Reconfigurable and deployable mechanism with partial deployable performance and large deployable ratio

Abstract

The invention discloses a reconfigurable and deployable mechanism with partial deployable performance and a large deployable ratio. The reconfigurable and deployable mechanism comprises a first closed-loop branch chain, a second closed-loop branch chain, a third closed-loop branch chain, a fourth closed-loop branch chain and a fifth closed-loop branch chain. The first closed-loop branch chain comprises a first connecting rod, a second connecting rod, a third connecting rod, a fourth connecting rod, a third space linkage rotating hinge and a third electromagnet, and the second closed-loop branch chain comprises a first connecting rod, a second connecting rod, a fifth connecting rod, a sixth connecting rod, a second space linkage rotating hinge and a second electromagnet. The third closed-loop branch chain comprises a first connecting rod, a sixth connecting rod, a seventh connecting rod, an eighth connecting rod, a fourth space linkage rotating hinge and a fourth electromagnet, and the fourth closed-loop branch chain comprises a first connecting rod, a seventh connecting rod, a ninth connecting rod, a tenth connecting rod, a first space linkage rotating hinge and a first electromagnet. The fifth closed-loop branch chain comprises a first connecting rod, a tenth connecting rod, an eleventh connecting rod, a twelfth connecting rod, a fifth space linkage rotating hinge and a fifth electromagnet, and the configuration is converted through closing of the closed-loop branch chains. The mechanism has multiple configurations and can adapt to complex and changeable environments.

Description

Technical Field

[0001] The present invention belongs to the technical field of deployable mechanisms, and in particular relates to a reconfigurable deployable mechanism with partial deployability and a large deployable ratio. Background Art

[0002] As the core element for realizing structural changes, unfolding and folding, the deployable mechanism is the foundation of the space deployable structure system. With its many advantages such as compact structure, flexible and changeable shape, small volume after folding, and large working space after unfolding, it is widely used in aerospace, construction, firefighting and other fields, such as solar sails, space reflectors, large-area antennas, etc. However, most of the existing deployable mechanisms only have a single configuration and cannot adapt well to complex environmental changes. Specifically, with the continuous development of solar power generation technology, traditional ground-based solar energy collection methods have gradually been restricted. Especially in the case of tight ground resources, exploring high-altitude solar energy collection has become a new solution. However, the high-altitude environment is complex and changeable, and solar panels are easily damaged. Therefore, the deployment area of ​​the solar panels is adjusted through the deployable mechanism, so that the solar energy collection device can adapt to the complex and changeable high-altitude environment. Summary of the Invention

[0003] In view of the deficiencies of the prior art, the technical problem to be solved by the present invention is to provide a reconfigurable and deployable mechanism with partial deployability and a large deployability ratio.

[0004] The present invention solves the technical problem by adopting the following technical solutions:

[0005] A reconfigurable and deployable mechanism with partial deployability and a large deployability ratio, characterized by comprising a first closed-loop branch chain, a second closed-loop branch chain, a third closed-loop branch chain, a fourth closed-loop branch chain, and a fifth closed-loop branch chain; the five closed-loop branches share a first connecting rod; the first closed-loop branch chain and the second closed-loop branch chain also share a second connecting rod; the second closed-loop branch chain and the third closed-loop branch chain also share a sixth connecting rod; the third closed-loop branch chain and the fourth closed-loop branch chain also share a seventh connecting rod; and the fourth closed-loop branch chain and the fifth closed-loop branch chain also share a tenth connecting rod.

