horizontal direction and expanding the basic unit in a staggered mode in the vertical direction. The constraint of the traditional Waterbomb folding paper is broken through, and the positive effect on increasing the shape diversity of the paper folding structure and promoting the application of the paper folding structure in engineering is achieved.

A lifting device for mounting and maintaining an aero-engine is characterized by comprising lower guide rails, rollers, short rods, long rods, guy cables, upper guide rails, winding drums, motors, an engine, unfoldable mechanisms, scissors fork mechanisms and drive control mechanisms; the two lower guide rails, the rollers, the scissors fork mechanisms, the upper guide rails and the drive control mechanisms form the two independent unfoldable mechanisms together; the two independent unfoldable mechanisms are perpendicularly arranged at the front end and the back end of the engine; the lower guide rails are fixedly connected with the engine; the upper guide rails are fixedly connected with an airplane; the drive control mechanisms comprise the guy cables, the winding drums and the motors. The lifting device has the advantages that the folding ratio is large, the radial direction space between the engine and the airplane can be effectively utilized under a completely gathering condition, meanwhile accurate positioning can be formed with a main mounting part of the engine, and the quick mounting is facilitated; during the expansion process, the expansion is stable, the perturbation is small, and the device is not only suitable for the aero-engine, but also can be applied to a crane for industrial buildings and an escaping device for fire hazard.

The invention relates to a giant engineering tire forming drum which comprises wide drum tiles, narrow drum tiles, a drum tile expansion and contraction mechanism and a narrow drum shoulder contraction mechanism, wherein a narrow drum tile expansion and contraction mechanism is suspended on the inner sides of the narrow drum tiles, and is used for guiding narrow drum shoulders to be expanded and contracted in a direction forming a certain included angle with the axis of the forming drum; the narrow drum shoulders of every two adjacent narrow drum tiles have different amounts of contraction, and are arranged in different layers in a superimposed state; the drum tile expansion and contraction mechanism forms a triangular support to the wide and narrow drum tiles in an unfolded state. According to the giant engineering tire forming drum, the narrow drum shoulder contraction mechanism is contracted in the vicinity of a main connecting rod and an auxiliary connecting rod when being folded, so that a folding space can be fully utilized, and high folding ratio is ensured; the narrow drum shoulders are arranged in different layers in a folded state, and the phenomenon of lateral cutting of the narrow shoulder drums is avoided; the narrow drum shoulders are contracted towards the center of the forming drum along a guide rail forming a certain included angle with the axis of the forming drum, so that the phenomenon of tangent tire blank squeezing caused by the axial contraction of the drum shoulders is avoided, and the forming quality of a giant engineering tire is improved; the drum tile expansion mechanism forms the triangular support in an unfolded state, so that the rigidity of the forming drum is improved.

The invention provides a folding and unfolding device which comprises a base and a plurality of folding and unfolding branches. Each folding and unfolding branch comprises a driving module and N (N islarger than or equal to 2) folding and unfolding modules connected in sequence, and each folding and unfolding module comprises support plates forming two isosceles edges and two folding plates forming the other bottom edge. Adjacent support plates and folding plates are hinged through four parallel first rotating shafts, every two matched folding plates in adjacent folding and unfolding modulesare connected through a second rotating shaft, the second rotating shafts are arranged to be perpendicular to the first rotating shafts, and the driving modules act on the first rotating shafts and the second rotating shafts respectively so as to drive the folding and unfolding modules to switch among a closing state, a folding state, an unfolding state and a curve state. According to the foldingand unfolding device, the transportation space can be fully utilized after folding, the folding and unfolding ratio can be increased along with increase of the number of the folding and unfolding modules, the folding and unfolding ratio can be changed, and the folding and unfolding device can fold, unfold and support a large space plane and a curved film surface and can be used for space capture manipulator design.

A space folding and extending mechanism with double cylinders as extensible units comprises an octagonal support base, three-degree-of-freedom hinges, bevel-edge rods, first gaskets, the first air-pressure cylinders, second gaskets and the second air-pressure cylinders. The octagonal support base is fixedly connected with the three-degree-of-freedom hinges, and the bevel-edge rods, the air-pressure cylinders and the gaskets are connected through revolute pairs. Under the conditions of vibration, collision and the like in the movement process of the mechanism, the gaskets can play a damping role, so that motion shock on the mechanism is low; the mechanism has a high structural symmetry so that different large-scale space folding and extending mechanism bodies can be formed by arranging theextensible units; the space folding and extending mechanism can be used in a space station, a communication satellite platform, a space telescope and other space missions, and has the advantages of being wide in application range and high in practicability.

