Ball gear mechanism three transmission mode structure and light and heat condenser adjustment and folding mechanism

Abstract

The application relates to a ball gear mechanism three-transmission mode structure and a light-heat condenser adjusting and folding mechanism, which comprises a ball gear, a single-pole gear, a driving motor, a light-heat condenser and the like. The ball gear mechanism is composed of a ball gear and three single-pole gears; two adjusting single-pole gears are meshed with the ball gear in the same tooth area, when any adjusting single-pole gear is meshed with the ball gear for transmission, the other adjusting single-pole gear is intermittently transmitted with the ball gear, forming a dual transmission; the single-pole gears are point-to-point connected with the ball gear points, the ball gear is positioned and the driving ball gear is driven to move the hollow inner shaft into the point-to-point connection position. The three modes of meshing transmission, intermittent transmission and point-to-point connection are used to realize the ball gear attitude adjustment and drive the hollow inner shaft rotation. The motion mode is combined with the light-heat condenser, the adjusting single-pole gear drives the ball gear to adjust the condenser decoupling; the point-to-point single-pole gear drives the ball gear hollow inner shaft through a bevel gear, drives the curved connection component, a rocker slider mechanism and an array mirror surface, and realizes the condenser folding.

Description

Technical Field

[0001] This invention belongs to the field of mechanical transmission, especially ball gear mechanism transmission and transmission mode structure, specifically involving the three transmission mode structure of ball gear mechanism and photothermal concentrator attitude adjustment and folding mechanism, as well as its application in photothermal concentrator attitude adjustment and folding. Background Technology

[0002] A spherical gear is formed by rotating the end face of an involute gear 180° around two mutually perpendicular axes of symmetry, resulting in the intersection of two basic spherical gears. A long tooth band encircling the four poles of the spherical gear divides it into two tooth regions. A single-pole gear is a solid formed by generating a cylinder around the axis connecting the two opposite poles of the spherical gear, with a pitch circle diameter smaller than that of the spherical gear. When a spherical gear with its center positioned meshes with a single-pole gear, the spherical gear has one direction of free rotation along the tooth groove of the single-pole gear, while the other two directions of rotation perpendicular to it are constrained or driven by the single-pole gear.

[0003] The meshing assembly of ball gears with each other or with a single-pole gear can achieve transmission, which is often called ball gear mechanism transmission. Its main characteristics are small space occupation, high precision, low noise, and long service life. This transmission is suitable for series and parallel drives, with high transmission precision, reliable structure, and small transmission volume.

[0004] A team led by Kazuki Abe at Yamagata University in Japan studied spherical gear mechanisms, achieving both meshing and intermittent motion modes. They employed a transmission system using two single-pole gears positioned in different tooth regions, meshing with a spherical gear. The two single-pole gears were positioned at 90° to the belt and tooth regions of the spherical gear, respectively, or at 180° to the two opposing poles of the spherical gear. Each single-pole gear required two motors to drive it, rotating it around its axis and its pole axis in two directions. When one single-pole gear rotated around its axis and meshed with the spherical gear, adjusting the spatial orientation of the spherical teeth, the two drives of the other single-pole gear continuously adjusted their orientation to match the spherical gear's orientation adjustment, resulting in a complex control program. Positioning the two single-pole gears at 180° was unfavorable for the output rod arrangement, making it difficult to simultaneously meet the transmission motion and output rod assembly conditions. Furthermore, Kazuki Abe's team's work did not address pole positioning of the spherical gear during pole output. Our current literature search revealed no reports on pole docking for positioning.

[0005] Furthermore, the application of ball gear transmission mechanisms is not yet widespread, especially in scenarios combining dual-carbon green energy devices. Currently, the "dual-carbon" strategy is becoming one of the main themes of the times, and solar thermal power generation technology is an important way to utilize solar energy. Dish-type solar thermal power generation, as a currently highly efficient solar power generation method, has broad development prospects. To improve the light energy conversion efficiency of solar thermal concentrators, the spatial attitude of the concentrator is generally adjusted. However, most existing attitude adjustment devices use two rotating joints in series to adjust the concentrator's attitude, which suffers from problems such as error accumulation, insufficient structural rigidity and rotational accuracy, and interference in the swept space, all of which affect the solar thermal absorption efficiency.

[0006] An ideal solar concentrator needs both orientation adjustment and folding / unfolding functions. The folding / unfolding function effectively increases the light-receiving area of ​​the solar concentrator, and the folding mechanism allows for folding in inclement weather, extending its lifespan and avoiding the impact of weather conditions. The combination of three motion modes of the ball gear and the transmission mechanism can meet the precise decoupling, orientation adjustment, and folding / unfolding requirements of the solar concentrator.

[0007] How to utilize ball gear mechanisms to drive compact, multi-motion mode switching for rapid decoupling and attitude adjustment; how to arrange the two attitude adjustment single-pole gears (hereinafter, the single-pole gear that adjusts the attitude of the ball gear is called the attitude adjustment single-pole gear) to facilitate assembly with the output device; how to reduce the number of drives required for each single-pole attitude adjustment gear while ensuring smooth and uninterrupted meshing; how to use pole docking for motion drive output while ensuring the ball gear is stationary and avoiding slight tilting of the ball gear due to gravity; these are the problems that urgently need to be solved in ball gear mechanism transmission.

[0008] How to match the transmission characteristics of the ball gear mechanism with the needs of the concentrator's beam tracking and orientation adjustment motion and folding, increase the sweeping space of the concentrator while improving the rotational accuracy, and provide new ideas for the design of the spatial orientation and folding adjustment device of the solar thermal power generation concentrator, is a problem that needs to be solved in the application of ball gear mechanism transmission in concentrators. Summary of the Invention

[0009] To address the shortcomings of existing ball gear transmission technology, such as the difficulty in decoupling and adjusting the attitude of the ball gear using single-pole gears, the need for two motors to drive each single-pole gear, the inconsistency in transmission at certain positions, and the complexity of the attitude control algorithm; the unfavorable arrangement of the single-pole gears at 180° makes it difficult to arrange the output rod, and it is difficult to simultaneously meet the desired tilting output motion and the assembly conditions of the output rod; in particular, when the output device needs to achieve the rotation drive arrangement of the output rod, if the rotation of the inner shaft of the empty sleeve inside the ball gear is required, it is difficult to achieve ball gear positioning and avoid the slight tilting caused by the force on the ball gear.

