System for folding, unfolding and recovering multiple groups of chain-shaped frames

Abstract

The invention relates to the field of photovoltaic technology, in particular to a multi-group chain-shaped frame folding, unfolding and recovering system which comprises a main body frame, a plurality of groups of chain-shaped frames movably arranged on the main body frame, a penetrating flexible driving part, a driving structure and a plurality of resistance isolation devices linked with the chain-shaped frames. The core of the invention lies in that the resistance isolation device can be switched between a locking state and a sliding state according to the posture of the corresponding chain-shaped frame. During recovery, the chain-shaped frame in the unfolded state enables the resistance isolation device to be in a locking state, traction force is isolated step by step and only acts on the chain-shaped frame at the foremost end, after the chain-shaped frame is recovered, the device is switched to be in a sliding state, the traction force is transmitted to the next group, and stable and orderly step-by-step recovery is achieved. Collision and impact between chain-shaped frames are fundamentally avoided. Through combination of resistance isolation and double-traction tensioning control, high-stability deployment under lightweight flexible traction is realized.

Description

Technical Field

[0001] This application relates to the field of photovoltaic technology, and in particular to a multi-chain frame folding, unfolding and recycling system. Background Technology

[0002] In emergency rescue, field exploration, and other scenarios, large, foldable devices (such as mobile solar arrays) composed of dozens of interconnected units need to be deployed rapidly. These devices are typically long and heavy, and the core technological bottleneck lies in how to achieve their safe, stable, and automated deployment and retrieval.

[0003] Currently, the mainstream driving method uses flexible components such as steel wire ropes and cables with simple and lightweight structures for traction. However, this "soft connection" method has a fatal flaw: the steel wire rope cannot maintain constant tension when the system starts, stops, or changes speed, and is prone to slack and vibration. This instantaneous tension change can cause the chain frame to experience internal impacts or bulges in the middle frame due to inertia, which not only seriously threatens the structural safety of the equipment (especially brittle components such as photovoltaic panels), but also makes its movement difficult to control precisely.

[0004] Another option, such as rigid transmissions like chains and racks, can provide more precise control, but they are heavy, bulky, and have a very complex structure, making them completely unsuitable for mobile equipment that requires lightweight design and long-distance deployment.

[0005] Based on the above, this application proposes a multi-chain frame folding, unfolding, and recycling system that can effectively solve the above problems. Summary of the Invention

[0006] To address the challenge of balancing lightweight design and stability in existing traction systems for large, multi-chain-frame structures, this application proposes a multi-chain-frame folding, unfolding, and retraction system.

[0007] A multi-chain-frame folding, unfolding, and retraction system includes: Main framework; Multiple sets of chain-like frames are connected in sequence. The multiple sets of chain-like frames are movably set on the main frame and are suitable for switching between an overall unfolded posture and a posture of being retracted and stored step by step. A flexible drive element, wherein the flexible drive element extends through multiple sets of the chain-like frames along its length; A drive structure, connected to the flexible drive member and configured to apply a traction force to the flexible drive member; and Multiple resistance isolation devices are provided, each corresponding to one of the chain-like frames and connected to the flexible drive component. Each resistance isolation device is linked to a corresponding chain-like frame and is configured to switch between a locked state and a sliding state. In the locked state, in response to the chain frame being in an extended posture, the resistance isolation device applies a locking force to the flexible drive member to block the transmission of traction force to the subsequent chain frame. In the sliding state, in response to the chain frame being in a retracted posture, the resistance isolation device releases the locking force on the flexible drive member to allow the traction force to be transmitted to the subsequent chain frame.

[0008] This application addresses the inherent limitations of flexible component actuation by incorporating a resistance isolation device linked to the chain-like frames. During retrieval, the traction force initially acts only on the first set of chain-like frames. At this point, the resistance isolation devices on all subsequent chain-like frames are locked, effectively isolating the traction force and ensuring tension of the flexible actuation components in subsequent segments. Once the first set of chain-like frames has completed retrieval, its resistance isolation devices switch to a sliding state, releasing the traction force and transferring it to the second set of chain-like frames, initiating their retrieval. This step-by-step process ensures the orderly retrieval of each chain-like frame, fundamentally preventing slackness and vibration of the flexible actuation components, as well as interference and collisions between frame units, caused by the traction force acting on the entire system. This guarantees a smooth, orderly, and safe retrieval process.

[0009] In one embodiment, the resistance isolation device includes at least two parallel rollers. The flexible drive member travels around the rollers in an S-shaped path to generate frictional resistance and achieve a locking force. The flexible drive member travels around the rollers in an approximately straight path to reduce frictional resistance and release the locking force. By changing the curvature of the path traveled by the flexible drive member, the frictional resistance is switched, realizing the switching between locking and sliding states. The resistance isolation device has a simple structure and high reliability, requiring no additional electrical control or complex components; the resistance isolation function can be achieved through pure mechanical linkage.

