A link unit

Abstract

The application relates to the chain transmission technical field and provides a link unit, which comprises a first chain link and a second chain link, the first chain link and the second chain link are movably connected, the first chain link is provided with a first matching part, the second chain link is provided with a second matching part, the unit further comprises a first connecting piece, the first connecting piece is detachably and fixedly connected with the first matching part and the second matching part, the unit further comprises a first deployer, a guide structure is arranged in the first deployer, when the link unit is in a first state, the first connecting piece is fixedly connected with the first matching part and the second matching part through the guide structure, and the first chain link and the second chain link are locked; when the link unit is in a second state, the first connecting piece is fixedly connected with the second matching part through the guide structure, and the first chain link and the second chain link are unlocked; the link unit can reliably switch the rigid state and the flexible state, the deployment convenience is improved, the failure rate is reduced, and the structural strength after deployment is ensured.

Description

Technical Field

[0001] This application relates to the field of chain drive technology, and more particularly to a linking unit. Background Technology

[0002] A retractable rigid structure device is a mechanical structure device that can be deployed as a rigid structure or folded for storage. It is commonly used in mechanical transmission, support, and execution scenarios, combining the dual functions of rigid load-bearing, push-pull and flexible folding storage, and adapting to different spaces and working conditions.

[0003] The existing mechanisms mainly include sleeve type, scissor type, and chain segment type, which respectively achieve the conversion between telescopic and rigidity through sleeve nesting, scissor hinge, and chain link locking.

[0004] However, existing retractable rigid structure devices have at least the following technical problems: the sleeve type has limited storage volume and unfolded length, and requires an additional transmission system; the scissor type occupies a large lateral space and has weak resistance to lateral forces; the chain segment type is prone to jamming due to misalignment and limited bolt stroke, making it difficult to achieve both low failure rate and high reliability.

[0005] Therefore, improving the reliability of scalable rigid structure devices in switching between rigid and flexible states, increasing the ease of deployment, reducing the failure rate, and ensuring the structural strength after deployment have become urgent problems to be solved. Utility Model Content

[0006] In view of this, the main objective of this application is to provide a linking unit that aims to at least solve the aforementioned technical problems.

[0007] To achieve the above objectives, in a first aspect, this application provides a linking unit, including a first link and a second link, which are movably connected; the first link is provided with a first mating portion, and the second link is provided with a second mating portion; it also includes a first connector, the connecting portion of which is adapted to the first mating portion and the second mating portion respectively; and a first deployer, which has a guide structure disposed therein; in a first state, the first connector is fixedly connected to the first mating portion and the second mating portion respectively through the guide structure, and the first link and the second link are locked; in a second state, the first connector is fixedly connected to the second mating portion through the guide structure, and the first link and the second link are unlocked; or, In the first state, the first mating part and the second mating part are fixedly connected to the first connector through the guide structure, and the first link and the second link are locked; in the second state, the first mating part or the second mating part is fixedly connected to the first connector through the guide structure, and the first link and the second link are unlocked.

[0008] Optionally, the first connector is provided with a guide portion, and the shape of the guide structure is adapted to the shape of the guide portion; the first connector is a bolt, and the first mating portion and the second mating portion are nuts; The guide structure is threaded, and the helix angle and lead of the guide structure are consistent with the first connector. In the first state, the first connector is screwed into the first mating part and the second mating part to form a fixed connection through the cooperation of the guide structure and the guide part. In the second state, the first connector is screwed out of the second mating part through the cooperation of the guide structure and the guide part.

[0009] Optionally, the first connector is a bolt, and the first mating part and the second mating part are nuts; the first mating part and / or the second mating part are provided with guide parts, and the shape of the guide structure is adapted to the shape of the guide parts. The guide structure is threaded, and the helix angle and lead of the guide structure are consistent with the first mating part and / or the second mating part; in the first state, the first mating part and the second mating part are screwed into the first connector; in the second state, the first mating part or the second mating part is screwed out of the connector through the guide groove.

[0010] Optionally, a link unit includes a first link and a second link, which are movably connected; a first nut is provided on the outer side of the first link, and a second nut is provided on the outer side of the second link; it also includes a first bolt, the bolt portion of which is threadedly engaged with the first nut and the second nut respectively; and it also includes a first deployer, which has a guide groove. In the first state, the first bolt is screwed into the first and second nuts through the guide groove, locking the first and second chain links, and the link unit has a rigid structure. In the second state, the first bolt is screwed out of the second nut through the guide groove, unlocking the first and second chain links, and the link unit has a flexible structure. The first bolt is provided with a handle portion, and the shape of the guide groove is adapted to the shape of the handle portion. The guide groove is threaded, and the helix angle and lead of the guide groove are consistent with the first bolt.

[0011] Alternatively, in the first state, the first nut and the second nut are screwed into the first bolt through the guide groove, locking the first and second chain links, and the link unit has a rigid structure; in the second state, the first nut or the second nut is screwed out of the first bolt through the guide groove, unlocking the first and second chain links, and the link unit has a flexible structure; the first nut and / or the second nut are provided with a handle portion, and the shape of the guide groove is adapted to the shape of the handle portion; the guide groove is threaded, and the helix angle and lead of the guide groove are consistent with the first nut and / or the second nut.

[0012] In the technical solution provided in this application, the linking unit forms a rotatable chain structure through a movable connection method (such as mutual hinge). The guide part (such as the handle part) provides directional power for thread engagement. The guide part (such as the handle part) is guided and driven by the guide structure of the first deployer, thereby driving the first connector to screw into or out of the second mating part, completing the locking or unlocking of the first and second chain links, thus realizing the switching of the chain structure formed by the overall linking unit between a flexible state and a rigid state. The guide part, the first mating part, the second mating part and the first deployer cooperate to achieve automatic thread alignment and engagement without manual intervention. The failure rate of state switching between adjacent chain links is reduced and the reliability of switching is improved. It solves the technical problems of easy misalignment of threads and restricted jamming of bolts in existing bolt-locking mechanisms, resulting in low deployment reliability. Secondly, when the overall chain structure is in a rigid state, the cooperation between the connector and the mating part forms a stable force transmission path, which is stronger in tensile and shear resistance than the single-point connection mechanism and can withstand greater loads. When the overall chain structure is in a flexible state, the chain links can be freely folded around the hinge axis, resulting in a small storage volume and suitability for small space storage.

[0013] The shape of the guide structure matches the shape of the guide part, directly limiting the rotation and radial offset of the guide part within the guide structure. This prevents the guide part from detaching from the guide structure or from transmission instability, providing structural constraints for the stable transmission of driving force to the connector / fitting part. It ensures that the guide part can reliably drive the connector / fitting part to move synchronously when moving along the guide structure. At the same time, the guide structure is threaded with the same helix angle and lead as the connector. This allows the guide part to drive the connector's rotational angular velocity and axial movement speed synchronously with the threaded engagement of the connector and the fitting part. This avoids problems such as thread misalignment, jamming, or incomplete engagement caused by parameter mismatch. It ensures that the first connector can smoothly screw into the second fitting part and the first fitting part in the first state of the first deployer, achieving locking between the first and second chain links and making the link unit a rigid structure. In the second state, it can smoothly screw out of the second fitting part, releasing the hinge constraint of the chain link and making the link unit a flexible structure. Ultimately, it reliably achieves stable switching between the rigid and flexible states of the link unit.