[0010] This invention provides a three-mode transmission structure for a ball gear mechanism and an attitude adjustment and folding mechanism for a photothermal concentrator. Through three active single-pole gears, which cooperate with the ball gears, three modes of transmission can be achieved: meshing transmission, intermittent transmission, and pole-point docking. Simultaneously, the inputs of the three active single-pole gears have decoupling characteristics, improving the rotational accuracy of the mechanism.

[0011] To achieve the above objectives, the present invention provides the following technical solution:

[0012] A three-transmission mode structure for a ball gear mechanism includes a ball gear, with four poles formed by the ball gear. The outer diameter circumference of the ball gear passing through the four poles is designated as the pole circumference, and the two outer diameter circumferences passing through two poles are designated as the longitudinal and latitudinal circumferences, respectively. The mechanism is characterized by: an output shaft inserted into the ball gear for connection to an external mechanism; radial and latitudinal adjustment gears meshing with the ball gear; the radial adjustment gear driving the ball gear to rotate along the longitudinal circumference, and the latitudinal adjustment gear driving the ball gear to rotate along the latitudinal circumference, thus enabling the output shaft to have two different oscillating transmission modes; and a coupling assembly coupling the output shaft through the ball gear, which enables the output shaft to... It features a rotational transmission mode that rotates along its own axis. The intersection of the meridional and latitudinal circumferences is taken as the circumferential intersection point. The ball gear has a coupling chamber, an input transmission channel, and an output transmission channel inside. The coupling chamber is formed at the center of the ball gear. One end of the input transmission channel is connected to the coupling chamber, and the other end is open to the outside through a ball gear pole. The output transmission channel is connected to the coupling chamber and is open to the outside through the circumferential intersection point. The coupling assembly includes a counter-pole single-pole gear, a torque transmission shaft, and a pair of meshing bevel gears. The torque transmission shaft is fitted inside the input transmission channel. The counter-pole single-pole gear meshes with the ball gear, and the pole of the counter-pole single-pole gear is torque-coupled to one end of the torque transmission shaft through the ball gear pole. The other end of the torque transmission shaft is torque-coupled to the output shaft through the pair of meshing bevel gears.

[0013] Preferably, the surface of the spherical gear has a spherical gear tooth region, which is a spherical crown that does not include the pole circumference and the long teeth of the spherical gear. Both the radial and lateral attitude adjustment gears mesh with the spherical gear in one spherical gear tooth region. When the radial attitude adjustment gear drives the spherical gear to rotate, the lateral attitude adjustment gear has no driving relationship with the spherical gear. When the lateral attitude adjustment gear drives the spherical gear to rotate, the radial attitude adjustment gear has no driving relationship with the spherical gear. That is, the radial and lateral attitude adjustment gears alternately mesh with the spherical gear for transmission and intermittent transmission, thereby realizing dual transmission.

[0014] Preferably, the coupling assembly further includes an electromagnetic clutch, and the opposing single-pole gears are disengaged and engaged via the electromagnetic clutch and the torque transmission shaft.

[0015] Preferably, the present invention further includes two attitude adjustment motors and a counter pole motor. The two attitude adjustment motors are used to drive the radial attitude adjustment gear and the lateral attitude adjustment gear to rotate, respectively. The output shaft of the counter pole motor is coaxially arranged with the torque transmission shaft, and the output shaft of the counter pole motor is used to drive the counter pole single pole gear to rotate.

[0016] Preferably, the ball gear bracket is used to surround and support the ball gear, so that the spatial position of the ball center remains unchanged when the ball gear rotates.

[0017] Preferredly, the polar single-pole gear, radial orientation adjustment gear, and lateral orientation adjustment gear are formed by generating method or by 3D printing. When formed by generating method, the module and pressure angle of the machining tool for the polar single-pole gear are equal to the module and pressure angle of the polar single-pole gear.

[0018] A photothermal concentrator attitude adjustment and folding mechanism is characterized by comprising: a ball gear mechanism with three transmission modes, as described above; a photothermal concentrator unit, including a fixed base plate and a concentrator movably mounted on the fixed base plate, the concentrator including multiple concentrating petals; and an iris-shaped opening and closing mechanism, disposed between the ball gear mechanism and the concentrator, wherein the concentrator moves on the fixed base plate via the iris-shaped opening and closing mechanism, which is driven by an output shaft, thereby causing the concentrator to oscillate in two dimensions and causing the multiple concentrating petals to fold or unfold.

[0019] Preferably, the photothermal concentrator unit also has a curvature adjustment component, which includes a bimetallic strip and a driving power supply. The bimetallic strip is attached to the surface of the concentrating petal, and the driving power supply is used to input current into the bimetallic strip, thereby causing the bimetallic strip to bend through the electrothermal effect, thus changing the curvature of the concentrating petal.

[0020] Preferably, the condenser further includes multiple folding hinge groups, which are correspondingly arranged between two adjacent condensing lobes. When the multiple condensing lobes are closed, the folding hinge groups are folded; when the multiple condensing lobes are unfolded, the folding hinge groups are unfolded.

[0021] Preferably, the present invention further includes a crank slider assembly having a retractable slider and a retractable drive rod passing through the retractable slider, disposed between the iris opening and closing mechanism and the condenser, wherein the output end of the iris opening and closing mechanism is connected to the retractable slider, the free end of the retractable drive rod is fixed on the condenser petal, and the output shaft drives the iris opening and closing mechanism to move, thereby driving the retractable slider to swing the retractable drive rod, thereby causing the multiple condenser petals to retract or expand.

[0022] Compared with the prior art, the beneficial effects of the present invention are:

[0023] 1. Because the ball gear mechanism of the present invention has a three-transmission mode structure, including a ball gear, an output shaft, a radial adjustment gear, a lateral adjustment gear, and a coupling assembly, the output shaft is used to connect with an external mechanism, the radial adjustment gear is used to drive the ball gear to rotate along the radial circumference, and the lateral adjustment gear is used to drive the ball gear to rotate along the lateral circumference. Thus, the output shaft has two different dimensional swing transmission modes. Through coupling between the ball gear and the output shaft, the coupling assembly enables the output shaft to have a rotation transmission mode that rotates along its own axis. The ball gear has a coupling chamber, an input transmission channel, and an output transmission channel inside. The coupling chamber is formed at the center of the ball gear. One end of the input transmission channel is connected to the coupling chamber, and the other end opens to the outside through a ball gear pole. The output transmission channel is connected to the coupling chamber and opens to the outside through a circumferential intersection. The coupling assembly includes... The system comprises a single-pole gear, a torque transmission shaft, and a pair of meshing bevel gears. The torque transmission shaft is configured within the input transmission channel. The single-pole gear meshes with a ball gear, and the pole of the single-pole gear is torque-coupled to one end of the torque transmission shaft via the pole of the ball gear. The other end of the torque transmission shaft is torque-coupled to the output shaft via the pair of meshing bevel gears. Therefore, the single-pole gear of this invention connects its pole to the pole of the ball gear, ensuring that when the electromagnetic clutch drives the torque transmission shaft to rotate, the teeth around the poles of the single-pole gear and the ball gear are stably engaged without causing the ball gear to rotate. In other words, the single-pole gear can be decoupled from the rotation of the ball gear and maintain a stable meshing with the tooth profile of the ball gear. This greatly reduces the vibration generated during the torque coupling between the coupling assembly and the output shaft, ensuring excellent output stability during the rotation of the output shaft.