[0010] In one embodiment, the drive structure further includes a main traction device, an auxiliary traction device, at least one force sensor, and a control system. The main traction device and the auxiliary traction device are respectively connected to both ends of the flexible drive member. The force sensor is disposed inside the main traction device and the auxiliary traction device and is configured to sense the tension of the flexible drive member. The control system is configured to control the other traction device to apply a reverse tension force when either traction device is used as a driving force source, so as to maintain the taut state of the flexible drive member throughout the entire stroke. Through the coordinated operation of the two traction devices, it is ensured that the flexible drive member is always in a preset tension state under any condition. The force sensor senses the tension in real time, and the control system forms a closed-loop control to actively compensate for the influence of various disturbances (such as start-stop, speed change, and friction changes) on the tension, solving the problem of slack and vibration that inevitably occurs in the flexible member in the traditional unidirectional traction method.

[0011] In one embodiment, the control system is configured to: control the auxiliary traction device as a driving force source and simultaneously control the main traction device as a tensioning force source when multiple sets of the chain frames are deployed; and control the main traction device as a driving force source and simultaneously control the auxiliary traction device as a tensioning force source when multiple sets of the chain frames are retracted. Deployment is "pulled out" by the auxiliary traction device located at the far end, and retraction is "pulled back" by the main traction device located at the near end, clearly defining the division of labor and cooperation between the main and auxiliary traction devices under different working conditions, making the control logic clearer and more efficient.

[0012] In one embodiment, the chain-like frame includes a frame and a load-bearing structure disposed within the frame. Each set of chain-like frames is further provided with a top limiting component and a bottom limiting component. The top limiting component includes a first top part and a second top part that cooperate with each other. The first and second top parts are respectively connected to two frames in each set of chain-like frames and are used to abut against each other when the two frames reach their maximum unfolding angle to achieve limitation. The bottom limiting component includes a first bottom part and a second bottom part that cooperate with each other. The first and second bottom parts are respectively connected to two frames in each set of chain-like frames and are used to abut against each other when the chain-like frame reaches its minimum retraction angle to achieve limitation. By setting the top and bottom limiting components, over-unfolding or over-retraction caused by excessive driving force or control error is effectively prevented, protecting the structure of the chain-like frame itself and the components it supports (such as photovoltaic panels).

[0013] In one embodiment, the main frame includes two parallel tracks, and the bottom limiting component includes a pulley disposed between two limiting plates, configured to support multiple sets of the chain-like frames sliding on the tracks. The cooperation between the tracks and the pulley provides a stable, low-friction guiding and supporting path for the movement of the entire chain-like frame on the main frame.

[0014] In one embodiment, the main frame is provided with multiple recovery limiters, each including a buffer component configured to buffer and limit the chain-like frames during recovery. The buffer component absorbs the kinetic energy of each group of chain-like frames as they are recovered to their final position, achieving a flexible stop and effectively avoiding the impact and noise from rigid collisions, further protecting the frame structure and extending the system's service life.

[0015] In one embodiment, the main frame is further provided with a fixing rod and multiple locking devices. The locking devices are mounted on the fixing rod and include a rotating shaft and a locking member rotatable about the rotating shaft. The lower end of the locking member has an extension that abuts against the chain frame. The locking device is configured such that during the chain frame's retraction process, the chain frame abuts against and pushes the extension, causing the locking member to rotate from a locked position to a released position. After the chain frame passes the extension, the locking member automatically rotates back to the locked position under gravity to prevent the chain frame from locking. The locking device utilizes a gravity-based reset design, requiring no additional power source or control signal, and has a simple structure.

[0016] In one embodiment, this application provides a control method for driving the deployment and retraction of multiple sets of chain-like frames, applied to the system described in any of the above claims, and employing the following technical solution: A control method for driving the deployment and retraction of multiple sets of chain-like frames includes the following steps: The system uses a force sensor to sense the tension of the flexible actuator, activates the drive structure, and applies initial tension to the flexible actuator to put it in a taut state. In response to the deployment command, the drive structure outputs a deployment driving force to drive multiple sets of the chain-like frames to deploy synchronously. In response to a recovery command, the drive structure outputs a recovery driving force, and the resistance isolation device installed on each chain frame is used to achieve step-by-step recovery. The step-by-step recovery includes: the recovery driving force first acts on the group of chain frames closest to the main frame, driving them to recover; when the chain frame switches from the unfolded state to the recovery state, the resistance isolation device on it switches from the locked state to the sliding state, thereby transferring the recovery driving force to the next chain frame to be recovered, causing it to begin folding, and repeating this process until all chain frames have been recovered.

[0017] This control method ensures smooth startup through a pre-tensioning step, while the core step of gradual recovery fully utilizes the function of the resistance isolation device to achieve a stable and orderly recovery process. This method transforms complex hardware functions into a clear and easy-to-execute operational procedure, ensuring that the system can operate safely and efficiently as intended.

[0018] In one embodiment, the method further includes: sensing the tension of the flexible drive component in real time using a force sensor; and dynamically adjusting the driving force or tension of the drive structure based on the deviation between the sensed tension value and a preset tension value, so as to achieve uniform motion of multiple chain frames on the guide rail in either deployed or retracted states. This method introduces closed-loop feedback control logic. Through real-time sensing and dynamic adjustment, the system can actively counteract various disturbances during operation (such as changes in friction, slope changes, etc.), ensuring constant tension of the flexible drive component, thereby achieving uniform motion of the chain frame system on the guide rail. The auxiliary traction device in this system is responsible for providing the real-time changing driving force or tension.

