A Movable Parallel Mechanism with a Symmetrical Multi-Manipulation Mode

Abstract

The present invention provides a movable parallel mechanism with a symmetric multi-control mode, comprising: an upper platform, a lower platform and two branch chains. Under normal conditions, both the upper platform and the small platform are horizontally arranged. The two branch chains are arranged in parallel on both sides of the upper platform and the lower platform, and the two ends of each branch chain are respectively pivotally connected to the upper platform and the lower platform; each branch chain includes two isosceles triangle structures hinged at the top, and the bottom edge of each triangle structure is respectively connected to the side edge of the upper platform or the lower platform. The present invention has a completely symmetric spatial structure, can move, and has good stability and load-bearing capacity. Moreover, by combining the driver with the triangle mode, multi-angle free transmission can be achieved: specifically, when the mechanism is in the triangle and quadrilateral modes, the transformation of the machine configuration can be realized, and it can adapt to various working environments; when the mechanism is in the compression and extension mode, the transmission is stable and space is saved; when the mechanism is in the hexagon rolling mode, it can move with a smaller drive.

Description

Technical Field

[0001] This application relates to the technical field of mechanical design, and particularly relates to a movable parallel mechanism with a symmetric multi-control mode. Background Art

[0002] With the development of science and technology, mechanical design technology has had a huge impact on people's lives and work, and movable parallel mechanisms with multi-control modes are also playing an increasingly important role in people's production and life. They can replace people to complete high-risk and difficult tasks, while also saving a large amount of manpower and material resources.

[0003] With the wide use of parallel mechanisms, people's research on parallel mechanisms has become more in-depth. Compared with traditional parallel mechanisms, movable parallel mechanisms with multi-control modes have many advantages, can be applied to many complex environments, and have improved the load-bearing capacity, maneuverability, functional practicality, stiffness, and accuracy of the mechanism. Parallel mechanisms have the characteristics of simple structure, large stiffness-to-weight ratio, small motion inertia, and strong load-bearing capacity, and thus have been widely applied in many technical fields.

[0004] There are many existing mechanisms that integrate and switch multiple control methods on the same mechanism. Although these robots have multiple control modes, most of them achieve multiple control modes in a modular self-reconfiguring manner, with disadvantages such as complex control, insufficient stiffness, accuracy, and poor stability. In addition, due to the characteristics of high stiffness, high accuracy, and large load-bearing capacity of parallel mechanisms, there is little research on applying them to movable mechanisms with multi-control modes.

[0005] Therefore, there is an urgent need to provide a movable parallel mechanism with a symmetric multi-control mode to solve the above technical problems. Summary of the Invention

[0006] In view of the above defects or deficiencies in the prior art, this application aims to provide a movable parallel mechanism with a symmetric multi-control mode, including:

[0007] An upper platform, a lower platform, and a chain group, and the chain group further includes two chains;

[0008] Under normal conditions, both the upper platform and the small platform are horizontally arranged, and the two chains are arranged in parallel on both sides of the upper platform and the lower platform, and both ends of each chain are pivotally connected to the upper platform and the lower platform respectively;

[0009] Each chain includes two isosceles triangle structures hinged at the top, and the base of each triangle structure is respectively connected to the side of the upper platform or the lower platform.

[0010] According to the technical solution provided by the embodiment of the present application, the symmetric multi-manipulation mode movable parallel mechanism further includes a Hooke joint group, and the Hooke joint group includes two Hooke joints. The tops of the two isosceles triangles of each branch chain are connected by the Hooke joints.

[0011] According to the technical solution provided by the embodiment of the present application, the symmetric multi-manipulation mode movable parallel mechanism further includes a revolute joint group, and the revolute joint group includes four revolute joints. The end parts of each branch chain are respectively connected to the upper platform or the lower platform through a revolute joint.

[0012] According to the technical solution provided by the embodiment of the present application, the symmetric multi-manipulation mode movable parallel mechanism further includes a plurality of drivers. The tops of the two triangular structures of each branch chain are drivingly connected to the Hooke joint through the two drivers, so as to respectively drive the two triangular structures to rotate relative to each other through the two drivers.

[0013] According to the technical solution provided by the embodiment of the present application, the two ends of each branch chain are respectively connected to the revolute joint through a driver, so as to drive the upper platform and / or the lower platform to rotate through the driver.