[0006] The first closed-loop branch chain includes connecting rod 1, connecting rod 2, connecting rod 3, connecting rod 4, spatial link rotating hinge 3 and electromagnet 3, the second closed-loop branch chain includes connecting rod 1, connecting rod 2, connecting rod 5, connecting rod 6, spatial link rotating hinge 2 and electromagnet 2, the third closed-loop branch chain includes connecting rod 1, connecting rod 6, connecting rod 7, connecting rod 8, spatial link rotating hinge 4 and electromagnet 4, the fourth closed-loop branch chain includes connecting rod 1, connecting rod 7, connecting rod 9, connecting rod 10, spatial link rotating hinge 1 and electromagnet 1, and the fifth closed-loop branch chain includes connecting rod 1, connecting rod 10, connecting rod 11, connecting rod 12, spatial link rotating hinge 5 and electromagnet 5; connecting rod 1 is provided with first to fifth connecting parts in sequence from one end to the other end, electromagnet 1 is located at the first connecting part, electromagnet 2 is located at the second connecting part, electromagnet 3 is located at the third connecting part, electromagnet 4 is located at the fourth connecting part, and electromagnet 5 is located at the fifth connecting part;

[0007] The third connection part of connecting rod one is rotatably connected to one end of connecting rod two through space link rotating hinge three, the middle part of connecting rod two is rotatably connected to one end of connecting rod three, the other end of connecting rod three is rotatably connected to one end of connecting rod four, and the other end of connecting rod four is rotatably connected to the second connection part of connecting rod one; the second connection part of connecting rod one is rotatably connected to one end of connecting rod six through space link rotating hinge two, the other end of connecting rod six is ​​rotatably connected to one end of connecting rod five and connecting rod eight at the same time, the other end of connecting rod five is rotatably connected to the other end of connecting rod two, the other end of connecting rod eight is rotatably connected to one end of connecting rod seven and connecting rod nine at the same time, the other end of connecting rod seven is rotatably connected to the fourth connection part of connecting rod one through space link rotating hinge four, the other end of connecting rod nine is rotatably connected to one end of connecting rod ten and connecting rod twelve at the same time, the other end of connecting rod ten is rotatably connected to the first connection part of connecting rod one through space link rotating hinge one, the other end of connecting rod twelve is rotatably connected to one end of connecting rod eleven, and the other end of connecting rod eleven is rotatably connected to the fifth connection part of connecting rod one through space link rotating hinge five;

[0008] The lengths of connecting rod two and connecting rod four are equal, and are equal to the distance between the second connection part and the third connection part of connecting rod one; the length of connecting rod three is equal to the distance between the connection position of connecting rod two, connecting rod three and connecting rod one; the lengths of connecting rod five and connecting rod six are equal, and are equal to the distance between the second connection part and the fourth connection part of connecting rod one; the lengths of connecting rod seven and connecting rod eight are equal, and are equal to the distance between the first connection part and the fourth connection part of connecting rod one; the lengths of connecting rod nine and connecting rod ten are both equal to the length of connecting rod one, and the lengths of connecting rod eleven and connecting rod twelve are equal.

[0009] Furthermore, when all the links are not overlapped, the mechanism is in a twelve-bar configuration; link one rotates counterclockwise around the rotation center of link one and link ten, and when link one and link four completely overlap, if all electromagnets are not energized, the mechanism is still in a twelve-bar configuration; if electromagnet three is energized, electromagnet three attracts the rotational connection between link four and link three, causing link four to completely overlap with link one, and link three to completely overlap with link two, and the mechanism is in a ten-bar configuration;

[0010] On the basis of the ten-bar configuration, link one rotates clockwise around the rotation center of link one and link ten. When link five and link six completely overlap, if electromagnet two is not energized, the mechanism is still in the ten-bar configuration. If electromagnet two is energized, electromagnet two attracts the rotation connection between link five and link two, causing link five and link six to completely overlap, and links one to four to completely overlap, and the mechanism is in the eight-bar configuration.

[0011] On the basis of the eight-bar configuration, link one rotates counterclockwise around the rotation center of link one and link ten. When link seven and link eight completely overlap, if electromagnet four is not energized, the mechanism remains in the eight-bar configuration. If electromagnet four is energized, electromagnet four attracts the rotation connection between link six and link eight, causing link seven and link eight to completely overlap. Links one to six completely overlap, and the mechanism becomes a six-bar configuration.