[0019] In summary, this application provides a multi-chain frame folding, unfolding, and recycling system, which achieves the following technical effects: 1. By adopting a resistance isolation device, the recovery process is transformed from an unstable overall drive to a smooth step-by-step drive, fundamentally solving the problems of slackness, shaking, and collision when the flexible traction system recovers multiple sets of chain frames, thus ensuring the safety and reliability of the recovery process.

[0020] 2. By employing a dual traction device and combining it with a force sensor for closed-loop feedback control, the flexible drive component is kept taut throughout the entire process of deployment, retraction, and stationary motion, achieving smooth and precise motion control similar to that of a rigid transmission.

[0021] 3. By integrating multiple mechanical protection measures such as deployment and retraction limits, retraction buffer, and automatic locking, it effectively prevents structural damage in case of misoperation or accidents, and significantly improves the service life of the system and its safety under various working conditions. Attached Figure Description

[0022] Figure 1 This is a schematic diagram of the overall structure of the multi-chain frame folding, unfolding and retraction system proposed in this application in the unfolded state.

[0023] Figure 2 This is a schematic diagram of the main frame structure of a multi-chain frame folding, unfolding, and recycling system proposed in this application.

[0024] Figure 3 yes Figure 2 Enlarged diagrams of points A and B in the middle.

[0025] Figure 4 This is a schematic diagram of the front end of the multi-chain frame folding, unfolding and retraction system proposed in this application in the unfolded state.

[0026] Figure 5 This is a schematic diagram of the top limiting component in a multi-chain frame folding, unfolding, and retraction system proposed in this application.

[0027] Figure 6 This is a schematic diagram of the bottom limiting component in a multi-chain frame folding, unfolding, and retraction system proposed in this application.

[0028] Figure 7 This is a schematic diagram of the rear end of the multi-chain frame folding, unfolding, and retraction system proposed in this application in the unfolded state.

[0029] Figure 8 yes Figure 7 Enlarged diagram of point C in the middle.

[0030] Figure 9 This is a schematic diagram of the structure of the rear bottom surface of the multi-chain frame folding, unfolding and retraction system proposed in this application in the unfolded state.

[0031] Figure 10 yes Figure 9 Enlarged diagram of point D in the middle.

[0032] Figure 11 This is a schematic diagram of the overall structure of the multi-chain frame folding, unfolding and recycling system proposed in this application in the recycling state.

[0033] Figure 12 for Figure 11 Enlarged diagram of point E in the middle.

[0034] Figure 13 This is a schematic diagram of the structure of the chain frame in the recovered state in a multi-set chain frame folding, unfolding and recycling system proposed in this application.

[0035] Figure 14 This is a schematic diagram of the bottom surface of the chain frame in the retracted state in a multi-chain frame folding, unfolding, and recycling system proposed in this application.

[0036] Figure 15 This is a simplified diagram of the stress state during the tensioning stage of a multi-chain frame folding, unfolding, and retraction system proposed in this application.

[0037] Figure 16 This is a simplified diagram of the force distribution during the unfolding phase of a multi-chain frame folding, unfolding, and retraction system proposed in this application.

[0038] Figure 17 This is a simplified diagram of the stress conditions during the recovery phase of a multi-chain frame folding, unfolding, and recovery system proposed in this application.

[0039] Figure 18 This is a flowchart illustrating the control system of a multi-chain frame folding, unfolding, and retraction system proposed in this application.

[0040] Explanation of reference numerals in the attached figures: 1. Main frame; 11. Track; 111. First support plate; 12. Retraction limiter; 121. Buffer component; 13. Fixing rod; 14. Locking device; 141. Rotating shaft; 142. Locking element; 1421. Extension; 1422. Hand grip; 15. Support; 16. Support frame; 161. Second support plate; 17. Fixed pulley; 171. First fixed pulley; 172. Second fixed pulley; 2. Chain-like frame; 21. Frame; 22. Bearing structure; 23. Top limiting assembly; 231. First top component; 2311. First connecting plate; 2312. First limiting shaft hole; 232. Second top component; 2321. First limiting plate; 233. First limiting shaft; 234. First pin fixing member; 24. Bottom limiting assembly; 241. First bottom component; 2411. Second connecting plate; 242. Second bottom component; 2421. Second limiting plate; 243. Pulley; 244. Second limiting shaft; 245. Second limiting hole; 246. Second pin fixing member; 25. Right-angle positioning notch; 3. Flexible drive components; 4. Drive structure; 41. Main traction device; 411. Main variable frequency motor; 412. Main reducer; 413. Main roller; 42. Auxiliary traction device; 421. Auxiliary variable frequency motor; 422. Auxiliary reducer; 423. Auxiliary roller; 43. Force sensor; 44. Control system; 45. Length encoder; 5. Resistance isolation device; 51. Roller. Detailed Implementation