[0014] According to the technical solution provided by the embodiment of the present application, the two branch chains are respectively a first branch chain and a second branch chain. The first branch chain includes a first triangular structure and a second triangular structure connected at the top. The bottom of the first triangular structure is connected to the side of the upper platform, and the bottom of the second triangular structure is connected to the side of the lower platform. The second branch chain includes a third triangular structure and a fourth triangular structure connected at the top. The bottom of the third triangular structure is connected to the other opposite side of the lower platform, and the bottom of the fourth triangular structure is connected to the other opposite side of the upper platform.

[0015] According to the technical solution provided by the embodiment of the present application, the plurality of drivers are eight drivers, namely a first driver to an eighth driver.

[0016] According to the technical solution provided by the embodiment of the present application, the two Hooke joints are respectively a first Hooke joint and a second Hooke joint. A second driver and a third driver are arranged at the top of the first triangular structure, and a first Hooke joint is arranged at the top of the second triangular structure. The second driver and the third driver are both connected to the first Hooke joint to control different rotation directions. A second Hooke joint is arranged at the top of the third triangular structure, and a sixth driver and a seventh driver are arranged at the top of the fourth triangular structure. The sixth driver and the seventh driver are both connected to the second Hooke joint to control different rotation directions.

[0017] According to the technical solution provided by the embodiment of the present application, the four rotating pairs are respectively the first rotating pair to the fourth rotating pair. A first driver is arranged at the bottom edge of the first triangular structure, a first rotating pair is arranged at the corresponding position on the side of the upper platform, and the first driver is connected to the first rotating pair; an eighth driver is arranged at the bottom edge of the fourth triangular structure, a fourth rotating pair is arranged at the corresponding position on the side of the upper platform, and the eighth driver is connected to the fourth rotating pair.

[0018] According to the technical solution provided by the embodiment of the present application, a fourth driver is arranged at the bottom edge of the second triangular structure, a second rotating pair is arranged at the corresponding position on the side of the lower platform, and the fourth driver is connected to the second rotating pair; a fifth driver is arranged at the bottom edge of the third triangular structure, a third rotating pair is arranged at the corresponding position on the side of the lower platform, and the fifth driver is connected to the third rotating pair.

[0019] In summary, the present application proposes a symmetric multi-manipulation mode mobile parallel mechanism with the following advantages:

[0020] (1) It provides a symmetric multi-manipulation mode mobile parallel mechanism that is completely symmetric in spatial structure, can adapt to terrain, has multiple manipulation modes, and can move, compress, and extend;

[0021] (2) It has versatility and can move. When the mechanism of the present application is in the triangular mode and the quadrilateral mode, the transformation of the machine configuration can be realized, and it can adapt to various working environments; when the mechanism of the present application is in the compression and extension mode, the transmission is stable and space is saved; when the mechanism of the present application is in the hexagonal rolling mode, it can move with a smaller drive.

[0022] (3) The present application can realize different applications according to different poses of the mechanism. The upper platform can be rotated laterally to pour the items on it onto other adjacent platforms through the triangular mode; the items on the upper platform can be transported to any low-position and side-direction platforms through the quadrilateral mode, or through the quadrilateral mode, the upper platform can maintain horizontal poses such as in special environments like tilting to transport items; through the hexagonal rolling mode, the mechanism can be moved to facilitate the movement and transportation of the mechanism; through the compression and extension mode, the items on the upper platform can be transported up and down, and it can be controlled to be in a compressed form when retracted to save space; the overall application prospect of the mechanism is good.

[0023] (4) The special configuration of the mechanism applied and the connection method between the rods enable the mechanism to easily meet the requirement of rolling and can realize the transformation of the mechanism pose through simple operations;

[0024] (5) The components of the mechanism of the present application can combine the quadrilateral mode and the triangular mode through the driver to achieve multi-angle free transmission;

[0025] (6) The mechanism of the present application can realize the functions of adjusting and moving multiple different poses of the mechanism with a relatively simple control method, and has good stability and load-bearing capacity. BRIEF DESCRIPTION OF THE DRAWINGS

[0026] Figure 1 FIG. is a schematic structural diagram of the movable parallel mechanism with a symmetric multi-control mode provided in this embodiment in the normal state;