[0012] On the basis of the six-bar configuration, link one rotates clockwise around the rotation center of link one and link ten. When link nine and link ten completely overlap, if electromagnet one is not energized, the mechanism remains in the six-bar configuration. If electromagnet one is energized, electromagnet one attracts the rotation connection between link nine and link seven, causing link nine and link ten to completely overlap. Links one to seven completely overlap, and the mechanism becomes a four-bar configuration.

[0013] On the basis of the four-bar configuration, link one rotates counterclockwise around the rotation center of link one and link ten. When link eleven and link twelve completely overlap, if electromagnet five is not energized, the mechanism remains in the four-bar configuration. If electromagnet five is energized, electromagnet five will attract the rotation connection between link ten and link twelve, causing link eleven and link twelve to completely overlap. Link one to link ten completely overlap, and the mechanism becomes a two-bar configuration.

[0014] On the basis of the two-bar configuration, the connecting rod 11 and the connecting rod 12 rotate counterclockwise around the connecting rod 1, so that the connecting rods 1 to 12 completely overlap, and the mechanism is in a completely folded state;

[0015] The clockwise rotation increases the angle between the connecting rod 1 and the connecting rod 10, and the counterclockwise rotation decreases the angle between the connecting rod 1 and the connecting rod 10.

[0016] Compared with the prior art, the present invention has the following beneficial effects:

[0017] Compared to traditional deployable mechanisms, the deployable mechanism of this invention offers multiple configurations, dynamically adjusting them to suit different operating environments and achieving diverse deployable areas. This demonstrates strong adaptability and flexibility to accommodate complex and ever-changing scenarios. The mechanism's configuration is also scalable, allowing the number of rods to be increased indefinitely according to a regular pattern, theoretically allowing the deployable area to be infinitely increased. BRIEF DESCRIPTION OF THE DRAWINGS

[0018] Figure 1 Schematic diagram of the twelve-bar configuration of the present invention;

[0019] Figure 2 Schematic diagram of the ten-bar configuration of the present invention;

[0020] Figure 3 Schematic diagram of the eight-bar configuration of the present invention;

[0021] Figure 4 Schematic diagram of the six-bar configuration of the present invention;

[0022] Figure 5 Schematic diagram of the four-bar configuration of the present invention;

[0023] Figure 6 Schematic diagram of the two-rod configuration of the present invention;

[0024] Figure 7 is a schematic diagram of the fully folded configuration of the present invention;

[0025] In the figure: 1. Connecting rod one; 2. Connecting rod two; 3. Connecting rod three; 4. Connecting rod four; 5. Connecting rod five; 6. Connecting rod six; 7. Connecting rod seven; 8. Connecting rod eight; 9. Connecting rod nine; 10. Connecting rod ten; 11. Connecting rod eleven; 12. Connecting rod twelve; 13. Space link rotating hinge one; 14. Space link rotating hinge two; 15. Space link rotating hinge three; 16. Space link rotating hinge four; 17. Space link rotating hinge five; 18. Electromagnet one; 19. Electromagnet two; 20. Electromagnet three; 21. Electromagnet four; 22. Electromagnet five. DETAILED DESCRIPTION

[0026] Specific embodiments are given below in conjunction with the accompanying drawings. The specific embodiments are only used to introduce the technical solutions of the present invention in detail and are not intended to limit the scope of protection of the present application.

