Multi-terrain folding and unfolding space working platform capable of being stored

Abstract

The invention belongs to the technical field of automatic control, and discloses a storable multi-terrain folding and unfolding space working platform which comprises two parallel mechanisms which are arranged in an up-down mirror image superposition mode and are the same in structure, and each parallel mechanism comprises a fixed platform, a movable platform and a plurality of branch chains connected between the fixed platform and the movable platform; the fixed platforms of the two parallel mechanisms share and coincide, each of the fixed platforms and the movable platform comprises a fixed center and a plurality of main branch chains connected with the fixed center, the number of the main branch chains is the same as that of the branch chains, one end of each branch chain is connected with the corresponding main branch chain in the fixed platform, and the other end of each branch chain is connected with the corresponding movable platform. One end of the fixed platform is connected with a corresponding branch chain, the other end of the fixed platform is connected with a corresponding main branch chain in the movable platform, and by controlling the cooperative movement of the fixed platform, the movable platform, the branch chains and the main branch chains, the folding and unfolding space working platform is stored, unfolded, lifted and self-adaptively adjusted in the inclination angle so as to adapt to different topographic changes.

Description

Technical Field

[0001] The present invention relates to the technical field of automatic control, and in particular to a foldable multi-terrain work platform. Background Art

[0002] In many practical application scenarios, such as construction sites, mines, field rescue, military reconnaissance, etc., the ground conditions are often complex and uneven. Traditional fixed work platforms are difficult to maintain stability in such environments, and stable work platforms that can adapt to uneven ground are of great significance for improving work efficiency, ensuring equipment safety, and completing specific tasks. With the continuous advancement of robotics technology, humanoid robots, mobile robots, etc. are being used more and more widely in complex environments. These robots need to maintain stable walking or working on uneven ground, which places higher requirements on the stability of the work platform. In actual applications, the work platform needs to carry different equipment and loads while adapting to different types of ground conditions. However, current technology still has shortcomings in load changes and ground adaptability. For example, on soft ground or complex terrain, the platform's support stability may be affected.

[0003] Parallel mechanisms are widely used in industrial robots, precision machining, and other fields due to their advantages such as high stiffness and high load-bearing capacity. However, interference between their branches is prone to occur, and the dynamic platform has a small range of motion, which limits the application scenarios. The stiffness and motion performance in different directions vary greatly, requiring targeted optimization design. In existing technologies, a dual parallel mechanism series method is often used to expand the workspace. In complex and unknown environments, it is difficult for the work platform to accurately adapt to the real-time information of the ground, resulting in a deviation between the planned motion trajectory and the actual ground conditions, thereby affecting the stability of the platform. In addition, its automatic leveling technology is difficult to strike a balance between accuracy and leveling speed. Although static leveling has high accuracy, it is slow and requires a high installation space. Although dynamic leveling technology is fast, it has low accuracy and cannot meet the needs of high-precision operations. Therefore, there is an urgent need for a new parallel mechanism that can reduce the number of drives while ensuring the stability of the platform and effectively expanding the workspace. Summary of the Invention

[0004] The present invention provides a retractable multi-terrain foldable space work platform, which uses multiple sets of wind power mechanisms arranged in a spatial cross as power mechanisms for adsorption, rolling and flying over obstacles, thereby realizing cleaning operations on flat curtain walls or curtain walls with small curvature and angled curtain walls. The entire control process is very convenient, the work efficiency is high, and it has strong promotion and application value.

[0005] The present invention can be achieved through the following technical solutions:

[0006] A retractable multi-terrain foldable space work platform includes two parallel mechanisms with the same structure and mirror-image arrangement. Each parallel mechanism includes a fixed platform, a movable platform, and multiple branch chains connected therebetween. The fixed platforms of the two parallel mechanisms are shared and overlapped.

[0007] The fixed platform and the movable platform both include a fixed hub and a plurality of main and branch chains connected to the fixed hub. The number of the main and branch chains is the same as the number of the branch chains. One end of each branch chain is connected to the corresponding main and branch chain in the fixed platform, and the other end is connected to the corresponding main and branch chain in the movable platform.

[0008] By controlling the coordinated movement of the fixed platform, the movable platform, and the branch chains and main branch chains, the storage and deployment, lifting and lowering, and the adaptive adjustment of the tilt angle of the folding space work platform can be achieved to adapt to different terrain changes.

[0009] Furthermore, there are four branch chains and four main branch chains, and the connection points between each branch chain and the moving platform and the fixed platform form a square.

