CN114786882B - Multi-freedom-degree parallel mechanism - Google Patents
Multi-freedom-degree parallel mechanism Download PDFInfo
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- CN114786882B CN114786882B CN201980101874.7A CN201980101874A CN114786882B CN 114786882 B CN114786882 B CN 114786882B CN 201980101874 A CN201980101874 A CN 201980101874A CN 114786882 B CN114786882 B CN 114786882B
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- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
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Abstract
The invention provides a multi-degree-of-freedom parallel mechanism which comprises a bridge assembly (2) and two support assemblies (3), wherein each support assembly (3) comprises a positioning plate (30), a first movable part (31), a second movable part (32) and a bracket (34), the positioning plates (30) comprise a first conducting bar (301) and a second conducting bar (302), the brackets (34) comprise a first pairing conducting bar (341) and a second pairing conducting bar (342), the first movable part (31) is connected with the first conducting bar (301) and the first pairing conducting bar (341), the second movable part (32) is connected with the second conducting bar (302) and the second pairing conducting bar (342), and each positioning plate (30) is rotatably connected with the bridge assembly (2) so that the bridge assembly (2) can rotate around two axes which are not parallel to each other relative to any positioning plate (30). The multi-degree-of-freedom parallel mechanism has a compact structure, small motion inertia of the moving part connected with the bridge assembly and can realize accurate positioning in a limited space.
Description
Technical Field
The invention relates to the field of robots, in particular to a multi-degree-of-freedom parallel mechanism of a parallel robot.
Background
From the perspective of mechanics, robots can be divided into two main categories, namely serial robots and parallel robots, and compared with serial robots, parallel robots have the advantages of high rigidity, high bearing capacity, high precision, small inertia of end pieces and the like.
The existing parallel robots are designed completely symmetrically, so that the whole volume of the robot is large, and the robot cannot be well adapted to a small operation space or a plurality of robots can not be simultaneously arranged in a limited space.
Most common parallel robots are six degrees of freedom, for example patent US3295224a discloses a parallel robot for motion simulation. However, the cost of parallel robots having complete six degrees of freedom is often that the movement space of each degree of freedom is approximately equally divided, and the requirement for some robots having a larger movement space in a particular direction is not well met. Therefore, according to specific requirements, one limits the degrees of freedom in some directions, and the most widely used is a parallel robot for picking up operations, and most of them provide three translational and one rotational degrees of freedom, for example, patent CN105729450B discloses a four-degree-of-freedom parallel mechanism which can realize three translational and one rotational degrees of freedom of the movable platform, but cannot realize the rotation of the movable platform around the y-axis or around the x-axis. For another example, patent WO2009053506A1 discloses a four-degree-of-freedom parallel robot, in which a support portion uses a plurality of non-coplanar four-bar mechanisms, and the movements of the non-coplanar four-bar mechanisms are mutually restricted, so that a movable platform of a terminal cannot realize two-translational and two-rotational degrees of freedom.
However, in applications such as surgical robots or machine tools, where it is necessary to control the degrees of freedom of at least two translational and two rotational movements of the tool, the parallel mechanism providing three translational and one rotational movements described above is not suitable.
Patent application CN201810316148.4 provides a guiding mechanism with at least two translational and two rotational degrees of freedom. The guiding mechanism comprises two support assemblies for supporting the bridge and a movable assembly for positioning the bridge assembly, however, since the movable assembly superimposes movements in two different directions, the motor controlling the movements is also integrated in the movable assembly, and thus the moment of inertia of the movable assembly is large.
Disclosure of Invention
The invention aims to overcome or at least alleviate the defects in the prior art and provide a multi-degree-of-freedom parallel mechanism.
