WO2020155040A1 - Multi-degree-of-freedom parallel mechanism - Google Patents

Multi-degree-of-freedom parallel mechanism Download PDF

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Publication number
WO2020155040A1
WO2020155040A1 PCT/CN2019/074236 CN2019074236W WO2020155040A1 WO 2020155040 A1 WO2020155040 A1 WO 2020155040A1 CN 2019074236 W CN2019074236 W CN 2019074236W WO 2020155040 A1 WO2020155040 A1 WO 2020155040A1
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WO
WIPO (PCT)
Prior art keywords
platform
support assembly
rotatably connected
movable part
relative
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PCT/CN2019/074236
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French (fr)
Chinese (zh)
Inventor
周啸波
蓝青
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苏州迈澜医疗科技有限公司
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by 苏州迈澜医疗科技有限公司 filed Critical 苏州迈澜医疗科技有限公司
Priority to PCT/CN2019/074236 priority Critical patent/WO2020155040A1/en
Priority to CN201980089484.2A priority patent/CN113348055B/en
Publication of WO2020155040A1 publication Critical patent/WO2020155040A1/en

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    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Programme-controlled manipulators

Definitions

  • the invention relates to the field of robots, in particular to a multi-degree-of-freedom parallel mechanism of a parallel robot.
  • robots can be divided into two categories: series robots and parallel robots.
  • parallel robots Compared with series robots, parallel robots have the advantages of greater rigidity, strong carrying capacity, high precision, and low end piece inertia.
  • Chinese patent CN105729450B discloses a four-degree-of-freedom parallel mechanism, which can realize three degrees of freedom of translation and one rotation of a movable platform, but cannot realize the rotation of the movable platform around the y-axis or the x-axis.
  • the above-mentioned parallel mechanism that provides three translations and one rotation cannot satisfy such applications. demand.
  • the purpose of the present invention is to overcome or at least alleviate the above-mentioned shortcomings of the prior art, and provide a multi-degree-of-freedom parallel mechanism with at least three degrees of freedom for translation and two degrees of rotation.
  • the present invention provides a multi-degree-of-freedom parallel mechanism, which includes a first platform, a second platform, a connecting piece, and a base.
  • the first platform and the second platform are spaced apart in a first direction, wherein:
  • the first platform is rotatably connected to the first support assembly and the second support assembly, and the rotation axis of the first support assembly relative to the first platform and the second support assembly relative to the first platform
  • the axis of rotation is not parallel
  • the second platform is rotatably connected with the third support assembly and the fourth support assembly, and the rotation axis of the third support assembly relative to the second platform and the fourth support assembly relative to the second platform
  • the axis of rotation is not parallel
  • the first support assembly, the second support assembly, the third support assembly, and the fourth support assembly all include a planar four-bar mechanism, and the four rotational connection points of the planar four-bar mechanism form a connection line Parallelogram,
  • the first support assembly, the second support assembly, the third support assembly, and the fourth support assembly are respectively connected to the base and can move relative to the base to move in the first direction. Displacement upward,
  • the second platform is also rotatably connected with an auxiliary positioning component, and the auxiliary positioning component can move relative to the base so that the second platform is displaced in the first direction,
  • the first platform and the second platform are respectively rotatably connected to the connecting piece, so that the connecting piece has at least two rotational degrees of freedom relative to the first platform, and the connecting piece is relative to the second platform.
  • the platform has at least two rotational degrees of freedom.
  • the base includes a guide member having an extension component in the first direction, the first support assembly, the second support assembly, the third support assembly, and the first support assembly. At least one of the four support components and the auxiliary positioning component can reciprocate under the guidance of the guide.
  • the multi-degree-of-freedom parallel mechanism further includes a first movable part, a second movable part, a third movable part, and a fourth movable part.
  • the first movable part, the second movable part, The third movable part and the fourth movable part are capable of reciprocating movement under the guidance of the guide part to generate displacement relative to the base at least in the first direction.
  • One of the two parallel rods in the planar four-bar mechanism of the first support assembly is rotatably connected to the first platform and constitutes a shaft for relative rotation of the first platform and the first support assembly, and the other One is rotatably connected to the first movable part and constitutes a rotating shaft for relative rotation of the first movable part and the first support assembly;
  • One of the two parallel rods in the planar four-bar mechanism of the second support assembly is rotatably connected to the first platform and constitutes a rotating shaft for the relative rotation of the first platform and the second support assembly, and the other One is rotatably connected to the second movable part and constitutes a rotating shaft for relative rotation of the second movable part and the second supporting assembly;
  • One of the two parallel rods in the planar four-bar mechanism of the third support assembly is rotatably connected to the second platform and constitutes a rotating shaft for the relative rotation of the second platform and the third support assembly, and the other One is rotatably connected to the third movable part and constitutes a rotating shaft for relative rotation of the third movable part and the third supporting assembly;
  • One of the two parallel rods in the planar four-bar mechanism of the fourth support assembly is rotatably connected to the second platform and constitutes a shaft for relative rotation of the second platform and the fourth support assembly, and the other One is rotatably connected to the fourth movable part and constitutes a rotating shaft for relative rotation of the fourth movable part and the fourth support assembly.
  • the multi-degree-of-freedom parallel mechanism further includes a first intermediate adapter and a second intermediate adapter,
  • the connecting piece is rotatably connected with the first intermediate adapter along a first rotation axis
  • the first platform is rotatably connected with the first intermediate adapter along a second rotation axis
  • the first rotation axis is connected with The second axis of rotation is not parallel
  • the connecting piece is rotatably connected with the second intermediate adapter along a third rotation axis
  • the second platform is rotatably connected with the second intermediate adapter along a fourth rotation axis
  • the third rotation axis is connected with The fourth axis of rotation is not parallel.
  • the first rotation axis is perpendicular to the second rotation axis
  • the third rotation axis is perpendicular to the fourth rotation axis.
  • the auxiliary positioning assembly includes a support rod, one end of the support rod is rotatably connected to the second platform so that the support rod can rotate about two non-parallel rotations relative to the second platform
  • the axis rotation and the other end rotation are connected to the base so that the support rod can rotate about two non-parallel rotation axes relative to the base, and the other end of the support rod can rotate relative to the base by
  • the movable part that is displaced in the first direction is connected to the base; or
  • the support rod can be extended or shortened.
  • the auxiliary positioning assembly includes a planar four-bar mechanism in a parallelogram shape.
  • the first platform is annular or semi-annular
  • the first support assembly and the second support assembly are arranged on the outer peripheral side of the first platform
  • the connecting member is arranged on the The inner peripheral side of the first platform;
  • the second platform is annular or semi-annular, the third support assembly, the fourth support assembly and the auxiliary positioning assembly are arranged on the outer peripheral side of the second platform, and the connecting piece is arranged on the first platform. 2. The inner peripheral side of the platform.
  • the multi-degree-of-freedom parallel mechanism of the present invention three translational and two rotational degrees of freedom can be provided for the connecting piece; and the movable parts of the parallel mechanism can be arranged asymmetrically, and the space utilization rate is high.
  • Fig. 1 is a perspective schematic view of a multi-degree-of-freedom parallel mechanism according to a first embodiment of the present invention.
  • Fig. 2 is a plan view of Fig. 1.
  • Fig. 3 is an enlarged schematic diagram of a part of the structure of Fig. 1.
  • Fig. 4 is a perspective schematic view of a multi-degree-of-freedom parallel mechanism according to a second embodiment of the present invention.
  • first support assembly 42 second support assembly; 43 third support assembly; 44 fourth support assembly; 411, 421, 431, 441 first rod; 412, 422, 432, 442 second rod; 413, 423, 433,443 third stroke; 414,424,434,444 fourth stroke;
  • 70 base 71, 701 first guide; 72, 703 second guide; 73, 703 third guide; 74 fourth guide; 75 fifth guide;
  • the present invention uses the three-dimensional coordinate system shown in FIG. 1 to illustrate the positional relationship of each component. It should be understood that the position relationship defined according to the x, y and z axes in the present invention is relative, and the coordinate axis can be rotated in space according to the actual application of the device.
  • a five-degree-of-freedom parallel mechanism is taken as an example to introduce the multi-degree-of-freedom parallel mechanism according to the present invention.
  • the five-degree-of-freedom parallel mechanism according to the present invention has translational degrees of freedom in the three directions of x, y, and z, as well as rotational degrees of freedom around the x-axis and rotational degrees of freedom around the y-axis.
  • 1 to 3 firstly introduce the first embodiment of the five-degree-of-freedom parallel mechanism of the present invention.
  • the five-degree-of-freedom parallel mechanism includes a first platform 10, a second platform 20, and a connecting member 30.
  • the first platform 10 is supported and guided by the first support assembly 41 and the second support assembly 42 to have translational freedom in the x, y, and z directions.
  • the second platform 20 is supported by the third support assembly 43, The support and guidance of the fourth supporting component 44 and the auxiliary positioning component 50 have translational freedom in the x, y and z directions.
  • the connecting piece 30 is connected to the first platform 10 and the second platform 20 respectively. During the movement of the first platform 10 and/or the second platform 20, the connecting piece 30 can move in the x, y, and z directions. And rotating around the x-axis and rotating around the y-axis, that is, the connecting member 30 has five degrees of freedom.
  • the first support assembly 41, the second support assembly 42, the third support assembly 43, and the fourth support assembly 44 each include four connecting rods.
  • the four connecting rods constitute a planar four-bar mechanism, and the four The rotating connection points form the four vertices of the parallelogram.
  • the above-mentioned plane four-bar mechanism is referred to as "parallelogram mechanism" for short, or the above-mentioned plane four-bar mechanism is a parallelogram; during movement, the parallelogram mechanism always maintains a parallelogram shape .
  • the first support assembly 41 includes a first rod 411, a second rod 412, a third rod 413, and a fourth rod 414 that are connected end to end and rotatably connected, the first rod 411, the second rod 412, and the third rod 413.
  • the fourth rod 414 form a parallelogram mechanism.
  • the second support assembly 42 includes a first rod 421, a second rod 422, a third rod 423, and a fourth rod 424 that are connected end to end and rotatably connected, the first rod 421, the second rod 422, the third rod 423, and the fourth rod 424 forms a parallelogram mechanism.
  • the third support assembly 43 includes a first rod 431, a second rod 432, a third rod 433, and a fourth rod 434 that are connected end to end and rotatably connected, the first rod 431, the second rod 432, the third rod 433, and the fourth rod. 434 forms a parallelogram mechanism.
  • the fourth support assembly 44 includes a first rod 441, a second rod 442, a third rod 443 and a fourth rod 444 which are connected end to end and rotatably connected, the first rod 441, the second rod 442, the third rod 443 and the fourth rod 444 forms a parallelogram mechanism.
  • the first rod 411, the second rod 412, the first rod 421, the second rod 422, the first rod 431, the second rod 432, the first rod 441 and the second rod 442 are all parallel to the xoy plane. .