[0010] Each of the main branch chains is configured as a third rotating pair and a main support rod connected thereto, and each of the branch chains is configured as an SRPR drive chain composed of a ball pair, a first rotating pair, a movable pair, and a second rotating pair connected in sequence. Its second rotating pair is connected to the main support rod of the fixed platform, and its ball pair is connected to the main support rod of the moving platform. The main support rods of the moving platform and the fixed platform are connected to the corresponding fixed hub through the corresponding third rotating pair, so that the two parallel mechanisms are mirror-superimposed to form a 4-SRPR / / RPRS parallel mechanism.

[0011] Furthermore, the third rotating pair on the movable platform is first controlled to rotate counterclockwise so that the main support member of the fixed platform and the moving pair of the branch chain are collinear. Then, the first rotating pair, the third rotating pair on the movable platform, and the third rotating pair on the fixed platform are controlled to move in coordination, while the moving pair of the branch chain is controlled to shorten, so as to realize the movable platform from folding to unfolding.

[0012] Then the third rotating pair on the fixed platform is controlled to rotate counterclockwise, and the moving pair of the branch chain is controlled to extend, so as to realize the folding to unfolding of the fixed platform, thereby realizing the folding to unfolding of the folding and unfolding space working platform.

[0013] Furthermore, the third rotating pair on the movable platform is controlled to rotate counterclockwise by a first angle so that the main support member of the fixed platform and the moving pair of the branch chain are collinear, and then the second rotating pair is controlled to remain in a locked state;

[0014] Then, the third rotating pair on the moving platform is controlled to continue to rotate counterclockwise by a second angle, the first rotating pair is controlled to rotate clockwise by a third angle, and the third rotating pair on the fixed platform is controlled to rotate clockwise by a fourth angle. The moving pair of the branch chain is shortened by a first length, so that the moving platform can be unfolded from folded. At this time, the third rotating pair on the moving platform is locked, while the first and second rotating pairs remain in a power-off state.

[0015] Finally, the third rotating pair on the fixed platform is controlled to continue to rotate clockwise by a fifth angle, and the moving pair of the branch chain is extended by a second length, so as to realize the fixed platform from being folded to being unfolded.

[0016] Furthermore, when the folding and unfolding space working platform is stored or unfolded, the two mirror-superimposed parallel mechanisms can act simultaneously.

[0017] Furthermore, when the folding space working platform is in the unfolded state, the moving pairs in each branch chain are controlled to extend or shorten simultaneously to realize the lifting and lowering of the folding space working platform, during which time the first rotating pair and the second rotating pair are ensured to remain in the power-off state.

[0018] Furthermore, when the folding space working platform is in the unfolded state, the movable pairs in the two branch chains on the same side are controlled to extend or shorten simultaneously, thereby realizing adaptive adjustment of the tilt angle of the folding space working platform, during which the first rotating pair and the second rotating pair are ensured to remain in a power-off state;

[0019] Alternatively, when the folding space working platform is in the unfolded state, the moving pair of one of the two branch chains on the opposite side is controlled to extend and the moving pair of the other branch chain is controlled to shorten, so as to realize adaptive adjustment of the inclination angle of the folding space working platform, during which time the first rotating pair and the second rotating pair are ensured to remain in the power-off state.

[0020] Furthermore, when the folding and unfolding space working platform performs the adaptive adjustment of the lifting or tilting angle, the two parallel mechanisms superimposed in mirror image can act simultaneously or only one parallel mechanism can act.

[0021] Furthermore, the first to third rotational pairs are all implemented by dual-axis servos, and the translation pair is implemented by an electric push rod.

[0022] Furthermore, the main support rod of the movable platform is longer than the main support rod of the fixed platform, and the fixed hub adopts a quadrilateral structure.

[0023] The beneficial technical effects of the present invention are:

[0024] 1. A parallel mechanism is constructed by multiple branch chains with rotating pairs and movable pairs, as well as a dynamic platform and a dynamic platform. Two or more parallel mechanisms are then mirrored and superimposed on each other to construct a spatial work platform. With the help of the coordinated work of the branch chains, fixed platforms and dynamic platforms, the folding and stretching design of the spatial work platform can be realized, and the space size and layout can be flexibly adjusted according to actual needs. This design makes the platform occupy very little space when not in use, which is convenient for storage and transportation, greatly improving space utilization. During use, the structure is highly stable after unfolding and can carry corresponding equipment and personnel for operations, providing an efficient, convenient and reliable solution for space utilization in various complex environments.