The invention discloses a folding sliding plate bicycle. Existing bicycles are large in size and single in form. A folding rod positioning plate is fixed at a front end of a sliding plate, the bottom of the folding rod is hinged to the folding rod positioning plate, the middle part of the folding rod is fixed with the folding rod positioning plate through bolts, and the top of the folding rod is hinged to a front wheel mounting rod. The bottom of the front wheel mounting rod is hinged to a front wheel. The rear portion of the sliding plate is detachably connected with the bottom of a rear rod sleeve rod. The rear rod sleeve rod is hinged to a vehicle seat support rod, and a vehicle seat is fixed on the vehicle seat support rod. The vehicle seat support rod is hinged to a rear rod connecting rod through a vehicle seat pull rod. A rear rod is hinged to a front rod through a cross rod. A sliding plate support rod is fixed at the bottom of the sliding plate, and the sliding plate support rod and a sprocket-wheel case are both hinged to a rear wheel. A sprocket-wheel case positioning plate is fixed at the bottom of the sprocket-wheel case, and the sprocket-wheel case positioning plate and the sliding plate support rod are fixed through the bolts. The top of the sprocket-wheel case is hinged to pedal plates. The folding sliding plate bicycle can be used as a bicycle, and can also be used as a scooter, and is foldable and the folding ratio is high.

The invention provides an electric retractable type rocket prototype supporting mechanism. The invention relates to a vertically lifting repeatable carrier landing support mechanism, in order to solveproblems that in the prior art, the support circle diameter of the landing support mechanism is smaller, the air resistance of rocket launching is too large, and first-order vibration of support connecting rods in the landing process can easily lead to the failure of recovery work. The mechanism includes a drive component and a plurality of support legs. The support legs are uniformly arranged around the bottom of a main body. The tops of the support legs are rotatably connected with and installed on the side wall of the main body, the support connecting rods of the support legs are connectedwith the support legs through buffers, the tops of the support connecting rods of the support legs and the bottoms of support connecting rods of the main body of a rocket are rotatably connected withone end of a drive connecting rod through hinge pins, the other end of the drive connecting rod is rotatably connected with a drive component, and the tops of the support connecting rods of the mainbody of the rocket are rotatably connected with the main body. The mechanism is used for the field of landing support mechanisms.

The invention relates to a single-degree-of-freedom paraboloid type foldable and unfoldable array, which is designed on the basis of a rigid thick plate paper-cut theory. The array comprises a rigid thick plate and a spring driving hinge; the rigid thick plate is provided with a special molded surface, and the spring driving hinge is arranged at the crease of a basic folding and unfolding unit; the surface appearance and the side face of the rigid thick plate are treated in a material adding and cutting mode so as to meet the self-locking and profile requirements. According to the single-degree-of-freedom paraboloid type foldable and unfoldable array, the array is driven to be freely folded and unfolded by means of the elastic force of the spring, is folded into a small size in a non-working state and is unfolded to a preset working position in a working state, and the single-degree-of-freedom paraboloid type foldable and unfoldable array has the advantages of single degree of freedom,stable structure, large folding and unfolding ratio, high profile precision and the like.

The invention discloses a folding and unfolding mechanism with two slider and spring combined and restricted telescopic rods. The folding and unfolding mechanism comprises an octagonal support, three-degree-of-freedom hinges and foldable units, wherein the octagonal support is fixedly connected with the three-degree-of-freedom hinges; the foldable unit comprises an inclined side rod, a first gasket, two slider and spring combined and restricted telescopic rods and a second gasket; the octagonal support is connected with the foldable units through the three-degree-of-freedom hinges; and the inclined side rod, the slider and spring combined and restricted telescopic rods and the gaskets are connected through revolute pairs. Through folding twice, the space folding of the mechanism can be realized, and the folding ratio is large; and moreover, the mechanism has the characteristics of light weight, high precision, high rigidity and high strength, can be applied to the fields of space exploration, earth observation and mobile communication, and is extremely high in adaptability and practicability.

A two-layer deployable antenna mechanism based on diamond deployable element scissors is provided. A first diamond deployable unit is connected to a second diamond deployable unit through a shearing fork bar, the shearing fork bar includes a first shearing fork bar and a second shearing fork bar, the first diamond-shaped deployable unit includes a first layer of deployable units, a second layer ofdeployable units and a support member, the first-layer deployable unit is composed of a first frame, a bracket bar, a hinge and a small diamond unit, and the support member includes a first group ofsupport members, a second group of support members, a third group of support members and a fourth group of support members, and the support members support the first-layer deployable unit and the second-layer deployable unit up and down. The mechanism has the characteristics of large folding ratio, large structural rigidity, good stability, low manufacturing cost and few component types, and is suitable for the field of space satellite plane transmitting antenna and the like.