  • the first support assembly 41 is rotatably connected with the first platform 10 and the first movable part 61
  • the second support assembly 42 is rotatably connected with the first platform 10 and the second movable part 62
  • the third support assembly 43 is rotatably connected with the second platform 20.
  • the fourth support assembly 44 is rotatably connected to the second platform 20 and the fourth movable member 64 respectively.
  • each support assembly (first support assembly 41, second support assembly 42, third support assembly 43, and fourth support assembly 44) is associated with the movable platform (first platform 10, second platform 20) and the movable part (the first The connection modes of the first movable part 61, the second movable part 62, the third movable part 63, and the fourth movable part 64) are similar, and the first support assembly 41 is taken as an example for description below.
  • the first rod 411 of the first support assembly 41 is rotatably connected to the first platform 10, and the rotation axis of the first platform 10 relative to the first rod 411 is parallel to the axial direction of the first rod 411.
  • the second rod 412 of the first support assembly 41 is rotatably connected with the first movable part 61, and the rotation axis of the first movable part 61 relative to the second rod 412 is parallel to the axial direction of the second rod 412.
  • first rod 411 of the first support assembly 41 and the first rod 421 of the second support assembly 42 are not parallel.
  • the first rod 411 and the first rod 421 determine the position of the first platform 10 parallel to the xoy plane.
  • Posture; the first rod 431 of the third support assembly 43 and the first rod 441 of the fourth support assembly 44 are not parallel, and the first rod 431 and the first rod 441 determine the posture of the second platform 20 parallel to the xoy plane.
  • the first movable piece 61, the second movable piece 62, the third movable piece 63, and the fourth movable piece 64 moves in a translational manner, the first platform 10 and the second platform 20 No rotation will occur.
  • the first platform 10 and the second platform 20 are always parallel to the xoy plane.
  • the second platform 20 is also connected with an auxiliary positioning assembly 50.
  • the auxiliary positioning assembly 50 includes a rod-shaped support rod 51, both ends of the support rod 51 are respectively rotatably connected to the second platform 20 and the fifth movable part 65 through an adapter 511.
  • the adapter 511 enables the support rod 51 to have two rotational degrees of freedom relative to the second platform 20 and relative to the fifth movable part 65, that is, the support rod 51 can rotate relative to the second platform 20 or the fifth movable part 65.
  • the two non-parallel axes rotate.
  • the support rod 51 can rotate about two perpendicular axes relative to the second platform 20 or relative to the fifth movable member 65.
  • the auxiliary positioning component 50 plays a role of assisting in determining the position of the second platform 20, which will be easier to understand when the movement positioning of each component is introduced below.
  • the first platform 10 has a semi-annular shape, and on the outer periphery of the first platform 10 there are two connecting parts distributed along the circumferential direction of the first platform 10, and each connecting part is formed with a shaft hole for the first supporting assembly 41.
  • the rod 411 and the first rod 421 of the second support assembly 42 pass through, and the axial directions of the two shaft holes are parallel to the xoy plane.
  • the second platform 20 is ring-shaped. On the outer periphery of the second platform 20, there are three connecting parts distributed along the circumference of the second platform 20, and each connecting part is formed with a shaft hole for the first rod of the third support assembly 43. 431, the first rod 441 of the fourth support assembly 44 and the rotation axis of the adapter 511 of the auxiliary positioning assembly 50 pass through, and the axial directions of the three axis holes are parallel to the xoy plane.
  • the first movable part 61, the second movable part 62, the third movable part 63, the fourth movable part 64 and the fifth movable part 65 can move relative to the base 70.
  • the base 70 has a semi-cylindrical shape. In other words, the base 70 has a wall surrounding the z direction. When viewed along the z direction, the cross section of the base 70 is semi-circular.
  • a first guide 71, a second guide 72, a third guide 73, a fourth guide 74, and a fifth guide 75 extending in the z direction are formed on the inner circumference of the base 70.
  • the first movable part 61 can reciprocate along the first guide 71
  • the second movable part 62 can reciprocate along the second guide 72
  • the third movable part 63 can reciprocate along the third guide 73
  • the fourth movable part 64 It can reciprocate along the fourth guide 74 and the fifth movable piece 65 can reciprocate along the fifth guide 75.
  • connection mode of the connecting piece 30 and the first platform 10 and the second platform 20 and the influence of the movement of each component on the positioning of the connecting piece 30 are introduced.
  • the first platform 10 follows the movement of the first movable part 61 and the second movable part 62; and because the first support assembly 41 is parallelogram, the second support assembly 42 is parallelogram, and the first support assembly 41 The rod 411 and the first rod 421 of the second support assembly 42 are not parallel. Therefore, when the first movable member 61 moves in translation along the first guide member 71 and/or the second movable member 62 moves in translation along the second guide member 72, the first A platform 10 only moves in translation without rotating.
  • the first platform 10 has three translational degrees of freedom along the x direction, along the y direction, and along the z direction.
  • the second platform 20 follows the movement of the third movable piece 63 and the fourth movable piece 64; when the third movable piece 63 moves in translation along the third guide piece 73 and/or the fourth movable piece 64 moves along the fourth guide
  • the second platform 20 only moves in translation without rotating.
  • the second platform 20 has three translational degrees of freedom along the x direction, along the y direction, and along the z direction.
  • the auxiliary positioning component 50 helps determine the only specific positioning of the second platform 20 because the introduced auxiliary positioning component 50 increases the limitation of the distance of the second platform 20 relative to the fifth movable part 65.
  • the first platform 10 is relative to the first movable part 61 and The distance of the second movable part 62 is constant. Since the first platform 10 and the second platform 20 are both connected to the connecting piece 30, the distance between the first platform 10 and the second platform 20 is determined. In other words, the connecting piece 30 plays a role in assisting the positioning of the first platform 10; When the position of the second platform 20 is determined, the position of the first platform 10 can be uniquely determined.
  • the first platform 10 and the second platform 20 have a certain interval in the z direction
  • the connecting piece 30 is rotatably connected to the first platform 10 through a first intermediate adapter 31, and the connecting piece 30 is also rotated through a second intermediate
  • the connecting member 32 is rotatably connected with the second platform 20.
  • the rotation shaft is not shown in the figure, but is only shown in the form of a rotation axis.
  • the connecting member 30 has two rotational degrees of freedom relative to the first platform 10, and the connecting member 30 has two rotational degrees of freedom relative to the second platform 20.
  • the connecting member 30 is rotatably connected with the first intermediate adapter 31, and the two can be relatively rotated around the rotation axis a1; the first intermediate adapter 31 is rotatably connected with the first platform 10, and the two can be rotated around the rotation axis. a2 relative rotation.
  • the rotation axis a1 and the rotation axis a2 are not parallel, and preferably, the rotation axis a1 and the rotation axis a2 are perpendicular to each other.
  • the connecting member 30 is rotatably connected with the second intermediate adapter 32, and the two can be relatively rotated around the rotation axis a3; the second intermediate adapter 32 is rotatably connected with the second platform 20, and the two can be relatively rotated around the rotation axis a4 .
  • the rotation axis a3 and the rotation axis a4 are not parallel, and preferably, the rotation axis a3 and the rotation axis a4 are perpendicular to each other.
  • the connecting piece 30 has two rotational degrees of freedom relative to the first platform 10 and relative to the second platform 20, which makes the connecting piece 30 in addition to following the movement of the first platform 10 and/or the second platform 20
  • the ground moves in the x, y, and z directions, and can also rotate around the x axis and/or around the y axis.
  • the connecting part 30 can be spatially positioned.
  • One translational freedom of the first movable part 61, the second movable part 62, the third movable part 63, the fourth movable part 64 and the fifth movable part 65 along the z direction provides three translational movements for the connecting member 30 And two rotational degrees of freedom.
  • Fig. 4 shows a five-degree-of-freedom parallel mechanism according to the second embodiment of the present invention.
  • the second embodiment is a modification of the first embodiment, and the same or similar reference numerals are given to the same or similar components as the first embodiment, and detailed description of these components is omitted.
  • the auxiliary positioning component 50 adopts the same structure as the supporting component, that is, the auxiliary positioning component 50 is also a parallelogram mechanism. Although this is not necessary, such an arrangement enhances the versatility of the entire mechanism components and the structural strength.
  • the structure of the five-degree-of-freedom parallel mechanism according to this embodiment is more compact, and the number of guides extending in the z-direction is reduced to three, namely the first guide 701, the second guide 702, and the third guide. 703, these three guides are not collinear.
  • Five movable pieces (the first movable piece 61, the second movable piece 62, the third movable piece 63, the fourth movable piece 64, and the fifth movable piece 65) are distributed to the above three guide pieces.
  • the first movable part 61 reciprocates along the first guide 701
  • the second movable part 62 reciprocates along the second guide 702
  • the third movable part 63 reciprocates along the first guide 701.
  • the movable part 64 reciprocates along the third guide 703
  • the fifth movable part 65 reciprocates along the second guide 702.
  • the specific distribution mode of the five movable parts on the three guide parts is not limited to this.
  • the principle of distribution is that the first movable part 61 and the second movable part 62 are distributed in two different guide parts, and the third movable part 63 , The fourth movable member 64 and the fifth movable member 65 are distributed in three different guides, so that the planar four-bar mechanism of the first support assembly 41 and the planar four-bar mechanism of the second support assembly 42 are not parallel, and the third support At least two of the three planar four-bar mechanisms of the assembly 43, the fourth support assembly 44, and the fifth support assembly 45 are not parallel to each other.
  • the present invention uses a parallelogram mechanism that makes the two groups of planes not parallel (for example, the parallelogram mechanism formed by the first support assembly 41 and the parallelogram mechanism formed by the second support assembly 42, where the planes are not parallel) It is connected with a movable platform (for example, the first platform 10) to determine the two translational degrees of freedom of the movable platform. Together with the auxiliary positioning components, the three together completely control the three degrees of translational freedom of the movable platform.
  • the first platform 10 and the second platform 20 are spaced apart in the z direction, and the first platform 10 and the second platform 20 are connected together by a connecting piece 30, and the connecting piece 30 can be relatively
  • the first platform 10 rotates around two non-parallel axes (preferably two vertical axes)
  • the connecting member 30 can rotate relative to the second platform 20 around two non-parallel axes (preferably two vertical axes)
  • the connecting member 30 has three translational degrees of freedom and two rotational degrees of freedom.
  • the connecting piece 30 can be realized in five Translation and/or rotation in degrees of freedom.
  • the first platform 10 and the second platform 20 are annular or semi-annular, the first support assembly 41 and the second support assembly 42 are arranged on the outer peripheral side of the first platform 10, and the connecting member 30 is arranged inside the first platform 10 On the peripheral side, the second platform 20 is annular or semi-annular, the third support assembly 43, the fourth support assembly 44 and the auxiliary positioning assembly 50 are arranged on the outer peripheral side of the second platform 20, and the connector 30 is arranged inside the second platform 20 On the peripheral side, the space utilization rate of the parallel mechanism is further improved.
  • the parallel mechanism according to the present invention is preferably used as a part of a surgical robot.