[0041] This application proposes a multi-chain-frame folding, unfolding, and retraction system to address three contradictory problems inherent in existing technologies applied to different environments, as follows: Firstly, there is a contradiction between the "lightweight" requirement for long-distance deployment and the transmission solution: mobile solar arrays need to be easy to handle manually or transport by vehicle, so there are strict limitations on the weight of the transmission system; however, existing rigid transmission systems such as gear and rack structures can ensure tension stability, but the overall weight is too large and it is difficult to meet the portability requirements of long-distance deployment; while conventional flexible traction systems are relatively lightweight, they are prone to tension attenuation during long-distance traction, which causes the frame posture to shift after the array is deployed, and cannot meet the basic requirements for horizontal laying of photovoltaic panels. Secondly, there is a contradiction between the "tension stability" requirement for dynamic deployment and retrieval and complex working conditions: When deployed in the field, gusts of wind and uneven ground causing equipment vibration are frequent occurrences. During dynamic deployment or retrieval, the transmission system needs to maintain stable tension to avoid frame collisions. However, the existing flexible traction system lacks an effective tension adjustment mechanism and is easily affected by external interference, resulting in slack or excessive tightness, or even tangling of the traction components. While the rigid transmission system has a strong resistance to disturbances, it is prone to collisions when multiple frames are deployed due to the large impact at startup, which may damage the photovoltaic panel structure. Third, there is a contradiction between the "disturbance resistance" requirement in complex field environments and the reliability of equipment: solar arrays need to work in the field for a long time, facing complex conditions such as large temperature differences and sand and dust erosion. This requires the transmission system to have strong environmental adaptability. However, existing flexible traction components, such as conventional ropes, are prone to aging and breakage under sand and dust wear, resulting in a short service life. Meanwhile, the lubrication components of rigid transmission systems are prone to failure at low temperatures, leading to start-up failures. Neither of these can meet the requirements of long-term reliable operation of equipment in field scenarios.

[0042] To resolve the aforementioned contradictions, this embodiment employs a multi-set chain-frame folding, unfolding, and retraction system, combined with an attached... Figure 1-18 Further details.

[0043] A multi-chain frame folding, unfolding, and retraction system includes a main frame 1 as a base, multiple sets of chain frames 2 movably mounted on the main frame 1, a flexible drive member 3 extending through the multiple sets of chain frames 2 along its length, a drive structure 4 for pulling the flexible drive member 3, and multiple resistance isolation devices 5 corresponding to each chain frame 2.

[0044] In this embodiment, the main frame 1 is a frame structure, which is the base and guide mechanism of the entire system. The main frame 1 includes two parallel tracks 11, a retraction limiter 12, a fixing rod 13, a locking device 14, a support 15, a support frame 16, and a fixed pulley 17.

[0045] Specifically, two parallel tracks 11 are set on the bottom surface inside the main frame 1. The width of the track 11 is less than or equal to the width of the chain frame 2. The track 11 extends outward from the inside of the main frame 1 to the very end of the system away from the main frame 1, providing a guiding path for the unfolding and retraction of the chain frame 2. The track 11 can be a guide rail or a chute. A first support plate 111 is set on the track 11 at the very end of the system. The bottom of the track 11 is stably fixed to the ground by connecting multiple sets of supports 15.

[0046] Specifically, in this embodiment, there are preferably two recovery limiters 12. Each recovery limiter 12 includes a buffer component 121, which can be a spring, a hydraulic rod, or a highly elastic rubber block. In this embodiment, a spring is preferred. When the chain frame 2 is recovered into the main frame 1, the recovery limiter 12 is used to squeeze the buffer component 121, and the buffer component 121 provides flexible buffering for the chain frame 2, so as to avoid a rigid impact between the chain frame 2 and the main frame 1.

[0047] Specifically, the fixing rod 13 is located on the side along the length of the main frame 1, and a shaft hole is provided on the fixing rod 13. A set of locking devices 14 is provided at the retraction positions of the first and last sets of chain frames 2. Each locking device 14 includes a rotating shaft 141 and a locking member 142 that can rotate around the rotating shaft 141. The rotating shaft 141 passes through the shaft hole on the fixing rod 13 and is rotatably connected to the fixing rod 13. The lower end of the locking member 142 forms an extension 1421, which in this embodiment is sickle-shaped. A handle 1422 is also provided at the upper end of the locking member 142, allowing the operator to grip the handle 1422 and rotate the locking member 142 up and down via the rotating shaft 141.

[0048] Specifically, the support frame 16 is located on the top surface inside the main frame 1, and a second support plate 161 is provided at one end of it. The fixed pulley 17 includes a first fixed pulley 171 and a second fixed pulley 172. The first fixed pulley 171 is provided at the other end of the support frame 16, while the second fixed pulley 172 is provided on the main frame 1 directly below the first fixed pulley 171.

[0049] More specifically, the two recovery limiters 12 are respectively set on the left and right sides of the second fixed pulley 172.

[0050] In this embodiment, multiple sets of chain-like frames 2 are hinged sequentially to form a long chain structure for supporting solar panels or other functional modules. Each set of chain-like frames 2 specifically includes a frame 21, a support structure 22, a top limiting component 23, a bottom limiting component 24, and a right-angle positioning notch 25. The frame 21 is preferably a rectangular frame for mounting the support structure 22. In this embodiment, the support structure 22 is preferably a solar panel.

[0051] Specifically, the top limiting component 23 is used to connect the tops of two adjacent side frames 21 on each group of chain frames 2 and limit their maximum unfolding angle. Specifically, this component includes a first top part 231, a second top part 232, a first limiting shaft 233, and a first pin fastener 234. The first top part 231 includes two first connecting plates 2311, each with a first limiting shaft hole 2312, through which the first limiting shaft 233 passes for fixation. The second top part 232 includes a first limiting plate 2321, which is installed inside the first connecting plate 2311 and concentrically fixed to it by the first pin fastener 234. When each group of chain frames 2 unfolds to the point where adjacent top limiting components 23 abut against each other, the maximum unfolding angle is limited.