[0014] Optionally, the first deployer is provided with a first link channel, the shape of which is adapted to the link unit; the guide structure is provided inside the first link channel, and a link guide wheel is also provided inside the first link channel; the linear velocity of the link guide wheel is the same as the axial movement speed of the guide part along the guide structure.

[0015] The first link channel is adapted to the shape of the link unit, which can directly limit the radial offset and sway of the link unit within the first deployer, ensuring that the link unit moves stably along the channel. At the same time, because the guide structure is located inside the channel, it can ensure that the guide part of the first connector is accurately aligned with and embedded in the guide structure, avoiding misalignment between the guide part and the guide structure that would prevent transmission failure. Secondly, the linear speed of the link guide wheel is consistent with the axial movement speed of the guide part along the guide structure, which can make the driving speed of the guide wheel on the link unit completely synchronized with the speed at which the guide part drives the connector along the guide structure, preventing problems such as link unit jamming, guide part detaching from the guide structure, or connector not being able to screw in or out due to speed mismatch.

[0016] Secondly, this application discloses a link unit, including a third link and a fourth link, which are movably connected; the third link is provided with a first magnetic module and a first magnetic bolt, and the fourth link is provided with a second magnetic module on its inner side; it also includes a second deployer, which is provided with a second link channel and a conductive component, the conductive component being disposed on the inner side of the second link channel; in the first state, the third link and the fourth link respectively enter the second link channel, the conductive component forms an electrical connection with the first magnetic module, the magnetic field direction of the first magnetic module changes and generates a repulsive force on the magnetic bolt, the first magnetic bolt slides to the second magnetic module, the third link and the fourth link are locked, and the link unit has a rigid structure; in the second state, the fourth link enters the second link channel, the conductive component forms an electrical connection with the second magnetic module, the magnetic field direction of the second magnetic module changes and generates a repulsive force on the first magnetic bolt, the first magnetic bolt slides to the first magnetic module, the third link and the fourth link are unlocked, and the link unit has a flexible structure.

[0017] In the technical solution provided in this application, by setting the polarity of the permanent magnet in the magnetic unit and changing the polarity of the electromagnet inside, the magnetic field direction of the electromagnet attracts and repels the first magnetic bolt. This allows the first magnetic bolt to slide in the gap between adjacent chain links by the attraction and repulsion of the magnetic poles, unlocking and locking its rotation axis (such as a hinge shaft), thereby achieving the switching between flexible and rigid states. This eliminates the need for the first magnetic bolt to contact the internal structure of the machine to generate friction, and the mating gap will not increase due to friction and wear, avoiding the switching jamming or failure problem caused by mechanical wear. This ensures the smoothness and reliability of the chain state switching, reducing wear failures compared to zipper mechanisms and solving the wear and jamming problems caused by friction in existing mechanical connection mechanisms. Secondly, when the link structure is in a rigid state, the first magnetic bolt passes through the gap between adjacent chain links and is jammed at the connection part (such as a hinge shaft) between the chain links, thereby restricting the rotation and lateral misalignment of the chain links. Its resistance to lateral forces is relatively high compared to a single-sided drive chain, further improving the smoothness and reliability of the chain switching.

[0018] Optionally, a third permanent magnet and a fourth permanent magnet are respectively provided at both ends of the first magnetic module, and a fifth permanent magnet and a sixth permanent magnet are respectively provided at both ends of the second magnetic module. The magnetic directions of the third and fifth permanent magnets are both in the direction of a first magnetic field, and the magnetic directions of the fourth and sixth permanent magnets are both in the direction of a second magnetic field. A first permanent magnet is provided at the end of the first magnetic bolt near the first magnetic module, and a second permanent magnet is provided at the end of the first magnetic bolt near the second magnetic module. The magnetic direction of the first permanent magnet is in the direction of the second magnetic field, and the magnetic direction of the second permanent magnet is in the direction of the first magnetic field. In the first state, the second permanent magnet is attracted by the fifth permanent magnet, causing the first magnetic bolt to slide to the end of the second magnetic module near the first magnetic module. In the second state, the first permanent magnet is attracted by the fourth permanent magnet, causing the first magnetic bolt to slide to the end of the first magnetic module near the second magnetic module.

[0019] By setting the polarities of the permanent magnets on the first magnetic module, the second magnetic module, and the first magnetic bolt accordingly, a stable driving basis is provided for the directional sliding of the first magnetic bolt, ensuring that the first magnetic bolt can move and be oriented by the attraction of the target permanent magnet under specific conditions; by driving the first magnetic bolt through polarity matching, it can be ensured that the first magnetic bolt can accurately move to the target position under different conditions, further improving the stability and reliability of the connection unit in switching between rigid and flexible structures.

[0020] Optionally, the first magnetic module contains a first electromagnet, and the second magnetic module contains a second electromagnet. The magnetic directions of the first and second electromagnets after energization are the same as the direction of the first magnetic field. The magnetic force of the fourth permanent magnet is lower than the magnetic force of the first electromagnet after energization, and the magnetic force of the fifth permanent magnet is lower than the magnetic force of the second electromagnet after energization. In the first state, the repulsive force of the first electromagnet on the first permanent magnet is greater than the attractive force of the fourth permanent magnet on the first permanent magnet, and the first magnetic bolt slides from the first magnetic module to the second magnetic module. In the second state, the repulsive force of the second electromagnet on the second permanent magnet is greater than the attractive force of the fifth permanent magnet on the second permanent magnet, and the first magnetic bolt slides from the second magnetic module to the first magnetic module.

[0021] By setting the magnetic directions of the first and second electromagnets after energization as the first magnetic field direction, and ensuring that the magnetic force of the fourth permanent magnet is lower than that of the first electromagnet and the magnetic force of the fifth permanent magnet is lower than that of the second electromagnet, the reliability and stability of the state switching of the first magnetic bolt are ensured. In the first state, the repulsive force of the first electromagnet on the first permanent magnet can stably exceed the attractive force of the fourth permanent magnet on the first permanent magnet, ensuring that the first magnetic bolt can overcome the original attractive force and smoothly slide from the first magnetic module to the second magnetic module, realizing the locking of the third and fourth links. In the second state, the repulsive force of the second electromagnet on the second permanent magnet can stably exceed the attractive force of the fifth permanent magnet on the second permanent magnet, ensuring that the first magnetic bolt can detach from the attraction of the second magnetic module, slide back to the first magnetic module, and release the link hinge lock. This relatively precise matching of magnetic force can avoid the problem of the first magnetic bolt being unable to move and the state switching failing due to excessive attractive force of the permanent magnet, ensuring that the first magnetic bolt can move accurately and stably to the target position in different states, thereby reliably realizing the switching of the link unit between rigid and flexible structures.