The invention provides a multi-degree-of-freedom parallel mechanism, which comprises a bridge component and two support components, wherein,
each supporting component comprises a positioning plate, a first movable piece, a second movable piece and a bracket,
the positioning plate comprises first and second non-parallel guide bars, and the bracket comprises first and second non-parallel paired guide bars;
the first movable piece is connected with the first conducting bar and the first pairing conducting bar, and the second movable piece is connected with the second conducting bar and the second pairing conducting bar;
the first movable piece can move along the first pairing conducting bar in a driven manner, the second movable piece can move along the second pairing conducting bar in a driven manner, the first movable piece is guided by the first conducting bar in the process of moving relative to the positioning plate, the second movable piece is guided by the second conducting bar in the process of moving relative to the positioning plate, the first conducting bar has a state not parallel to the first pairing conducting bar in the moving process, and the second conducting bar has a state not parallel to the second pairing conducting bar in the moving process;
the two positioning plates are spaced apart in a first direction, each of the positioning plates being rotatably connected to the bridge assembly such that the bridge assembly is rotatable relative to either of the positioning plates about two axes that are non-parallel to each other, the axes being non-parallel to the first direction, preferably the bridge assembly is rotatable relative to either of the positioning plates about two mutually perpendicular axes;
the bridge assembly has at least two translational degrees of freedom and two rotational degrees of freedom.
In at least one embodiment, the first conductive strip is parallel to the second mating conductive strip, and the second conductive strip is parallel to the first mating conductive strip.
In at least one embodiment, the first conductive strip is perpendicular to the second conductive strip.
In at least one embodiment, the first movable member includes a first movable member first part and a first movable member second part, the first movable member first part and the first movable member second part being drivingly rotatable relative to each other;
the second movable piece comprises a second movable piece first part and a second movable piece second part, and the second movable piece first part and the second movable piece second part can rotate relatively;
the first paired guide bar and the first movable piece are connected to the first movable piece first part, and the first guide bar and the first movable piece are connected to the first movable piece second part;
the second paired guide bar and the second movable piece are connected to the first part of the second movable piece, and the second paired guide bar and the second movable piece are connected to the second part of the second movable piece;
the bridge assembly has at least two translational degrees of freedom and three rotational degrees of freedom.
In at least one embodiment, the support assembly further comprises a third movable member, the positioning plate further comprises a third guide bar, and the bracket further comprises a third mating guide bar;
the first movable piece comprises a first movable piece first part and a first movable piece second part, the first movable piece first part and the first movable piece second part can rotate relatively, the first pairing guide bar and the first movable piece are connected with the first movable piece first part in a sliding manner, and the first guide bar and the first movable piece are connected with the first movable piece second part in a sliding manner;
the second movable piece comprises a second movable piece first part and a second movable piece second part, the second movable piece first part and the second movable piece second part can rotate relatively, the second pairing guide bar and the second movable piece are connected with the second movable piece first part in a sliding manner, and the second guide bar and the second movable piece are connected with the second movable piece second part in a sliding manner;
the third movable piece comprises a third movable piece first part and a third movable piece second part, the third movable piece first part and the third movable piece second part can rotate relatively, the third pairing guide bar and the third movable piece are connected with the third movable piece first part in a sliding manner, and the third guide bar and the third movable piece are connected with the third movable piece second part in a sliding manner;
the bridge assembly has at least two translational degrees of freedom and three rotational degrees of freedom.
In at least one embodiment, the first guide bar is located at a middle position of the positioning plate, so that the positioning plate is axisymmetric relative to an extension axis where the first guide bar is located.
In at least one embodiment, the first conductive strip, the second conductive strip, the first mating conductive strip, and the second mating conductive strip are all parallel to a virtual plane.
In at least one embodiment, the mechanism further comprises a guide member, the extending direction of the guide member is perpendicular to the virtual plane, and both the brackets are slidably connected to the guide member.
In at least one embodiment, the distance between two of the brackets can be adjusted.
In at least one embodiment, the bridge assembly includes a bridge first component and a bridge second component that are connected to one another;
one of the two positioning plates is connected with the first bridge part, and the other positioning plate is connected with the second bridge part;
the bridge first member and the bridge second member are relatively movable to vary the distance between the two connection points of the locating plate and the bridge assembly.
In at least one embodiment, the bridge first part comprises an extension guide, and the bridge second part is slidable relative to the bridge first part guided by the extension guide.
In at least one embodiment, the bridge first member is rotatably coupled to the bridge second member.
In at least one embodiment, two of the brackets are rigidly connected together or integrally formed.