The invention provides a foldable and bendable space truss capturing device. The foldable and bendable space truss capturing device comprises a substrate and a plurality of capturing mechanical paws,wherein each capturing mechanical paw comprises a plurality of folding and bending units which are connected in sequence; each folding and bending unit comprises two support frames; each support frameis provided with a frame side edge and a hinged seat arranged in the direction vertical to the frame side edge slidably; the two frame side edges in the same folding and bending unit are parallel toeach other, and one frame side edge can move relative to the other frame side edge; the two frame side edges in the same folding and bending unit are connected through a capturing mechanism, and the two hinged seats are connected through a driving branch chain arranged on the plane where the two frame side edges are arranged vertically; a plurality of folding and driving units are mounted on eachsupport frame, and drive the corresponding hinged seat to slide respectively, so that the relative positions of the two frame side edges in the same folding and bending unit change. The foldable and bendable space truss capturing device has the advantages of large bending motion space, good capturing adaptability and high integral structure rigidity.

The invention provides a space curved surface foldable array mechanism configuration method based on Flasher origame and a space curved surface foldable array mechanism. The space curved surface foldable array mechanism configuration method comprises the steps of: (1) determining the array center, the number of array layers, the number of array rings and the shape of a space curved surface of the space curved surface foldable array mechanism, and establishing a plane foldable and unfoldable array mechanism model based on Flasher paper folding as a reference; 2) calculating to obtain a folding valley / folding peak top point on a midline folding mark of each folding and unfolding partition and a folding ridge top point on a connecting folding mark of an adjacent folding and unfolding partition when the established planar foldable array mechanism model is in a completely-unfolded state, wherein the folding valley / folding peak top point and the folding ridge top point are formed on a midline folding mark of each folding and unfolding partition of the planar array; 3) performing parallel projection towards the spatial curved surface; 4) solving a fitting error of a feasible solution meeting the constraint; and 5) repeating calculation for multiple times to obtain all curved surface array vertex positions of the curved surface foldable array mechanism model, and completing the configuration of the curved surface foldable array mechanism model. The method has the advantages of light weight, large and variable folding-unfolding ratio, high curved surface fitting precision and the like.

The invention discloses a novel flexible solar cell array unfolding device and belongs to the technical field of civil aerospace engineering. The device is composed of a synchronous extending mechanism and a central driving mechanism. The synchronous extending mechanism is composed of a flexible solar cell array sailboard, a driving mechanism, an unfolding mechanism, a synchronizing mechanism and a locking mechanism, wherein the flexible solar cell array sailboard uses five annular amorphous silicon films, the driving mechanism uses a method that torsion spring driving and servo motor driving are combined, a torsion spring at the hinge position can complement driving torque required in an unfolding process, the unfolding mechanism uses a gap hinge, a driving pin shaft of the gap hinge is replaceable, the synchronizing mechanism uses a steel wire rope to drive a linkage mechanism, and the locking mechanism uses a cam pin type locking mechanism. The novel flexible solar cell array unfolding device provides a flexible solar cell array unfolding method, solves the problems that a traditional solar cell array is complex in structure, small in folding ratio and low in work reliability, fully utilizes the material characteristics of a flexible substrate and improves the power generation efficiency of a solar cell array and the use reliability of the solar cell array.

The invention discloses a space folding and unfolding mechanism with crank slide blocks as folding and unfolding units and connected by flexible hinges. A stand of the folding and unfolding mechanismis connected with an unfolding unit through a pin shaft on a pin shaft base; one ends of bracket rods of the unfolding unit are connected with the stand through pin shafts, and two sides are connectedwith crank slide block mechanisms through pin shafts; one ends of first connecting rods of the crank slide block mechanisms are connected with the bracket rods through pin shafts, and the other endsare connected with second connecting rods through pin shafts; one ends of the second connecting rods are connected with the first connecting rods through pin shafts, and the other end are connected with second slide blocks through pin shafts; one ends of the second slide blocks are connected with the second connecting rods through pin shafts, and the other ends are connected with first connectingrods of later sets of crank slide block mechanisms through pin shafts; first slide blocks of a final set of crank slide block mechanisms are only connected with the second connecting rods through pinshafts; the flexible hinges are three-degree-of-freedom flexible hinges; and two ends are connected with two unfolding modules. The mechanism is excellent in stability, high in structural rigidity, simple in structure, capable of folding in space and high in folding ratio.