[0052] Furthermore, when a set of chain frames 2 is retracted into the main frame 1, the top limiting component 23 at its top first contacts the extension 1421 of the locking member 142, then lifts the entire locking member 142 upwards. After the set of chain frames 2 enters the main frame 1, the locking member 142 falls back under its own gravity. Each time a set of chain frames 2 is retracted, the locking member 142 undergoes a lifting and lowering motion until the entire chain frame 2 is completely retracted into the main frame 1. At this time, the sickle-shaped extension 1421 automatically locks the entire chain frame 2, preventing it from accidentally sliding out during transportation or storage. When it is necessary to unfold the locked chain frame 2, simply lift the handle 1422 on the locking member 142 so that the extension 1421 is above the top limiting component 23 to release the lock and unfold the chain frame 2.

[0053] Specifically, the bottom limiting component 24 is used to connect the bottoms of two adjacent chain frames 2 and limit their minimum retraction angle. Its structure is similar to the top limiting component 23, including two second connecting plates 2411, two second limiting plates 2421, a second limiting shaft 244, a second limiting hole 245, and a second pin fixing member 246. The two second connecting plates 2411 together constitute the first bottom component 241, and the two second limiting plates 2421 together constitute the second bottom component 242. Unlike the top limiting component 23, the bottom limiting component 24 also has a pulley 243 coaxially arranged between the two second limiting plates 2421. This pulley 243 is used to support the entire chain frame 2 to slide smoothly on the track 11.

[0054] More specifically, based on the core requirement of the chain frame 2 in photovoltaic applications, namely maximizing solar energy capture efficiency, this invention mechanically limits the unfolding and retraction angles of the chain frame 2. The specific angle values ​​are optimized after comprehensively considering key factors such as the latitude and longitude of the deployment location, seasonal climate, sunshine duration, and the direct angle of sunlight.

[0055] To adapt to the solar trajectory in a specific region, the maximum and normal unfolding angles of the chain frame 2 are designed to be 130-160 degrees, preferably 150 degrees in this embodiment. This ensures that when fully unfolded, the entire chain frame 2 does not form a pure 180-degree plane, but rather a shallow "V" shape or zigzag shape with a specific angle. This design allows some solar panels to receive closer vertical sunlight for a longer period of the day, especially in the morning and evening when the solar altitude angle is low, thereby increasing the total power generation throughout the day. Achieving this angle relies on the top limiting component 23. When the chain frame 2 unfolds, the first limiting plates 2321 installed on the two adjacent frame sides 21 rotate accordingly. When the angle between the two frame sides reaches 150 degrees, the end faces of the two first limiting plates 2321 abut against each other, forming a rigid limit, thus locking the entire chain frame 2 in the optimal power generation posture.

[0056] To achieve the most compact storage and transportation, the minimum retraction angle of the chain frame 2 is preferably designed to be 0 degrees. This means that the two adjacent frame edges 21 can fit together completely parallel, minimizing the storage volume. This limiting is achieved by the bottom limiting component 24. During the retraction process, the second limiting plates 2421 installed on the two frame edges 21 move closer to each other. When the retraction angle reaches 0 degrees, the end faces of the two second limiting plates 2421 abut against each other, preventing further retraction and thus ensuring a neat and compact storage posture.

[0057] Furthermore, considering the significant differences in solar altitude angles across different regions and seasons globally, the limiting device of this invention can be randomly changed. Users can replace the first limiting plate 2321 and the second limiting plate 2421 with different contact surface angles according to the specific deployment location, thereby adjusting the unfolding angle of the entire chain frame 2. This allows the invention to be configured to its theoretically optimal solar energy capture angle in any location and any season, maximizing its efficiency.

[0058] More specifically, all connecting plates and limiting plates constituting the top limiting assembly 23 and the bottom limiting assembly 24 have right-angle positioning notches 25 for welding positioning. Since the non-right-angled sides of the plates are difficult to provide a precise welding positioning reference, by setting the right-angle positioning notch 25, a special positioning fixture can be used for precise positioning, and then the fixture is fixed to the frame 21 for welding, ensuring the consistency of the unfolding angle and welding position of each chain frame 2 and reducing cumulative error.

[0059] In this embodiment, the flexible drive component 3 is preferably a high-strength, low-elongation steel wire rope to ensure that its deformation is minimal when transmitting large traction forces, thus ensuring control accuracy.

[0060] In this embodiment, the drive structure 4 is the power source and control center of the entire system, including a main traction device 41 and an auxiliary traction device 42. The main traction device 41 is installed on the second support plate 161 of the main frame 1 and includes a main variable frequency motor 411, a main reducer 412 and a main roller 413. The auxiliary traction device 42 is installed on the first support plate 111 of the system's farthest track 11, which is away from the main frame 1, and includes an auxiliary variable frequency motor 421, an auxiliary reducer 422 and an auxiliary roller 423.

[0061] Specifically, one end of the flexible drive member 3 is connected to the main roller 413 installed on the main traction device 41. After being led out from the main traction device 41, it passes through the first fixed pulley 171 and the second fixed pulley 172 set on the main frame 1 in sequence, changing the extension direction of the flexible drive member 3 from left to right to achieve extension along the entire length of the chain frame 2. Finally, the other end of the flexible drive member 3 is connected to the auxiliary roller 423 installed on the auxiliary traction device 42.