[0022] Optionally, the first electromagnet is provided with a first conductive contact, and the second electromagnet is provided with a second conductive contact; the conductive component includes a third conductive contact and a power supply electrically connected to the third conductive contact. The first and second conductive contacts are respectively adapted to the third conductive contact. In the first state, the first and third conductive contacts form an electrical connection, the polarity of the first electromagnet is in the direction of the first magnetic field to repel the first permanent magnet, and the first magnetic bolt moves to the end of the second magnetic module close to the first magnetic module, until the second permanent magnet is attracted by the fifth permanent magnet, and the first magnetic bolt restricts the movable connection between the third and fourth links. In the second state, the current direction of the third conductive contact changes, the second and third conductive contacts form an electrical connection, the polarity of the second magnetic module changes to the direction of the second magnetic field to repel the second permanent magnet, and the first magnetic bolt moves to the end of the first magnetic module close to the second magnetic module, until the first permanent magnet is attracted by the fourth permanent magnet.

[0023] The first and second conductive contacts are respectively matched with the third conductive contact to ensure accurate electrical connection of the link unit in different states, avoiding drive failure problems such as poor contact and inability of the electromagnet to be energized due to contact mismatch. In the first state, the first conductive contact is connected to the third conductive contact, energizing the first electromagnet. The repulsive force generated by its first magnetic field direction drives the first magnetic bolt to move. Finally, the second permanent magnet is attracted and limited by the fifth permanent magnet. The first magnetic bolt can reliably limit the rotation of the movable connection (such as the hinge) of the third and fourth links, realizing the locking of the third and fourth links. In the second state, the current direction of the third conductive contact changes, and the second conductive contact is connected, causing the polarity of the second electromagnet to change to the second magnetic field direction. The repulsive force generated drives the first magnetic bolt to move back. Finally, the first permanent magnet is attracted and limited by the fourth permanent magnet.

[0024] Thirdly, this application discloses a link unit, including a fifth link and a sixth link, which are movably connected; a female connector is provided in the fifth link, and a male connector is provided in the sixth link; it also includes a third deployer, which has a third link channel, and a male connector drive wheel set and a female connector drive wheel set are provided in the third link channel, with the male connector drive wheel set and the female connector drive wheel set rotating at different speeds; in the first state, the fifth link and the sixth link respectively enter the third link channel, and the male connector drive wheel set drives the male connector to embed into the female connector, locking the fifth link and the sixth link, and the link unit has a rigid structure; in the second state, the link unit switches the rotation direction of the drive wheel set, and the fifth link and the sixth link respectively enter the third link channel, and the male connector drive wheel set drives the male connector to pull out from the female connector, with the male connector and the female connector in a hinged state, unlocking the fifth link and the sixth link, and the link unit has a flexible structure.

[0025] In the technical solution provided in this application, the hinge between the fifth and sixth chain links is movable. Through the male and female connector drive wheel sets with different rotation speeds within the third deployer, the engagement and disengagement of the male and female connectors are achieved, providing relatively precise drive for the overall chain's rigid-flexible switching. When the third deployer is in the first state, the male connector drive wheel set can specifically drive the male connector to engage with the female connector, quickly locking the fifth and sixth chain links, allowing the link unit to stably switch to a rigid structure. In the second state, simply changing the rotation direction of the drive wheel set allows the male connector drive wheel set to pull the male connector out of the female connector, releasing the hinge constraint of the chain links and allowing the link unit to return to a flexible structure. By directionally driving the male connector through drive wheel sets with different rotation speeds, complex mechanical linkages are not required, which can directly ensure the precise engagement or disengagement of the male and female connectors, avoiding action deviations caused by manual operation or single-speed drive, and thus reliably achieving stable and rapid switching between the rigid and flexible states of the link unit.

[0026] Optionally, the male connector is provided with a first guide bracket, within which a locking short bar and a hinge short bar are provided, forming a first guide rail; the female connector is provided with a second guide bracket, with a latching element at one end of the second guide bracket near the sixth link, forming a second guide rail; the locking short bar and the latching element are adapted to each other; in the first state of the connecting unit, the hinge short bar slides along the second guide rail toward the fifth link until the locking short bar engages with the latching element; in the first state of the connecting unit, the locking short bar is pulled out from the latching element, and the hinge short bar slides along the first guide rail toward the sixth link, with the male and female connectors rotatably mounted around the hinge short bar.

[0027] In the technical solution provided in this application, the first guide bracket of the male connector and the second guide bracket of the female connector provide a directional sliding path for the hinge shaft short bar of the male connector through the first guide slide rail and the second guide slide rail, respectively, to prevent it from deviating during movement. At the same time, the matching design of the locking short bar and the fastening piece is the structural basis for the stable locking of the chain links. In the first state of the third deployer, the hinge shaft short bar slides along the second guide slide rail toward the fifth chain link, which can accurately guide the locking short bar to engage with the fastening piece, ensuring that the fifth and sixth chain links are reliably locked, and the link unit is stable and has a rigid structure. In the second state, after the locking short bar is pulled out from the fastening piece, the hinge shaft short bar slides along the first guide slide rail toward the sixth chain link, which can ensure that the male and female connectors return to a rotatable state with the hinge shaft short bar as the axis, releasing the hinge constraint of the chain links. The cooperation of the slide rail guidance and the matching locking structure avoids the misalignment of the male and female connectors, ensures that the structural movement is accurate and stable when switching between rigid and flexible states, and reliably realizes the on-demand conversion of the link unit.

[0028] Optionally, the engaging short bar can be a slot, and the fastener can be a protrusion; the engaging short bar can also be a protrusion, and the fastener can be a slot; the protrusion and the slot are compatible; the engaging short bar and the fastener form an engaging structure.

[0029] Optionally, the male connector drive wheel assembly and the female connector drive wheel assembly are connected by a drive chain, and the diameter of the male connector drive wheel assembly is larger than the diameter of the female connector drive wheel assembly.

[0030] The male and female drive wheel sets are connected by a drive chain, which directly ensures synchronous transmission between the two sets of wheels, avoiding drive rhythm disorder caused by independent rotation, and providing a stable transmission foundation for the coordinated action of the male and female joints. The diameter of the male drive wheel set is larger than that of the female drive wheel set. Relying on the characteristic of the same linear speed of chain transmission, a speed difference can be naturally formed between the two sets of wheels. For example, the female drive wheel set rotates slower and the male drive wheel set rotates faster. There is no need to add a complicated speed adjustment mechanism. This ensures that the male joint can be stably inserted into the female joint to complete the locking of the fifth and sixth chain links, or smoothly pulled out to restore the hinged state of both, thereby reliably realizing the switching between rigid and flexible structures of the link unit.