  • the z direction preferably represents the vertical direction, and surgical instruments can be added to the connecting member 30; however, the present invention is not limited to this, according to The parallel mechanism of the present invention can also provide guidance for other instruments.
  • the connecting piece 30 of the multi-degree-of-freedom parallel mechanism according to the present invention has five degrees of freedom.
  • the connecting piece 30 is required as a terminal to provide more degrees of freedom, other motions can be added to the connecting piece 30
  • the component for example, a terminal attachment that can rotate around the axial direction of the connecting member 30 is added, so that the terminal attachment has six degrees of freedom including rotation around the z direction.
  • the rotating connection of the connecting piece 30 with the first platform 10 and the second platform 20 can also be realized by a spherical hinge.
  • the connecting piece 30 When the connecting piece 30 is connected with the first platform 10 and the second platform 20 using spherical hinges, the connecting piece 30 has six degrees of freedom including rotation around the z direction.
  • the present invention does not limit the specific structure of the auxiliary positioning assembly 50, such as the support of the auxiliary positioning assembly 50 in the first embodiment.
  • the rod 51 may be a telescopic rod whose length can be changed.
  • the control of the auxiliary positioning assembly 50 is performed as a control of the length of the support rod 51.
  • the auxiliary positioning component 50 can be connected to either the first platform 10 or the second platform 20 to position the entire mechanism.
  • the auxiliary positioning component 50 may not be connected to the second platform 20, Instead, it is connected to the first platform 10.
  • the present invention does not limit the shape of the first platform 10 and the second platform 20, the first platform 10 and the second platform 20 may not be circular or semi-circular; the connecting member 30 and the first platform 10 or the second platform 20 The connection position does not have to be located on the inner peripheral side of the first platform 10 or the second platform 20, and the connection position of the support assembly or auxiliary positioning assembly 50 and the first platform 10 or the second platform 20 does not need to be located on the first platform 10 or the second platform 20 The outer periphery.
  • the first movable piece 61 and the second movable piece 62 can be arranged above the first platform 10, and the third movable piece 63, the fourth movable piece 64 and the fifth movable piece 65 Is arranged below the second platform 20, so that the branch chain (including the first support assembly 41, the first movable part 61, the second support assembly 42 and the second movable part 62) connected to the first platform 10 and the second
  • the branch chains connected to the two platforms 20 including the third support assembly 43, the third movable part 63, the fourth support assembly 44, the fourth movable part 64, the auxiliary positioning assembly 50 and the fifth movable part 65 are not easy in the movement process Interference occurred.
  • the guides (first guide 71/701, second guide 72/703, third guide 73/703, fourth guide 74, and fifth guide 75) according to the present invention may not be along
  • the guide only needs to have an extension component in the z direction.
  • the guide may be a linear track arranged obliquely to the z direction, or for example, the guide may be a curved track with an extension component in the z direction.
  • Such an arrangement makes the movable part moving along the guide move in the x direction and the y direction. The range of motion has been expanded.

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Abstract

A multi-degree-of-freedom parallel mechanism, comprising a first platform (10), a second platform (20), a connecting part (30), and a base (70). The first platform is rotatably connected to a first support assembly (41) and a second support assembly (42), separately; the second platform is rotatably connected to a third support assembly (43) and a fourth support assembly (44), separately; the first support assembly, the second support assembly, the third support assembly, and the fourth support assembly each comprise a planar four-bar mechanism, and connecting lines of four rotating connection points of the planar four-bar mechanism form a parallelogram; the first platform and the second platform are rotatably connected to the connecting part, separately, so that the connecting part has at least two rotational degrees of freedom with respect to the first platform and the second platform. The multi-degree-of-freedom parallel mechanism can provide at least three translational and two rotational degrees of freedom for the connecting part; and moreover, movable components of the parallel mechanism are asymmetrically arranged, and the space utilization rate is high.

Description

多自由度并联机构Multi-degree-of-freedom parallel mechanism 技术领域Technical field
本发明涉及机器人领域，尤其涉及并联机器人的多自由度并联机构。The invention relates to the field of robots, in particular to a multi-degree-of-freedom parallel mechanism of a parallel robot.
背景技术Background technique
从机构学的角度可以将机器人分为串联机器人和并联机器人两大类，相比于串联机器人，并联机器人具有刚度大、承载能力强、精度高和末端件惯性小等优势。From the perspective of mechanism, robots can be divided into two categories: series robots and parallel robots. Compared with series robots, parallel robots have the advantages of greater rigidity, strong carrying capacity, high precision, and low end piece inertia.
中国专利CN105729450B公开了一种四自由度并联机构，该机构能实现动平台的三平动一转动的自由度，而不能实现动平台绕y轴或绕x轴的转动。然而，在例如手术机器人或者机床等应用中，需要控制刀具具有两平动两转动的自由度、或是三平动两转动的自由度，上述提供三平动一转动的并联机构并不能满足这样的应用需求。Chinese patent CN105729450B discloses a four-degree-of-freedom parallel mechanism, which can realize three degrees of freedom of translation and one rotation of a movable platform, but cannot realize the rotation of the movable platform around the y-axis or the x-axis. However, in applications such as surgical robots or machine tools, it is necessary to control the tool to have two degrees of freedom of translation and two rotations, or three degrees of freedom of translation and two rotations. The above-mentioned parallel mechanism that provides three translations and one rotation cannot satisfy such applications. demand.
此外，现有的并联机器人多采用完全对称设计，导致机器人整体体积较大，不能较好地适应较小的操作空间、或是不易使多台机器人在有限空间内同时布置。In addition, most of the existing parallel robots adopt a fully symmetrical design, which results in a large overall robot volume, which cannot be adapted to a small operating space, or it is difficult to arrange multiple robots in a limited space at the same time.
发明内容Summary of the invention
本发明的目的在于克服或至少减轻上述现有技术存在的不足，提供一种具有至少三平动两转动的自由度的多自由度并联机构。The purpose of the present invention is to overcome or at least alleviate the above-mentioned shortcomings of the prior art, and provide a multi-degree-of-freedom parallel mechanism with at least three degrees of freedom for translation and two degrees of rotation.
本发明提供一种多自由度并联机构，其包括第一平台、第二平台、连接件和基座，所述第一平台和所述第二平台在第一方向上间隔开，其中，The present invention provides a multi-degree-of-freedom parallel mechanism, which includes a first platform, a second platform, a connecting piece, and a base. The first platform and the second platform are spaced apart in a first direction, wherein:
所述第一平台与第一支撑组件和第二支撑组件分别转动连接，且所述第一支撑组件相对于所述第一平台的转动轴线与所述第二支撑组件相对于所 述第一平台的转动轴线不平行，The first platform is rotatably connected to the first support assembly and the second support assembly, and the rotation axis of the first support assembly relative to the first platform and the second support assembly relative to the first platform The axis of rotation is not parallel,
所述第二平台与第三支撑组件和第四支撑组件分别转动连接，且所述第三支撑组件相对于所述第二平台的转动轴线与所述第四支撑组件相对于所述第二平台的转动轴线不平行，The second platform is rotatably connected with the third support assembly and the fourth support assembly, and the rotation axis of the third support assembly relative to the second platform and the fourth support assembly relative to the second platform The axis of rotation is not parallel,
所述第一支撑组件、所述第二支撑组件、所述第三支撑组件和所述第四支撑组件均包括平面四杆机构，所述平面四杆机构的四个转动连接点的连线形成平行四边形，The first support assembly, the second support assembly, the third support assembly, and the fourth support assembly all include a planar four-bar mechanism, and the four rotational connection points of the planar four-bar mechanism form a connection line Parallelogram,
所述第一支撑组件、所述第二支撑组件、所述第三支撑组件和所述第四支撑组件分别连接到所述基座并能相对于所述基座运动而在所述第一方向上产生位移，The first support assembly, the second support assembly, the third support assembly, and the fourth support assembly are respectively connected to the base and can move relative to the base to move in the first direction. Displacement upward,
所述第二平台还与辅助定位组件转动连接，所述辅助定位组件能够相对于所述基座运动、使得所述第二平台在所述第一方向上产生位移，The second platform is also rotatably connected with an auxiliary positioning component, and the auxiliary positioning component can move relative to the base so that the second platform is displaced in the first direction,
所述第一平台和所述第二平台分别与所述连接件转动连接，使所述连接件相对于所述第一平台具有至少两个转动自由度、所述连接件相对于所述第二平台具有至少两个转动自由度。The first platform and the second platform are respectively rotatably connected to the connecting piece, so that the connecting piece has at least two rotational degrees of freedom relative to the first platform, and the connecting piece is relative to the second platform. The platform has at least two rotational degrees of freedom.
在至少一个实施方式中，所述基座包括在所述第一方向上具有延伸分量的导向件，所述第一支撑组件、所述第二支撑组件、所述第三支撑组件、所述第四支撑组件和所述辅助定位组件中的至少一者能够在所述导向件的导引下往复运动。In at least one embodiment, the base includes a guide member having an extension component in the first direction, the first support assembly, the second support assembly, the third support assembly, and the first support assembly. At least one of the four support components and the auxiliary positioning component can reciprocate under the guidance of the guide.
在至少一个实施方式中，所述多自由度并联机构还包括第一活动件、第二活动件、第三活动件和第四活动件，所述第一活动件、所述第二活动件、所述第三活动件和所述第四活动件能够在所述导向件的导引下往复运动从而相对于所述基座至少在所述第一方向上产生位移。In at least one embodiment, the multi-degree-of-freedom parallel mechanism further includes a first movable part, a second movable part, a third movable part, and a fourth movable part. The first movable part, the second movable part, The third movable part and the fourth movable part are capable of reciprocating movement under the guidance of the guide part to generate displacement relative to the base at least in the first direction.
在至少一个实施方式中，In at least one embodiment,
所述第一支撑组件的平面四杆机构中的两个平行的杆中的一者转动连接到所述第一平台并构成所述第一平台与所述第一支撑组件相对转动的转轴、另一者转动连接到所述第一活动件并构成所述第一活动件与所述第一支撑组件相对转动的转轴；One of the two parallel rods in the planar four-bar mechanism of the first support assembly is rotatably connected to the first platform and constitutes a shaft for relative rotation of the first platform and the first support assembly, and the other One is rotatably connected to the first movable part and constitutes a rotating shaft for relative rotation of the first movable part and the first support assembly;
所述第二支撑组件的平面四杆机构中的两个平行的杆中的一者转动连接到所述第一平台并构成所述第一平台与所述第二支撑组件相对转动的转轴、另一者转动连接到所述第二活动件并构成所述第二活动件与所述第二支撑组件相对转动的转轴；One of the two parallel rods in the planar four-bar mechanism of the second support assembly is rotatably connected to the first platform and constitutes a rotating shaft for the relative rotation of the first platform and the second support assembly, and the other One is rotatably connected to the second movable part and constitutes a rotating shaft for relative rotation of the second movable part and the second supporting assembly;
所述第三支撑组件的平面四杆机构中的两个平行的杆中的一者转动连接到所述第二平台并构成所述第二平台与所述第三支撑组件相对转动的转轴、另一者转动连接到所述第三活动件并构成所述第三活动件与所述第三支撑组件相对转动的转轴；One of the two parallel rods in the planar four-bar mechanism of the third support assembly is rotatably connected to the second platform and constitutes a rotating shaft for the relative rotation of the second platform and the third support assembly, and the other One is rotatably connected to the third movable part and constitutes a rotating shaft for relative rotation of the third movable part and the third supporting assembly;
所述第四支撑组件的平面四杆机构中的两个平行的杆中的一者转动连接到所述第二平台并构成所述第二平台与所述第四支撑组件相对转动的转轴、另一者转动连接到所述第四活动件并构成所述第四活动件与所述第四支撑组件相对转动的转轴。One of the two parallel rods in the planar four-bar mechanism of the fourth support assembly is rotatably connected to the second platform and constitutes a shaft for relative rotation of the second platform and the fourth support assembly, and the other One is rotatably connected to the fourth movable part and constitutes a rotating shaft for relative rotation of the fourth movable part and the fourth support assembly.