[0024] 2. Because the surface of the ball gear in this invention has a ball gear tooth region, which is a spherical crown excluding the pole circumference and the long teeth of the ball gear, both the radial and lateral attitude adjustment gears mesh with the ball gear in the same ball gear tooth region. When the radial attitude adjustment gear drives the ball gear to rotate, the lateral attitude adjustment gear has no driving relationship with the ball gear; when the lateral attitude adjustment gear drives the ball gear to rotate, the radial attitude adjustment gear has no driving relationship with the ball gear. That is, the radial and lateral attitude adjustment gears alternately mesh with the ball gear for transmission and intermittent transmission, thereby achieving dual transmission. Therefore, this invention avoids the instability phenomenon in the current ball gear drive mechanism by having both the radial and lateral attitude adjustment gears mesh with the ball gear in the same ball gear tooth region. That is, the decoupling of the radial and lateral attitude adjustment gears or the independence of driving the ball gear is greatly improved, making the decoupled attitude adjustment of the ball gear simple and precise.

[0025] 3. Because the photothermal concentrator attitude adjustment and unfolding mechanism of the present invention includes a three-mode transmission structure of a ball gear mechanism, a photothermal concentrator unit, and an iris flower opening and closing mechanism, the photothermal concentrator unit includes a fixed base plate and a concentrator, and the concentrator includes multiple concentrating petals; the iris flower opening and closing mechanism is set between the three-mode transmission structure of the ball gear mechanism and the concentrator, the concentrator moves on the fixed base plate through the iris flower opening and closing mechanism, and the iris flower opening and closing mechanism is driven by the output shaft, thereby driving the concentrator to swing in two dimensions and driving the multiple concentrating petals to retract or unfold, therefore, the photothermal concentrator attitude adjustment and unfolding mechanism of the present invention, through radial attitude adjustment gears, lateral attitude adjustment gears, and pole-pole single-pole gears, in cooperation with ball gears, can realize three motion modes: meshing transmission, intermittent transmission, and pole-point docking self-aligning axis, and at the same time has the mechanism characteristics of no mutual interference in movement and high decoupling independence, which greatly improves the rotational accuracy of the mechanism. Attached Figure Description

[0026] Figure 1 This is a schematic diagram of the three-transmission mode structure of the ball gear mechanism and the orientation adjustment and unfolding mechanism of the photothermal concentrator, according to an embodiment of the present invention.

[0027] Figure 2 This is a schematic diagram showing the arrangement and meshing of the radial attitude adjustment gear, the lateral attitude adjustment gear, and the opposite pole single-pole gear of the present invention.

[0028] Figure 3 A schematic diagram showing the radial attitude adjustment gear, the lateral attitude adjustment gear, and the ball gear in the same ball gear tooth region structure of the present invention.

[0029] Figure 4 This is a schematic diagram of the dual transmission formed by the meshing transmission of the radial and lateral attitude adjustment gears and the intermittent transmission of the present invention.

[0030] Figure 5(a) is a schematic diagram of the opposite pole single pole gear of the present invention.

[0031] Figure 5(b) is a schematic diagram of the ball gear of the present invention (for ease of description, only one pole is shown on the ball gear).

[0032] Figure 5(c) is a schematic diagram of the pole-to-pole meshing of the single-pole gear and the ball gear of the present invention (for ease of description, the electromagnetic clutch is not shown in the single-pole gear).

[0033] Figure 6(a) is a schematic diagram of the electromagnetic clutch of the present invention.

[0034] Figure 6(b) is a schematic diagram of the coupling component and ball gear of the present invention.

[0035] Figure 7 This is a schematic diagram of the mechanism for the three transmission modes of the ball gear of the present invention (when the electromagnetic clutch is decoupled from the torque transmission shaft).

[0036] Figure 8 This is a simplified structural diagram of the photothermal concentrator unit of the present invention.

[0037] Figure 9(a) is an exploded schematic diagram of the iris flower opening and closing mechanism of the present invention.

[0038] Figure 9(b) is a schematic diagram of the bottom layer of the iris flower opening and closing mechanism of the present invention.

[0039] Figure 9(c) is a schematic diagram of the middle layer of the iris flower opening and closing mechanism of the present invention.

[0040] Figure 9(d) is a schematic diagram of the iris flower opening and closing mechanism of the present invention removing the fixed base plate.

[0041] Figure 10 This is a schematic diagram of the concentrator of the present invention in its deployed state.

[0042] Figure 11 This is a schematic diagram of the folded state of the concentrator of the present invention.

[0043] Figure 12 This is a schematic diagram of the structure of the three transmission modes of the ball gear and the orientation adjustment and unfolding application structure of the photothermal concentrator of the present invention.

[0044] Figure 13 This is a schematic diagram illustrating the fit between the ball gear bracket and the ball gear of the present invention.

