Up-and-down telescopic three-platform one-rotation parallel mechanism

Abstract

The invention discloses an up-and-down telescopic three-platform one-rotation parallel mechanism, comprising a fixed frame, a moving platform and four groups of branch chains, wherein the branch chains are same in structure and are symmetrically arranged between the fixed frame and the moving platform; the moving platform comprises an upper platform and a lower platform which are mutually parallel; the vertical axes of the upper platform and the lower platform are coincident; a connecting rod group guiding mechanism is connected between the upper platform and the lower platform, and consists of at least three dual-connecting-rod structures which are same in structure and are distributed along the circumference of the vertical axis of the moving platform; each dual-connecting-rod structurecomprises an upper connecting rod hinged with the upper platform and a lower connecting rod hinged with the lower platform; and the upper connecting rod is hinged with the lower connecting rod. In the up-and-down telescopic three-platform one-rotation parallel mechanism, relative movement of the upper platform and the lower platform along the direction of the common vertical axis is converted into the rotation of a lead screw around the axis of the lead screw through a rotating mechanism and the connecting rod group guiding mechanism, the vertical relative movement of the upper platform and the lower platform is guaranteed by utilizing the constrained characteristic of the connecting rod group guiding mechanism, and the rigidity and the stability are good.

Description

technical field [0001] The invention relates to a robot, in particular to a robot up and down telescopic three-level one-rotation parallel mechanism. Background technique [0002] Patent documents US20090019960 and EP1084802 disclose an up-and-down telescopic three-level one-rotation parallel mechanism, which includes four active branch chains and a moving platform, and each branch chain includes two parts: a near frame bar and a far frame bar. One end of the proximal rod has only one degree of freedom of movement or rotation relative to the fixed frame, and the other end is connected to one end of the far rod through a hinge with only two degrees of freedom; the other end of the far rod has only two degrees of freedom. The hinge of the degree of freedom is connected with the moving platform to ensure the translational movement of the mechanism; the moving platform is composed of four parts, two of which must be parallel to each other, and the other two parts are connected t...

AI Technical Summary

Problems solved by technology

The limitations of the above-mentioned mechanism are: the multiple parts of the moving platform of the mechanism are in the same plane, which makes the size of the moving platform larger and the structure is not compact, and the enlarged mechanism increases the weight of the moving platform, which is not conducive to improving the efficiency of the mechanism

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