In at least one embodiment, a driving member for driving the first and second movable members to move is mounted to the bracket.
In at least one embodiment, a driving member for driving the first, second and third movable members to move is mounted to the bracket.
In at least one embodiment, the first, second and third mating conductors form a ring shape, and preferably a circular or oval ring shape, or the first, second and third conductors form a ring shape, and preferably a circular or oval ring shape.
The multi-degree-of-freedom parallel mechanism has a compact structure, small motion inertia of the moving part connected with the bridge assembly and can realize accurate positioning in a limited space.
Drawings
Fig. 1 shows a multiple degree of freedom parallel mechanism according to a first embodiment of the invention.
Fig. 2 and 3 show two variants of a multiple degree of freedom parallel mechanism according to a first embodiment of the invention.
Fig. 4 shows a multiple degree of freedom parallel mechanism according to a second embodiment of the invention.
Fig. 5 shows a multiple degree of freedom parallel mechanism according to a third embodiment of the invention.
Fig. 6 shows a variation of a multiple degree of freedom parallel mechanism according to a third embodiment of the invention.
Reference numerals illustrate:
1 a guide member; a 2-bridge assembly; 21 bridge first part; 22 bridge second part; 211 extending the guide;
3, supporting the assembly; 30 positioning plates; 301 a first guide bar; 302 a second guide bar; 303 a third guide bar;
31 a first movable member; 311 a first movable member first part; 312 a first moveable member second member;
32 a second movable member; 321 a second movable member first member; 322 a second movable member second part;
33 a third movable member; 331 a third movable member first part; 332 a third movable member second part;
34 brackets; 341 a first mating bar; 342 second mating guide bar; 343 a third mating guide bar;
a1, a2 axis of rotation.
Detailed Description
Exemplary embodiments of the present invention are described below with reference to the accompanying drawings. It should be understood that these specific illustrations are for the purpose of illustrating how one skilled in the art may practice the invention, and are not intended to be exhaustive of all of the possible ways of practicing the invention, nor to limit the scope of the invention.
The present invention describes the positional relationship of the respective members in a three-dimensional coordinate system shown in fig. 1 unless otherwise specified. It should be understood that the positional relationship defined according to the x, y and z axes in the present invention is relative, and the coordinate axes may be rotated in space according to the actual application of the device.
(first embodiment)
A first embodiment of the multiple degree of freedom parallel mechanism of the present invention and its related variants will first be described with reference to fig. 1 to 3.
Referring to fig. 1, the parallel mechanism according to the first embodiment of the present invention includes two support assemblies 3, a bridge assembly 2 connecting the two support assemblies 3, and a guide 1.
Each support assembly 3 comprises a positioning plate 30, a first movable member 31, a second movable member 32 and a bracket 34. The first movable member 31 and the second movable member 32 serve to connect the positioning plate 30 and the bracket 34 such that the position of the positioning plate 30 with respect to the bracket 34 can be controlled and adjusted.
In the present embodiment, the guide 1 is a guide rail extending in the z direction (also referred to as a first direction). The two support assemblies 3 are spaced apart in the z-direction. The bracket 34 is slidably mounted to the guide 1. The bracket 34 includes a first mating bar 341 extending in the y-direction and a second mating bar 342 extending in the x-direction. It should be understood that the guide 1 may also be a guide having an extension component in the z-direction, the first mating guide bar 341 may not extend in the y-direction but have an extension component in the y-direction, and the second mating guide bar 342 may not extend in the x-direction but have an extension component in the x-direction. The first mating bar 341 is not parallel to the second mating bar 342.
The positioning plate 30 includes a first conductive bar 301 and a second conductive bar 302, the first conductive bar 301 being parallel to the second mating conductive bar 342, the second conductive bar 302 being parallel to the first mating conductive bar 341.
One end of the first movable member 31 is slidably connected to the first mating conductive strip 341, the other end is slidably connected to the first conductive strip 301, one end of the second movable member 32 is slidably connected to the second mating conductive strip 342, and the other end is slidably connected to the second conductive strip 302.
