Linkage mechanism capable of achieving precise vertical rectilinear motion

Abstract

The invention provides a linkage mechanism capable of achieving precise vertical rectilinear motion. The linkage mechanism comprises a pedestal, connecting blocks, a motion platform, connecting rods and rotating pairs, wherein the connecting rods and the rotating pairs are connected between the pedestal and the motion platform. The connecting rods and the pairs of the mechanism are in mirror symmetrical structure. The linkage mechanism has the advantages that in the stretching and retracting process of the linkage mechanism, the motion platform can achieve vertical rectilinear motion, and thelinkage mechanism is simple in kinematics, easy to drive and high in rigidity and bearing capacity; and meanwhile, the mechanism is compact in structure, small in size in complete retraction and convenient to store. Thus, the linkage mechanism has good application prospects in space stretchable supporting arms, stretchable wings and stretchable tongs.

Description

technical field [0001] The invention relates to the field of motion mechanisms, in particular to a link mechanism for precise vertical linear motion. Background technique [0002] Linear motion mechanisms have important applications in the fields of walking robots, internal combustion engines, long-stroke equipment, and space exploration technology, especially in expandable support arms, solar panel brackets, expandable wings, expandable grippers, and The deployable antenna and other aspects have good application prospects. [0003] Chinese patent CN201110093972.6 presents a precise linear motion mechanism. The middle platform of the mechanism is an isosceles triangle, and the two rotating pairs on the middle platform are arranged along the waist, showing an intersecting relationship, resulting in the oblique intersection between the moving platform and the fixed platform. , the moving platform can only achieve oblique linear motion, not vertical linear motion, the kinemati...

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Problems solved by technology

[0003] Chinese patent CN201110093972.6 presents a precise linear motion mechanism. The middle platform of the mechanism is an isosceles triangle, and the two rotating pairs on the middle platform are arranged along the waist, showing an intersecting relationship, resulting in the oblique intersection between the moving platform and the fixed platform. , the moving platform can only achieve oblique linear motion, not vertical linear motion, the kinematics parameters are complex, and the contraction is not compact enough when folded; in addition, the mechanism needs to be designed to synchronously drive the two revolving pairs on the frame to achieve linear motion

Chinese patent CN201110077493.5 presents a precise linear motion mechanism, which is asymmetrical, and the drive branch contains multiple local degrees of freedom, which is prone to interference, and the contraction of the entire mechanism is not compact enough when folded

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