[0025] 2. The present invention adopts a parallel mechanism design with two mirror images superimposed on top of each other, and realizes the deployment and stable support of the platform through the coordinated work of branch chains, fixed platforms and movable platforms. The deployed platform structure is highly stable and can carry the corresponding equipment and personnel for operations. This design not only improves the adaptability of the platform in complex environments, but also ensures its stability under different load conditions. For example, in scenarios such as field rescue or military reconnaissance, the platform needs to carry various equipment and personnel. Its high load-bearing capacity and stability can effectively ensure the safety and reliability of operations.

[0026] 3. The present invention can achieve adaptive adjustment of the platform's lifting and tilt angles by controlling the extension or shortening of the moving pairs in the branch chains. This function enables the platform to automatically adjust its posture according to the undulations of the terrain and always maintain a horizontal state, thereby adapting to changes in different terrains. Whether on flat ground, gently sloping ground or steep slopes, the platform can maintain stable operation through the adaptive adjustment function. For example, in mountain operations or slope construction scenarios, the platform can automatically adjust the tilt angle to ensure that the working surface always remains horizontal, solving the industry problem that traditional platforms have difficulty maintaining a horizontal working plane on sloping ground.

[0027] 4. This invention reduces manual intervention and operational risks through automated folding, unfolding, and posture adjustment functions. In complex environments, the platform automatically adapts to changing terrain, ensuring a stable and level work surface, thereby improving operational safety and reliability. For example, in hazardous environments such as mines or field rescue operations, the platform's automated functions can effectively reduce personnel exposure to hazardous conditions and ensure worker safety. BRIEF DESCRIPTION OF THE DRAWINGS

[0028] Figure 1 Schematic diagram of the construction process of the multi-terrain folding space work platform of the present invention;

[0029] Figure 2This is a state demonstration diagram of the multi-terrain foldable space work platform of the present invention from the storage state to the unfolded state, that is, the initial transition state;

[0030] Figure 3 A diagram illustrating the lifting process of the multi-terrain foldable space working platform of the present invention;

[0031] Figure 4 Schematic diagram of the tilt angle adjustment of the multi-terrain folding space work platform of the present invention, wherein (a) represents the first method and (b) represents the second method;

[0032] Figure 5 This is a schematic diagram of the multi-terrain foldable space working platform of the present invention in use under different terrain conditions;

[0033] Figure 6 Schematic diagram of the structure of the branched chain of the present invention;

[0034] Figure 7 It is a schematic diagram of the connection structure between the ball pair and the first rotation pair of the present invention. DETAILED DESCRIPTION

[0035] The specific implementation of the present invention is described in detail below with reference to the accompanying drawings and preferred embodiments.

[0036] like Figure 1-7 As shown, the present invention provides a retractable multi-terrain foldable space work platform, including two parallel mechanisms with the same structure and mirror-image arrangement. Each parallel mechanism includes a fixed platform, a movable platform, and a plurality of branch chains connected therebetween. The fixed platforms of the two parallel mechanisms share and overlap. The fixed platform and the movable platform both include a fixed hub and a plurality of main branch chains connected to the fixed hub. The number of the main branch chains is the same as the number of the branch chains. One end of each branch chain is connected to the corresponding main branch chain in the fixed platform, and the other end is connected to the corresponding main branch chain in the movable platform.

[0037] In this way, by controlling the coordinated movement of the fixed platform, the movable platform, and the branch chains and main branch chains, the storage and deployment, lifting and lowering, and adaptive adjustment of the tilt angle of the folding space work platform can be achieved to adapt to different terrain changes.

[0038] The following is a detailed explanation of the construction of a folding and unfolding space work platform using a four-degree-of-freedom 4-SPRP parallel mechanism as an example.

[0039] like Figure 1 、 6As shown in Figure 7, we can set four branch branches and main branch chains. The connection points of each branch chain with the moving platform and the fixed platform respectively form a square. Each main branch chain is set as a third rotating pair and a main support rod connected thereto. Each branch chain is set as an SRPR drive chain composed of a ball pair, a first rotating pair, a moving pair and a second rotating pair connected in sequence. Its second rotating pair is connected to the main support rod of the fixed platform, and its ball pair is connected to the main support rod of the moving platform. The main support rods of the moving platform and the fixed platform are connected to the corresponding fixed hub through the corresponding third rotating pair.