When the first movable member 31 is driven to move along the first mating guide bar 341 and the second movable member 32 is driven to move along the second mating guide bar 342, respectively, the displacement of the first movable member 31 and the second movable member 32 is transmitted to the positioning plate 30 through the first guide bar 301 and the second guide bar 302, so that the position of the positioning plate 30 in the xoy plane is determined, and the positioning plate 30 has a translational degree of freedom in the x direction and a translational degree of freedom in the y direction.
Preferably, two driving members (e.g., linear motor, cylinder or hydraulic cylinder) for driving the first movable member 31 and the second movable member 32 to move are mounted to the bracket 34 instead of the positioning plate 30, thereby reducing the moment of inertia of the positioning plate 30.
Preferably, the first guide bar 301 is located at a middle position of the positioning plate 30, so that the positioning plate 30 is axisymmetric with respect to an extension axis where the first guide bar 301 is located. This allows a larger range of motion of the positioning plate 30 and good stability of the support assembly 3.
The bridge assembly 2 is rotatably connected to each positioning plate 30 such that the bridge assembly 2 rotates relative to each positioning plate 30 about two axes a1 and a2 that are non-parallel to each other, and neither axis a1 nor axis a2 is parallel to the z-direction. These two non-parallel axes of rotation give the bridge assembly 2 a rotational degree of freedom about the x-direction and a rotational degree of freedom about the y-direction. Preferably, the axis a1 is perpendicular to the axis a2. Preferably, when the movement positions of the two positioning plates 30 are synchronized, i.e. the positions of the two positioning plates 30 in the xoy plane are the same, the axis a1 is parallel to the x-axis and the axis a2 is parallel to the y-axis.
Since the distance between the connection points of the two positioning plates 30 and the bridge assembly 2 varies during the translation of the two positioning plates 30, the position of the two brackets 34 in the present embodiment at the guide 1 can be individually changed in order to accommodate the variation in the distance. The meaning of "individually changed" here is that the distance between the two holders 34 in the z-direction is variable. Such a separately modified control method may be, for example, to position one of the brackets 34 on the guide 1 and to have the other bracket 34 act as a follower.
It will be appreciated that the two brackets 34 may also be moved along the guide 1 to give the bridge assembly 2 freedom of translation in the z-direction.
Fig. 2 shows a variant of the first embodiment, the modification consisting essentially in the arrangement of the bridge assembly 2.
In the embodiment shown in fig. 2, the bridge assembly 2 comprises a bridge first part 21 and a bridge second part 22, one of the two positioning plates 30 being in rotational connection with the bridge first part 21 and the other being in rotational connection with the bridge second part 22. The bridge first part 21 comprises an extension guide 211, for example in the form of a rail, along which extension guide 211 the second part 22 can slide.
Since the bridge first part 21 and the bridge second part 22 are able to slide relatively to change the distance in z-direction between the connection points of the two positioning plates 30 and the bridge assembly 2, in this embodiment the distance in z-direction between the two brackets 34 may be determined, and the two brackets 34 may be connected together or integrally formed, for example, by rigid pieces, thereby increasing the structural strength of the brackets 34.
Fig. 3 shows another variant of the bridge assembly 2 of the first embodiment.
In the embodiment shown in fig. 3, the bridge assembly 2 comprises a bridge first part 21 and a bridge second part 22 which are rotatable relative to each other.
One of the two positioning plates 30 is in rotational connection with the bridge first part 21 and the other is in rotational connection with the bridge second part 22. When the position of the two positioning plates 30 in the xoy plane changes, the distance between the two connection points of the two positioning plates 30 to the bridge assembly 2 changes, and the bridge first part 21 and the bridge second part 22 can adapt to this change in distance by rotating with follow-up.
(second embodiment)
A second embodiment of the multiple degree of freedom parallel mechanism of the present invention is described with reference to fig. 4. The second embodiment is a modification of the first embodiment, and the bridge assembly 2 of the multiple degree of freedom parallel mechanism according to the second embodiment may also have a degree of freedom of rotation about the z-axis. The differences between the second embodiment and the first embodiment are mainly described below.