[0062] More specifically, both the main traction device 41 and the auxiliary traction device 42 are equipped with force sensors 43 to sense the tension of the flexible drive member 3 in real time. The flexible drive member 3 is wound around the main roller 413 and the auxiliary roller 423, generating a vertical pressure on the rollers and their internal structure. In this embodiment, the force sensor 43 is preferably located inside the main roller 413 and the auxiliary roller 423. When the flexible drive member 3 is tensioned, the force sensor 43 senses the pressure exerted by the flexible drive member 3 on the rollers and their internal structure; as the tension changes, the pressure sensed by the sensor also changes.

[0063] More specifically, the drive structure 4 also includes a control system 44, which is electrically connected to the main variable frequency motor 411, the auxiliary variable frequency motor 421, and the force sensor 43. The force sensor 43 transmits the sensed pressure signal to the control system 44, and the control system controls the output power of the main variable frequency motor 411 and the auxiliary variable frequency motor 421 according to the received tension change of the flexible drive member 3.

[0064] In addition, the control system 44 also receives signals from the length encoder 45 located at the auxiliary traction device 42, for calculating the length of release and winding of the flexible drive member 3 by the main roller 413 and the auxiliary roller 423.

[0065] In this embodiment, resistance isolation devices 5 are correspondingly arranged on each set of chain frames 2. Specifically, the device includes two parallel rollers 51. When the chain frame 2 is in the deployed position, the flexible drive member 3 passes around the two rollers 51 in an S-shaped path, generating huge frictional resistance to form a locking force. At this time, the resistance isolation device 5 is in a locked state, thus blocking the transmission of traction force. When the chain frame 2 is in the retracted position, the relative position of the two rollers 51 changes, causing the flexible drive member 3 to pass between the rollers 51 in an approximately straight path with minimal frictional resistance. At this time, the resistance isolation device 5 is in a sliding state, allowing the traction force to pass through without loss.

[0066] Specifically, in this embodiment, the locking state does not refer to applying 100% absolute static friction force to the flexible drive member 3. Its functional meaning is that the frictional resistance applied to the flexible drive member 3 by the resistance isolation device 5 in this state is sufficient to overcome the sum of static friction and inertial forces of all subsequent chain frames 2 during the recovery process. This effectively isolates the traction force applied by the drive structure 4, ensuring that it primarily acts on the current set of chain frames 2 without causing unintended movement of subsequent chain frames 2. Here, the frictional resistance is the locking force.

[0067] The sliding state refers to the state in which, when a set of chain frames 2 are in a fully retracted state, the resistance applied by the resistance isolation device 5 to the flexible drive member 3 is significantly reduced, so that the traction force applied by the drive structure 4 can be transmitted to the next chain frame 2 to be retracted with negligible loss, thereby effectively driving the subsequent chain frame 2 to start retraction.

[0068] In other words, the criteria for determining the two states are functional, rather than absolute physical values.

[0069] More specifically, the resistance isolation device 5 in this embodiment consists of two rollers 51, and the locking force generated is sufficient to meet the needs of conventional length systems. For applications with special requirements such as extra-long or extra-heavy lengths, the resistance isolation device 5 of the present invention can also be configured to include three or more rollers 51, allowing the flexible drive element 3 to form a "double S" or more complex bypass path, thereby exponentially increasing the locking friction. In addition, the spacing, diameter, and surface material (e.g., a high-friction coefficient coating) of the rollers 51 are all adjustable parameters. Therefore, those skilled in the art can design and adapt the locking force according to specific application requirements, such as the total number of chain frames 2, the weight of a single set, etc., by simply adjusting or increasing the number of rollers 51.