[0031] Optionally, a set of male connector drive wheel sets and a set of female connector drive wheel sets are respectively arranged on both sides of the channel inside the deployer. The distance between the male connector drive wheel sets on both sides is equal to the length of the fifth and / or sixth chain links, and the distance between the female connector drive wheel sets on both sides is equal to the length of the fifth and / or sixth chain links. Under the action of the drive chain and different diameters, each side of the drive wheel set drives the chain links that are in contact with it at different speeds, so that the previous chain link moves at a slower speed and the next chain link moves at a faster speed. The locking bar of the next chain link inserts into the locking member of the previous chain link, or the previous chain link moves at a faster speed and the next chain link moves at a slower speed, so that the locking bar of the next chain link pulls out the locking member of the previous chain link, and finally realizes the conversion between the flexible and rigid states of the entire link unit.

[0032] Fourthly, this application discloses a retractable rigid push-pull chain device, comprising a plurality of any one of the linking units disclosed in the first, second, and third aspects above, wherein the number of deployers is at least one. Attached Figure Description

[0033] One or more embodiments are illustrated by way of example with reference to the accompanying drawings. These illustrations do not constitute a limitation on the embodiments. Elements having the same reference numerals in the drawings are denoted as similar elements. Unless otherwise stated, the figures in the drawings are not to be limited by scale.

[0034] Figure 1 This is a schematic diagram of the structure of the link unit disclosed in Embodiment 1; Figure 2 This is a schematic diagram of the structure of the first deployer disclosed in Embodiment 1; Figure 3 This is a schematic diagram of the structure of the first link entering the first deployer as disclosed in Embodiment 1; Figure 4 This is a schematic diagram of the structure of the first and second links entering the first deployer as disclosed in Embodiment 1; Figure 5This is one of the cross-sectional structural diagrams of the first link entering the first deployer disclosed in Embodiment 1; Figure 6 This is the second schematic cross-sectional view of the first link entering the first deployer as disclosed in Embodiment 1. Figure 7 This is a schematic cross-sectional view of the first and second links entering the first deployer, as disclosed in Embodiment 1. Figure 8 This is a schematic diagram of the structure of the link unit disclosed in Embodiment 2; Figure 9 This is a schematic diagram of the structure of the second deployer disclosed in Embodiment 2; Figure 10 This is a schematic diagram of the structure of the third and fourth links disclosed in Example 2; Figure 11 This is a schematic diagram of the structure of the third link entering the second deployer as disclosed in Embodiment 2; Figure 12 This is a schematic cross-sectional view of the third link entering the second deployer as disclosed in Embodiment 2; Figure 13 This is a schematic cross-sectional view of the third link and conductive component forming an electrical connection as disclosed in Embodiment 2; Figure 14 This is a schematic cross-sectional view of the fourth link and conductive component forming an electrical connection as disclosed in Embodiment 2; Figure 15 This is a schematic diagram of the link unit disclosed in Embodiment 3; Figure 16 This is a schematic diagram of the hinged structure of the fifth and sixth links disclosed in Embodiment 3; Figure 17 This is a schematic cross-sectional view of the hinged fifth and sixth links disclosed in Embodiment 3; Figure 18 This is a schematic cross-sectional view of the fixed fifth and sixth links disclosed in Embodiment 3; Figure 19 This is a schematic cross-sectional view of the fifth link entering the third deployer as disclosed in Embodiment 3; Figure 20 This is a schematic cross-sectional view of the fifth and sixth links entering the third deployer as disclosed in Embodiment 3; Figure 21 This is a cross-sectional structural diagram showing the fifth and sixth links of the chain, as disclosed in Embodiment 3, being fixedly connected within the third deployer.

[0035] In the diagram: 110 - First link; 111 - Third nut; 112 - First nut; 120 - Second link; 121 - Second nut; 122 - Fourth nut; 130 - First bolt; 1301 - Handle; 140 - First deployer; 141 - First link channel; 142 - Guide groove; 210 - Third link; 211 - First magnetic module; 2111 - First electromagnet; 2112 - First conductive contact; 212 - First magnetic bolt; 2121 - First permanent magnet; 2122 - Second permanent magnet; 220 - Fourth link; 221 - Second magnetic module; 2211 - Second electromagnet; 2212 222-Second conductive contact; 230-Second magnetic bolt; 231-Second link channel; 232-Conductive component; 233-Transmission wheel assembly; 201-Conductive post; 202-Conductive hole; 310-Fifth link; 311-Female connector; 3111-Second guide bracket; 3112-Snap fastener; 320-Sixth link; 321-Male connector; 3211-First guide bracket; 3212-Clamping short bar; 3213-Hinge short bar; 330-Third link device; 331-Third link channel; 332-Male connector transmission wheel assembly; 333-Female connector transmission wheel assembly; 334-Transmission chain. Detailed Implementation

[0036] To facilitate understanding of this application, a more detailed description is provided below with reference to the accompanying drawings and specific embodiments. It should be noted that when an element is described as being "fixed to" another element, it can be directly on the other element, or one or more intermediate elements may exist between them. When an element is described as being "connected to" another element, it can be directly connected to the other element, or one or more intermediate elements may exist between them. The terms "vertical," "horizontal," "left," "right," "inner," "outer," and similar expressions used in this specification are for illustrative purposes only. In the description of this application, the terms "first" and "second" are used for descriptive purposes only and should not be construed as indicating relative importance or implying the number of indicated technical features. Thus, unless otherwise stated, features defined as "first" or "second" may explicitly or implicitly include one or more of that feature; "multiple" means two or more. The term "comprising" and any variations thereof mean non-exclusive inclusion, where one or more other features, integers, steps, operations, units, components, and / or combinations thereof may be present or added.

[0037] Furthermore, unless otherwise expressly specified and limited, the terms "installation," "connection," and "linking" should be interpreted broadly. For example, they can refer to fixed connections, detachable connections, or integral connections; they can refer to mechanical connections or electrical connections; they can refer to direct connections or indirect connections via an intermediate medium, or internal communication between two components. All technical and scientific terms used in this specification have the same meaning as commonly understood by one of ordinary skill in the art to which this application pertains. The terminology used in this specification is for the purpose of describing particular embodiments only and is not intended to limit the scope of this application. The term "and / or" as used in this specification includes any and all combinations of one or more of the associated listed items.

[0038] Furthermore, the technical features involved in the different embodiments of this application described below can be combined with each other as long as they do not conflict with each other.

[0039] Example 1

[0040] like Figure 1 As shown, Figure 1 This is a schematic diagram of the link unit in this embodiment, including a first link 110 and a second link 120. At least one first link 110 and at least one second link 120 form a chain structure. The first link 110 and the second link 120 are movably connected. The specific movable connection includes, but is not limited to, hinge rotation connection, pivot connection, bearing connection, pin rotation connection, rivet rotation connection, bearing rotation connection, snap-fit ​​rotation connection, spline connection, coupling connection, and other rotational connection methods. In this embodiment, the first link 110 and the second link 120 are hinged to each other.

[0041] In addition to being connected by a hinge, the first link 110 and the second link 120 are also connected by a first bolt 130. The first bolt 130 includes a bolt portion and a handle portion 1301, which extends outward and is disposed on the outside of the first bolt 130.