[0045] In the diagram: 100. Photothermal concentrator attitude adjustment and folding mechanism; 10. Three-transmission mode structure of ball gear mechanism; 11. Ball gear bracket; 12. Ball gear; 12a. Ball gear pole; 12b. Ball gear tooth area; 121. Coupling chamber; 122. Input transmission channel; 123. Output transmission channel; 13. Output shaft; 14. Radial attitude adjustment gear; 15. Zonal attitude adjustment gear; 16. Coupling assembly; B. Bearing; 161. Opposite pole single-pole gear; 162. Torque transmission shaft; 163. Meshing bevel gear pair; 164. Electromagnetic clutch; 1641. Internal spline push rod; 1642. Control pin; 1643. Preload spring. 1644 Spring, Return Spring, 1645 Push Rod, 17 Attitude Adjustment Motor, 18 Counter Pole Motor, 20 Photothermal Concentrator Unit, 20A Parabolic Panel, 21 Fixed Base Plate, 22a Concentrator Lobe Main Connecting Plate, 22b Concentrator Lobe Sub-Connecting Plate, 23 Bottom Fixed Surface, 24 Curved Connecting Rod, 25 Parabolic Concentrator Lobe Support, 26 Concentrator Lobe Support Rod, 27 Drive Support, 28 Rotating Disk, 29 Concentrator, 291 Concentrator Lobe, 292 Folding Hinge Lobe Assembly, 30 Iris Flower Opening and Closing Mechanism, 40 Crank Slider Assembly, 41 Retractable Slider, 42 Retractable Drive Rod. Detailed Implementation

[0046] To make the technical means, creative features, objectives and effects of the present invention easier to understand, the following embodiments, in conjunction with the accompanying drawings, specifically illustrate the attitude adjustment device of the foldable light-dispersible thermal concentrator based on the driven ball gear multi-transmission mode of the present invention. It should be noted that the description of these embodiments is for the purpose of helping to understand the present invention, but does not constitute a limitation of the present invention.

[0047] like Figures 1 to 13 As shown, the photothermal concentrator attitude adjustment and folding mechanism 100 of this embodiment includes a ball gear mechanism three-transmission mode structure 10, a photothermal concentrator unit 20, an iris flower opening and closing mechanism 30, and a crank slider assembly 40.

[0048] The three-transmission mode structure 10 of the ball gear mechanism includes a ball gear bracket 11, a ball gear 12, an output shaft 13, a radial attitude adjustment gear 14, a lateral attitude adjustment gear 15, a coupling assembly 16, an attitude adjustment motor 17, and a counter pole motor 18.

[0049] like Figure 13 As shown, the ball gear bracket 11 is used to surround and support the ball gear 12, so that the ball gear 12 maintains the spatial position of the ball center when rotating.

[0050] The pole formed by the ball gear 12 is designated as the ball gear pole 12a. There are four ball gear poles 12a. The outer diameter circumference of the ball gear 12 passing through the four ball gear poles 12a is designated as the pole circumference. The two outer diameter circumferences of the ball gear 12 passing through the two ball gear poles 12a are designated as the warp circumference (not shown in the figure) and the weft circumference (not shown in the figure), respectively. The intersection of the warp circumference and the weft circumference is designated as the circumference intersection point (not shown in the figure). Specifically, the pole circumference, the warp circumference, and the weft circumference are perpendicular to each other.

[0051] The surface of the ball gear 12 has a ball gear tooth region 12b, which is a spherical crown that does not include the pole circumference and the long teeth of the ball gear.

[0052] The 12-ball gear has a coupling chamber 121, an input transmission channel 122, and an output transmission channel 123 inside.

[0053] The coupling chamber 121 is formed at the center of the ball gear 12. One end of the input transmission channel 122 is connected to the coupling chamber 121, and the other end is open to the outside through a ball gear pole 12a. The output transmission channel 123 is connected to the coupling chamber 121 and is open to the outside through a circumferential intersection. Specifically, the extension paths of the input transmission channel 122 and the output transmission channel 123 are parallel to the two radii of the ball gear 12.

[0054] The output shaft 13 is inserted into the ball gear 12. The output shaft 13 is used to connect with an external mechanism, specifically the iris opening and closing mechanism 30.

[0055] Both the radial attitude adjustment gear 14 and the lateral attitude adjustment gear 15 mesh with the ball gear 12. The radial attitude adjustment gear 14 is used to drive the ball gear 12 to rotate along the radial circumference, and the lateral attitude adjustment gear 15 is used to drive the ball gear 12 to rotate along the lateral circumference, so that the output shaft 13 has two different oscillating transmission modes.

[0056] Both the radial attitude adjustment gear 14 and the lateral attitude adjustment gear 15 mesh with the ball gear 12 in the same ball gear tooth area 12b.

[0057] When the radial attitude adjustment gear 14 drives the ball gear 12 to rotate, the lateral attitude adjustment gear 15 has no driving relationship with the ball gear 12; when the lateral attitude adjustment gear 15 drives the ball gear 12 to rotate, the radial attitude adjustment gear 14 has no driving relationship with the ball gear 12. That is, the radial attitude adjustment gear 14 and the lateral attitude adjustment gear 15 alternately mesh with the ball gear 12 for transmission and intermittent transmission, thereby realizing dual transmission.

[0058] The coupling assembly 16 is coupled to the output shaft 13 via the ball gear 12. The coupling assembly 16 is used to enable the output shaft 13 to have a rotational transmission mode that rotates along its own axis.

[0059] The coupling assembly 16 includes a single-pole gear 161, a torque transmission shaft 162, a pair of meshing bevel gears 163, and an electromagnetic clutch 164.

[0060] The torque transmission shaft 162 is fitted within the input transmission channel 122. A counter-pole single-pole gear 161 meshes with a ball gear 12, and the pole of the counter-pole single-pole gear 161 is torque-coupled to one end of the torque transmission shaft 162 via the pole of the ball gear 12a. The other end of the torque transmission shaft 162 is torque-coupled to the output shaft 13 via a pair of meshing bevel gears 163. An electromagnetic clutch 164 is embedded at the pole of the counter-pole single-pole gear 161, allowing the counter-pole single-pole gear 161 to be disengaged and engaged with the torque transmission shaft via the electromagnetic clutch 164. Specifically, the torque transmission shaft 162 is perpendicular to the output shaft 13, and the meshing bevel gears 163... The two bevel gears are at a 90° angle. When the opposing single-pole gear 161 is connected to the torque transmission shaft 162 through the electromagnetic clutch 164, the pole of the opposing single-pole gear 161 mates with the pole of the ball gear 12a. When the electromagnetic clutch 164 drives the torque transmission shaft 162 to rotate, the teeth around the pole of the ball gear 12a of the opposing single-pole gear 161 and the ball gear are stably engaged, thereby making the torque coupling stability between the electromagnetic clutch 164 and the torque transmission shaft 162 extremely high. Specifically, the torque transmission shaft 162 and the output shaft 13 are rotatably arranged in the input transmission channel 122 and the output transmission channel 123 respectively through the bearing B.

[0061] There are two attitude adjustment motors 17 and one opposing pole motor 18.