In the present embodiment, the first movable member 31 includes a first movable member first part 311 and a first movable member second part 312 that are relatively rotatable about the z-axis, and the second movable member 32 includes a second movable member first part 321 and a second movable member second part 322 that are relatively rotatable about the z-axis. The first moveable first member 311 is configured to slide along the first mating guide bar 341, the first moveable second member 312 is configured to slide along the first guide bar 301, the second moveable first member 321 is configured to slide along the second mating guide bar 342, and the second moveable second member 322 is configured to slide along the second guide bar 302.
Since the two sub-parts of the movable member can rotate relatively, in this embodiment, it is not necessary to make the first conductive strip 301 parallel to the second mating conductive strip 342, and it is not necessary to make the second conductive strip 302 parallel to the first mating conductive strip 341, and it is only necessary to satisfy: the first conductive strip 301 has a state of being non-parallel to the first counterpart conductive strip 341 during movement, and the second conductive strip 302 has a state of being non-parallel to the second counterpart conductive strip 342 during movement.
The first movable member second part 312 is driven (e.g., a drive motor is mounted between the first movable member second part 312 and the first movable member first part 311) to rotate relative to the first movable member first part 311, and the second movable member second part 322 is driven (e.g., no drive member may be provided between the second movable member second part 322 and the second movable member first part 321) to rotate relative to the second movable member first part 321.
To summarize, in the present embodiment, in order to achieve translational degrees of freedom and rotational degrees of freedom of the bridge assembly 2 in three directions of x, y and z, the driving element and the movement manner thereof in the multi-degree-of-freedom parallel mechanism include: either of the two brackets 34 translates along the guide 1, each first movable member 31 of the two support assemblies 3 translates along the first mating guide 341, each second movable member 32 translates along the second mating guide 342, and the second member of either movable member of each support assembly 3 rotates relative to the first member of the movable member (e.g., the first movable member second member 312 rotates relative to the first movable member first member 311).
(third embodiment)
A third embodiment of the multiple degree of freedom parallel mechanism of the present invention is described with reference to fig. 5 through 6. The third embodiment is a modification of the second embodiment, and the bridge assembly 2 of the multiple degree of freedom parallel mechanism according to the third embodiment has a degree of freedom of rotation about the z-axis. The differences between the third embodiment and the second embodiment will be mainly described below.
In the present embodiment, the support assembly 3 further includes a third movable member 33, the positioning plate 30 further includes a third guide bar 303, and the bracket 34 further includes a third mating guide bar 343.
At least two of the first, second, and third conductors 301, 302, and 303 are non-parallel, and at least two of the first, second, and third mating conductors 341, 342, and 343 are non-parallel.
The third movable member 33 includes a third movable member first part 331 and a third movable member second part 332 that are relatively rotatable about the z-axis, the third movable member first part 331 being configured to slide along the third mating guide bar 343, the third movable member second part 332 being configured to slide along the third guide bar 303.
The rotation of the first movable member second member 312 relative to the first movable member first member 311, the rotation of the second movable member second member 322 relative to the second movable member first member 321, and the rotation of the third movable member second member 332 relative to the third movable member first member 331, all of which follow-up with the translation of the first movable member 31, the second movable member 32, and the third movable member 33, do not require separate rotational drives.
Since the two sub-parts of each movable part can rotate relatively, in this embodiment, the arrangement of the three paired bars (341, 342, 343) and the three paired bars (301, 302, 303) need not satisfy the parallel pairing, for example, refer to fig. 6. It should be appreciated that to increase the structural strength of the bracket 34 and save space, the first, second, and third mating conductors 341, 342, 343 may be formed in a ring shape (including, for example, polygonal, circular, or oval); alternatively, the first, second and third conductive bars 301, 302 and 303 may form a loop shape. The following needs to be satisfied: the first conductive strip 301 has a state of being non-parallel to the first counterpart conductive strip 341 during movement, and the second conductive strip 302 has a state of being non-parallel to the second counterpart conductive strip 342 during movement.