[0042] A third nut 111 and a first nut 112 are provided on the outer side of the first link 110. The first bolt 130 is screwed into the first nut 112 to fix it on the outer side of the first link 110. The third nut 111 is used to connect with the first bolt 130 of the second link 120 of the previous link unit. If this link unit is not connected to the previous link unit, the third nut 111 is in an unused state. The outer side of the second link 120 is provided with a second nut 121 and a fourth nut 122. When the first bolt 130 is screwed into the first nut 112 and the second nut 121, the hinge pins of the first link 110 and the second link 120 are locked, preventing the first link 110 and the second link 120 from rotating relative to each other. The fourth nut 122 is used to connect with the first bolt 130 of the next link unit to achieve connection with the next link unit. The bolt portion of the first bolt 130 is threadedly engaged with the first nut 112 and the second nut 121, respectively, so that the first bolt 130 rotates smoothly when driven.

[0043] In some embodiments, at least one of the first nut 112 and the second nut 112 is provided with a handle portion 1301 (not shown in the figures). The handle portion 1301 is located outside the first nut 112 and the second nut 112 and extends outward. The first nut 112 and / or the second nut 112 with the handle portion 1301 are slidably fixed to the outside of the chain link and can slide a certain distance back and forth along the fixed track. When the handle portion 1301 enters the guide groove 142, one nut is provided to fix the first bolt 130. This nut will not rotate along the guide groove 142 and has the handle portion 1301. The other nut is guided by the handle portion 1301 and the guide groove 142 to screw into or out of the first bolt 130, thereby achieving the switching between the locked and unlocked states.

[0044] It also includes a first deployer 140, which is used to switch the rigid state and flexible state of the link unit; wherein, in the rigid state, the first link 110 and the second link 120 have radial and axial support forces that are not easily deformed, and the first link 110 and the second link 120 cannot move relative to each other; in the flexible state, the first link 110 and the second link 120 can rotate relative to each other, and the overall chain structure can be deformed and folded.

[0045] like Figure 2 As shown, Figure 2This is a schematic diagram of the internal structure of the first deployer 140 in this embodiment. Specifically, the first deployer 140 is provided with a first link channel 141 and a guide groove 142, which are respectively provided through the first deployer 140. The guide groove 142 is threaded and is mainly used to guide the handle part 1301 of the first bolt 130 to rotate so as to drive the first bolt 130 to rotate as a whole, thereby realizing the first bolt 130 screwing into or out of the second nut 121. The helix angle and lead of the guide groove 142 are consistent with the bolt to ensure that the handle part 1301 can pass smoothly through the guide groove 142 without positional deviation or error when screwing into or out of the nut. In some embodiments, the first link channel 141 penetrates the first deployer 140 and is disposed on the inner side of the first deployer 140, and the guide groove 142 is disposed on the inner wall of the first link channel 141; the first link channel 141 may also be disposed on the outer side of the first deployer 140, and the guide groove 142 is disposed on the outward inner wall of the first link channel 141.

[0046] like Figure 3 and Figure 4 As shown, Figure 3 and Figure 4 This is a schematic diagram of the structure of the link unit passing through the link channel at different angles. The first link channel 141 is used to guide the link unit body through. The shape of the first link channel 141 is adapted to the shape of the link unit to ensure that the link unit can pass smoothly through the first link channel 141. The link unit can pass through any entrance of the link channel. The guide groove 142 is disposed inside the first link channel 141. In some embodiments, a link guide wheel (not shown in the figure) is also disposed inside the first link channel 141; the linear velocity of the link guide wheel is the same as the axial movement speed of the handle portion 1301 along the guide groove 142. The first deployer 140 may also not be provided with a link guide wheel, and the link guide wheel may be disposed outside the first deployer 140 and replaced by other guide wheels to reduce the volume of the link unit.

[0047] When the link unit is in a rigid state, the first deployer 140 switches the link unit to a rigid structure mode. The handle 1301 of the first bolt 130 is screwed into the first nut 112 and the second nut 121 through the guide groove 142. The first link 110 and the second link 120 are locked, and the link unit is in a rigid structure. The specific rigid structure switching process is as follows: Figures 5 to 7 As shown, Figure 5 This is a schematic diagram of the structure where the handle part 1301 begins to enter the guide groove 142, at which point the first bolt 130 is not screwed into the second nut 121; Figure 6 This is a schematic diagram of the structure in which the handle part 1301 rotates into the guide groove 142, and the first bolt 130 part is screwed into the second nut 121; Figure 7The diagram shows the structure of the handle 1301 entering the end of the guide groove 142. The first bolt 130 is screwed into the second nut 121. When the link unit is in a flexible state, when the first deployer 140 is operating to switch the link unit to a flexible structure mode, the handle 1301 of the first bolt 130 is screwed out of the second nut 121 through the guide groove 142. The first link 110 and the second link 120 are in a hinged state, and the link unit is a flexible structure.

[0048] In some embodiments, when the link unit is in a rigid state, the first nut 112 and the second nut 121 are screwed into (sleeved onto) the first bolt 130 through the guide groove 142, and the first link 110 and the second link 120 are locked, and the link unit has a rigid structure; when the link unit is in a flexible state, the first nut 112 or the second nut 121 is screwed out of the first bolt 130 through the guide groove 142, and the first link 112 and the second link 121 can move relative to each other, and the link unit has a flexible structure.

[0049] Example 2

[0050] like Figure 8 As shown, Figure 8 This is a schematic diagram of the link unit in this embodiment. Specifically, it includes a third link 210 and a fourth link 220. The third link 210 and the fourth link 220 are movably connected. The specific connection methods of the movable connection include, but are not limited to, hinge rotation connection, pivot connection, bearing connection, pin rotation connection, rivet rotation connection, bearing rotation connection, snap-fit ​​rotation connection, spline connection, coupling connection, and other rotation connection methods. In this embodiment, the third link 210 and the fourth link 220 are hinged to each other.

[0051] like Figure 9 As shown, Figure 9 This is a schematic diagram of the internal structure of the deployer of the link unit. The link unit also includes a second deployer 230. The second deployer 230 is provided with a second link channel 231. The second link channel 231 is provided with a conductive component 232 and a conductive wheel assembly 233. The conductive component 232 is used to change the magnetic field direction of the link by energizing the link. The conductive wheel assembly 233 is used to guide the link into the second deployment unit for magnetic field switching. The conductive wheel assembly 233 can be provided inside or outside the second deployer 230.

[0052] like Figure 10 As shown, Figure 10This is a schematic diagram of the internal structure of the connecting unit. Specifically, the inner side of the third link 210 is provided with a first magnetic module 211 and a first magnetic bolt 212, and the inner side of the fourth link 220 is provided with a second magnetic module 221 and a second magnetic bolt 222. Conductive posts 201 are provided on the upper part of the first magnetic module 211 and the second magnetic module 221. Conductive holes 202 are provided on the conductive posts 201 corresponding to the housing positions of the third link 210 and the fourth link 220. The conductive posts 201 are inserted into the conductive holes 202 and protrude from the housing of the link, thereby forming an electrical connection with the conductive contacts of the conductive component 232.