[0062] Two attitude adjustment motors 17 are used to drive the radial attitude adjustment gear 14 and the lateral attitude adjustment gear 15 to rotate, thereby driving the ball gear 12 to rotate through meshing transmission. The output shaft of the opposing pole motor 18 is coaxially arranged with the torque transmission shaft 162, and the output shaft of the opposing pole motor 18 is used to drive the opposing pole single pole gear 161 to rotate. This ensures that when the electromagnetic clutch 164 is torque coupled with the torque transmission shaft 162, the opposing pole single pole gear 161 meshes with the ball gear 12 without driving the ball gear 12 to rotate.

[0063] The opposing single-pole gear 161, the radial attitude adjustment gear 14, and the lateral attitude adjustment gear 15 are formed by generating method or by 3D printing. When formed by generating method, the module and pressure angle of the machining tool of the opposing single-pole gear 161 are equal to the module and pressure angle of the opposing single-pole gear.

[0064] The photothermal concentrator unit 20 includes a fixed base plate 21, a concentrator 29 movably mounted on the fixed base plate 21, and a curvature adjustment assembly (not shown in the figure).

[0065] The condenser 29 includes multiple condenser lobes 291 and multiple folded hinge lobes 292.

[0066] The folding hinge group 292 is correspondingly arranged between two adjacent focusing lobes 291. When multiple focusing lobes 291 are closed, the folding hinge group 292 is folded; when multiple focusing lobes 291 are unfolded, the folding hinge group 292 is unfolded.

[0067] Specifically, the focusing petals 291 are sheet-shaped photovoltaic panels in the form of equilateral triangles with acute apex angles. Multiple focusing petals 291 are arranged in a circle with their apex angles facing the center of the circle, and each apex angle is hinged to the fixed base plate 21. The folding hinge petal group 292 consists of two sheet hinges that can be folded relative to each other. The far edges of the two sheet hinges are respectively connected to the edges of the two adjacent focusing petals 291. Thus, when the multiple focusing petals 291 of the multiple concentrators 29 are closed, the two adjacent focusing petals 291 move closer, the focusing petals 291 are hinged and rotate relative to the fixed base plate 21, and the two sheet hinges are folded. When the multiple focusing petals 291 of the multiple concentrators 29 are unfolded, the two adjacent focusing petals 291 move away from each other, the focusing petals 291 are hinged and rotate relative to the fixed base plate 21, and the two sheet hinges are unfolded.

[0068] The curvature adjustment component includes a bimetallic strip and a driving power supply. The bimetallic strip is attached to the surface of the focusing lobe 291, and the driving power supply is used to input current into the bimetallic strip, thereby causing the bimetallic strip to bend through the electrothermal effect, which in turn changes the curvature of the focusing lobe 291.

[0069] The iris opening and closing mechanism 30 is set between the ball gear mechanism three-transmission mode structure 10 and the concentrator 29. The concentrator 29 moves on the fixed base plate 21 through the iris opening and closing mechanism 30, that is, it unfolds or retracts. The iris opening and closing mechanism 30 is driven to open or close by the output torque of the output shaft rod 13, thereby driving the concentrator 22 to swing in two dimensions, and driving the multiple concentrating petals 291 of the concentrator 29 to retract or unfold.

[0070] The iris flower opening and closing mechanism 30 drives the crank slider assembly 40 to cause the multiple focusing petals 291 of the condenser 29 to close or open. The crank slider assembly 40 has a closing slider 41 and a closing drive rod 42 passing through the closing slider 41. It is located between the iris flower opening and closing mechanism 30 and the condenser 29. The output end of the iris flower opening and closing mechanism 30 is connected to the closing slider 41. The free end of the closing drive rod 42 is fixed on the focusing petal 291. When the output shaft rod 13 drives the iris flower opening and closing mechanism 30 to move, it drives the closing slider 41 to swing the closing drive rod 42, thereby causing the multiple focusing petals 291 of the condenser 29 to close or open.

[0071] Specifically, such as Figures 1 to 12 The following is a detailed description of an embodiment of the three-transmission mode structure of the ball gear mechanism and the attitude adjustment and unfolding mechanism of the photothermal concentrator:

[0072] Figure 1 This invention specifically relates to the three-transmission mode structure of the ball gear mechanism and the orientation adjustment and folding mechanism of the photothermal concentrator. The photothermal concentrator is driven by three transmission modes of the ball gear 12, especially the docking mode. In this position, the circular teeth near the pole of the polar single-pole gear 161 are positioned and supported to prevent the ball gear 12 from tilting or swaying, thus ensuring that the ball gear 12 remains stationary during torque coupling of the coupling component. The internal spline push rod of the force adaptive telescopic push rod device on the engagement end of the electromagnetic clutch 164 inside the polar single-pole gear 161 is connected to the external spline rod on the end face of the torque transmission shaft 162 inside the ball gear 12. The output shaft 13 achieves torque coupling with the torque transmission shaft 162 through the meshing bevel gear pair 163. That is, the polar single-pole gear 161 couples the torque to the output shaft 13 within the ball gear 12 through the meshing bevel gear pair 163, realizing the swaying of the concentrator 29 in two spatial dimensions, as well as its retraction and folding functions. When it is necessary to retract or expand the concentrator 29, the pole 12a of the ball gear and the opposing single-pole gear 161 should be placed in the pole-to-pole docking position.

[0073] like Figure 2 As shown, the long toothed belt around the pole circumference of the ball gear 12 can divide the ball gear 12 into two ball gear tooth regions 12b and a pole circumference region. The radial attitude adjustment gear 14 and the lateral attitude adjustment gear 15 mesh with the same tooth region of the ball gear 12, and the gear axes of the two are at 90° to each other. The opposite pole single pole gear 161 is connected to the pole of the ball gear 12 to form a pole connection mode. When the radial attitude adjustment gear 14 or the lateral attitude adjustment gear 15 is selected to mesh with the ball gear 12, the opposite pole single pole gear 161 needs to be separated and decoupled from the ball gear 12 through the electromagnetic clutch 164.

[0074] like Figure 3 and Figure 4 As shown, the radial attitude adjustment gear 14 and the lateral attitude adjustment gear 15 are constructed to mesh with the ball gear 12 in the same tooth region. When the radial attitude adjustment gear 14 or the lateral attitude adjustment gear 15 meshes with the ball gear 12, the other one of them has no driving relationship with the ball gear 12 during intermittent transmission. That is, the radial attitude adjustment gear 14 or the lateral attitude adjustment gear 15 switches between active and passive modes to form a dual transmission. The radial attitude adjustment gear 14 or the lateral attitude adjustment gear 15 is driven by an attitude adjustment motor 17, and the attitude adjustment motion of the ball gear 12 is decoupled.