[0027] Figure 2 FIG. is a schematic diagram of the movable parallel mechanism with a symmetric multi-control mode provided in this embodiment in the triangular mode;

[0028] Figure 3 FIG. is a schematic diagram of the movable parallel mechanism with a symmetric multi-control mode provided in this embodiment in the first quadrilateral mode;

[0029] Figure 4 FIG. is a schematic diagram of the movable parallel mechanism with a symmetric multi-control mode provided in this embodiment in the second quadrilateral mode;

[0030] Figure 5 FIG. is a schematic diagram of the movable parallel mechanism with a symmetric multi-control mode provided in this embodiment in the third quadrilateral mode;

[0031] Figure 6 FIG. is a schematic diagram of the movable parallel mechanism with a symmetric multi-control mode provided in this embodiment in the compression and extension mode;

[0032] Figure 7 FIG. is a schematic diagram of the movable parallel mechanism with a symmetric multi-control mode provided in this embodiment in the hexagonal rolling mode.

[0033] The text annotations in the figure are as follows:

[0034] 100 - upper platform 200 - lower platform

[0035] 300 - chain group 310 - first chain

[0036] 311 - first triangular structure 312 - second triangular structure

[0037] 320 - second chain 321 - third triangular structure

[0038] 322 - fourth triangular structure 400 - Hooke joint group

[0039] 401 - first Hooke joint 402 - second Hooke joint

[0040] 500 - revolute joint group 501 - first revolute joint

[0041] 502 - Second rotating pair 503 - Third rotating pair

[0042] 504 - Fourth rotating pair 600 - Drive unit

[0043] 601 - First drive 602 - Second drive

[0044] 603 - Third drive 604 - Fourth drive

[0045] 605 - Fifth drive 606 - Sixth drive

[0046] 607 - Seventh drive 608 - Eighth drive. Detailed implementation mode

[0047] The present application will be further described in detail below in conjunction with the drawings and embodiments. It can be understood that the specific embodiments described herein are only used to explain the related invention, rather than limiting the invention. In addition, it should be noted that, for the sake of description, only the parts related to the invention are shown in the drawings.

[0048] It should be noted that, without conflict, the embodiments in the present application and the features in the embodiments can be combined with each other. The present application will be described in detail below with reference to the drawings and embodiments.

[0049] Just as mentioned in the background art, in view of the problems in the prior art, referring to Figure 1 , this implementation mode provides a movable parallel mechanism with a symmetric multi - control mode, including: an upper platform 100, a lower platform 200 and a link group 300. The link group 300 further includes two links. In the normal state, both the upper platform 100 and the small platform are horizontally arranged. The two links are arranged in parallel on both sides of the upper platform 100 and the lower platform 200, and the two ends of each link are respectively pivotally connected to the upper platform 100 and the lower platform 200; each link includes two isosceles triangle structures hinged at the top. The base of each triangle structure is respectively connected to the side of the upper platform 100 or the lower platform 200. The isosceles triangle structures are symmetric in shape, have good reliability and can realize multi - angle free transmission.

[0050] Specifically, both the upper platform 100 and the lower platform 200 of this implementation mode are quadrilateral structures. Preferably, the upper platform 100 and the lower platform 200 of this embodiment are square. This structural shape is symmetric and can be well connected to the triangular structure.

[0051] Preferably, the movable parallel mechanism with a symmetric multi-manipulation mode further includes a Hooke joint group 400, which includes two Hooke joints, namely a first Hooke joint 401 and a second Hooke joint 402. The tops of the two isosceles triangles of each branch chain are connected by Hooke joints, and the structure of the Hooke joints can ensure the reliability of the rotational connection between the two triangular structures of each branch chain.

[0052] Optionally, the movable parallel mechanism with a symmetric multi-manipulation mode further includes a revolute joint group 500, which includes four revolute joints, namely a first revolute joint 501, a second revolute joint 502, a third revolute joint 503 and a fourth revolute joint 504. The end parts of each branch chain are respectively connected to the upper platform 100 or the lower platform 200 through a revolute joint, and this structure can ensure the reliability of the rotational connection between the upper platform 100 and the lower platform 200 and the triangular structure.

[0053] Furthermore, the movable parallel mechanism with a symmetric multi-manipulation mode further includes a driver group 600. The tops of the two triangular structures of each branch chain are drivingly connected to the Hooke joint through two drivers to drive the two triangular structures to rotate relative to each other through the two drivers respectively. Specifically, the driver group 600 of the present embodiment includes eight drivers, namely a first driver 601 to an eighth driver 608.