[0053] In some embodiments, the first magnetic module 211 and the first magnetic bolt 212 may be disposed on the outside of the third link 210, and the second magnetic module 221 and the second magnetic bolt 222 may be disposed on the outside of the fourth link 220. The first magnetic bolt 212 moves on the outside of the third link, and the second magnetic bolt 222 moves on the outside of the fourth link. The second deployer is shape-fitted to the third link 210 and the fourth link 220. The first magnetic module 211 and the second magnetic module 221 contain electromagnets, and permanent magnets are provided at both ends of the electromagnets. Permanent magnets are embedded at both ends of the first magnetic bolt 212 and the second magnetic bolt 222.

[0054] like Figures 12 to 14 The diagram shows a cross-sectional view of the process by which the third link 210 and the fourth link 220 enter the second deployer 230. Figure 12 This is a cross-sectional view of the third link 210 entering the second deployer 230. Figure 13 This is a schematic diagram showing the structure in which the conductive post 201 / first conductive contact 2112 and conductive component 232 of the first magnetic module 211 in the third chain form an electrical connection. Figure 14 A cross-sectional schematic diagram showing the rigid structure formed by the third and fourth chains; when the link unit is in a rigid state, the second deployer 230 switches the link unit to a rigid structure mode during operation, the conductive component 232 forms an electrical connection with the first magnetic module 211, the magnetic field direction of the first magnetic module 211 changes and generates a repulsive force on the magnetic bolt, the magnetic bolt slides to the second magnetic module 221, the third link 210 and the fourth link 220 are locked, and the link unit is a rigid structure; when the link unit is in a flexible state, the second deployer 230 switches the link unit to a flexible structure mode during operation, the conductive component 232 forms an electrical connection with the second magnetic module 221, the magnetic field direction of the second magnetic module 221 changes and generates a repulsive force on the magnetic bolt, the magnetic bolt slides to the first magnetic module 211, the third link 210 and the fourth link 220 are in a hinged state, and the link unit is a flexible structure.

[0055] In some embodiments, the direction from the fourth link 220 to the third link 210 is defined as the first direction. Specifically, the first magnetic field direction is the magnetic field direction formed by the front end being positive and the rear end being negative. Specifically, the second magnetic field direction is the magnetic field direction formed by the rear end being positive and the front end being negative. Alternatively, the first magnetic field direction is specifically the magnetic field direction formed by the rear end being positive and the front end being negative, and the second magnetic field direction is specifically the magnetic field direction formed by the front end being positive and the rear end being negative.

[0056] The first magnetic module 211 has a third permanent magnet and a fourth permanent magnet (not shown in the figure) respectively at both ends, and the second magnetic module 221 has a fifth permanent magnet and a sixth permanent magnet (not shown in the figure) respectively at both ends. The magnetic directions of the third and fifth permanent magnets are both in the first magnetic field direction, and the magnetic directions of the fourth and sixth permanent magnets are both in the second magnetic field direction. The first magnetic plug 212 has a first permanent magnet 2121 at one end near the first magnetic module 211, and a second permanent magnet 2122 at the other end near the second magnetic module 221. The magnetic direction of the first permanent magnet 2121 is in the second magnetic field direction, and the magnetic direction of the second permanent magnet 2122 is in the first magnetic field direction. When the second deployer 230 is in operation and the connection unit is in rigid structure mode, such as Figures 12 to 14 The schematic cross-sectional view of the sliding process of the first magnetic bolt 212 is shown. The second permanent magnet 2122 is attracted by the fifth permanent magnet, causing the first magnetic bolt 212 to slide to the end of the second magnetic module 221 near the first magnetic module 211. When the second deployer 230 is running the conversion link unit into a flexible structure mode, the first permanent magnet 2121 is attracted by the fourth permanent magnet, causing the first magnetic bolt 212 to slide to the end of the first magnetic module 211 near the second magnetic module 221.

[0057] The first magnetic module 211 contains a first electromagnet 2111, and the second magnetic module 221 contains a second electromagnet 2211. When energized, the magnetic directions of the first electromagnet 2111 and the second electromagnet 2211 are the direction of the first magnetic field. The magnetic force of the fourth permanent magnet is lower than that of the first electromagnet 2111 after energization, and the magnetic force of the fifth permanent magnet is lower than that of the second electromagnet 2211 after energization. When the second deployer 230 is in operation and the conversion link unit is in rigid structure mode, the repulsive force of the first electromagnet 2111 on the first permanent magnet 2121 is greater than the attractive force of the fourth permanent magnet on the first permanent magnet 2121, and the first magnetic bolt 212 slides from the first magnetic module 211 to the second magnetic module 221. When the second deployer 230 operates in a flexible structure mode, the repulsive force of the second electromagnet 2211 on the second permanent magnet 2122 is greater than the attractive force of the fifth permanent magnet on the second permanent magnet 2122. The first magnetic bolt 212 slides from the second magnetic module 221 to the first magnetic module 211. The first electromagnet 2111 is provided with a first conductive contact 2112 or a conductive post 201, and the second electromagnet 2211 is provided with a second conductive contact 2212 or a conductive post 201. The conductive component 232 includes a third conductive contact (not shown) and a power supply electrically connected to the third conductive contact. The first conductive contact 2112 and the second conductive contact 2212 are respectively adapted to the third conductive contact. When the link unit is in a rigid state, the first conductive contact 2112 and the third conductive contact form an electrical connection. The polarity of the first electromagnet 2111 is in the direction of the first magnetic field to repel the first permanent magnet 2121, causing the first magnetic bolt 212 to move to the end of the second magnetic module 221 close to the first magnetic module 211. The second permanent magnet 2122 is then attracted by the fifth permanent magnet. The first magnetic bolt 212 restricts the rotation of the hinge shaft. At this time, the fifth permanent magnet of the second magnetic module 221 attracts the second permanent magnet 2122 of the first magnetic bolt 212, and the sixth permanent magnet of the second magnetic module 221 attracts the first permanent magnet 2121 of the second magnetic bolt 222. When the fourth link 220 continues in the second... In the deployer 230, the third conductive contact and the first conductive contact 2112 of the second magnetic module 221 are electrically connected. The second electromagnet 2211 attracts the first magnetic bolt and repels the second magnetic bolt, thereby causing the second magnetic bolt to move away from the second magnetic module 221. When the link unit is in a flexible state, the current direction of the third conductive contact changes, and the second conductive contact 2212 and the third conductive contact form an electrical connection. The polarity of the second magnetic module 221 changes to the direction of the second magnetic field to repel the second permanent magnet 2122, causing the first magnetic bolt 212 to move to the end of the first magnetic module 211 that is close to the second magnetic module 221, until the first permanent magnet 2121 is attracted by the fourth permanent magnet.