[0075] As shown in Figures 5(a) to 5(c), the poles of the single-pole gear 161 and the ball gear 12 are aligned to form a pole alignment positioning mode. The outer ring teeth of the pole of the single-pole gear 161 are positioned and support the ball gear 12 to prevent the ball gear 12 from tilting or swaying and to ensure that the spatial orientation of the ball gear 12 does not vibrate or shift.

[0076] In this embodiment, as shown in Figures 6(a)-6(b), an electromagnetic clutch 164 with anti-pinch function is constructed using an electromagnet, a linear spring, and a spline telescopic rod. Composed of an internal spline push rod 1641, a control pin 1642, a preload spring 1643, a return spring 1644, and an external push rod 1645, it enables telescopic functionality. The outer shell of the electromagnetic clutch 164 is made of non-metallic material, while the internal spline push rod 1641 is made of soft magnetic material. When the ball gear 12 needs to be driven to deploy the photothermal concentrator, the ball gear 12 and the opposing single-pole gear 161 return to their initial positions. Under the action of the return spring 1644, the internal spline push rod 1641 of the force-adaptive telescopic push rod device extends and engages with the external spline structure on the end face of the torque transmission shaft 162 inside the ball gear. The preload spring 1643 causes the control pin 1642 to be pushed out to the preset hole and fixed. Subsequently, the opposing single-pole gear 161 is driven to move coaxially with the ball gear 12. Through the meshing bevel gear pair 163, the output shaft 13 is driven to rotate clockwise, completing the deployment of the concentrator 29. After completion, the inner spline push rod 1641 of the electromagnetic clutch 164 retracts under magnetic attraction, disconnecting the coupling connection with the torque connection shaft without affecting the attitude adjustment work. When the ball gear 12 is needed to fold the condenser 29, the ball gear 12 and the opposing single-pole gear 161 are reset to their initial positions, making the pole of the opposing single-pole gear 161 coaxial with the pole of the ball gear 12. Under the action of the return spring 1644, the inner spline push rod 1641 of the electromagnetic clutch 164 inserts and engages with the external spline structure on the end face of the torque transmission shaft 162 inside the ball gear. Through the meshing bevel gear pair 163 and the output shaft 13, the opposing single-pole gear 161 and the ball gear 12 are driven to move coaxially, and the output shaft 13 is driven to rotate counterclockwise, completing the folding work of the condenser 29 and avoiding damage to the condenser 29 caused by severe weather.

[0077] like Figure 7 As shown, when the radial attitude adjustment gear 14 and the lateral attitude adjustment gear 15 perform dual motion attitude adjustment, the opposing single-pole gear 161 and the ball gear 12 are in a disconnected and decoupled state. The dual motion is achieved by using the meshing transmission mode and the intermittent transmission mode of the radial attitude adjustment gear 14 and the lateral attitude adjustment gear 15 to realize the position and posture swing change of the output shaft 13 in two spatial dimensions.

[0078] like Figure 8 As shown, the meshing bevel gear pair 163 couples torque to the output shaft 13 within the coupling chamber 121, driving the curved connecting component and the rocker slider mechanism to drive the array mirrors and realize the condenser's folding and unfolding function.

[0079] As shown in Figures 9(a) to 9(d), the iris flower opening and closing mechanism 30 has a three-layer structure. The bottom layer consists of a fixed surface 23, a light-gathering petal support rod 26, and a drive support 27. The output shaft rod 1413 passes through the bottom layer. The bottom fixed surface 23 serves as a fixing element and has a groove on it to limit the movement range of the retractable slider 41, thus forming a folding and unfolding mechanism.

[0080] Specifically, the drive support 27 serves as a support component to stabilize the unfolded and folded modes of the concentrator 29. A fixed base plate 21, curved connecting rods 24, and a rotating disk 28 form the middle layer. The rotating disk 28 is divided into upper, middle, and lower layers. The fixed base plate 21 is fixedly connected to the upper layer of the rotating disk 28. A cylinder is located between the upper middle layer and the middle and lower layers of the rotating disk 28, used for connection by the curved connecting rods 24. The other end of the curved connecting rods 24 is connected to the output shaft rod 13. A parabolic panel 20A, a main connecting disk surface 22a of the concentrator lobe, and a secondary connecting disk surface 22b of the concentrator lobe form the upper layer. The parabolic panel 20A is fixed to the concentrator lobe support rod 26. The main connecting disk surface 22a and the secondary connecting disk surface 22b of the concentrator lobe are connected by plate-mounted hinges.

[0081] Specifically, when the focusing petal support rod 26 moves along the groove on the bottom fixed surface 23, it will drive the drive support 27 to rotate, thereby causing the parabolic focusing petal support 25 to rotate hingedly and achieve a fixed function. That is, the parabolic focusing petal support 25 is formed on the surface of the focusing petal 291, so the focusing petal 291 can rotate hingedly through the parabolic focusing petal support 25.

[0082] Specifically, when the output shaft rod 13 rotates, it will drive the rotating disk 28 to rotate, thereby causing the curved connecting rod 24 connected to it to move. Since the other end of the curved connecting rod 24 is connected to the focusing petal support rod 26, its direction of movement is restricted, so that it can only move in a straight line.

[0083] Specifically, considering severe weather or transportation needs, the concentrator 29 achieves its retraction or expansion function through multiple concentrating lobes 291 and folding hinge lobes 292 between adjacent concentrating lobes 291. The retraction or expansion action is based on the expansion mechanism, which uses radial adjustment gears 14 and lateral adjustment gears 15 to drive ball gears 12 to rotate output shaft 13, thereby driving rotating disk 28. Rotating disk 28 drives the concentrating lobe support rod 26 to move on the bottom fixed surface 23 through curved connecting rod 24. Parabolic panel 20A is connected to the concentrating lobe support rod 26. When it moves outward in a straight line, it causes parabolic panel 20A to move in the same direction. When parabolic panel 20A moves, it flattens the main connecting disk surface 22a and the secondary connecting disk surface 22b of the concentrating lobe. When the focusing petal support rod 26 reaches the end of the slide, the focusing device reaches its final position, the mechanism stops rotating, and the fixed plate located on the top of the rotating disk 28 allows the multiple folding hinge petal groups 292 of the focusing device to unfold simultaneously, and the multiple focusing petals 291 to unfold simultaneously, so that the focusing device 29 reaches the maximum light-receiving area, thus realizing the coupling function between the folding mechanism and the crank slider assembly 40.