在至少一个实施方式中，所述多自由度并联机构还包括第一中间转接件和第二中间转接件，In at least one embodiment, the multi-degree-of-freedom parallel mechanism further includes a first intermediate adapter and a second intermediate adapter,
所述连接件与所述第一中间转接件沿第一转动轴线转动连接，所述第一平台与所述第一中间转接件沿第二转动轴线转动连接，所述第一转动轴线与所述第二转动轴线不平行，The connecting piece is rotatably connected with the first intermediate adapter along a first rotation axis, the first platform is rotatably connected with the first intermediate adapter along a second rotation axis, and the first rotation axis is connected with The second axis of rotation is not parallel,
所述连接件与所述第二中间转接件沿第三转动轴线转动连接，所述第二平台与所述第二中间转接件沿第四转动轴线转动连接，所述第三转动轴线与所述第四转动轴线不平行。The connecting piece is rotatably connected with the second intermediate adapter along a third rotation axis, the second platform is rotatably connected with the second intermediate adapter along a fourth rotation axis, and the third rotation axis is connected with The fourth axis of rotation is not parallel.
在至少一个实施方式中，所述第一转动轴线垂直于所述第二转动轴线，所述第三转动轴线垂直于所述第四转动轴线。In at least one embodiment, the first rotation axis is perpendicular to the second rotation axis, and the third rotation axis is perpendicular to the fourth rotation axis.
在至少一个实施方式中，所述辅助定位组件包括支撑杆，所述支撑杆的一端转动连接到所述第二平台使得所述支撑杆能够相对于所述第二平台绕两个不平行的转动轴线转动、另一端转动连接到所述基座使得所述支撑杆能够相对于所述基座绕两个不平行的转动轴线转动，所述支撑杆的另一端通过能相对于所述基座在第一方向上产生位移的活动件与所述基座连接；或In at least one embodiment, the auxiliary positioning assembly includes a support rod, one end of the support rod is rotatably connected to the second platform so that the support rod can rotate about two non-parallel rotations relative to the second platform The axis rotation and the other end rotation are connected to the base so that the support rod can rotate about two non-parallel rotation axes relative to the base, and the other end of the support rod can rotate relative to the base by The movable part that is displaced in the first direction is connected to the base; or
所述支撑杆能够伸长或缩短。The support rod can be extended or shortened.
在至少一个实施方式中，所述辅助定位组件包括呈平行四边形的平面四杆机构。In at least one embodiment, the auxiliary positioning assembly includes a planar four-bar mechanism in a parallelogram shape.
在至少一个实施方式中，所述第一平台呈环形或半环形，所述第一支撑组件和所述第二支撑组件设置于所述第一平台的外周侧，所述连接件设置于所述第一平台的内周侧；和/或，In at least one embodiment, the first platform is annular or semi-annular, the first support assembly and the second support assembly are arranged on the outer peripheral side of the first platform, and the connecting member is arranged on the The inner peripheral side of the first platform; and/or,
所述第二平台呈环形或半环形，所述第三支撑组件、所述第四支撑组件和所述辅助定位组件设置于所述第二平台的外周侧，所述连接件设置于所述第二平台的内周侧。The second platform is annular or semi-annular, the third support assembly, the fourth support assembly and the auxiliary positioning assembly are arranged on the outer peripheral side of the second platform, and the connecting piece is arranged on the first platform. 2. The inner peripheral side of the platform.
根据本发明的多自由度并联机构，可以为连接件提供三个平移和两个转动的自由度；且并联机构的活动部件可以不对称设置、空间利用率高。According to the multi-degree-of-freedom parallel mechanism of the present invention, three translational and two rotational degrees of freedom can be provided for the connecting piece; and the movable parts of the parallel mechanism can be arranged asymmetrically, and the space utilization rate is high.
附图说明Description of the drawings
图1是根据本发明的第一实施方式的多自由度并联机构的立体示意图。Fig. 1 is a perspective schematic view of a multi-degree-of-freedom parallel mechanism according to a first embodiment of the present invention.
图2是图1的俯视图。Fig. 2 is a plan view of Fig. 1.
图3是图1的部分结构的放大示意图。Fig. 3 is an enlarged schematic diagram of a part of the structure of Fig. 1.
图4是根据本发明的第二实施方式的多自由度并联机构的立体示意图。Fig. 4 is a perspective schematic view of a multi-degree-of-freedom parallel mechanism according to a second embodiment of the present invention.
附图标记说明Description of reference signs
10第一平台；20第二平台；10 first platform; 20 second platform;
30连接件；31第一中间转接件；32第二中间转接件；30 connecting piece; 31 first intermediate adapter; 32 second intermediate adapter;
41第一支撑组件；42第二支撑组件；43第三支撑组件；44第四支撑组件；411、421、431、441第一杆；412、422、432、442第二杆；413、423、433、443第三杆；414、424、434、444第四杆；41 first support assembly; 42 second support assembly; 43 third support assembly; 44 fourth support assembly; 411, 421, 431, 441 first rod; 412, 422, 432, 442 second rod; 413, 423, 433,443 third stroke; 414,424,434,444 fourth stroke;
50辅助定位组件；51支撑杆；511转接件；50 auxiliary positioning components; 51 support rods; 511 adapters;
61第一活动件；62第二活动件；63第三活动件；64第四活动件；65第五活动件；61 first movable piece; 62 second movable piece; 63 third movable piece; 64 fourth movable piece; 65 fifth movable piece;
70基座；71、701第一导向件；72、703第二导向件；73、703第三导向件；74第四导向件；75第五导向件；70 base; 71, 701 first guide; 72, 703 second guide; 73, 703 third guide; 74 fourth guide; 75 fifth guide;
a1、a2、a3、a4转动轴线。a1, a2, a3, a4 axis of rotation.
具体实施方式detailed description
下面参照附图描述本发明的示例性实施方式。应当理解，这些具体的说明仅用于示教本领域技术人员如何实施本发明，而不用于穷举本发明的所有可行的方式，也不用于限制本发明的范围。The exemplary embodiments of the present invention are described below with reference to the drawings. It should be understood that these specific descriptions are only used to teach those skilled in the art how to implement the present invention, not to exhaust all possible ways of the present invention, nor to limit the scope of the present invention.
若非特殊说明，本发明以图1所示的三维坐标系来说明各部件的位置关系。应当理解，本发明中根据x、y和z轴定义的位置关系是相对的，根据装置的实际应用场合，坐标轴可进行空间旋转。Unless otherwise specified, the present invention uses the three-dimensional coordinate system shown in FIG. 1 to illustrate the positional relationship of each component. It should be understood that the position relationship defined according to the x, y and z axes in the present invention is relative, and the coordinate axis can be rotated in space according to the actual application of the device.
参照图1至图4，以五自由度并联机构为例，介绍根据本发明的多自由度并联机构。根据本发明的五自由度并联机构具有在x、y和z三个方向上的平动自由度以及绕x轴的转动自由度和绕y轴的转动自由度。1 to 4, a five-degree-of-freedom parallel mechanism is taken as an example to introduce the multi-degree-of-freedom parallel mechanism according to the present invention. The five-degree-of-freedom parallel mechanism according to the present invention has translational degrees of freedom in the three directions of x, y, and z, as well as rotational degrees of freedom around the x-axis and rotational degrees of freedom around the y-axis.
第一实施方式The first embodiment
参照图1至图3首先介绍本发明的五自由度并联机构的第一实施方式。1 to 3 firstly introduce the first embodiment of the five-degree-of-freedom parallel mechanism of the present invention.
参照图1和图2，根据本发明的第一实施方式的五自由度并联机构包括第 一平台10、第二平台20和连接件30。第一平台10受第一支撑组件41和第二支撑组件42的支撑和导引而具有在x、y和z三个方向上的平动自由度，第二平台20受第三支撑组件43、第四支撑组件44和辅助定位组件50的支撑和导引而具有在x、y和z三个方向上的平动自由度。连接件30与第一平台10和第二平台20分别连接，在第一平台10和/或第二平台20活动的过程中，连接件30能够在x、y和z三个方向上平动、以及绕x轴转动和绕y轴转动，即连接件30具有五个自由度。1 and 2, the five-degree-of-freedom parallel mechanism according to the first embodiment of the present invention includes a first platform 10, a second platform 20, and a connecting member 30. The first platform 10 is supported and guided by the first support assembly 41 and the second support assembly 42 to have translational freedom in the x, y, and z directions. The second platform 20 is supported by the third support assembly 43, The support and guidance of the fourth supporting component 44 and the auxiliary positioning component 50 have translational freedom in the x, y and z directions. The connecting piece 30 is connected to the first platform 10 and the second platform 20 respectively. During the movement of the first platform 10 and/or the second platform 20, the connecting piece 30 can move in the x, y, and z directions. And rotating around the x-axis and rotating around the y-axis, that is, the connecting member 30 has five degrees of freedom.
第一支撑组件41、第二支撑组件42、第三支撑组件43和第四支撑组件44均包括四个连杆，这四个连杆构成平面四杆机构，且该平面四杆机构的四个转动连接点形成平行四边形的四个顶点，将上述平面四杆机构简称为“平行四边形机构”，或简称上述平面四杆机构呈平行四边形；在运动过程中，平行四边形机构始终保持呈平行四边形形状。The first support assembly 41, the second support assembly 42, the third support assembly 43, and the fourth support assembly 44 each include four connecting rods. The four connecting rods constitute a planar four-bar mechanism, and the four The rotating connection points form the four vertices of the parallelogram. The above-mentioned plane four-bar mechanism is referred to as "parallelogram mechanism" for short, or the above-mentioned plane four-bar mechanism is a parallelogram; during movement, the parallelogram mechanism always maintains a parallelogram shape .