[0027] The present invention provides a reconfigurable deployable mechanism (abbreviated as deployable mechanism, see Figures 1 to 7), including a first closed-loop branch chain, a second closed-loop branch chain, a third closed-loop branch chain, a fourth closed-loop branch chain, and a fifth closed-loop branch chain, wherein the five closed-loop branch chains share a connecting rod 1, the first closed-loop branch chain and the second closed-loop branch chain also share a connecting rod 2, the second closed-loop branch chain and the third closed-loop branch chain also share a connecting rod 6, the third closed-loop branch chain and the fourth closed-loop branch chain also share a connecting rod 7, and the fourth closed-loop branch chain and the fifth closed-loop branch chain also share a connecting rod 10;

[0028] The first closed-loop branch chain includes a link 1, a link 2, a link 3, a link 4, a space link rotation hinge 3 15 and an electromagnet 3 20, the second closed-loop branch chain includes a link 1, a link 2, a link 5, a link 6, a space link rotation hinge 2 14 and an electromagnet 2 19, the third closed-loop branch chain includes a link 1, a link 6, a link 7, a link 8, a space link rotation hinge 4 16 and an electromagnet 4 21, the fourth closed-loop branch chain includes a link 1, a link 7, a link 9, a link 10 and a link 11. 0. Spatial link rotation hinge 13 and electromagnet 18. The fifth closed-loop branch chain includes connecting rod 1, connecting rod 10, connecting rod 11, connecting rod 12, spatial link rotation hinge 5, and electromagnet 5 22. Connecting rod 1 is provided with first to fifth connecting portions from one end to the other. Electromagnet 18 is located at the first connecting portion, electromagnet 2 is located at the second connecting portion, electromagnet 3 is located at the third connecting portion, electromagnet 4 is located at the fourth connecting portion, and electromagnet 5 is located at the fifth connecting portion.

[0029] The third connection portion of the connecting rod 1 is rotatably connected to one end of the connecting rod 2 2 through the spatial link rotation hinge 3 15, the middle portion of the connecting rod 2 2 is rotatably connected to one end of the connecting rod 3 3, the other end of the connecting rod 3 3 is rotatably connected to one end of the connecting rod 4 4, and the other end of the connecting rod 4 4 is rotatably connected to the second connection portion of the connecting rod 1; the second connection portion of the connecting rod 1 is simultaneously rotatably connected to one end of the connecting rod 6 6 through the spatial link rotation hinge 2 14, the other end of the connecting rod 6 6 is simultaneously rotatably connected to one end of the connecting rod 5 5 and the connecting rod 8 8, the other end of the connecting rod 5 5 is rotatably connected to the other end of the connecting rod 2 2, and the connecting rod 8 8 The other end of the connecting rod is simultaneously rotatably connected to one end of the connecting rod seven 7 and the connecting rod nine 9. The other end of the connecting rod seven 7 is rotatably connected to the fourth connecting portion of the connecting rod one 1 via a spatial link rotation hinge four 16. The other end of the connecting rod nine 9 is simultaneously rotatably connected to one end of the connecting rod ten 10 and the connecting rod twelve 12. The other end of the connecting rod ten 10 is rotatably connected to the first connecting portion of the connecting rod one 1 via a spatial link rotation hinge one 13. The other end of the connecting rod twelve 12 is rotatably connected to one end of the connecting rod eleven 11. The other end of the connecting rod eleven 11 is rotatably connected to the fifth connecting portion of the connecting rod one 1 via a spatial link rotation hinge five 17.

[0030] The lengths of connecting rod two 2 and connecting rod four 4 are equal, and are equal to the distance between the second connecting part and the third connecting part of connecting rod one 1; the length of connecting rod three 3 is equal to the distance between the connecting positions of connecting rod two 2, connecting rod three 3 and connecting rod one 1; the lengths of connecting rod five 5 and connecting rod six 6 are equal, and are equal to the distance between the second connecting part and the fourth connecting part of connecting rod one 1; the lengths of connecting rod seven 7 and connecting rod eight 8 are equal, and are equal to the distance between the first connecting part and the fourth connecting part of connecting rod one 1; the lengths of connecting rod nine 9 and connecting rod ten 10 are both equal to the length of connecting rod one 1, and the lengths of connecting rod eleven 11 and connecting rod twelve 12 are equal.