[0054] Even further, the two ends of each branch chain are respectively connected to the revolute joint through a driver to drive the upper platform 100 and / or the lower platform 200 to rotate through the driver. In this embodiment, the driver is used to automatically control the rotational movements of the upper platform 100, the lower platform 200 and all triangular structures.

[0055] Specifically, the two branch chains are respectively a first branch chain 310 and a second branch chain 320. The first branch chain 310 includes a first triangular structure 311 and a second triangular structure 312 connected at the top. The bottom side of the first triangular structure 311 is connected to the side of the upper platform 100, and the bottom side of the second triangular structure 312 is connected to the side of the lower platform 200; the second branch chain 320 includes a third triangular structure 321 and a fourth triangular structure 322 connected at the top. The bottom side of the third triangular structure 321 is connected to the other opposite side of the lower platform 200, and the bottom side of the fourth triangular structure 322 is connected to the other opposite side of the upper platform 100. Under normal conditions (refer to Figure 1), the upper platform 100 and the lower platform 200 are both horizontally arranged. The bottom sides of the first triangular structure 311 and the second triangular structure 312 are respectively aligned and connected to one side of the upper platform 100 and the lower platform 200. The symmetry axes of the first triangular structure 311 and the second triangular structure 312 are perpendicular to the planes of the upper platform 100 and the lower platform 200. Similarly, the bottom sides of the third triangular structure 321 and the fourth triangular structure 322 are respectively aligned and connected to the other opposite sides of the lower platform 200 and the upper platform 100. The symmetry axes of the third triangular structure 321 and the fourth triangular structure 322 are perpendicular to the planes of the upper platform 100 and the lower platform 200.

[0056] Optionally, a second driver 602 and a third driver 603 are arranged at the top of the first triangular structure 311, and a first Hooke's joint 401 is arranged at the top of the second triangular structure 312. The second driver 602 and the third driver 603 are both connected to the first Hooke's joint 401 to control different rotation directions. A second Hooke's joint 402 is arranged at the top of the third triangular structure 321, and a sixth driver 606 and a seventh driver 607 are arranged at the top of the fourth triangular structure 322. The sixth driver 606 and the seventh driver 607 are both connected to the second Hooke's joint 402 to control different rotation directions.

[0057] Furthermore, a first driver 601 is arranged at the bottom side of the first triangular structure 311, and a first rotating pair 501 is arranged at the corresponding position on the side of the upper platform 100. The first driver 601 is connected to the first rotating pair 501. An eighth driver 608 is arranged at the bottom side of the fourth triangular structure 322, and a fourth rotating pair 504 is arranged at the corresponding position on the side of the upper platform 100. The eighth driver 608 is connected to the fourth rotating pair 504.

[0058] Even further, a fourth driver 604 is arranged at the bottom side of the second triangular structure 312, and a second rotating pair 502 is arranged at the corresponding position on the side of the lower platform 200. The fourth driver 604 is connected to the second rotating pair 502. A fifth driver 605 is arranged at the bottom side of the third triangular structure 321, and a third rotating pair 503 is arranged at the corresponding position on the side of the lower platform 200. The fifth driver 605 is connected to the third rotating pair 503.

[0059] The eight drivers in this embodiment can cooperate to achieve the rotation directions and angles of the upper platform 100, the lower platform 200 and the four triangular structures, and change the pose of the upper platform 100 and / or the lower platform 200.

[0060] The symmetric multi-manipulation mode movable parallel mechanism in this embodiment includes a triangular mode, a quadrilateral mode, a compression mode and a hexagonal rolling mode. Each of its working forms is as follows:

[0061] ReferenceFigure 2 , for the movable parallel mechanism with symmetric multi-control modes in this embodiment, in the triangular mode, the lower platform 200 is fixed, the second triangular structure 312 and the third triangular structure can be locked, and the third driver 603 and the seventh driver 607 drive the first triangular structure 311 and the fourth triangular structure to rotate, driving the upper platform 100 to tilt and changing the pose of the upper platform 100.