参照图2，第一支撑组件41包括首尾相连且转动连接的第一杆411、第二杆412、第三杆413和第四杆414，第一杆411、第二杆412、第三杆413和第四杆414形成一个平行四边形机构。第二支撑组件42包括首尾相连且转动连接的第一杆421、第二杆422、第三杆423和第四杆424，第一杆421、第二杆422、第三杆423和第四杆424形成一个平行四边形机构。第三支撑组件43包括首尾相连且转动连接的第一杆431、第二杆432、第三杆433和第四杆434，第一杆431、第二杆432、第三杆433和第四杆434形成一个平行四边形机构。第四支撑组件44包括首尾相连且转动连接的第一杆441、第二杆442、第三杆443和第四杆444，第一杆441、第二杆442、第三杆443和第四杆444形成一个平行四边形机构。在本实施方式中，第一杆411、第二杆412、第一杆421、第二杆422、第一杆431、第二杆432、第一杆441和第二杆442均平行于xoy平面。2, the first support assembly 41 includes a first rod 411, a second rod 412, a third rod 413, and a fourth rod 414 that are connected end to end and rotatably connected, the first rod 411, the second rod 412, and the third rod 413. And the fourth rod 414 form a parallelogram mechanism. The second support assembly 42 includes a first rod 421, a second rod 422, a third rod 423, and a fourth rod 424 that are connected end to end and rotatably connected, the first rod 421, the second rod 422, the third rod 423, and the fourth rod 424 forms a parallelogram mechanism. The third support assembly 43 includes a first rod 431, a second rod 432, a third rod 433, and a fourth rod 434 that are connected end to end and rotatably connected, the first rod 431, the second rod 432, the third rod 433, and the fourth rod. 434 forms a parallelogram mechanism. The fourth support assembly 44 includes a first rod 441, a second rod 442, a third rod 443 and a fourth rod 444 which are connected end to end and rotatably connected, the first rod 441, the second rod 442, the third rod 443 and the fourth rod 444 forms a parallelogram mechanism. In this embodiment, the first rod 411, the second rod 412, the first rod 421, the second rod 422, the first rod 431, the second rod 432, the first rod 441 and the second rod 442 are all parallel to the xoy plane. .
第一支撑组件41与第一平台10和第一活动件61分别转动连接，第二支撑组件42与第一平台10和第二活动件62分别转动连接，第三支撑组件43与第二平台20和第三活动件63分别转动连接，第四支撑组件44与第二平台20和第四 活动件64分别转动连接。The first support assembly 41 is rotatably connected with the first platform 10 and the first movable part 61, the second support assembly 42 is rotatably connected with the first platform 10 and the second movable part 62, and the third support assembly 43 is rotatably connected with the second platform 20. The fourth support assembly 44 is rotatably connected to the second platform 20 and the fourth movable member 64 respectively.
由于每一个支撑组件(第一支撑组件41、第二支撑组件42、第三支撑组件43和第四支撑组件44)与活动平台(第一平台10、第二平台20)以及与活动件(第一活动件61、第二活动件62、第三活动件63、第四活动件64)的连接方式相类似，以下以第一支撑组件41为例进行说明。Since each support assembly (first support assembly 41, second support assembly 42, third support assembly 43, and fourth support assembly 44) is associated with the movable platform (first platform 10, second platform 20) and the movable part (the first The connection modes of the first movable part 61, the second movable part 62, the third movable part 63, and the fourth movable part 64) are similar, and the first support assembly 41 is taken as an example for description below.
第一支撑组件41的第一杆411与第一平台10转动连接，第一平台10相对于第一杆411转动的转动轴线与第一杆411的轴向平行。第一支撑组件41的第二杆412与第一活动件61转动连接，第一活动件61相对于第二杆412转动的转动轴线与第二杆412的轴向平行。The first rod 411 of the first support assembly 41 is rotatably connected to the first platform 10, and the rotation axis of the first platform 10 relative to the first rod 411 is parallel to the axial direction of the first rod 411. The second rod 412 of the first support assembly 41 is rotatably connected with the first movable part 61, and the rotation axis of the first movable part 61 relative to the second rod 412 is parallel to the axial direction of the second rod 412.
值得注意的是，第一支撑组件41的第一杆411与第二支撑组件42的第一杆421不平行，第一杆411与第一杆421确定了第一平台10的平行于xoy平面的姿态；第三支撑组件43的第一杆431与第四支撑组件44的第一杆441不平行，第一杆431与第一杆441确定了第二平台20的平行于xoy平面的姿态。在这样的设置下，当第一活动件61、第二活动件62、第三活动件63和第四活动件64中的一者或多者平动时，第一平台10和第二平台20不会发生转动，在本实施方式中，第一平台10和第二平台20始终与xoy平面平行。It is worth noting that the first rod 411 of the first support assembly 41 and the first rod 421 of the second support assembly 42 are not parallel. The first rod 411 and the first rod 421 determine the position of the first platform 10 parallel to the xoy plane. Posture; the first rod 431 of the third support assembly 43 and the first rod 441 of the fourth support assembly 44 are not parallel, and the first rod 431 and the first rod 441 determine the posture of the second platform 20 parallel to the xoy plane. In this arrangement, when one or more of the first movable piece 61, the second movable piece 62, the third movable piece 63, and the fourth movable piece 64 moves in a translational manner, the first platform 10 and the second platform 20 No rotation will occur. In this embodiment, the first platform 10 and the second platform 20 are always parallel to the xoy plane.
第二平台20还连接有辅助定位组件50。辅助定位组件50包括呈杆状的支撑杆51，支撑杆51的两端各通过一个转接件511分别转动连接到第二平台20和第五活动件65。转接件511使得支撑杆51相对于第二平台20以及相对于第五活动件65均具有两个转动自由度，即支撑杆51相对于第二平台20或相对于第五活动件65能绕两个不平行的轴线转动，优选地，支撑杆51相对于第二平台20或相对于第五活动件65能绕两个垂直的轴线转动。辅助定位组件50起到了辅助确定第二平台20的位置的作用，这在下文介绍各部件的运动定位时将更容易被理解。The second platform 20 is also connected with an auxiliary positioning assembly 50. The auxiliary positioning assembly 50 includes a rod-shaped support rod 51, both ends of the support rod 51 are respectively rotatably connected to the second platform 20 and the fifth movable part 65 through an adapter 511. The adapter 511 enables the support rod 51 to have two rotational degrees of freedom relative to the second platform 20 and relative to the fifth movable part 65, that is, the support rod 51 can rotate relative to the second platform 20 or the fifth movable part 65. The two non-parallel axes rotate. Preferably, the support rod 51 can rotate about two perpendicular axes relative to the second platform 20 or relative to the fifth movable member 65. The auxiliary positioning component 50 plays a role of assisting in determining the position of the second platform 20, which will be easier to understand when the movement positioning of each component is introduced below.
第一平台10呈半环状，在第一平台10的外周具有两个沿第一平台10的周向分布的连接部，每一个连接部形成有轴孔分别供第一支撑组件41的第一杆 411和第二支撑组件42的第一杆421穿过，这两个轴孔的轴向与xoy平面平行。The first platform 10 has a semi-annular shape, and on the outer periphery of the first platform 10 there are two connecting parts distributed along the circumferential direction of the first platform 10, and each connecting part is formed with a shaft hole for the first supporting assembly 41. The rod 411 and the first rod 421 of the second support assembly 42 pass through, and the axial directions of the two shaft holes are parallel to the xoy plane.
第二平台20呈环状，在第二平台20的外周具有三个沿第二平台20的周向分布的连接部，每一个连接部形成有轴孔分别供第三支撑组件43的第一杆431、第四支撑组件44的第一杆441以及辅助定位组件50的转接件511的转动轴穿过，这三个轴孔的轴向与xoy平面平行。The second platform 20 is ring-shaped. On the outer periphery of the second platform 20, there are three connecting parts distributed along the circumference of the second platform 20, and each connecting part is formed with a shaft hole for the first rod of the third support assembly 43. 431, the first rod 441 of the fourth support assembly 44 and the rotation axis of the adapter 511 of the auxiliary positioning assembly 50 pass through, and the axial directions of the three axis holes are parallel to the xoy plane.
第一活动件61、第二活动件62、第三活动件63、第四活动件64和第五活动件65能够相对于基座70运动。The first movable part 61, the second movable part 62, the third movable part 63, the fourth movable part 64 and the fifth movable part 65 can move relative to the base 70.
基座70呈半筒状，换言之，基座70具有环绕z方向的壁，沿着z方向观察，基座70的截面呈半环状。在基座70的内周部形成有在z方向上延伸的第一导向件71、第二导向件72、第三导向件73、第四导向件74和第五导向件75。第一活动件61能沿第一导向件71往复运动，第二活动件62能沿第二导向件72往复运动，第三活动件63能沿第三导向件73往复运动，第四活动件64能沿第四导向件74往复运动，第五活动件65能沿第五导向件75往复运动。The base 70 has a semi-cylindrical shape. In other words, the base 70 has a wall surrounding the z direction. When viewed along the z direction, the cross section of the base 70 is semi-circular. A first guide 71, a second guide 72, a third guide 73, a fourth guide 74, and a fifth guide 75 extending in the z direction are formed on the inner circumference of the base 70. The first movable part 61 can reciprocate along the first guide 71, the second movable part 62 can reciprocate along the second guide 72, the third movable part 63 can reciprocate along the third guide 73, and the fourth movable part 64 It can reciprocate along the fourth guide 74 and the fifth movable piece 65 can reciprocate along the fifth guide 75.
接下来介绍连接件30与第一平台10和第二平台20的连接方式以及各部件的运动对连接件30的定位的影响。Next, the connection mode of the connecting piece 30 and the first platform 10 and the second platform 20 and the influence of the movement of each component on the positioning of the connecting piece 30 are introduced.
首先介绍第一平台10的运动。第一平台10跟随第一活动件61和第二活动件62的运动而运动；而由于第一支撑组件41呈平行四边形、第二支撑组件42呈平行四边形，又第一支撑组件41的第一杆411与第二支撑组件42的第一杆421不平行，因此当第一活动件61沿第一导向件71平动和/或第二活动件62沿第二导向件72平动时，第一平台10只发生平动而不发生转动。第一平台10具有沿x方向、沿y方向和沿z方向的三个平动自由度。First, the movement of the first platform 10 is introduced. The first platform 10 follows the movement of the first movable part 61 and the second movable part 62; and because the first support assembly 41 is parallelogram, the second support assembly 42 is parallelogram, and the first support assembly 41 The rod 411 and the first rod 421 of the second support assembly 42 are not parallel. Therefore, when the first movable member 61 moves in translation along the first guide member 71 and/or the second movable member 62 moves in translation along the second guide member 72, the first A platform 10 only moves in translation without rotating. The first platform 10 has three translational degrees of freedom along the x direction, along the y direction, and along the z direction.
同样地，第二平台20跟随第三活动件63和第四活动件64的运动而运动；当第三活动件63沿第三导向件73平动和/或第四活动件64沿第四导向件74平动时，第二平台20只发生平动而不发生转动。第二平台20具有沿x方向、沿y方向和沿z方向的三个平动自由度。Similarly, the second platform 20 follows the movement of the third movable piece 63 and the fourth movable piece 64; when the third movable piece 63 moves in translation along the third guide piece 73 and/or the fourth movable piece 64 moves along the fourth guide When the piece 74 moves in translation, the second platform 20 only moves in translation without rotating. The second platform 20 has three translational degrees of freedom along the x direction, along the y direction, and along the z direction.