To summarize, in the present embodiment, in order to achieve translational degrees of freedom and rotational degrees of freedom of the bridge assembly 2 in three directions of x, y and z, the driving element and the movement manner thereof in the multi-degree-of-freedom parallel mechanism include: either of the two brackets 34 translates along the guide 1, each first movable member 31 of the two support assemblies 3 translates along the first mating guide 341, each second movable member 32 translates along the second mating guide 342, and each third movable member 33 translates along the third mating guide 343.
It will be appreciated that the above-described embodiments and portions of aspects or features thereof may be suitably combined.
Some advantageous effects of the above-described embodiments of the present invention are briefly described below.
(i) According to the invention, through the two support assemblies 3 for realizing the translation function, the freedom degree of at least two translation and two rotation of the bridge assembly 2 connected with the translation assembly is realized; when one part of the movable members (the first movable member 31, the second movable member 32 and the third movable member 33) is rotatable relative to the other part, the bridge assembly 2 has two translational and three rotational degrees of freedom; when the two brackets 34 are also able to slide along the guide 1, the bridge assembly 2 has three translational and three rotational degrees of freedom. The parallel mechanism has simple structure, is not required to be symmetrical, and has strong space adaptability.
(ii) The moving driving members, particularly the driving members for driving the first movable member 31, the second movable member 32 and the third movable member 33, may not be fixed to the positioning plate 30 for realizing the complex movement, so that the moving inertia of the moving parts of the mechanism is reduced, and the control of the moving precision of the bridge assembly 2 is facilitated.
(iii) The support assembly 3 and the bridge assembly 2 of the parallel mechanism according to the invention have various alternative implementation structures, which can be adapted to different installation environments.
It should be understood that the above-described embodiments are merely exemplary and are not intended to limit the present invention. Those skilled in the art can make various modifications and changes to the above-described embodiments without departing from the scope of the present invention. For example, the number of the cells to be processed,
(i) The parallel mechanism according to the invention is preferably used as part of a surgical robot, in which application the z-direction preferably represents the vertical direction and surgical instruments can be added to the bridge assembly 2; however, the invention is not limited thereto, and the parallel mechanism according to the invention may also provide guidance for other instruments.
When a termination for a surgical instrument is added to the bridge assembly 2, the termination may also be displaceable in the z-direction relative to the bridge assembly 2, in which case the translational freedom of the termination in the z-direction may not be obtained by sliding the carriage 34 relative to the guide 1.
(ii) The guides 1, bars (301, 302, 303), mating bars (341, 342, 343) and extension guides of the bridge assembly 2 of the present invention are not limited to the form of guide tracks as shown, but may be other forms of guides such as guide slots or rods.
(iii) The brackets 34 and the positioning plates 30 of the same support assembly 3 may be non-parallel, or the brackets 34 or the positioning plates 30 of two support assemblies 3 may be non-parallel, in which case the bridge assembly 2 may have a better adaptability under certain angles, and in which case the parallel mechanism may comprise two non-parallel guides, the two brackets 34 may be provided in one guide each.
Claims (16)
1. A multi-degree-of-freedom parallel mechanism comprises a bridge component (2) and two support components (3), wherein,
each supporting component (3) comprises a positioning plate (30), a first movable piece (31), a second movable piece (32) and a bracket (34);
the positioning plate (30) comprises a first guide bar (301) and a second guide bar (302) which are not parallel, and the bracket (34) comprises a first pairing guide bar (341) and a second pairing guide bar (342) which are not parallel;
the first movable piece (31) is connected with the first conducting bar (301) and the first pairing conducting bar (341), and the second movable piece (32) is connected with the second conducting bar (302) and the second pairing conducting bar (342);
the first movable part (31) can move along the first pairing conducting bar (341) in a driven manner, the second movable part (32) can move along the second pairing conducting bar (342) in a driven manner, the first movable part (31) is guided by the first conducting bar (301) in the process of relative movement with the positioning plate (30), the second movable part (32) is guided by the second conducting bar (302) in the process of relative movement with the positioning plate (30), the first conducting bar (301) has a state which is not parallel with the first pairing conducting bar (341) in the process of movement, and the second conducting bar (302) has a state which is not parallel with the second pairing conducting bar (342) in the process of movement;
-two positioning plates (30) spaced apart in a first direction (z), each positioning plate (30) being rotatably connected to the bridge assembly (2) such that the bridge assembly (2) can rotate relative to either positioning plate (30) about two axes (a 1, a 2) that are non-parallel to each other, the axes (a 1, a 2) being non-parallel to the first direction (z), the bridge assembly (2) being rotatable relative to either positioning plate (30) about two axes (a 1, a 2) that are mutually perpendicular;
the bridge assembly (2) has at least two translational degrees of freedom and two rotational degrees of freedom.