[0040] Among them, the first to third rotating pairs can be realized by dual-axis servos, the moving pairs can be realized by electric push rods, the fixed hub can be designed as a quadrilateral structure, and the main support rod of the moving platform is longer than the main support rod of the fixed platform, thus forming a parallel mechanism with a quadrangular pyramid structure that is small at the top and large at the bottom, and then their small heads are butt-jointed, that is, the two parallel mechanisms are mirror-superimposed to form a 4-SRPR / / RPRS parallel mechanism.

[0041] In this way, each branch chain includes an omnidirectional rotation pair constructed by a ball pair and a first rotation pair, which can reduce the singular configuration caused by jamming during the folding, translation and angle adjustment of the folding space working platform, and is more conducive to the posture change of the folding space working platform.

[0042] The first rotational pairs in the four branch chains are M1-M4, the second rotational pairs are M9-M12, the translation pairs are P1-P4, the ball pairs are C1-C4, the four third rotational pairs on the moving platform are M5-M8, the four main support members are LA1-LA4, and the fixed hub is Z1. The four third rotational pairs on the fixed platform are M13-M16, the four main support members are LA5-LA8, and the fixed hub is Z2. The working mode of the above multi-terrain folding space work platform is as follows:

[0043] Working mode 1: folding and storage

[0044] The control method of the two parallel mechanisms with mirror image superposition is the same, such as Figure 2 As shown, first, the third rotating pair on the movable platform is controlled to rotate counterclockwise so that the main support member of the fixed platform and the moving pair of the branch chain are collinear. Then, the first rotating pair, the third rotating pair on the movable platform, and the third rotating pair on the fixed platform are controlled to move in coordination. At the same time, the moving pair of the branch chain is controlled to shorten, so as to realize the movable platform from folding to unfolding.

[0045] Then the third rotating pair on the fixed platform is controlled to rotate counterclockwise, and the moving pair of the branch chain is controlled to extend, so as to realize the folding to unfolding of the fixed platform, thereby realizing the folding to unfolding of the folding and unfolding space working platform.

[0046] Specifically, with the XOY plane as the main view, define the positive direction of the Z axis as perpendicular to the XOY plane and facing outward. First, control the third rotation pair M5-M8 on the movable platform to rotate counterclockwise around the Z axis by a first angle, such as 4 degrees, so that the main support members LA5-LA8 of the fixed platform are collinear with the moving pairs P1-P4 of the branch chain. Then control the second rotation pair M9-M12 to remain in a locked state, ensuring that the main support members and the moving pairs of the branch chain are always in a straight line during the subsequent adjustment process, thereby improving the convenience of adjustment.

[0047] Then, simultaneously, the third rotational pair M5-M8 on the moving platform is controlled to continue rotating counterclockwise around the Z axis by a second angle, such as 86 degrees. The first rotational pair is controlled to rotate clockwise around the Z axis by a third angle, such as 42 degrees. The third rotational pair M13-M16 on the fixed platform is controlled to rotate clockwise around the Z axis by a fourth angle, such as 45 degrees. The mobile pairs P1-P4 of the branch chain are shortened by a first length, such as 230 mm. At this time, the main support members LA1-LA4 on the moving platform have all become horizontal, thereby realizing the transition from folding to unfolding of the moving platform. The entire mechanism reaches transition position II. At this time, the third rotational pair on the moving platform can be locked to ensure the stability of the moving platform. The first and second rotational pairs remain de-energized and act as general rotational pairs in preparation for subsequent adjustments.

[0048] During this process, the first revolute pair M1-M4 can freely deflect by a small angle according to the specific working conditions to avoid singular configurations caused by jamming during the process;

[0049] Finally, the third rotation pair M13-M16 on the fixed platform is controlled to continue to rotate clockwise around the Z axis by a fifth angle, such as 40 degrees, and the movable pairs P1-P4 of the branch chain are extended by a second length, such as 65 mm. At this time, the main support members LA5-LA8 on the fixed platform have all become horizontal, thereby realizing the transition from folding to unfolding of the fixed platform, and the entire platform has reached the initial transition position.

[0050] When the working state of the working platform needs to transition to the original storage state due to storage needs, the basic motion state is opposite to the above control process. The only difference is that the moving auxiliary electromechanical push rod in the branch chain that acts as a linear motion unit is shortened and moved to the lowest position to meet the minimum storage space.