[0062] Specifically, in the triangular mode, it can act as a similar loading machine. The initial state is Figure 1 the original state of the mechanism shown. The upper platform 100 can receive materials. After being driven by the third driver 603 and the seventh driver 607, the first triangular structure 311 and the fourth triangular structure rotate to one side simultaneously, driving the upper platform 100 to tilt, and dumping the materials transported by the upper platform 100 to the side of the mechanism, which can be connected to other transport chains for application and play the role of material transfer.

[0063] Refer to Figures 3 - 5 , for the movable parallel mechanism with symmetric multi-control modes in this embodiment, in the quadrilateral mode, the lower platform 200 can be fixed on the planes of different environments. By driving the second driver 602, the fourth driver 604, the fifth driver 605, and the sixth driver 606, the first triangular structure 311, the second triangular structure 312, the third triangular structure 321, and the fourth triangular structure rotate at different angles in different environments, as Figures 3 - 5 shown, and through their mutual cooperation, the upper platform 100 can be driven to rotate, changing the pose of the upper platform 100 to achieve different applications. Specifically, the following will introduce three specific working modes of the quadrilateral mode respectively:

[0064] As Figure 3 in the first mode shown in, the initial state is Figure 1 the original state of the mechanism shown. The upper platform 100 can receive materials. The lower platform 200 is fixed horizontally. The second triangular structure 312 and the third triangular structure are vertically arranged and locked with the lower platform 200. By driving the second driver 602 and the sixth driver 606, the first triangular structure 311 and the fourth triangular structure rotate to one side simultaneously, driving the upper platform 100 to move and keeping the upper platform 100 always horizontal, transporting the materials transported by the upper platform 100 horizontally to the side of the mechanism, which can be connected to other transport chains for application and play the role of material transfer.

[0065] As Figure 4 in the second mode shown in, the initial state is Figure 1In the original state of the mechanism shown, the upper platform 100 can receive materials, fix the lower platform 200 horizontally, drive the fourth driver 604 and the fifth driver 605 to rotate the second triangular structure 312 and the third triangular structure to one side simultaneously, drive the second driver 602 and the sixth driver 606 to rotate the first triangular structure 311 and the fourth triangular structure to one side simultaneously, drive the upper platform 100 to move, and keep the upper platform 100 always horizontal. At this time, the mechanism can play the role of horizontal and height-reducing transportation, can be connected to other transportation chains for application, transport the materials transported by the upper platform 100 to the corresponding positions, and play the role of material transfer.

[0066] As Figure 5 In the third mode shown, at this time the mechanism can be applied in other complex environments, such as the inclined environment in the figure. Fix the lower platform 200 on the inclined environment plane. By driving the second driver 602 and the sixth driver 606, the first triangular structure 311 and the fourth triangular structure can be rotated to one side simultaneously, driving the upper platform 100 to move, keeping the upper platform 100 horizontal to receive materials. Then, according to the corresponding requirements of the environment, drive the second driver 602, the fourth driver 604, the fifth driver 605 and the sixth driver 606 to rotate the corresponding triangular structures, drive the upper platform 100 to move, can be connected to other transportation chains for application, transport the materials transported by the upper platform 100 to the corresponding positions, and play the role of material transfer.

[0067] Refer to Figure 6 For the symmetric multi-control mode movable parallel mechanism of this embodiment, in the compression mode, the lower platform 200 is horizontally arranged and fixed. Drive the fourth driver 604 and the fifth driver 605 to rotate the second triangular structure 312 and the third triangular structure in opposite directions. Drive the first driver 601 and the eighth driver 608 to rotate the first triangular structure 311 and the fourth triangular structure in opposite directions, so that the upper platform 100 always remains horizontal and descends.

[0068] Specifically, in the compression mode, the initial state is Figure 1 the original state of the mechanism shown. The upper platform 100 can receive materials, drive the fourth driver 604 and the fifth driver 605 to rotate the second triangular structure 312 and the third triangular structure in opposite directions, drive the first driver 601 and the eighth driver 608 to rotate the first triangular structure 311 and the fourth triangular structure in opposite directions, so that the upper platform 100 always remains horizontal and descends, and stably transport the materials on the upper platform 100 to a lower place; conversely, the stretching mode is the same. The initial state is Figure 6In the original state of the mechanism shown, the upper platform 100 can receive materials, drive the fourth driver 604 and the fifth driver 605 to make the second triangular structure 312 and the third triangular structure rotate in opposite directions, drive the first driver 601 and the eighth driver 608 to make the first triangular structure 311 and the fourth triangular structure rotate in opposite directions, keep the upper platform 100 always horizontal and rising, stably transfer the materials on the upper platform 100 to a higher place, the mechanism plays a role in stable transfer, and at the same time, the mechanism is relatively space-saving in the compression mode.