接下来介绍辅助定位组件50在第二平台20运动过程中的作用。对于第三 活动件63和第四活动件64的某一确定的组合定位，受第三支撑组件43和第四支撑组件44的限制，第二平台20相对于第三活动件63和第四活动件64的距离是一定的；然而，第二平台20相对于第三活动件63和第四活动件64的确定的距离对应了一系列可能的第二平台20的位置。而辅助定位组件50帮助确定了第二平台20的唯一具体定位，这是因为引入的辅助定位组件50增加了第二平台20相对于第五活动件65的距离的限制。通过控制第三活动件63、第四活动件64和第五活动件65分别在第三导向件73、第四导向件74和第五导向件75的位置，能够确定第二平台20的具***置。Next, the role of the auxiliary positioning component 50 during the movement of the second platform 20 will be described. For a certain combined positioning of the third movable part 63 and the fourth movable part 64, subject to the restriction of the third supporting component 43 and the fourth supporting component 44, the second platform 20 is relative to the third movable part 63 and the fourth movable part. The distance of the piece 64 is certain; however, the determined distance of the second platform 20 relative to the third movable piece 63 and the fourth movable piece 64 corresponds to a series of possible positions of the second platform 20. The auxiliary positioning component 50 helps determine the only specific positioning of the second platform 20 because the introduced auxiliary positioning component 50 increases the limitation of the distance of the second platform 20 relative to the fifth movable part 65. By controlling the positions of the third movable part 63, the fourth movable part 64 and the fifth movable part 65 in the third guide 73, the fourth guide 74 and the fifth guide 75 respectively, the specific position of the second platform 20 can be determined .
同样地，对于第一活动件61和第二活动件62的某一确定的组合定位，受第一支撑组件41和第二支撑组件42的限制，第一平台10相对于第一活动件61和第二活动件62的距离是一定的。由于第一平台10和第二平台20均与连接件30相连，因此第一平台10相对于第二平台20的距离是确定的，换言之连接件30起到了辅助第一平台10定位的作用；在第二平台20的位置确定的情况下，第一平台10的位置能够被唯一确定。Similarly, for a certain combined positioning of the first movable part 61 and the second movable part 62, subject to the restriction of the first support assembly 41 and the second support assembly 42, the first platform 10 is relative to the first movable part 61 and The distance of the second movable part 62 is constant. Since the first platform 10 and the second platform 20 are both connected to the connecting piece 30, the distance between the first platform 10 and the second platform 20 is determined. In other words, the connecting piece 30 plays a role in assisting the positioning of the first platform 10; When the position of the second platform 20 is determined, the position of the first platform 10 can be uniquely determined.
参照图3，第一平台10和第二平台20在z方向上具有一定的间隔，连接件30通过第一中间转接件31与第一平台10转动连接，连接件30还通过第二中间转接件32与第二平台20转动连接，图中未示出转动轴而仅以转动轴线的形式示意。连接件30相对于第一平台10具有两个转动自由度，连接件30相对于第二平台20具有两个转动自由度。具体地，连接件30与第一中间转接件31转动连接，这两者能绕转动轴线a1相对转动；第一中间转接件31与第一平台10转动连接，这两者能绕转动轴线a2相对转动。转动轴线a1与转动轴线a2不平行，且优选地，转动轴线a1与转动轴线a2互相垂直。连接件30与第二中间转接件32转动连接，这两者能绕转动轴线a3相对转动；第二中间转接件32与第二平台20转动连接，这两者能绕转动轴线a4相对转动。转动轴线a3与转动轴线a4不平行，且优选地，转动轴线a3与转动轴线a4互相垂直。3, the first platform 10 and the second platform 20 have a certain interval in the z direction, the connecting piece 30 is rotatably connected to the first platform 10 through a first intermediate adapter 31, and the connecting piece 30 is also rotated through a second intermediate The connecting member 32 is rotatably connected with the second platform 20. The rotation shaft is not shown in the figure, but is only shown in the form of a rotation axis. The connecting member 30 has two rotational degrees of freedom relative to the first platform 10, and the connecting member 30 has two rotational degrees of freedom relative to the second platform 20. Specifically, the connecting member 30 is rotatably connected with the first intermediate adapter 31, and the two can be relatively rotated around the rotation axis a1; the first intermediate adapter 31 is rotatably connected with the first platform 10, and the two can be rotated around the rotation axis. a2 relative rotation. The rotation axis a1 and the rotation axis a2 are not parallel, and preferably, the rotation axis a1 and the rotation axis a2 are perpendicular to each other. The connecting member 30 is rotatably connected with the second intermediate adapter 32, and the two can be relatively rotated around the rotation axis a3; the second intermediate adapter 32 is rotatably connected with the second platform 20, and the two can be relatively rotated around the rotation axis a4 . The rotation axis a3 and the rotation axis a4 are not parallel, and preferably, the rotation axis a3 and the rotation axis a4 are perpendicular to each other.
连接件30相对于第一平台10以及相对于第二平台20均具有两个转动自 由度，这使得，在第一平台10和/或第二平台20运动的过程中，连接件30除了能跟随地在x、y和z方向上平动，还能绕x轴转动和/或绕y轴转动。The connecting piece 30 has two rotational degrees of freedom relative to the first platform 10 and relative to the second platform 20, which makes the connecting piece 30 in addition to following the movement of the first platform 10 and/or the second platform 20 The ground moves in the x, y, and z directions, and can also rotate around the x axis and/or around the y axis.
以上，通过控制第一活动件61、第二活动件62、第三活动件63、第四活动件64和第五活动件65位于各自的导向件的位置，能够对连接件30进行空间定位。第一活动件61、第二活动件62、第三活动件63、第四活动件64和第五活动件65的沿z方向的一个平动自由度为连接件30提供了的三个平动和两个转动的自由度。Above, by controlling the positions of the first movable part 61, the second movable part 62, the third movable part 63, the fourth movable part 64, and the fifth movable part 65 to be located at the respective guide parts, the connecting part 30 can be spatially positioned. One translational freedom of the first movable part 61, the second movable part 62, the third movable part 63, the fourth movable part 64 and the fifth movable part 65 along the z direction provides three translational movements for the connecting member 30 And two rotational degrees of freedom.
第二实施方式Second embodiment
图4示出了根据本发明的第二实施方式的五自由度并联机构。第二实施方式是第一实施方式的变型，对于与第一实施方式相同或相似的部件标注相同或相似的附图标记，并省略对这些部件的详细说明。Fig. 4 shows a five-degree-of-freedom parallel mechanism according to the second embodiment of the present invention. The second embodiment is a modification of the first embodiment, and the same or similar reference numerals are given to the same or similar components as the first embodiment, and detailed description of these components is omitted.
本实施方式中，辅助定位组件50采用和支撑组件相同的结构，即辅助定位组件50也是一个平行四边形机构。虽然这不是必须的，但这样的设置使得整个机构零部件的通用性增强、结构强度提高。In this embodiment, the auxiliary positioning component 50 adopts the same structure as the supporting component, that is, the auxiliary positioning component 50 is also a parallelogram mechanism. Although this is not necessary, such an arrangement enhances the versatility of the entire mechanism components and the structural strength.
此外，根据本实施方式的五自由度并联机构的结构更紧凑，在z方向上延伸的导向件的数量减少为三个，分别是第一导向件701、第二导向件702和第三导向件703，这三个导向件不共线。五个活动件(第一活动件61、第二活动件62、第三活动件63、第四活动件64和第五活动件65)被分布到上述三个导向件。In addition, the structure of the five-degree-of-freedom parallel mechanism according to this embodiment is more compact, and the number of guides extending in the z-direction is reduced to three, namely the first guide 701, the second guide 702, and the third guide. 703, these three guides are not collinear. Five movable pieces (the first movable piece 61, the second movable piece 62, the third movable piece 63, the fourth movable piece 64, and the fifth movable piece 65) are distributed to the above three guide pieces.
在本实施方式中，第一活动件61沿第一导向件701往复运动，第二活动件62沿第二导向件702往复运动，第三活动件63沿第一导向件701往复运动，第四活动件64沿第三导向件703往复运动，第五活动件65沿第二导向件702往复运动。当然，五个活动件在三个导向件上具体的分布方式不限于此，分布的原则是，第一活动件61和第二活动件62分布在两个不同的导向件，第三活 动件63、第四活动件64和第五活动件65分布在三个不同的导向件，从而使得第一支撑组件41的平面四杆机构与第二支撑组件42的平面四杆机构不平行，第三支撑组件43、第四支撑组件44和第五支撑组件45的三个平面四杆机构中的至少两个互相不平行。In this embodiment, the first movable part 61 reciprocates along the first guide 701, the second movable part 62 reciprocates along the second guide 702, and the third movable part 63 reciprocates along the first guide 701. The movable part 64 reciprocates along the third guide 703, and the fifth movable part 65 reciprocates along the second guide 702. Of course, the specific distribution mode of the five movable parts on the three guide parts is not limited to this. The principle of distribution is that the first movable part 61 and the second movable part 62 are distributed in two different guide parts, and the third movable part 63 , The fourth movable member 64 and the fifth movable member 65 are distributed in three different guides, so that the planar four-bar mechanism of the first support assembly 41 and the planar four-bar mechanism of the second support assembly 42 are not parallel, and the third support At least two of the three planar four-bar mechanisms of the assembly 43, the fourth support assembly 44, and the fifth support assembly 45 are not parallel to each other.
本发明至少具有以下优点中的一个优点：The present invention has at least one of the following advantages:
(i)本发明通过使两组所在平面不平行的平行四边形机构(例如第一支撑组件41所构成的平行四边形机构和第二支撑组件42所构成的平行四边形机构，它们所在的平面不平行)与一个活动平台(例如第一平台10)连接，确定了活动平台的两个平动自由度，再加上辅助定位组件，三者一起完全控制了活动平台的三个平动自由度。(i) The present invention uses a parallelogram mechanism that makes the two groups of planes not parallel (for example, the parallelogram mechanism formed by the first support assembly 41 and the parallelogram mechanism formed by the second support assembly 42, where the planes are not parallel) It is connected with a movable platform (for example, the first platform 10) to determine the two translational degrees of freedom of the movable platform. Together with the auxiliary positioning components, the three together completely control the three degrees of translational freedom of the movable platform.