[0051] Working mode 2: lifting

[0052] When the working platform needs to be raised or lowered and is required to transition from the initial transition position to the actual working height, the two mirror-superimposed parallel mechanisms can act simultaneously, or only one parallel mechanism can act, depending on the actual situation. Figure 3 As shown, the control process is as follows:

[0053] The moving pairs P1-P4 in each branch chain are controlled to extend or shorten simultaneously to realize the lifting and lowering of the folding space working platform. During this period, the first and second rotating pairs are kept in the power-off state. They can be freely deflected by a small angle depending on the specific working conditions to avoid singular positions caused by jamming during the process. The third rotating pairs M5-M8 and M13-M16 on the fixed platform and the moving platform are all in the locked state to ensure the stability of the two platforms.

[0054] Working mode 3: Adaptive adjustment of tilt angle

[0055] When the working platform needs to rotate and transition from the initial transition position to the actual working terrain, in order to ensure the stability of the working platform, such as always being in a horizontal state, the following two methods can be used to adaptively adjust its tilt angle to adapt to the undulations of the actual working terrain. Similarly, the two mirror-superimposed parallel mechanisms can act simultaneously, or only one parallel mechanism can act, depending on the actual situation. Figure 4 As shown, the control process is as follows:

[0056] Method 1: Control the moving pairs P1P2 or P3P4 in the two branch chains on the same side to extend or shorten simultaneously, so as to realize the adaptive adjustment of the tilt angle of the folding space working platform. During this period, ensure that the first and second rotating pairs remain in the power-off state;

[0057] Method 2: Simultaneously control the extension of the moving pair P1 or P3 of one of the two branch chains on the opposite side and the shortening of the moving pair P2 or P4 of the other branch chain to achieve adaptive adjustment of the inclination angle of the folding space working platform. During this period, ensure that the first rotating pair and the second rotating pair remain in the power-off state.

[0058] like Figure 5 As shown, the following describes the specific usage of the folding space work platform based on the actual situation of the ground.

[0059] In Example 1, under flat ground conditions, the working platform's deployment mode and lifting mode are preferred. First, deploy in accordance with working mode 1, so that the platform Figure 2 The compact storage configuration shown converts to Figure 2 The initial transition position shown forms a stable temporary support structure, and then the multi-stage electric push rod lifting system is activated through working mode 2 to adjust the height of the working platform in the vertical direction, providing ergonomic multi-stage working height.

[0060] Example 2: Under the working condition of a gently sloping ground (such as a slope angle of 15°-30°), an adaptive angle adjustment mode is adopted, that is, after the working platform completes the deployment of working mode 1, the adaptive adjustment of working mode 3 is started. Since the slope of the ground is small at this time, the two mirror-superimposed parallel mechanisms do not need to move at the same time, only the parallel mechanism on the upper side can move. Of course, the two parallel mechanisms can also move at the same time to facilitate the working platform to always maintain a horizontal state. This mode is particularly suitable for scenarios such as mountain operations and slope construction, and solves the industry problem that traditional platforms are difficult to keep the working plane level on inclined ground.

[0061] In Example 3, on steep slopes (30°-45°), dual-platform collaborative operation is preferred, with two mirror-image parallel mechanisms operating simultaneously. After the work platforms independently deploy in Operation Mode 1, they adjust their heights in Operation Mode 2. The two parallel mechanisms then coordinate to maintain a level position. This mode overcomes the slope limitations of single-platform operation and expands the device's applicability.

[0062] In Example 4, dual-platform lifting mode is preferred for low-profile work (working height ≤ 500mm). After the work platform is basically deployed, one parallel mechanism descends to the lowest working height through working mode 2, while the other parallel mechanism adjusts its height based on the actual situation. This allows for the construction of a large, low-profile work surface, particularly suitable for special space operations such as underground pipeline corridor construction and equipment chassis maintenance.

[0063] Although specific embodiments of the present invention are described above, those skilled in the art should understand that these are merely examples and that various changes or modifications may be made to these embodiments without departing from the principles and essence of the present invention. Therefore, the scope of protection of the present invention is limited by the appended claims.

Claims

1. A foldable multi-terrain work platform, characterized by: It includes two parallel mechanisms with the same structure and mirror-image arrangement. Each parallel mechanism includes a fixed platform, a moving platform, and a plurality of branch chains connected therebetween. The fixed platforms of the two parallel mechanisms are shared and overlapped. The fixed platform and the movable platform both include a fixed hub and a plurality of main and branch chains connected to the fixed hub. The number of the main and branch chains is the same as the number of the branch chains. One end of each branch chain is connected to the corresponding main and branch chain in the fixed platform, and the other end is connected to the corresponding main and branch chain in the movable platform. By controlling the coordinated movement of the fixed platform, the movable platform, and the branch chains and main branch chains, the storage and deployment, lifting and lowering, and the adaptive adjustment of the tilt angle of the folding space work platform can be achieved to adapt to different terrain changes.