[0084] The folding and unfolding mechanism is set between the three-rotational-degree-of-freedom drive assembly and the condenser 29. The condenser 29 moves on the fixed base plate 21 through the folding and unfolding mechanism, thereby realizing the folding or unfolding of multiple condensing lobes 291.

[0085] Based on the three-mode transmission structure of the ball gear mechanism and the power and concentration ratio changes of the two modes of the photothermal concentrator attitude adjustment and folding mechanism 100, the photothermal absorption efficiency in both modes is ensured.

[0086] like Figure 10 As shown, the folding hinge flaps are positioned between two adjacent focusing flaps.

[0087] When multiple focusing lobes are closed, the folding hinge lobes fold; when multiple focusing lobes are extended, the folding hinge lobes extend. The top layer of the condenser is in the fully extended state, at which point the light-receiving area is at its maximum.

[0088] like Figure 11 As shown, the multiple folded hinge flaps 292 on the top layer of the condenser 29 are in a fully closed state.

[0089] Specifically, when multiple folding hinge groups 292 are folded simultaneously and multiple light-concentrating lobes 291 are folded simultaneously, that is, when the light-concentrating 29 is in the folded state, the light-receiving area is the smallest.

[0090] Specifically, such as Figure 12 As shown, a radial attitude adjustment gear 14, a lateral attitude adjustment gear 15, and a ball gear 12 are provided that mesh with each other. The ball gear 12 is placed in a ball gear bracket 11, and the two attitude adjustment motors 17 and the opposing pole motor 18 are all fixed to the ball gear bracket 11.

[0091] The radial attitude adjustment gear 14 and the lateral attitude adjustment gear 15 are both meshed in the same spherical gear tooth region 12b of the spherical gear 1201. When one of the radial attitude adjustment gear 14 and the lateral attitude adjustment gear 15 meshes with the spherical gear 12 for transmission, the other one of them is in a decoupled state of intermittent transmission with the spherical gear 12, thus forming a dual transmission. The spherical gear pole 12a is aligned with the pole of the single-pole gear 161, which positions the spherical gear 12 and drives the torque transmission shaft 162 inside the spherical gear 12 to rotate, which is the pole docking positioning. Radial adjustment gear 14 and lateral adjustment gear 15 both mesh with ball gear 12 in the same ball gear tooth region 12b. When one of the radial adjustment gear 14 or the lateral adjustment gear 15 meshes with ball gear 12, the other one is in a decoupled state of intermittent transmission with ball gear 12, forming a dual transmission. The pole 12a of the ball gear and the pole of the opposing single-pole gear 161 are aligned, positioning ball gear 12 and driving the torque transmission shaft 162 inside ball gear 12 to rotate, which is the pole alignment positioning. In this position, the outer ring teeth near the pole of the opposing single-pole gear 161 are positioned and support ball gear 12, preventing ball gear 12 from tilting and swaying, and ensuring that ball gear 12 is stationary when the coupling component 16 couples the torque.

[0092] Specifically, the ball gear 12 has a module and number of teeth corresponding to the predetermined module and number of teeth of the virtual gear constructed by the above-mentioned cylinder. The ball gear 12 is machined by generating method. The module and pressure angle of the machining tool and the radial orientation adjustment gear 14, the lateral orientation adjustment gear 15 and the opposite pole single pole gear 161 are equal. The radial orientation adjustment gear 14, the lateral orientation adjustment gear 15 and the opposite pole single pole gear 161 are all established by the basic principle of generating method for gear machining. The diameter of the opposite pole single pole gear 161 is smaller than the diameter of the ball gear 12. The radial orientation adjustment gear 14, the lateral orientation adjustment gear 15 and the opposite pole single pole gear 161 can also be obtained by 3D printing.

[0093] The output shaft 13 protrudes from the circumferential intersection of the surface of the driven ball gear 1201 and extends radially along the ball gear 12. When the radial adjustment gear 14 or the lateral adjustment gear 15 drives the ball gear 12 to rotate, the other one of them remains stationary relative to the ball gear 12.

[0094] Specifically, the three motions caused by the meshing transmission of gears are: meshing transmission mode, intermittent transmission mode, and pole-point engagement mode. When the opposing pole motor 18 drives the opposing pole single-pole gear 161 to rotate around its own central axis, it meshes with the ball gear 12, and the output torque from the opposing pole single-pole gear 161 is transmitted from the ball gear 12 through the electromagnetic clutch 164 and the torque transmission shaft 162. This torque-coupled motion transmits driving force through the rolling rotation of the opposing pole single-pole gear 161, while the intermittent motion caused by the passive sliding of the tooth surface does not transmit driving force to the ball gear 12. When the poles of the ball gear 12 and the opposing pole single-pole gear are engaged, that is, the rolling rotation of the opposing pole single-pole gear 161 does not transmit any torque to the ball gear 12. If the ball gear 12 is fixed, the interaction of the three motions will constrain all motions except for rotation around the structural axis. That is, the axial adjustment gear 14, the lateral adjustment gear 15, and the opposing pole single-pole gear 161 are all single-pole gears, and any one of the single-pole gears can constrain any two of the three rotational degrees of freedom of the ball gear 12.

[0095] In the curvature adjustment assembly, the bimetallic strips are fixed in an array at the bottom of the focusing petal 291 of the concentrator 29. When the bimetallic strips are energized and heated, they deform, causing the radius of curvature of the focusing petal 291 to change accordingly. When an electric field is applied, the bimetallic strips deform due to the difference in their coefficients of thermal expansion, thereby changing the radius of curvature of the concentrator 29. By changing the magnitude and direction of the electric field, precise control of the radius of curvature of the photothermal concentrator can be achieved.

[0096] The above embodiments are preferred embodiments of the present invention and are not intended to limit the scope of protection of the present invention. Various modifications or variations that can be made by those skilled in the art without creative effort within the scope of the appended claims are still within the scope of protection of this patent.

[0097] For example, in actual implementation, electromagnetic clutches 164 can be provided in the radial attitude adjustment gear 14, the lateral attitude adjustment gear 15, and the counter-polar gear 161. That is, as the ball gear 12 rotates, the radial attitude adjustment gear 14, the lateral attitude adjustment gear 15, and the counter-polar gear 161 switch the function of the ball gear 12. In other words, the radial attitude adjustment gear 14 can be transformed into the lateral attitude adjustment gear 15 as the ball gear 12 rotates, or the counter-polar gear 161 and the lateral attitude adjustment gear 15 can be transformed into the radial attitude adjustment gear 14 as the ball gear 12 rotates, or the counter-polar gear 161 and the counter-polar gear 161 can be transformed into the lateral attitude adjustment gear 15 or the radial attitude adjustment gear 14 as the ball gear 12 rotates.