[0070] This application provides a working principle and control method for a multi-chain frame folding, unfolding, and retraction system, as follows: During the tensioning phase, refer to Figure 15The control system 44 first commands the main traction device 41 and the auxiliary traction device 42 to simultaneously apply opposite initial forces. Through feedback from the force sensor 43, a preset initial tension force F is applied to the flexible drive member 3. 张紧1 This ensures that it remains under tension throughout the entire system; Upon receiving the deployment command, the control system 44 sets the variable frequency motor of the auxiliary traction device 42 to torque mode as the driving force source, and the main traction device 41 as the tensioning force source. The auxiliary traction device 42 begins to wind up the rope. Since all resistance isolation devices 5 are in a low-resistance sliding state, the traction force is transmitted to all chain frames 2 without obstruction. At this time, the deployment driving force F provided by the auxiliary traction device 42... 驱1 >f 滑动 +F 张紧1 This drives it to unfold synchronously as a whole, where f 滑动 This refers to the sliding friction force generated when pulley 243 slides on track 11; During the unfolding process, refer to Figure 16 As the chain-like frame 2 unfolds, the resistance isolation device 5 on it changes from a sliding state to a locked state. Each time a set of chain-like frames 2 unfolds, the system increases the locking force f. 锁止 The force sensor 43 feeds back the increased tension signal to the control system 44, which then instructs the variable frequency motor of the auxiliary traction device 42 to increase its output torque to overcome the increased tension. 锁止 Maintain a smooth unfolding process until all chain-like frames 2 are fully unfolded, at which point F 驱1 >f 滑动 +F 张紧1 +nf 锁止 , where n is the number of chains in the chain frame 2 and n is a positive integer. Simultaneously, the line-laying speed of the main traction device 41 is strictly synchronized with the line-retrieving speed of the auxiliary traction device 42, i.e., V 放线 =V 收线 Ensure that the flexible drive component 3 is tensioned throughout the entire process; Upon receiving the recycling instruction, refer to Figure 17 The control system 44 sets the variable frequency motor of the main traction device 41 to speed output mode as the driving force source, and the auxiliary traction device 42 as the tensioning force source. The main traction device 41 starts to wind up the rope at a constant speed V1 and torque, generating a constant recovery driving force F. 驱2 During the recovery process, although the auxiliary traction device 42 is the tension source, its auxiliary variable frequency motor 421 is also in the rope winding torque mode, generating a reverse tension force F. 张紧2 At this time, F 驱2 =nf 锁止 +f 滑动 +F 张紧2At the start of the recovery operation, all resistance isolation devices 5 are in a high-resistance locked state. Recovery driving force F 驱2 The system is isolated at each stage, initially acting only on the first set of chain-like frames 2 at the very front, driving the entire set towards the main frame 1. When its bottom pulley 243 encounters the retraction limiter 12, its forward movement is hindered, and the subsequent pulling force causes the first set of chain-like frames 2 to bulge upwards and retract. Once the first set of chain-like frames 2 has completed retraction, the resistance isolation device 5 on it switches to a sliding state, and the driving force F... 驱2 The pathway is opened and transmitted to the second set of chain frames 2. The above process is repeated, thereby realizing the orderly and step-by-step recycling of the entire chain frames 2. Each time a set of chain frames 2 is recycled, the pulley 243 at its bottom becomes the new limiting point of the next set of chain frames 2. As the chain frame 2 is retracted step by step, the resistance isolation devices 5 on it also switch to a sliding state one by one, and the locking force gradually decreases. Due to F 驱2 =nf 锁止 +f 滑动 +F 张紧2 nf 锁止 Decrease, following the law of conservation of force, F 张紧2 The output torque of the auxiliary traction device 42 gradually increases to maintain a constant tension. Furthermore, at the moment of transition during the step-by-step recovery, such as when the second set of chain frames 2 is about to be recovered, the inertia of the entire system may cause an impact. At this time, the auxiliary traction device 42 located at the far end in this invention always applies a constant reverse tension force. This force acts as a "dynamic brake" and "shock absorber," effectively absorbing and suppressing the tendency of the subsequent chain frames 2 to rush forward due to inertia, ensuring that the second set of chain frames 2 can contact the limit point and begin recovery in a relatively stable state. Also, unlike the "step-by-step recovery" of the recovery process, the deployment process of this system is "synchronous." This is because in the initial recovery state, all the resistance isolation devices 5 are in a low-resistance sliding state. Therefore, when the auxiliary traction device 42 applies the deployment driving force, the force can be transmitted to each set of chain frames 2 along the flexible drive member 3 with almost no loss, so that all the chain frames 2 are like a rigid whole, synchronously sliding and deploying towards the far end on the track 11. Furthermore, the control system 44 acquires the winding length L in real time through the length encoder 45, and combines it with the motor speed information to calculate the dynamic radius R of the main roller 413 and the auxiliary roller 423 in real time using the formula R≈V÷S (where R is the winding radius, V is the linear velocity, and S is the angular velocity). Based on this dynamic radius, the control system can accurately calculate the motor output torque T (T=F×R) required to maintain a constant tension F, thereby achieving real-time dynamic closed-loop control of the tension of the flexible drive component 3, ensuring that the system maintains tension balance and operates smoothly throughout the entire dynamic process.

[0071] The above are all preferred embodiments of this application, and are not intended to limit the scope of protection of this application. Therefore, all equivalent changes made in accordance with the structure, shape and principle of this application should be covered within the scope of protection of this application.

Claims

1. A multi-group chain-like frame folding and unfolding and recycling system characterized by, The utility model relates to a kind of flexible chain frame, including: Main body frame (1); Multiple groups of chain frames (2) connected in turn, the multiple groups of chain frames (2) movably arranged on the main body frame (1), and adapted to convert between the overall unfolded posture and the posture of step-by-step recovery storage; Flexible drive (3), the flexible drive (3) is along length direction and passes through multiple groups of chain frames (2); Drive structure (4), connected to the flexible drive (3) and be configured to apply traction to the flexible drive (3); And Multiple resistance isolation devices (5), the resistance isolation devices (5) are one-to-one and are arranged on the chain frame (2) and are transmission connection with the flexible drive (3), each resistance isolation device (5) is linked with a corresponding chain frame (2), the resistance isolation device (5) is configured to switch between locking state and sliding state: In locking state, in response to the chain frame (2) is in unfolded posture, the resistance isolation device (5) applies a locking force to the flexible drive (3), to block traction to subsequent chain frame (2) to make chain frame (2) step-by-step recovery; In sliding state, in response to the chain frame (2) is in recovery posture, the resistance isolation device (5) removes the locking force to the flexible drive (3), to allow traction to subsequent chain frame (2) to make chain frame (2) step-by-step recovery.