2. The multiple degree of freedom parallel mechanism of claim 1 wherein the first conductive strip (301) is parallel to the second mating conductive strip (342) and the second conductive strip (302) is parallel to the first mating conductive strip (341).
3. The multiple degree of freedom parallel mechanism of claim 2 wherein the first conductive bar (301) is perpendicular to the second conductive bar (302).
4. The multiple degree of freedom parallel mechanism of claim 1 wherein the first movable member (31) includes a first movable member first part (311) and a first movable member second part (312), the first movable member first part (311) and the first movable member second part (312) being drivingly rotatable relative to each other;
the second movable part (32) comprises a second movable part first part (321) and a second movable part second part (322), and the second movable part first part (321) and the second movable part second part (322) can rotate relatively;
the first pairing conducting bar (341) and the first movable piece (31) are connected to the first movable piece first component (311), and the first conducting bar (301) and the first movable piece (31) are connected to the first movable piece second component (312);
the second paired guide bar (342) and the second movable piece (32) are connected to the second movable piece first component (321), and the second paired guide bar (302) and the second movable piece (32) are connected to the second movable piece second component (322);
the bridge assembly (2) has at least two translational degrees of freedom and three rotational degrees of freedom.
5. The multiple degree of freedom parallel mechanism of claim 1 wherein the support assembly (3) further comprises a third movable member (33), the positioning plate (30) further comprises a third guide bar (303), and the bracket (34) further comprises a third mating guide bar (343);
the first movable piece (31) comprises a first movable piece first part (311) and a first movable piece second part (312), the first movable piece first part (311) and the first movable piece second part (312) can rotate relatively, the first pairing guide bar (341) and the first movable piece (31) are connected with the first movable piece first part (311) in a sliding mode, and the first guide bar (301) and the first movable piece (31) are connected with the first movable piece second part (312) in a sliding mode;
the second movable part (32) comprises a second movable part first part (321) and a second movable part second part (322), the second movable part first part (321) and the second movable part second part (322) can rotate relatively, the second paired guide bar (342) and the second movable part (32) are connected with the second movable part first part (321) in a sliding mode, and the second guide bar (302) and the second movable part (32) are connected with the second movable part second part (322) in a sliding mode;
the third movable part (33) comprises a third movable part first part (331) and a third movable part second part (332), the third movable part first part (331) and the third movable part second part (332) can rotate relatively, the third pairing guide bar (343) and the third movable part (33) are connected to the third movable part first part (331) in a sliding mode, and the third guide bar (303) and the third movable part (33) are connected to the third movable part second part (332) in a sliding mode;
the bridge assembly (2) has at least two translational degrees of freedom and three rotational degrees of freedom.
6. A multiple degree of freedom parallel mechanism according to any one of claims 1 to 5, wherein the first guide bar (301) is located in a middle position of the positioning plate (30) such that the positioning plate (30) is axisymmetric with respect to an extension axis in which the first guide bar (301) is located.
7. The multiple degree of freedom parallel mechanism of any one of claims 1 to 5 wherein the first conductor bar (301), the second conductor bar (302), the first mating conductor bar (341) and the second mating conductor bar (342) are all parallel to a virtual plane (xoy).
8. The multiple degree of freedom parallel mechanism of claim 7 further comprising a guide (1), the direction of extension of the guide (1) being perpendicular to the virtual plane (xoy), both brackets (34) being slidingly connected to the guide (1).
9. A multiple degree of freedom parallel mechanism according to any one of claims 1 to 5, wherein the distance between two brackets (34) can be adjusted.