[0069] Reference Figure 7 , for the symmetric multi-manipulation mode mobile parallel mechanism of this embodiment, in the hexagonal rolling mode, the upper platform 100, the lower platform 200 and the first triangular structure 311, the second triangular structure 312, the third triangular structure 321 and the fourth triangular structure form a hexagon, and the mechanism is driven to roll hexagonally by driving the first driver 601, the second driver 602, the fourth driver 604, the fifth driver 605, the sixth driver 606 and the eighth driver 608.

[0070] Specifically, in the hexagonal rolling mode, the initial state is Figure 7 the original state of the mechanism shown in the first figure in, initially the lower platform 200 of the mechanism contacts the ground, by driving the fifth servo, locking the other servos, making the third triangular structure rotate, driving the upper and lower platforms 200 of the mechanism and the other triangular structures to rotate, making the overall center of gravity of the mechanism shift, when it shifts to a certain position, the whole mechanism tilts, that is, the hexagonal rolling of the mechanism is realized, reaching Figure 7 the position of the second figure in, that is, the state where the third triangular structure contacts the ground; then as the fourth triangular structure, the upper platform 100, the first triangular structure, and the second triangular structure of the mechanism contact the ground in sequence, drive the sixth, eighth, first, second, and fourth servos respectively, lock the other servos, and the rotation principle of the mechanism is the same, realizing the entire hexagonal rolling process as shown in Figure 7 . When the lower platform 200 contacts the ground again, the mechanism realizes a cycle of rolling.

[0071] The symmetric multi-manipulation mode mobile parallel mechanism proposed in this embodiment has the following advantages:

[0072] (1) It provides a symmetric multi-manipulation mode mobile parallel mechanism with a completely symmetric spatial structure, capable of adapting to terrain, having multiple manipulation modes, and being mobile, compressible and extensible;

[0073] (2) It has versatility and can be moved. When the mechanism of this application is in the triangular mode and the quadrilateral mode, the transformation of the machine configuration can be achieved, and it can adapt to various working environments; when the mechanism of this application is in the compression and extension mode, the transmission is stable and space is saved; when the mechanism of this application is in the hexagonal rolling mode, it can be moved with a smaller drive.

[0074] (3) This application can achieve different applications according to different poses of the mechanism. The upper platform 100 can be rotated laterally to receive items and dumped on other adjacent platforms through the triangular mode; the items on the upper platform 100 can be transported to any low-position and side-direction platforms through the quadrilateral mode. Also, through the quadrilateral mode, in special environments such as tilting, the upper platform 100 can maintain horizontal poses to transport items; through the hexagonal rolling mode, the mechanism can be moved to facilitate the movement and transportation of the mechanism; through the compression and extension mode, the items on the upper platform 100 can be transported up and down, and it can be controlled to be in a compressed form when retracted to save space; the overall application prospect of the mechanism is good.

[0075] (4) The special configuration of the mechanism of this application and the connection method between the rods enable the mechanism to easily meet the requirement of rolling and can achieve the conversion of the mechanism pose through simple operations.

[0076] (5) The components of the mechanism of this application can combine the quadrilateral mode and the triangular mode through a driver to achieve free transmission at multiple angles.

[0077] (6) The mechanism of this application can realize the functions of adjusting the poses and moving of the mechanism in multiple different ways with a relatively simple control method, and has good stability and load-bearing capacity.

[0078] In this article, specific examples are used to elaborate on the principle and implementation method of this application. The description of the above embodiments is only used to help understand the method and its core idea of this application. The above are only the preferred implementation methods of this application. It should be noted that due to the limited nature of written expression and the objectively infinite specific structures, for those of ordinary skill in the art in this technical field, without departing from the principle of the present invention, several improvements, refinements or changes can be made, or the above technical features can be combined in an appropriate way; these improvements, refinements, changes or combinations, or directly applying the concept and technical solution of the invention to other occasions without improvement, should all be regarded as the protection scope of this application.