(ii)在本发明中，第一平台10和第二平台20在z方向上间隔开，通过连接件30将第一平台10和第二平台20连接在一起，并使连接件30能相对于第一平台10绕两个不平行的轴线(优选为两个垂直的轴线)转动、连接件30能相对于第二平台20绕两个不平行的轴线(优选为两个垂直的轴线)转动，从而在第一平台10和第二平台20中任一者的位置发生变化的过程中，连接件30具有三个平动自由度和两个转动自由度。在实际操作中，只需控制第一活动件61、第二活动件62、第三活动件63、第四活动件64和第五活动件65的往复运动，便能实现连接件30在五个自由度上的平动和/或转动。(ii) In the present invention, the first platform 10 and the second platform 20 are spaced apart in the z direction, and the first platform 10 and the second platform 20 are connected together by a connecting piece 30, and the connecting piece 30 can be relatively The first platform 10 rotates around two non-parallel axes (preferably two vertical axes), and the connecting member 30 can rotate relative to the second platform 20 around two non-parallel axes (preferably two vertical axes), Therefore, when the position of any one of the first platform 10 and the second platform 20 changes, the connecting member 30 has three translational degrees of freedom and two rotational degrees of freedom. In actual operation, only need to control the reciprocating movement of the first movable piece 61, the second movable piece 62, the third movable piece 63, the fourth movable piece 64 and the fifth movable piece 65, the connecting piece 30 can be realized in five Translation and/or rotation in degrees of freedom.
(iii)第一平台10、第一支撑组件41和第二支撑组件42构成的活动支链与第二平台20、第三支撑组件43、第四支撑组件44和辅助定位组件50构成的活动支链不对称，提高了并联机构整体的空间利用率。(iii) The movable branch formed by the first platform 10, the first support assembly 41 and the second support assembly 42 and the movable support formed by the second platform 20, the third support assembly 43, the fourth support assembly 44 and the auxiliary positioning assembly 50 The chain is asymmetric, which improves the overall space utilization of the parallel mechanism.
(iv)第一平台10和第二平台20呈环形或半环形，第一支撑组件41和第二支撑组件42设置于第一平台10的外周侧、连接件30设置于第一平台10的内周侧，第二平台20呈环形或半环形，第三支撑组件43、第四支撑组件44和辅助定位组件50设置于第二平台20的外周侧、连接件30设置于第二平台20的内周侧，进一步提高了并联机构的空间利用率。(iv) The first platform 10 and the second platform 20 are annular or semi-annular, the first support assembly 41 and the second support assembly 42 are arranged on the outer peripheral side of the first platform 10, and the connecting member 30 is arranged inside the first platform 10 On the peripheral side, the second platform 20 is annular or semi-annular, the third support assembly 43, the fourth support assembly 44 and the auxiliary positioning assembly 50 are arranged on the outer peripheral side of the second platform 20, and the connector 30 is arranged inside the second platform 20 On the peripheral side, the space utilization rate of the parallel mechanism is further improved.
当然，本发明不限于上述实施方式，本领域技术人员在本发明的教导下可以对本发明的上述实施方式做出各种变型，而不脱离本发明的范围。例如：Of course, the present invention is not limited to the above-mentioned embodiments, and those skilled in the art can make various modifications to the above-mentioned embodiments of the present invention under the teaching of the present invention without departing from the scope of the present invention. E.g:
(i)根据本发明的并联机构优选用作手术机器人的一部分，这种应用下，z方向优选代表竖直方向，并且可以在连接件30上加设手术器械；然而本发明不限于此，根据本发明的并联机构也可以为其他器械提供导向。(i) The parallel mechanism according to the present invention is preferably used as a part of a surgical robot. In this application, the z direction preferably represents the vertical direction, and surgical instruments can be added to the connecting member 30; however, the present invention is not limited to this, according to The parallel mechanism of the present invention can also provide guidance for other instruments.
(ii)根据本发明的多自由度并联机构的连接件30具有五个自由度，在实际应用中，当需要连接件30作为终端提供更多自由度时，可以为连接件30加设其他运动部件，例如加设能够绕连接件30的轴向转动的终端附加件，使得该终端附加件具有包括绕z方向转动的六个自由度。(ii) The connecting piece 30 of the multi-degree-of-freedom parallel mechanism according to the present invention has five degrees of freedom. In practical applications, when the connecting piece 30 is required as a terminal to provide more degrees of freedom, other motions can be added to the connecting piece 30 The component, for example, a terminal attachment that can rotate around the axial direction of the connecting member 30 is added, so that the terminal attachment has six degrees of freedom including rotation around the z direction.
(iii)连接件30与第一平台10、第二平台20的转动连接也可以通过球形铰链实现，当连接件30与第一平台10和第二平台20的连接均使用球形铰链时，连接件30具有包括绕z方向转动的六个自由度。(iii) The rotating connection of the connecting piece 30 with the first platform 10 and the second platform 20 can also be realized by a spherical hinge. When the connecting piece 30 is connected with the first platform 10 and the second platform 20 using spherical hinges, the connecting piece 30 has six degrees of freedom including rotation around the z direction.
(iv)由于辅助定位组件50的作用是限定第二平台20相对于基座70的距离，本发明对辅助定位组件50的具体结构不作限制，例如第一实施方式中的辅助定位组件50的支撑杆51可以是能改变长度的伸缩杆，此时对辅助定位组件50的控制表现为对支撑杆51的长度的控制。(iv) Since the role of the auxiliary positioning assembly 50 is to limit the distance between the second platform 20 and the base 70, the present invention does not limit the specific structure of the auxiliary positioning assembly 50, such as the support of the auxiliary positioning assembly 50 in the first embodiment. The rod 51 may be a telescopic rod whose length can be changed. In this case, the control of the auxiliary positioning assembly 50 is performed as a control of the length of the support rod 51.
(v)辅助定位组件50可以和第一平台10或第二平台20中的任一者连接以起到对整个机构的定位作用，例如，辅助定位组件50也可以不与第二平台20连接、而是与第一平台10连接。(v) The auxiliary positioning component 50 can be connected to either the first platform 10 or the second platform 20 to position the entire mechanism. For example, the auxiliary positioning component 50 may not be connected to the second platform 20, Instead, it is connected to the first platform 10.
(vi)本发明对第一平台10和第二平台20的形状不作限制，第一平台10和第二平台20可以不是环形或半环形；连接件30与第一平台10或第二平台20的连接位置不必位于第一平台10或第二平台20的内周侧，支撑组件或辅助定位组件50与第一平台10或第二平台20的连接位置不必位于第一平台10或第二平台20的外周部。(vi) The present invention does not limit the shape of the first platform 10 and the second platform 20, the first platform 10 and the second platform 20 may not be circular or semi-circular; the connecting member 30 and the first platform 10 or the second platform 20 The connection position does not have to be located on the inner peripheral side of the first platform 10 or the second platform 20, and the connection position of the support assembly or auxiliary positioning assembly 50 and the first platform 10 or the second platform 20 does not need to be located on the first platform 10 or the second platform 20 The outer periphery.
(vii)虽然在第一实施方式和第二实施方式对应的附图中，在z方向上， 第一活动件61、第二活动件62位于第一平台10的同一侧，第三活动件63、第四活动件64和第五活动件65位于第二平台20的同一侧，然而这并不是必须的；根据实际应用环境，第一活动件61、第二活动件62、第三活动件63、第四活动件64和第五活动件65在z方向上相对于第一平台10或第二平台20的位置可以是不同的。例如，参照图1中的方位，可以将第一活动件61和第二活动件62设置成位于第一平台10的上方，将第三活动件63、第四活动件64和第五活动件65设置成位于第二平台20的下方，这样，与第一平台10相连的支链(包括第一支撑组件41、第一活动件61、第二支撑组件42和第二活动件62)和与第二平台20相连的支链(包括第三支撑组件43、第三活动件63、第四支撑组件44、第四活动件64、辅助定位组件50和第五活动件65)在运动过程中不容易发生干涉。(vii) Although in the drawings corresponding to the first and second embodiments, in the z direction, the first movable part 61 and the second movable part 62 are located on the same side of the first platform 10, and the third movable part 63 , The fourth movable piece 64 and the fifth movable piece 65 are located on the same side of the second platform 20, but this is not necessary; according to the actual application environment, the first movable piece 61, the second movable piece 62, and the third movable piece 63 , The positions of the fourth movable part 64 and the fifth movable part 65 relative to the first platform 10 or the second platform 20 in the z direction may be different. For example, referring to the orientation in FIG. 1, the first movable piece 61 and the second movable piece 62 can be arranged above the first platform 10, and the third movable piece 63, the fourth movable piece 64 and the fifth movable piece 65 Is arranged below the second platform 20, so that the branch chain (including the first support assembly 41, the first movable part 61, the second support assembly 42 and the second movable part 62) connected to the first platform 10 and the second The branch chains connected to the two platforms 20 (including the third support assembly 43, the third movable part 63, the fourth support assembly 44, the fourth movable part 64, the auxiliary positioning assembly 50 and the fifth movable part 65) are not easy in the movement process Interference occurred.
(viii)根据本发明的导向件(第一导向件71/701、第二导向件72/703、第三导向件73/703、第四导向件74和第五导向件75)也可以不是沿z方向延伸的，导向件只需具有在z方向上的延伸分量即可。例如导向件可以是倾斜于z方向设置的直线轨道，或者例如导向件可以是在z方向上有延伸分量的曲线轨道，这样的设置使得沿导向件运动的活动件在x方向和y方向上的运动范围得到扩大。(viii) The guides (first guide 71/701, second guide 72/703, third guide 73/703, fourth guide 74, and fifth guide 75) according to the present invention may not be along For extension in the z direction, the guide only needs to have an extension component in the z direction. For example, the guide may be a linear track arranged obliquely to the z direction, or for example, the guide may be a curved track with an extension component in the z direction. Such an arrangement makes the movable part moving along the guide move in the x direction and the y direction. The range of motion has been expanded.