Claims

1. A three-transmission mode structure for a ball gear mechanism, comprising a ball gear, wherein the poles formed by the ball gear are designated as ball gear poles, the number of ball gear poles is four, the outer diameter circumference of the ball gear passing through the four ball gear poles is designated as the pole circumference, and the two outer diameter circumferences of the ball gear passing through two of the ball gear poles are designated as the longitudinal circumference and the latitudinal circumference, respectively, characterized in that, include: An output shaft is inserted into a ball gear, and the output shaft is used to connect to an external mechanism. Both the radial and lateral attitude adjustment gears mesh with the ball gear. The radial attitude adjustment gear drives the ball gear to rotate along the radial circumference, and the lateral attitude adjustment gear drives the ball gear to rotate along the lateral circumference. Thus, the output shaft has two different dimensional oscillating transmission modes. A coupling assembly, coupled to the output shaft via a ball gear, enables the output shaft to rotate along its own axis in a rotational transmission mode. The intersection of the longitudinal and latitudinal circumferences is defined as the circumferential intersection point. The ball gear has a coupling chamber, an input transmission channel, and an output transmission channel inside. The coupling chamber is formed at the center of the ball gear. One end of the input transmission channel is connected to the coupling chamber, and the other end opens to the outside through a pole of the ball gear. The output transmission channel is connected to the coupling chamber and opens to the outside through the circumferential intersection. The coupling assembly includes a pole-opposing single-pole gear, a torque transmission shaft, and a pair of meshing bevel gears. The torque transmission shaft is fitted within the input transmission channel. The pole-opposing single-pole gear meshes with a ball gear, and the pole of the pole-opposing single-pole gear is torque-coupled to one end of the torque transmission shaft through the pole of the ball gear. The other end of the torque transmission shaft is torque-coupled to the output shaft through the pair of meshing bevel gears. The surface of the spherical gear has a spherical gear tooth region, which is a spherical crown excluding the pole circumference and the long teeth of the spherical gear. Both the radial attitude adjustment gear and the lateral attitude adjustment gear mesh with a ball gear in one of the ball gear tooth areas. When the radial attitude adjustment gear drives the ball gear to rotate, the lateral attitude adjustment gear has no driving relationship with the ball gear; when the lateral attitude adjustment gear drives the ball gear to rotate, the radial attitude adjustment gear has no driving relationship with the ball gear. That is, the radial and lateral attitude adjustment gears alternately mesh with the ball gear for transmission and intermittent transmission, thereby achieving dual transmission. The radial attitude adjustment gear, the lateral attitude adjustment gear, and the opposing single-pole gear are all single-pole gears. Any one of the single-pole gears can constrain any two of the three rotational degrees of freedom of the ball gear, which is an intermittent transmission mode.

2. The three-transmission mode structure of the ball gear mechanism according to claim 1, characterized in that: in, The coupling assembly also includes an electromagnetic clutch, and the opposing single-pole gear is disengaged and engaged via the electromagnetic clutch and the torque transmission shaft.

3. The three-transmission mode structure of the ball gear mechanism according to claim 1, characterized in that, Also includes: Two attitude adjustment motors and a counter pole motor, The two attitude adjustment motors are used to drive the radial attitude adjustment gear and the lateral attitude adjustment gear to rotate, respectively. The output shaft of the counter pole motor is coaxially arranged with the torque transmission shaft, and the output shaft of the counter pole motor is used to drive the counter pole single pole gear to rotate.

4. The three-transmission mode structure of the ball gear mechanism according to claim 1, characterized in that, Also includes: A ball gear bracket is used to surround and support the ball gear, thereby keeping the spatial position of the ball's center unchanged when the ball gear rotates.

5. The three-transmission mode structure of the ball gear mechanism according to claim 1, characterized in that: in, The opposing single-pole gear, the radial attitude-adjusting gear, and the lateral attitude-adjusting gear are formed by generating process or by 3D printing. When formed by generating the single-pole gear, the module and pressure angle of the machining tool for the single-pole gear are equal to the module and pressure angle of the single-pole gear.

6. A photothermal concentrator attitude adjustment and folding mechanism, characterized in that, include: The ball gear mechanism with three transmission modes is the ball gear mechanism with three transmission modes as described in any one of claims 1-5. A photothermal concentrator unit includes a fixed base plate and a concentrator movably disposed on the fixed base plate, the concentrator including multiple concentrating lobes; as well as The iris flower opening and closing mechanism is located between the three-transmission mode structure of the ball gear mechanism and the condenser. The concentrator moves on the fixed base plate via the iris flower opening and closing mechanism, which is driven by the output shaft, thereby causing the concentrator to swing in two dimensions and causing the multiple concentrating petals to close or expand.

7. The photothermal concentrator attitude adjustment and folding mechanism according to claim 6, characterized in that: in, The photothermal concentrator unit also has a curvature adjustment component. The curvature adjustment component includes a bimetallic strip and a driving power supply. The bimetallic strip is attached to the surface of the focusing petal, and the driving power supply is used to input current into the bimetallic strip, thereby causing the bimetallic strip to bend through the electrothermal effect, thus changing the curvature of the focusing petal.

8. The photothermal concentrator attitude adjustment and folding mechanism according to claim 6, characterized in that: in, The concentrator also includes multiple folded hinge flaps. The folding hinge flaps are respectively arranged between two adjacent light-gathering flaps. When the plurality of focusing lobes are retracted, the folding hinge group folds; when the plurality of focusing lobes are unfolded, the folding hinge group unfolds.

9. The photothermal concentrator attitude adjustment and folding mechanism according to claim 6, characterized in that, Also includes: The crank-slider assembly has a retractable slider and a retractable drive rod passing through the retractable slider. It is disposed between the iris flower opening and closing mechanism and the condenser, and the output end of the iris flower opening and closing mechanism is connected to the retractable slider. The free end of the retractable drive rod is fixed to the condenser petal. The output shaft drives the iris flower opening and closing mechanism to move, thereby driving the retractable slider to swing the retractable drive rod, so that the multiple light-gathering petals retract or expand.

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