[0031] The working principle and workflow of the present invention are:

[0032] The connecting rod 10 serves as the frame of the mechanism and remains fixed, while the connecting rod 1 serves as the active component;

[0033] like Figure 1 As shown, the mechanism is in a fully deployed configuration (twelve-bar configuration), that is, all the links have no overlapping parts; link one 1 rotates counterclockwise around the rotation center of link one 1 and link ten 10, and link one 1 and link four 4 will overlap. When link one 1 and link four 4 completely overlap, if all electromagnets are not energized, the mechanism is still in a twelve-bar configuration; if electromagnet three 20 is energized and the other electromagnets are not energized, electromagnet three 20 and the rotating connection between link four 4 and link three 3 will attract each other, so that the first closed-loop branch chain is closed, that is, link four 4 and link one 1 completely overlap, link three 3 and link two 2 completely overlap, and the mechanism enters a ten-bar configuration, as shown in FIG. Figure 2 As shown; after the first closed-loop branch is closed, the expanded portion of the first closed-loop branch forms a cavity, which reduces the expanded area of ​​the mechanism.

[0034] On the basis of the ten-bar configuration, the link 1 rotates clockwise around the rotation center of the link 1 and the link 10, and the link 5 5 and the link 6 6 will overlap. When the link 5 5 and the link 6 6 completely overlap, if the electromagnet 2 19 is not energized, the mechanism is still in the ten-bar configuration; if the electromagnet 2 19 is energized, the electromagnet 2 19 and the rotation connection between the link 5 5 and the link 2 2 will attract each other, so that the second closed-loop branch chain is closed, that is, the link 5 5 and the link 6 6 completely overlap, and the links 1 to 4 4 completely overlap. At this time, the mechanism enters the eight-bar configuration, as shown in FIG. Figure 3 As shown; after the second closed-loop branch is closed, the expanded portion of the second closed-loop branch forms a cavity, further reducing the expanded area of ​​the mechanism.

[0035] On the basis of the eight-bar configuration, the link 1 rotates counterclockwise around the rotation center of the link 1 and the link 10, and the link 7 and the link 8 will overlap. When the link 7 and the link 8 completely overlap, if the electromagnet 4 21 is not energized, the mechanism is still in the eight-bar configuration; if the electromagnet 4 21 is energized, the electromagnet 4 21 and the rotation connection between the link 6 and the link 8 attract each other, so that the third closed-loop branch chain is closed, that is, the link 7 and the link 8 completely overlap, and the links 1 to 6 completely overlap. At this time, the mechanism enters the six-bar configuration. Figure 4 As shown; after the third closed-loop branch is closed, the expanded portion of the third closed-loop branch forms a cavity, further reducing the expanded area of ​​the mechanism.

[0036] On the basis of the six-bar configuration, link 1 rotates clockwise around the rotation center of link 1 and link 10, link 99 and link 10 will overlap. When link 99 and link 10 completely overlap, if electromagnet 18 is not energized, the mechanism is still in the six-bar configuration; if electromagnet 18 is energized, electromagnet 18 and the rotation connection between link 99 and link 77 are attracted to each other, closing the fourth closed-loop branch chain, that is, link 99 and link 10 completely overlap, and link 1 to link 77 completely overlap. At this time, the mechanism enters the four-bar configuration, as shown in FIG. Figure 5 As shown; after the fourth closed-loop branch is closed, the expanded portion of the fourth closed-loop branch forms a cavity, further reducing the expanded area of ​​the mechanism.

[0037] On the basis of the four-bar configuration, the connecting rod 1 rotates counterclockwise around the rotation center of the connecting rod 1 and the connecting rod 10, and the connecting rod 11 11 and the connecting rod 12 12 will overlap. When the connecting rod 11 11 and the connecting rod 12 12 completely overlap, if the electromagnet 5 22 is not energized, the mechanism is still in the four-bar configuration; if the electromagnet 5 22 is energized, the electromagnet 5 22 will attract the rotating connection between the connecting rod 10 and the connecting rod 12 12, so that the fifth closed-loop branch chain is closed, that is, the connecting rod 11 11 and the connecting rod 12 completely overlap to form a free end, and the connecting rods 1 to 10 completely overlap. At this time, the mechanism enters the two-bar configuration, as shown in FIG. Figure 6 shown.