[0058] Example 3

[0059] like Figure 16 As shown, Figure 16 This embodiment provides a structural schematic diagram of a link unit, specifically including a fifth link 310 and a sixth link 320, which are movably connected. Specific connection methods include, but are not limited to, hinged rotational connection, pivot connection, bearing connection, pin rotational connection, rivet rotational connection, bearing rotational connection, snap-fit ​​rotational connection, spline connection, coupling connection, etc. In this embodiment, the fifth link 310 and the sixth link 320 are hinged to each other, specifically, they are hinged via a female connector 311 and a male connector 321.

[0060] In some embodiments, the fifth link 310 and the sixth link 320 are internally connected by a spring, and externally connected by rotatable connections such as threaded connections, sleeve connections, and snap-fit ​​connections. In a flexible state, the internal connection of the fifth link 310 and the sixth link 320 via a spring provides clearance for external rotatable connections due to the spring's expandable and contractible nature. In a rigid state, the external connection of the fifth link 310 and the sixth link 320 via rotatable connections such as threaded connections, sleeve connections, and snap-fit ​​connections is also possible. Figure 17 As shown, Figure 17 This is a cross-sectional structural diagram of the fifth link 310 and the sixth link 320 in a rotatable state. The fifth link 310 contains a female connector 311, and the sixth link 320 contains a male connector 321. Figure 18 As shown, the fifth link 310 and the sixth link 320 are rotatably configured through the cooperation of the male connector 321 and the female connector 311; as Figure 18 As shown, Figure 20 This is a cross-sectional structural diagram of the fifth link 310 and the sixth link 320 in a fixed state. The fifth link 310 and the sixth link 320 are locked by engaging with the male connector 321 and the female connector 311. The system also includes a third deployer 330, which contains a third link channel 331. A male connector drive wheel assembly 332 and a female connector drive wheel assembly 333 are respectively located on both sides of the third link channel 331. The male connector drive wheel assembly 332 is located at the rear end of the connecting channel, and the female connector drive wheel assembly 333 is located at the front end. The male and female connector drive wheel assemblies 332 and 333 are connected by a drive chain 334. The drive wheel assemblies 332 and 333 rotate at different speeds, and the diameter of the male connector drive wheel assembly 332 is larger than that of the female connector drive wheel assembly 333. The distance between the drive wheels of the male connector drive wheel assembly 332 is equal to the length of the fifth link 310 / sixth link 320, and the distance between the drive wheels of the female connector drive wheel assembly 333 is also equal to the length of the fifth link 310 / sixth link 320. The male and female connector drive wheel assemblies 332 and 333 may or may not be powered. If the drive wheel assembly is not powered, the two drive wheels on the same side have different diameters and are connected by the drive chain 334, resulting in different edge rotation speeds between the front and rear drive wheels on the same side. When the fifth link 310 and the sixth link 320 are converted from flexible to rigid, the link unit composed of the links enters from one end of the third deployer 330, and then moves to the other end of the deployer under the power traction of the drive wheel or other external force. During movement, if the drive wheel is powered, the two sets of drive wheels on each side will rotate at different speeds to pull the fifth link 310 and the sixth link 320. If the drive wheel is not powered, the two sets of drive wheels on each side will drive the fifth link 310 and / or the sixth link 320 respectively at different speeds under the action of the drive chain 334 and different diameters. This causes the first link to move at a slower speed and the second link to move at a faster speed, so that the hinge bar 3213 of the male connector 321 is embedded in the snap fastener 3112 at the top of the female connector 311, thereby fixing the adjacent fifth link 310 and sixth link 320 relatively.

[0061] like Figures 19-21The diagram shows a cross-sectional view of the process of the fifth link 310 and the sixth link 320 entering the third deployer 330. When the third deployer 330 is in operation and the connecting unit is in a rigid structure mode, the male connector drive wheel set 332 drives the male connector 321 to embed into the female connector 311, and the fifth link 310 and the sixth link 320 are locked, and the connecting unit is in a rigid structure. When the third deployer 330 is in operation and the connecting unit is in a flexible structure mode, the rotation direction of the drive wheel set is switched, and the male connector drive wheel set 332 drives the male connector 321 to be pulled out from the female connector 311. The male connector 321 and the female connector 311 are in a hinged state, and the connecting unit is in a flexible structure. The male connector 321 is provided with a first guide bracket 3211, which consists of two brackets parallel to the extension direction of the connecting unit. The first guide bracket 3211 contains a short engaging rod 3212 and a short hinge rod 3213. The short engaging rod 3212 and the short hinge rod 3213 are laterally perpendicular to the first guide bracket 3211 and connect the two parallel brackets of the first guide bracket 3211. The short engaging rod 3212, the short hinge rod 3213, and the first guide bracket 3211 form a first guide rail. The female connector... 311 is provided with a second guide bracket 3111, which consists of two brackets parallel to the extension direction of the link unit. A fastener 3112 is provided at one end of the second guide bracket 3111 near the sixth link 320. The fastener 3112 is provided with a slot. The fastener 3112, the second guide bracket 3111, and the fifth link 310 form a second guide rail. The short lever 3212 and the fastener 3112 are adapted in shape so that the short lever 3212 can be inserted into the slot of the fastener 3112. When the link unit is in a rigid state, the third deployer 330 converts the link unit to a rigid structure mode during operation. The hinge short bar 3213 slides along the second guide slide rail toward the fifth link 310 until the engagement short bar 3212 is engaged in the fastener 3112. When the link unit is in a flexible state, the third deployer 330 converts the link unit to a flexible structure mode during operation. The locking bar 3212 is pulled out from the buckle 3112, and the hinge bar 3213 slides along the first guide rail toward the sixth link 320. The male connector 321 and the female connector 311 are rotatably set along the hinge bar 3213.

[0062] The foregoing has provided a detailed description of a linking unit provided in this application. Specific examples have been used to illustrate the principles and implementation methods of this application. The description of the above embodiments is only for the purpose of helping to understand the method and core ideas of this application. At the same time, for those skilled in the art, there will be changes in the specific implementation methods and application scope based on the ideas of this application. Therefore, the content of this specification should not be construed as a limitation of this application.

Claims

1. A link unit, characterized in that, It includes a first link and a second link, which are movably connected; the first link is provided with a first mating part, and the second link is provided with a second mating part; It also includes a first connector, which is adapted to the first mating part and the second mating part respectively; It also includes a first deployer, which has a guide structure inside; In the first state, the first connector is fixedly connected to the first mating part and the second mating part respectively through the guide structure, and the first link and the second link are locked. In the second state, the first connector is fixedly connected to the second mating part through the guide structure, and the first link and the second link are unlocked. or, In the first state, the first mating part and the second mating part are fixedly connected to the first connector through the guide structure, and the first link and the second link are locked. In the second state, the first mating part or the second mating part is fixedly connected to the first connector through the guide structure, and the first link and the second link are unlocked.