2. A multi-group chain-like frame folding, unfolding and recovering system according to claim 1, characterized in that, The resistance isolation device (5) includes at least two mutually parallel roller shafts (51), the flexible drive (3) is around the roller shaft (51) with S-shaped path generates frictional resistance to realize locking force, the flexible drive (3) is around the roller shaft (51) with approximately straight path to reduce frictional resistance to remove the locking force.

3. A multi-group chain-like frame folding, unfolding and recovering system according to claim 1, characterized in that, The drive structure (4) further includes main traction device (41), auxiliary traction device (42), force sensor (43) and control system (44), the main traction device (41) and the auxiliary traction device (42) are connected with the two ends of the flexible drive (3) respectively, the force sensor (43) is arranged in the main traction device (41) and auxiliary traction device (42) respectively, the force sensor (43) is configured to sense the tension of the flexible drive (3), the control system (44) is configured to control another traction device to apply counter-directional tension when any traction device is as driving force source, to maintain the tight state of the flexible drive (3) in full stroke.

4. A multi-group chain-like frame folding, unfolding and recovering system according to claim 3, characterized in that, The control system (44) is configured to: When multiple groups of chain frames (2) are unfolded, control the auxiliary traction device (42) as driving force source, while control the main traction device (41) as tension source; When multiple groups of chain frames (2) are recovered, control the main traction device (41) as driving force source, while control the auxiliary traction device (42) as tension source.

5. A multi-group chain-like frame folding, unfolding and recovering system according to claim 1, characterized in that, The chain-shaped frame (2) comprises a frame (21) and a bearing structure (22) arranged in the frame (21), and each group of chain-shaped frames (2) is respectively provided with a top limiting assembly (23) and a bottom limiting assembly (24), the top limiting assembly (23) comprises a first top part (231) and a second top part (232) matched with each other, the first top part (231) and the second top part (232) are respectively connected to two frames (21) in each group of chain-shaped frames (2), and are used for abutting against each other to realize limiting when the frame (21) reaches a maximum unfolding angle; the bottom limiting assembly (24) comprises a first bottom part (241) and a second bottom part (242) matched with each other, the first bottom part (241) and the second bottom part (242) are respectively connected to two frames (21) in each group of chain-shaped frames (2), and are used for abutting against each other to realize limiting when the chain-shaped frame (2) reaches a minimum recovery angle.

6. A multi-group chain-like frame folding, unfolding and recovering system according to claim 5, characterized in that, The bottom limiting assembly (24) further comprises a pulley (243), the pulley (243) is arranged between the two limiting plates, the main frame (1) comprises two parallel arranged tracks (11), and the pulley (243) is configured to bear multiple groups of chain-shaped frames (2) to slide on the track (11).

7. A multi-group chain-like frame folding, unfolding and recovering system according to claim 1, characterized in that, The main frame (1) is provided with a plurality of recovery limiters (12), the recovery limiters (12) comprise a buffer part (121) arranged at the upper end thereof, and the buffer part (121) is configured to buffer and limit the chain-shaped frame (2) during recovery.

8. A multi-group chain-like frame folding, unfolding and recovering system according to claim 7, characterized in that, The main frame (1) is further provided with a fixing rod (13) and a plurality of locking devices (14), the fixing rod (13) is provided with an axle hole, the locking device (14) comprises a rotating shaft (141) and a locking piece (142) rotatable about the rotating shaft (141), the rotating shaft (141) is rotatably connected to the fixing rod (13) through the axle hole, and the lower end of the locking piece (142) is provided with an extension part (1421) abutting against the chain-shaped frame (2), the locking device (14) is configured to abut and push the extension part (1421) during recovery of the chain-shaped frame (2), so that the locking piece (142) rotates from a locking position to a release position; after the chain-shaped frame (2) passes the extension part (1421), the locking piece (142) automatically rotates to the locking position under the action of gravity to block the chain-shaped frame (2).

9. A control method for driving a plurality of sets of chain-like frames to be deployed and retracted, applied to the system according to any one of claims 1 to 8, characterized in that, The following steps are included: The force sensor (43) in the system is used to sense the tension of the flexible driving part (3), the driving structure (4) is started, and the initial tension of the flexible driving part (3) is applied to make it in a tense state; In response to the unfolding instruction, the driving structure (4) outputs an unfolding driving force to drive multiple groups of chain-shaped frames (2) to unfold synchronously; The response recovery instruction is output by the driving structure (4) to output a recovery driving force, and the resistance isolation device (5) provided on each chain-shaped frame (2) is used to realize step-by-step recovery, which includes that the recovery driving force is first applied to a group of chain-shaped frames (2) closest to the main body frame (1) to drive the recovery of the chain-shaped frames (2); When the chain-shaped frame (2) is switched from the unfolded posture to the recovery state, the resistance isolation device (5) thereon is switched from the locked state to the sliding state, so that the recovery driving force is transmitted to the next chain-shaped frame (2) to be recovered, so that the chain-shaped frame (2) starts to fold, and the process is repeated until all the chain-shaped frames (2) are recovered.

10. The control method for driving a plurality of chain frames to be deployed and retracted according to claim 9, wherein The method further comprises: The tension of the flexible driving member (3) is sensed in real time by a force sensor (43), and the driving force or the tensioning force of the driving structure (4) is dynamically adjusted according to the deviation of the sensed tension value from the preset tension value, so that the multiple groups of chain-shaped frames (2) move at a constant speed on the guide rail in the unfolded or recovered state.

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