[0038] On the basis of the two-bar configuration, the connecting rod 11 11 and the connecting rod 12 12 rotate counterclockwise around the connecting rod 1, so that the connecting rods 1 to 12 are completely overlapped, and the mechanism enters a fully folded state, as shown in FIG. Figure 7 shown.

[0039] The above-mentioned clockwise rotation increases the angle between connecting rod 1 and connecting rod 10, and the counterclockwise rotation decreases the angle between connecting rod 1 and connecting rod 10.

[0040] This mechanism can be used in solar energy collection scenarios. Each link of each closed-loop branch chain is connected to a foldable flexible solar panel. By changing the configuration of the mechanism, the corresponding closed-loop branch chain is closed or unfolded, thereby folding or unfolding the corresponding flexible solar panel. This, in turn, adjusts the area of ​​the flexible solar panel, allowing the solar energy collection device to adapt to complex and changing environments while maintaining good solar energy collection efficiency. For example, in high wind conditions, the mechanism can be partially unfolded to reduce the unfolded area of ​​the flexible solar panel, effectively reducing wind resistance, maintaining the stability of the solar energy collection device, and preventing damage to the solar energy collection device caused by strong winds.

[0041] Any matters not described in the present invention are applicable to the prior art.

Claims

1. A reconfigurable deployable mechanism with partial deployability and large deployability ratio, characterized in that: The chain comprises a first closed-loop branch chain, a second closed-loop branch chain, a third closed-loop branch chain, a fourth closed-loop branch chain, and a fifth closed-loop branch chain; the five closed-loop branch chains share a connecting rod 1, the first closed-loop branch chain and the second closed-loop branch chain also share a connecting rod 2, the second closed-loop branch chain and the third closed-loop branch chain also share a connecting rod 6, the third closed-loop branch chain and the fourth closed-loop branch chain also share a connecting rod 7, and the fourth closed-loop branch chain and the fifth closed-loop branch chain also share a connecting rod 10; The first closed-loop branch chain includes connecting rod 1, connecting rod 2, connecting rod 3, connecting rod 4, spatial link rotating hinge 3 and electromagnet 3, the second closed-loop branch chain includes connecting rod 1, connecting rod 2, connecting rod 5, connecting rod 6, spatial link rotating hinge 2 and electromagnet 2, the third closed-loop branch chain includes connecting rod 1, connecting rod 6, connecting rod 7, connecting rod 8, spatial link rotating hinge 4 and electromagnet 4, the fourth closed-loop branch chain includes connecting rod 1, connecting rod 7, connecting rod 9, connecting rod 10, spatial link rotating hinge 1 and electromagnet 1, and the fifth closed-loop branch chain includes connecting rod 1, connecting rod 10, connecting rod 11, connecting rod 12, spatial link rotating hinge 5 and electromagnet 5; connecting rod 1 is provided with first to fifth connecting parts in sequence from one end to the other end, electromagnet 1 is located at the first connecting part, electromagnet 2 is located at the second connecting part, electromagnet 3 is located at the third connecting part, electromagnet 4 is located at the fourth connecting part, and electromagnet 5 is located at the fifth connecting part; The third connection part of connecting rod one is rotatably connected to one end of connecting rod two through space link rotating hinge three, the middle part of connecting rod two is rotatably connected to one end of connecting rod three, the other end of connecting rod three is rotatably connected to one end of connecting rod four, and the other end of connecting rod four is rotatably connected to the second connection part of connecting rod one; the second connection part of connecting rod one is rotatably connected to one end of connecting rod six through space link rotating hinge two, the other end of connecting rod six is ​​rotatably connected to one end of connecting rod five and connecting rod eight at the same time, the other end of connecting rod five is rotatably connected to the other end of connecting rod two, the other end of connecting rod eight is rotatably connected to one end of connecting rod seven and connecting rod nine at the same time, the other end of connecting rod seven is rotatably connected to the fourth connection part of connecting rod one through space link rotating hinge four, the other end of connecting rod nine is rotatably connected to one end of connecting rod ten and connecting rod twelve at the same time, the other end of connecting rod ten is rotatably connected to the first connection part of connecting rod one through space link rotating hinge one, the other end of connecting rod twelve is rotatably connected to one end of connecting rod eleven, and the other end of connecting rod eleven is rotatably connected to the fifth connection part of connecting rod one through space link rotating hinge five; The lengths of connecting rod two and connecting rod four are equal, and are equal to the distance between the second connection part and the third connection part of connecting rod one; the length of connecting rod three is equal to the distance between the connection position of connecting rod two, connecting rod three and connecting rod one; the lengths of connecting rod five and connecting rod six are equal, and are equal to the distance between the second connection part and the fourth connection part of connecting rod one; the lengths of connecting rod seven and connecting rod eight are equal, and are equal to the distance between the first connection part and the fourth connection part of connecting rod one; the lengths of connecting rod nine and connecting rod ten are both equal to the length of connecting rod one, and the lengths of connecting rod eleven and connecting rod twelve are equal.