2. The retractable multi-terrain foldable space work platform according to claim 1, characterized in that: There are four branch chains and four main branch chains, and the connection points between each branch chain and the moving platform and the fixed platform form a square. Each of the main branch chains is configured as a third rotating pair and a main support rod connected thereto, and each of the branch chains is configured as an SRPR drive chain composed of a ball pair, a first rotating pair, a movable pair, and a second rotating pair connected in sequence. Its second rotating pair is connected to the main support rod of the fixed platform, and its ball pair is connected to the main support rod of the moving platform. The main support rods of the moving platform and the fixed platform are connected to the corresponding fixed hub through the corresponding third rotating pair, so that the two parallel mechanisms are mirror-superimposed to form a 4-SRPR / / RPRS parallel mechanism.

3. The retractable multi-terrain foldable space work platform according to claim 2, characterized in that: First, the third rotating pair on the moving platform is controlled to rotate counterclockwise so that the main support member of the fixed platform and the moving pair of the branch chain are collinear. Then, the first rotating pair, the third rotating pair on the moving platform, and the third rotating pair on the fixed platform are controlled to move in coordination. At the same time, the moving pair of the branch chain is controlled to shorten, so that the moving platform can be folded and unfolded. Then the third rotating pair on the fixed platform is controlled to rotate counterclockwise, and the moving pair of the branch chain is controlled to extend, so as to realize the folding to unfolding of the fixed platform, thereby realizing the folding to unfolding of the folding and unfolding space working platform.

4. The retractable multi-terrain foldable space work platform according to claim 3, characterized in that: First, the third rotating pair on the movable platform is controlled to rotate counterclockwise by a first angle so that the main support member of the fixed platform and the moving pair of the branch chain are collinear, and then the second rotating pair is controlled to remain in a locked state; Then, the third rotating pair on the moving platform is controlled to continue to rotate counterclockwise by a second angle, the first rotating pair is controlled to rotate clockwise by a third angle, and the third rotating pair on the fixed platform is controlled to rotate clockwise by a fourth angle. The moving pair of the branch chain is shortened by a first length, so that the moving platform can be unfolded from folded. At this time, the third rotating pair on the moving platform is locked, while the first and second rotating pairs remain in a power-off state. Finally, the third rotating pair on the fixed platform is controlled to continue to rotate clockwise by a fifth angle, and the moving pair of the branch chain is extended by a second length, so as to realize the fixed platform from being folded to being unfolded.

5. The retractable multi-terrain foldable space work platform according to claim 3 or 4, characterized in that: When the folding and unfolding space working platform is stored or unfolded, the two mirror-superimposed parallel mechanisms can act simultaneously.

6. The retractable multi-terrain foldable space work platform according to claim 2, characterized in that: When the folding space working platform is in the unfolded state, the moving pairs in each branch chain are controlled to extend or shorten simultaneously to realize the lifting and lowering of the folding space working platform, during which the first rotating pair and the second rotating pair are ensured to remain in the power-off state.

7. The retractable multi-terrain foldable space work platform according to claim 2, characterized in that: When the folding space working platform is in the unfolded state, the moving pairs in the two branch chains on the same side are controlled to extend or shorten simultaneously to achieve adaptive adjustment of the tilt angle of the folding space working platform, during which the first rotating pair and the second rotating pair are ensured to remain in a power-off state; Alternatively, when the folding space working platform is in the unfolded state, the moving pair of one of the two branch chains on the opposite side is controlled to extend and the moving pair of the other branch chain is controlled to shorten, so as to realize adaptive adjustment of the inclination angle of the folding space working platform, during which time the first rotating pair and the second rotating pair are ensured to remain in the power-off state.

8. The retractable multi-terrain foldable space work platform according to claim 6 or 7, characterized in that: When the folding and unfolding space working platform performs the self-adaptive adjustment of the lifting or tilting angle, the two parallel mechanisms superimposed in mirror image can act simultaneously or only one parallel mechanism can act.

9. The retractable multi-terrain foldable space work platform according to claim 2, characterized in that: The first to third rotational pairs are all realized by dual-axis servos, and the translation pair is realized by electric push rods.

10. The retractable multi-terrain foldable space work platform according to claim 2, characterized in that: The main support rod of the movable platform is longer than the main support rod of the fixed platform, and the fixed hub adopts a quadrilateral structure.

Images