Claims (10)

  1. 一种多自由度并联机构，其包括第一平台(10)、第二平台(20)、连接件(30)和基座(70)，所述第一平台(10)和所述第二平台(20)在第一方向(z)上间隔开，其中，A parallel mechanism with multiple degrees of freedom, comprising a first platform (10), a second platform (20), a connecting piece (30) and a base (70), the first platform (10) and the second platform (20) Spaced apart in the first direction (z), where,
    所述第一平台(10)与第一支撑组件(41)和第二支撑组件(42)分别转动连接，且所述第一支撑组件(41)相对于所述第一平台(10)的转动轴线与所述第二支撑组件(42)相对于所述第一平台(10)的转动轴线不平行，The first platform (10) is rotatably connected with the first support assembly (41) and the second support assembly (42), and the rotation of the first support assembly (41) relative to the first platform (10) The axis is not parallel to the axis of rotation of the second support assembly (42) relative to the first platform (10),
    所述第二平台(20)与第三支撑组件(43)和第四支撑组件(44)分别转动连接，且所述第三支撑组件(43)相对于所述第二平台(20)的转动轴线与所述第四支撑组件(44)相对于所述第二平台(20)的转动轴线不平行，The second platform (20) is rotatably connected with the third support assembly (43) and the fourth support assembly (44), and the rotation of the third support assembly (43) relative to the second platform (20) The axis is not parallel to the rotation axis of the fourth support assembly (44) relative to the second platform (20),
    所述第一支撑组件(41)、所述第二支撑组件(42)、所述第三支撑组件(43)和所述第四支撑组件(44)均包括平面四杆机构，所述平面四杆机构的四个转动连接点的连线形成平行四边形，The first support assembly (41), the second support assembly (42), the third support assembly (43) and the fourth support assembly (44) all include a flat four-bar mechanism, and the flat four The connection of the four rotating connection points of the lever mechanism forms a parallelogram,
    所述第一支撑组件(41)、所述第二支撑组件(42)、所述第三支撑组件(43)和所述第四支撑组件(44)分别连接到所述基座(70)并能相对于所述基座(70)运动而在所述第一方向(z)上产生位移，The first support assembly (41), the second support assembly (42), the third support assembly (43) and the fourth support assembly (44) are respectively connected to the base (70) and Can move relative to the base (70) to produce displacement in the first direction (z),
    所述第二平台(20)还与辅助定位组件(50)转动连接，所述辅助定位组件(50)能够相对于所述基座(70)运动、使得所述第二平台(20)在所述第一方向(z)上产生位移，The second platform (20) is also rotatably connected with an auxiliary positioning assembly (50), and the auxiliary positioning assembly (50) can move relative to the base (70), so that the second platform (20) is in place. The displacement occurs in the first direction (z),
    所述第一平台(10)和所述第二平台(20)分别与所述连接件(30)转动连接，使所述连接件(30)相对于所述第一平台(10)具有至少两个转动自由度、所述连接件(30)相对于所述第二平台(20)具有至少两个转动自由度。The first platform (10) and the second platform (20) are respectively rotatably connected with the connecting piece (30), so that the connecting piece (30) has at least two parts relative to the first platform (10). The connecting member (30) has at least two rotational degrees of freedom relative to the second platform (20).
  2. 根据权利要求1所述的多自由度并联机构，其特征在于，所述基座(70)包括在所述第一方向(z)上具有延伸分量的导向件(71-75，701-703)，所 述第一支撑组件(41)、所述第二支撑组件(42)、所述第三支撑组件(43)、所述第四支撑组件(44)和所述辅助定位组件(50)中的至少一者能够在所述导向件(71-75，701-703)的导引下往复运动。The multi-degree-of-freedom parallel mechanism according to claim 1, wherein the base (70) includes a guide (71-75, 701-703) having an extension component in the first direction (z) , The first support assembly (41), the second support assembly (42), the third support assembly (43), the fourth support assembly (44) and the auxiliary positioning assembly (50) At least one of them can be reciprocated under the guidance of the guide (71-75, 701-703).
  3. 根据权利要求2所述的多自由度并联机构，其特征在于，所述多自由度并联机构还包括第一活动件(61)、第二活动件(62)、第三活动件(63)和第四活动件(64)，所述第一活动件(61)、所述第二活动件(62)、所述第三活动件(63)和所述第四活动件(64)能够在所述导向件(71-75，701-703)的导引下往复运动从而相对于所述基座(70)至少在所述第一方向(z)上产生位移。The multi-degree-of-freedom parallel mechanism according to claim 2, wherein the multi-degree-of-freedom parallel mechanism further comprises a first movable part (61), a second movable part (62), a third movable part (63) and The fourth movable piece (64), the first movable piece (61), the second movable piece (62), the third movable piece (63) and the fourth movable piece (64) can be The guide member (71-75, 701-703) reciprocates under the guidance of the base (70) to generate displacement at least in the first direction (z).
  4. 根据权利要求3所述的多自由度并联机构，其特征在于，The multi-degree-of-freedom parallel mechanism according to claim 3, wherein:
    所述第一支撑组件(41)的平面四杆机构中的两个平行的杆中的一者转动连接到所述第一平台(10)并构成所述第一平台(10)与所述第一支撑组件(41)相对转动的转轴、另一者转动连接到所述第一活动件(61)并构成所述第一活动件(61)与所述第一支撑组件(41)相对转动的转轴；One of the two parallel rods in the planar four-bar mechanism of the first support assembly (41) is rotatably connected to the first platform (10) and constitutes the first platform (10) and the first platform (10). One supporting assembly (41) is a relatively rotating shaft, and the other is rotatably connected to the first movable part (61) and constitutes a relative rotation of the first movable part (61) and the first supporting assembly (41) Shaft
    所述第二支撑组件(42)的平面四杆机构中的两个平行的杆中的一者转动连接到所述第一平台(10)并构成所述第一平台(10)与所述第二支撑组件(42)相对转动的转轴、另一者转动连接到所述第二活动件(62)并构成所述第二活动件(62)与所述第二支撑组件(42)相对转动的转轴；One of the two parallel rods in the planar four-bar mechanism of the second support assembly (42) is rotatably connected to the first platform (10) and constitutes the first platform (10) and the first platform (10). The rotating shaft of the two supporting components (42) relatively rotating, and the other one is rotatably connected to the second movable part (62) and constitutes the relative rotation of the second movable part (62) and the second supporting component (42) Shaft
    所述第三支撑组件(43)的平面四杆机构中的两个平行的杆中的一者转动连接到所述第二平台(20)并构成所述第二平台(20)与所述第三支撑组件(43)相对转动的转轴、另一者转动连接到所述第三活动件(63)并构成所述第三活动件(63)与所述第三支撑组件(43)相对转动的转轴；One of the two parallel rods in the planar four-bar mechanism of the third support assembly (43) is rotatably connected to the second platform (20) and constitutes the second platform (20) and the first platform (20). The rotating shaft of the three supporting components (43) relatively rotating, and the other is rotatably connected to the third movable part (63) and constitutes the relative rotation of the third movable part (63) and the third supporting component (43) Shaft
    所述第四支撑组件(44)的平面四杆机构中的两个平行的杆中的一者转动连接到所述第二平台(20)并构成所述第二平台(20)与所述第四支撑组 件(44)相对转动的转轴、另一者转动连接到所述第四活动件(64)并构成所述第四活动件(64)与所述第四支撑组件(44)相对转动的转轴。One of the two parallel rods in the planar four-bar mechanism of the fourth support assembly (44) is rotatably connected to the second platform (20) and constitutes the second platform (20) and the first platform (20). The rotating shaft of the four supporting components (44) relatively rotating, and the other is rotatably connected to the fourth movable part (64) and constitutes the relative rotation of the fourth movable part (64) and the fourth supporting component (44) Shaft.
  5. 根据权利要求1所述的多自由度并联机构，其特征在于，所述多自由度并联机构还包括第一中间转接件(31)和第二中间转接件(32)，The multi-degree-of-freedom parallel mechanism according to claim 1, wherein the multi-degree-of-freedom parallel mechanism further includes a first intermediate adapter (31) and a second intermediate adapter (32),
    所述连接件(30)与所述第一中间转接件(31)沿第一转动轴线(a1)转动连接，所述第一平台(10)与所述第一中间转接件(31)沿第二转动轴线(a2)转动连接，所述第一转动轴线(a1)与所述第二转动轴线(a2)不平行，The connecting piece (30) is rotatably connected with the first intermediate adapter (31) along a first rotation axis (a1), and the first platform (10) is connected to the first intermediate adapter (31) Connected in rotation along a second rotation axis (a2), the first rotation axis (a1) and the second rotation axis (a2) are not parallel,
    所述连接件(30)与所述第二中间转接件(32)沿第三转动轴线(a3)转动连接，所述第二平台(20)与所述第二中间转接件(32)沿第四转动轴线(a4)转动连接，所述第三转动轴线(a3)与所述第四转动轴线(a4)不平行。The connecting piece (30) is rotatably connected with the second intermediate adapter piece (32) along a third rotation axis (a3), and the second platform (20) is connected to the second intermediate adapter piece (32) Rotating and connecting along the fourth rotation axis (a4), the third rotation axis (a3) and the fourth rotation axis (a4) are not parallel.
  6. 根据权利要求5所述的多自由度并联机构，其特征在于，所述第一转动轴线(a1)垂直于所述第二转动轴线(a2)，所述第三转动轴线(a3)垂直于所述第四转动轴线(a4)。The multi-degree-of-freedom parallel mechanism according to claim 5, wherein the first rotation axis (a1) is perpendicular to the second rotation axis (a2), and the third rotation axis (a3) is perpendicular to the The fourth axis of rotation (a4).
  7. 根据权利要求1所述的多自由度并联机构，其特征在于，所述辅助定位组件(50)包括支撑杆(51)，所述支撑杆(51)的一端转动连接到所述第二平台(20)使得所述支撑杆(51)能够相对于所述第二平台(20)绕两个不平行的转动轴线转动，The multi-degree-of-freedom parallel mechanism according to claim 1, wherein the auxiliary positioning assembly (50) comprises a support rod (51), one end of the support rod (51) is rotatably connected to the second platform ( 20) enabling the support rod (51) to rotate relative to the second platform (20) about two non-parallel rotation axes,
    所述支撑杆(51)的另一端转动连接到所述基座(70)使得所述支撑杆(51)能够相对于所述基座(70)绕两个不平行的转动轴线转动。The other end of the support rod (51) is rotatably connected to the base (70) so that the support rod (51) can rotate relative to the base (70) about two non-parallel rotation axes.
  8. 根据权利要求7所述的多自由度并联机构，其特征在于，所述支撑杆(51)的另一端通过能相对于所述基座(70)在第一方向(z)上产生位移的活动件(65)与所述基座(70)连接；或The multi-degree-of-freedom parallel mechanism according to claim 7, characterized in that the other end of the support rod (51) passes through a movement capable of generating displacement in the first direction (z) relative to the base (70) The piece (65) is connected to the base (70); or
    所述支撑杆(51)能够伸长或缩短。The support rod (51) can be extended or shortened.
  9. 根据权利要求1所述的多自由度并联机构，其特征在于，所述辅助定位组件(50)包括呈平行四边形的平面四杆机构。The multi-degree-of-freedom parallel mechanism according to claim 1, wherein the auxiliary positioning assembly (50) comprises a planar four-bar mechanism in a parallelogram shape.
  10. 根据权利要求1至9中任一项所述的多自由度并联机构，其特征在于，所述第一平台(10)呈环形或半环形，所述第一支撑组件(41)和所述第二支撑组件(42)设置于所述第一平台(10)的外周侧，所述连接件(30)设置于所述第一平台(10)的内周侧；和/或，The multi-degree-of-freedom parallel mechanism according to any one of claims 1 to 9, wherein the first platform (10) is annular or semi-annular, and the first support assembly (41) and the second Two supporting components (42) are arranged on the outer peripheral side of the first platform (10), and the connecting member (30) is arranged on the inner peripheral side of the first platform (10); and/or,
    所述第二平台(20)呈环形或半环形，所述第三支撑组件(43)、所述第四支撑组件(44)和所述辅助定位组件(50)设置于所述第二平台(20)的外周侧，所述连接件(30)设置于所述第二平台(20)的内周侧。The second platform (20) is annular or semi-annular, and the third support assembly (43), the fourth support assembly (44) and the auxiliary positioning assembly (50) are arranged on the second platform ( On the outer peripheral side of 20), the connecting piece (30) is arranged on the inner peripheral side of the second platform (20).
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