2. The reconfigurable and deployable mechanism with partial deployability and large deployability ratio according to claim 1, characterized in that: When all the links are not overlapped, the mechanism is in a twelve-bar configuration; link one rotates counterclockwise around the rotation center of link one and link ten. When link one and link four completely overlap, if all electromagnets are not energized, the mechanism is still in a twelve-bar configuration; if electromagnet three is energized, electromagnet three attracts the rotation connection between link four and link three, causing link four to completely overlap with link one, and link three to completely overlap with link two, and the mechanism is in a ten-bar configuration. On the basis of the ten-bar configuration, link one rotates clockwise around the rotation center of link one and link ten. When link five and link six completely overlap, if electromagnet two is not energized, the mechanism is still in the ten-bar configuration. If electromagnet two is energized, electromagnet two attracts the rotation connection between link five and link two, causing link five and link six to completely overlap, and links one to four to completely overlap, and the mechanism is in the eight-bar configuration. On the basis of the eight-bar configuration, link one rotates counterclockwise around the rotation center of link one and link ten. When link seven and link eight completely overlap, if electromagnet four is not energized, the mechanism remains in the eight-bar configuration. If electromagnet four is energized, electromagnet four attracts the rotation connection between link six and link eight, causing link seven and link eight to completely overlap. Links one to six completely overlap, and the mechanism becomes a six-bar configuration. On the basis of the six-bar configuration, link one rotates clockwise around the rotation center of link one and link ten. When link nine and link ten completely overlap, if electromagnet one is not energized, the mechanism remains in the six-bar configuration. If electromagnet one is energized, electromagnet one attracts the rotation connection between link nine and link seven, causing link nine and link ten to completely overlap. Links one to seven completely overlap, and the mechanism becomes a four-bar configuration. On the basis of the four-bar configuration, link one rotates counterclockwise around the rotation center of link one and link ten. When link eleven and link twelve completely overlap, if electromagnet five is not energized, the mechanism remains in the four-bar configuration. If electromagnet five is energized, electromagnet five will attract the rotation connection between link ten and link twelve, causing link eleven and link twelve to completely overlap. Link one to link ten completely overlap, and the mechanism becomes a two-bar configuration. On the basis of the two-bar configuration, the connecting rod 11 and the connecting rod 12 rotate counterclockwise around the connecting rod 1, so that the connecting rods 1 to 12 completely overlap, and the mechanism is in a completely folded state; The clockwise rotation increases the angle between the connecting rod 1 and the connecting rod 10, and the counterclockwise rotation decreases the angle between the connecting rod 1 and the connecting rod 10.

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