Claims

1. A movable parallel mechanism with a symmetric multi-control mode, characterized in that, Comprising: An upper platform (100), a lower platform (200) and a link group (300), the link group (300) further comprising two links; Under normal conditions, the upper platform (100) and the lower platform (200) are both horizontally arranged, the two links are arranged in parallel on both sides of the upper platform (100) and the lower platform (200), and the two ends of each link are respectively pivotally connected to the upper platform (100) and the lower platform (200); Each link comprises two isosceles triangle structures hinged at the top, and the base of each triangle structure is respectively connected to the side of the upper platform (100) or the lower platform (200); Also included is a Hooke joint group (400), the Hooke joint group (400) comprising two Hooke joints, the tops of the two isosceles triangles of each link being connected by the Hooke joints; the two links are respectively a first link (310) and a second link (320), the first link (310) comprising a first triangle structure (311) and a second triangle structure (312) connected at the top, the base of the first triangle structure (311) being connected to the side of the upper platform (100), and the base of the second triangle structure (312) being connected to the side of the lower platform (200); the second link (320) comprising a third triangle structure (321) and a fourth triangle structure (322) connected at the top, the base of the third triangle structure (321) being connected to the other opposite side of the lower platform (200), and the base of the fourth triangle structure (322) being connected to the other opposite side of the upper platform (100).

2. The movable parallel mechanism with symmetric multi-manipulation modes according to claim 1, characterized in that, Also included is a revolute pair group (500), the revolute pair group (500) comprising four revolute pairs, the end parts of each link being respectively connected to the upper platform (100) or the lower platform (200) through a revolute pair.

3. The movable parallel mechanism with symmetric multi-manipulation modes according to claim 2, wherein Also included is a driver group (600), the driver group (600) comprising a plurality of drivers, the tops of the two triangle structures of each link being drivingly connected to the Hooke joint through two of the drivers, so as to respectively drive the two triangle structures to rotate relatively through the two drivers.

4. The reconfigurable parallel mechanism with symmetric multi-manipulation modes according to claim 3, wherein The two ends of each link are respectively connected to the revolute pair through a driver, so as to drive the upper platform (100) and / or the lower platform (200) to rotate through the driver.

5. The reconfigurable parallel mechanism with symmetric multi-manipulation modes according to claim 4, wherein, The plurality of drivers are eight drivers, namely a first driver (601) to an eighth driver (608).

6. The reconfigurable parallel mechanism with symmetric multi-manipulation modes according to claim 5, characterized in that, The two Hooke joints are respectively a first Hooke joint (401) and a second Hooke joint (402). A second driver (602) and a third driver (603) are arranged at the top of the first triangular structure (311). The first Hooke joint (401) is arranged at the top of the second triangular structure (312). Both the second driver (602) and the third driver (603) are connected to the first Hooke joint (401) to control different rotation directions. The second Hooke joint (402) is arranged at the top of the third triangular structure (321). A sixth driver (606) and a seventh driver (607) are arranged at the top of the fourth triangular structure (322). Both the sixth driver (606) and the seventh driver (607) are connected to the second Hooke joint (402) to control different rotation directions.

7. The reconfigurable parallel mechanism with symmetric multi-manipulation modes according to claim 6, wherein The four revolute pairs are respectively a first revolute pair (501) to a fourth revolute pair (504). A first driver (601) is arranged at the bottom of the first triangular structure (311). The first revolute pair (501) is arranged at the corresponding position on the side of the upper platform (100). The first driver (601) is connected to the first revolute pair (501). An eighth driver (608) is arranged at the bottom of the fourth triangular structure (322). The fourth revolute pair (504) is arranged at the corresponding position on the side of the upper platform (100). The eighth driver (608) is connected to the fourth revolute pair (504).

8. The movable parallel mechanism with symmetric multi-manipulation modes according to claim 7, characterized in that, A fourth driver (604) is arranged at the bottom of the second triangular structure (312). The second revolute pair (502) is arranged at the corresponding position on the side of the lower platform (200). The fourth driver (604) is connected to the second revolute pair (502). A fifth driver (605) is arranged at the bottom of the third triangular structure (321). The third revolute pair (503) is arranged at the corresponding position on the side of the lower platform (200). The fifth driver (605) is connected to the third revolute pair (503).

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