10. The multiple degree of freedom parallel mechanism of any one of claims 1 to 5 wherein the bridge assembly (2) comprises a bridge first member (21) and a bridge second member (22) connected to each other;
one of the two positioning plates (30) is connected to the bridge first part (21) and the other is connected to the bridge second part (22);
the bridge first part (21) and the bridge second part (22) are movable relative to each other to vary the distance between the connection points of the two positioning plates (30) and the bridge assembly (2).
11. The multiple degree of freedom parallel mechanism of claim 10 wherein the bridge first member (21) includes an extension guide (211), the bridge second member (22) being slidably guided by the extension guide (211) relative to the bridge first member (21).
12. A multiple degree of freedom parallel mechanism according to claim 10, wherein the bridge first member (21) is rotationally coupled to the bridge second member (22).
13. A multiple degree of freedom parallel mechanism according to claim 10 wherein two of the brackets (34) are rigidly connected together or integrally formed.
14. A multiple degree of freedom parallel mechanism according to any one of claims 1 to 4 wherein a drive member for driving the movement of the first movable member (31) and the second movable member (32) is mounted to the carriage (34).
15. The multiple degree of freedom parallel mechanism of claim 5 wherein a driving member for driving the first movable member (31), the second movable member (32) and the third movable member (33) is mounted to the bracket (34).
16. The multiple degree of freedom parallel mechanism of claim 5 wherein the first mating bar (341), the second mating bar (342) and the third mating bar (343) form a ring, or a torus or an oval ring, or wherein the first bar (301), the second bar (302) and the third bar (303) form a ring, or a torus or an oval ring.
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| PCT/CN2019/114989 WO2021081978A1 (en) | 2019-11-01 | 2019-11-01 | Multi-degree-of-freedom parallel mechanism |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN114786882A CN114786882A (en) | 2022-07-22 |
| CN114786882B true CN114786882B (en) | 2023-06-30 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201980101874.7A Active CN114786882B (en) | 2019-11-01 | 2019-11-01 | Multi-freedom-degree parallel mechanism |
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| Country | Link |
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| CN (1) | CN114786882B (en) |
| WO (1) | WO2021081978A1 (en) |
Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN1669694A (en) * | 2005-03-31 | 2005-09-21 | 上海交通大学 | Parallel robot edge-coating system with a rotary table |
| CN105058382A (en) * | 2015-08-04 | 2015-11-18 | 汕头大学 | Novel series-parallel five-axis-linkage intelligent welding platform |
| CN105729450A (en) * | 2016-05-09 | 2016-07-06 | 中国科学院宁波材料技术与工程研究所 | Four-degree-of-freedom parallel mechanism |
| CN110355738A (en) * | 2018-04-10 | 2019-10-22 | 苏州迈澜医疗科技有限公司 | Multiple degrees of freedom guiding mechanism |
Family Cites Families (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| WO2014176334A1 (en) * | 2013-04-23 | 2014-10-30 | Northwestern University | Translational parallel manipulators and methods of operating the same |
| CN110355737B (en) * | 2018-04-10 | 2022-06-10 | 苏州迈澜医疗科技有限公司 | Translation mechanism and multi-degree-of-freedom guide mechanism with same |
-
2019
- 2019-11-01 CN CN201980101874.7A patent/CN114786882B/en active Active
- 2019-11-01 WO PCT/CN2019/114989 patent/WO2021081978A1/en active Application Filing
Patent Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN1669694A (en) * | 2005-03-31 | 2005-09-21 | 上海交通大学 | Parallel robot edge-coating system with a rotary table |
| CN105058382A (en) * | 2015-08-04 | 2015-11-18 | 汕头大学 | Novel series-parallel five-axis-linkage intelligent welding platform |
| CN105729450A (en) * | 2016-05-09 | 2016-07-06 | 中国科学院宁波材料技术与工程研究所 | Four-degree-of-freedom parallel mechanism |
| CN110355738A (en) * | 2018-04-10 | 2019-10-22 | 苏州迈澜医疗科技有限公司 | Multiple degrees of freedom guiding mechanism |
Also Published As
| Publication number | Publication date |
|---|---|
| WO2021081978A1 (en) | 2021-05-06 |
| CN114786882A (en) | 2022-07-22 |
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