The invention provides a sensitive plant simulating variable topology folding and unfolding mechanism employing rigidity hinge connection. An upper layer and a lower layer of a rotary machine base ofthe folding and unfolding mechanism are corresponding to four pin roll bases. One end of each support rod is connected to a pin roll base through a pin roll and two sides of each support rod are connected with four-rod mechanisms through the pin rolls. Each four-rod mechanism includes a drive rod, a connection rod and a frame connecting rod. One end of each drive rod is connected with the corresponding support rod through a pin roll while the other end is connected with the corresponding connection rod through a pin roll. One end of each connection rod is connected with the corresponding driverod through a pin while the other end is connected with the frame connecting rod through a pin roll. One end of the frame connecting rod is connected with the corresponding rod through a pin roll while the other end is connected with the corresponding support rod through a pin roll. One end of each rigidity hinge is connected with a corresponding foldable module while the other end is connected with another foldable module. According to the invention, through movement of the rotary machine base, different modules are formed, so that requirements of different spaceflight working can be met. Besides, the mechanism provided by the invention has characteristics of low weight, large folding ratio, simple structure, simple folding and unfolding process, high stability, high reliability, high rigidity, low manufacture cost and good promotion application effect.

The invention discloses a planetary-gear-train-type folding and unfolding device and a folding and unfolding method thereof. The majority of spacecraft folding and unfolding mechanisms only have one-stage unfolding and lack locking devices, the folding ratio is small, and the transmission efficiency is low. The planetary-gear-train-type folding and unfolding device comprises a rotary mechanism, an overturn plate, a folding and unfolding assembly, a planetary-gear-train transmission mechanism, a gear driving piece and a static plate. The rotary mechanism comprises a fixing plate, a connecting plate and a first motor. The planetary-gear-train transmission mechanism comprises a fan-shaped inner gear, a planetary gear, a sun gear, a first support, a second support and a planetary frame. The folding and unfolding assembly comprises a first connecting rod, a second connecting rod, a first sliding block, a second sliding block and (2n+1) supporting frames. The (2n+1) supporting frames are sequentially arranged, and the inner ends of every two adjacent supporting frames are hinged. According to the planetary-gear-train-type folding and unfolding device, the folding ratio is large, thin-film solar cells on the supporting frames are utilized to control the unfolding angles, and high accuracy and stability are achieved.

The invention discloses a variable topology folding and unfolding mechanism with cranks and sliders connected through flexible hinges of folding and unfolding units. An upper layer and a lower layer of a rotating machine base of the variable topology folding and unfolding mechanism separately correspond to four hinge seats, one ends of support rods are connected with the hinge seats through hinges, and both sides of the support rods are connected with crank-slider mechanisms through the hinges; one ends of drive rods are connected with the support rods through the hinges, and the other ends ofthe drive rods are connected with driven rods through the hinges; one ends of the driven rods are connected with the drive rods through the hinges, and the other ends of the driven rods are connectedwith second sliding blocks through the hinges; one ends of the driven rods of the last group of the crank-slider mechanisms are connected with the drive rods through the hinges, and the other ends are connected with first sliding blocks through the hinges; the first sliding blocks are connected with the driven rods of the last group of the crank-slider mechanisms through the hinges; one ends of the second sliding blocks are connected with the driven rods through the hinges, and the other ends are connected with the drive rods of the latter one of the crank-slider mechanisms; and both ends ofthe flexible hinges are connected with two unfolding modules. The variable topology folding and unfolding mechanism with cranks and sliders connected through the flexible hinges of the folding and unfolding units is suitable for the aerospace engineering of the space folding and unfolding arm, the large-diameter folding and unfolding antenna, and the space station basic skeleton.

An elastic deployable helical antenna mechanism relates to the technical field of spaceflight equipment and equipment, and comprises an antenna body and a supporting seat in order to solve the problemof large size of an existing low-frequency antenna. The supporting seat comprises a cylindrical shaft and a fixed sleeve, a groove is formed in the supporting seat, the cylindrical shaft is arrangedin the center of the supporting seat, the axis of the cylindrical shaft is perpendicular to the supporting seat, the fixed sleeve sleeves the cylindrical shaft, four grooves are formed in the supporting seat, the supporting base is provided with a plurality of pressing devices in the circumferential direction. Four moving devices are further arranged on the supporting base in the circumferential direction. The moving device is arranged in the groove, a separation ring groove is formed in the cylindrical shaft close to the supporting seat, the pressing device comprises a pressing support and apressing arm 5-2, the moving device comprises a rotating block, a torsion spring, a first hinge, a sliding block, a guide rail and a moving sleeve 2-7, the memory alloy unlocking and releasing devicecomprises a memory alloy sleeve, two nuts and a pressing block, and four fixing clamps are arranged on the auxiliary supporting disc. The antenna mechanism has simple structure, the large fold-extension ratio and the small volume.