2. The link unit as described in claim 1, characterized in that, The first connector is provided with a guide portion, and the shape of the guide structure is adapted to the shape of the guide portion; Alternatively, the first mating part and / or the second mating part may be provided with a guide part, and the shape of the guide structure may be adapted to the shape of the guide part.

3. The link unit as described in claim 1, characterized in that, The first connecting member is a bolt, and the first mating part and the second mating part are nuts; The first connector is provided with a guide portion, and the shape of the guide structure is adapted to the shape of the guide portion; the guide structure is threaded, and the helix angle and lead of the guide structure are consistent with the first connector. In the first state, the first connector is screwed into the first mating part and the second mating part respectively through the cooperation of the guide structure and the guide part to form a fixed connection; In the second state, the first connector rotates out of the second mating part through the cooperation of the guide structure and the guide part; or, The first mating part and / or the second mating part are provided with guide parts, and the shape of the guide structure is adapted to the shape of the guide part; The guide structure is threaded, and the helix angle and lead of the guide structure are consistent with the first mating part and / or the second mating part; In the first state, the first mating part and the second mating part of the link unit are screwed into the first connector; In the second state, the first mating part or the second mating part rotates out of the connector through the guide groove.

4. The link unit as described in any one of claims 2 or 3, characterized in that, The first deployer is provided with a first link channel, which is adapted to the shape of the link unit; a link guide wheel is also provided inside the first link channel. The linear velocity of the chain link guide wheel is the same as the axial movement speed of the guide part along the guide structure.

5. A link unit, characterized in that, It includes a third link and a fourth link, which are movably connected; The third link is provided with a first magnetic module and a first magnetic bolt, and the fourth link is provided with a second magnetic module; It also includes a second deployer, which has a second link channel and a conductive component inside; In the first state, the third and fourth links enter the second link channel respectively, the conductive component forms an electrical connection with the first magnetic module, the magnetic field direction of the first magnetic module changes and generates a repulsive force on the magnetic bolt, the first magnetic bolt slides to the second magnetic module, and the third and fourth links are locked. When the link unit is in the second state, the fourth link enters the channel of the second link, the conductive component forms an electrical connection with the second magnetic module, the magnetic field direction of the second magnetic module changes and generates a repulsive force on the first magnetic bolt, the first magnetic bolt slides to the first magnetic module, and the third and fourth links are unlocked.

6. The link unit as described in claim 5, characterized in that, The first magnetic module is provided with a third permanent magnet and a fourth permanent magnet at its two ends, and the second magnetic module is provided with a fifth permanent magnet and a sixth permanent magnet at its two ends. The magnetic directions of the third permanent magnet and the fifth permanent magnet are both in the direction of the first magnetic field, and the magnetic directions of the fourth permanent magnet and the sixth permanent magnet are both in the direction of the second magnetic field. A first permanent magnet is provided at the end of the first magnetic plug near the first magnetic module, and a second permanent magnet is provided at the end of the first magnetic plug near the second magnetic module. The magnetic direction of the first permanent magnet is the direction of the second magnetic field, and the magnetic direction of the second permanent magnet is the direction of the first magnetic field. In the first state, the second permanent magnet is attracted by the fifth permanent magnet, causing the first magnetic bolt to slide to the end of the second magnetic module that is close to the first magnetic module. In the second state, the first permanent magnet is attracted by the fourth permanent magnet, causing the first magnetic bolt to slide to the end of the first magnetic module that is close to the second magnetic module.

7. The link unit as described in claim 6, characterized in that, The first magnetic module is equipped with a first electromagnet, and the second magnetic module is equipped with a second electromagnet. When energized, the magnetic directions of the first and second electromagnets are the direction of the first magnetic field. The magnetic force of the fourth permanent magnet is lower than that of the first electromagnet after it is energized, and the magnetic force of the fifth permanent magnet is lower than that of the second electromagnet after it is energized. In the first state, the repulsive force of the first electromagnet on the first permanent magnet is greater than the attractive force of the fourth permanent magnet on the first permanent magnet, and the first magnetic bolt slides from the first magnetic module to the second magnetic module. When the link unit is in the second state, the repulsive force of the second electromagnet on the second permanent magnet is greater than the attractive force of the fifth permanent magnet on the second permanent magnet, and the first magnetic bolt slides from the second magnetic module to the first magnetic module.

8. The link unit as described in claim 7, characterized in that, The first electromagnet is provided with a first conductive contact, and the second electromagnet is provided with a second conductive contact; The conductive component includes a third conductive contact and a power source electrically connected to the third conductive contact. The first conductive contact and the second conductive contact are respectively adapted to the third conductive contact; In the first state, the first conductive contact and the third conductive contact form an electrical connection. The polarity of the first electromagnet is in the direction of the first magnetic field to repel the first permanent magnet, which drives the first magnetic bolt to move to the end of the second magnetic module close to the first magnetic module, until the second permanent magnet is attracted by the fifth permanent magnet. When the link unit is in the second state, the current direction of the third conductive contact changes, the second conductive contact and the third conductive contact form an electrical connection, the polarity of the second magnetic module changes to the direction of the second magnetic field to repel the second permanent magnet, and the first magnetic bolt moves to the end of the first magnetic module close to the second magnetic module, until the first permanent magnet is attracted by the fourth permanent magnet.

9. A link unit, characterized in that, It includes a fifth link and a sixth link, which are movably connected; The fifth link is provided with a female connector, and the sixth link is provided with a male connector; It also includes a third deployer, which has a third link channel, and a male connector drive wheel set and a female connector drive wheel set are provided in the third link channel. The male connector drive wheel set and the female connector drive wheel set have different rotational speeds. In the first state, the fifth and sixth links of the link unit enter the third link channel respectively. The male connector drive wheel set drives the male connector to embed into the female connector. The male and female connectors are in a hinged state, and the fifth and sixth links are locked. In the second state, the transmission wheel set changes its rotation direction, and the fifth and sixth chain links enter the third chain link channel respectively. The male connector transmission wheel set drives the male connector to pull out from the female connector, and the male and female connectors are in a hinged state. The fifth and sixth chain links are unlocked.

10. The link unit as described in claim 9, characterized in that, The male connector is provided with a first guide bracket, and the first guide bracket is provided with a locking short bar and a hinge short bar. The locking short bar, the hinge short bar and the first guide bracket form a first guide slide rail. The female connector is provided with a second guide bracket, and a fastener is provided at one end of the second guide bracket near the sixth chain link. The fastener, the second guide bracket and the fifth chain link form a second guide slide rail. The locking bar and the fastener are compatible; In the first state, the hinge bar slides along the second guide rail toward the fifth link until the engaging bar engages with the buckle. In the second state, the locking short bar is pulled out from the buckle, the hinge short bar slides along the first guide slide rail toward the sixth link, and the male and female connectors are rotatably arranged along the hinge short bar. The male connector drive wheel assembly and the female connector drive wheel assembly are connected by a drive chain, and the diameter of the male connector drive wheel assembly is larger than the diameter of the female connector drive wheel assembly.

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