The invention relates to a rigid hinge connecting variable-topology folding and unfolding mechanism with a crank block as a folding and unfolding unit. The rigid hinge connecting variable-topology folding and unfolding mechanism comprises unfoldable modules and a rigid hinge, each unfoldable module comprises a rotating machine base, a stretchable arm and a crank block mechanism, the upper and lower layers of the rotating machine bases correspond to four hinge bases, one ends of the stretchable arms are connected with the hinge bases through hinges, and the two sides of the stretchable arms areconnected with the crank block mechanism through hinges; each crank block mechanism comprises a driving rod, a transmission rod and a sliding block, wherein the driving rod, the transmission rod andthe sliding block are connected through a rotation pair, and the sliding block is embedded on the stretchable arm; and the rigid hinge is used for connecting the two unfoldable modules, and the two unfoldable modules can rotate relatively through a middle rotation pair of the rigid hinge. The rigid hinge connecting variable-topology folding and unfolding mechanism has the beneficial effects that repeated folding is achieved, the folding ratio is large, the folding process is simple, the driving manner is simple, the rigidity is large, the stability is high, and the reliability is good.

The invention discloses a single-degree-of-freedom full-symmetric deployable structure which is formed by connecting a spring driving hinge and a single-degree-of-freedom full-symmetric deployable structure, the spring driving hinge is mounted at a connecting joint of the single-degree-of-freedom full-symmetric deployable structure, and a deployable array is elastically driven by a spring to unfold. The full-symmetric deployable array is designed on the basis of the rigid thick plate paper-cut theory, so that the deployable array has a larger folding-unfolding ratio and can be infinitely expanded to obtain a larger working area, the deployable array can be folded into a smaller volume in a non-working stage so as to be convenient to transport, and the deployable array is unfolded to an expected working position in a working stage so as to be convenient to transport. And the deployable array has a single degree of freedom, automatic unfolding of the deployable array can be realized through the elastic force of the springs, and self-locking after unfolding can be realized through interference between joints of the plate surface, so that the folding reliability is improved.

An expandable cabin section mechanism with a large folding-unfolding ratio comprises a connecting column and a plurality of folding-unfolding units; one or more than two folding and unfolding units which are connected end to end to form a folding and unfolding truss, the folding and unfolding truss is divided into a transverse folding and unfolding truss and a vertical folding and unfolding trusswhich have the same structure; a plurality of transverse foldable trusses which are connected end to end through connecting columns to form an upper foldable regular N-polygon truss and a lower foldable regular N-polygon truss, the upper connecting column and the lower connecting column are connected through a vertical foldable truss to form a foldable regular N-prism truss, and transverse foldable trusses which are connected with the connecting columns and arranged in a cross shape are arranged in the upper regular N-polygon truss and the lower regular N-polygon truss respectively. And connecting columns are connected to the intersections of the cross-shaped transverse foldable trusses. The mechanism is compact in structure, smooth in unfolding process, free of interference between mechanisms and high in structural rigidity.

The invention discloses a shearing fork bending metamorphic mechanism type manipulator. Each manipulator claw comprises a plurality of metamorphic mechanism units which are connected in series, wherein each metamorphic mechanism unit comprises a plurality of secondary metamorphic mechanism units which are connected in parallel; and each secondary metamorphic mechanism unit comprises a shearing fork mechanism and an aberrant shearing fork mechanism. The shearing fork bending metamorphic mechanism type manipulator comprises a truss rod. Compared with a traditional joint type manipulator, the shearing fork bending metamorphic mechanism type manipulator has the advantages that the mass is light; the structure rigidity is high; the folding size is small; the folding and unfolding ratio is high;the conveying size is saved; the plane structure is simple; the degree of freedom is small; the driving is simple; the manipulator claws can move in a wide range with little driving; in addition, themanipulator claws are linearly unfolded and are capable of bending and grabbing after unfolding in place, so that a target can be widely enveloped and grabbed, and as a result, the unfolding spaces of the manipulator claws can be saved; and interference between the manipulator claw and the grabbing target can be avoided, and thus a target object can be conveniently grabbed.