WO2020155843A1

WO2020155843A1 - Multiple-degree-of-freedom parallel mechanism

Info

Publication number: WO2020155843A1
Application number: PCT/CN2019/123302
Authority: WO
Inventors: 周啸波; 蓝青; 周润
Original assignee: 苏州迈澜医疗科技有限公司
Priority date: 2019-01-31
Filing date: 2019-12-05
Publication date: 2020-08-06
Also published as: CN109605339A; CN109605339B

Abstract

A multiple-degree-of-freedom parallel mechanism, comprising a first platform (10), a second platform (20), a connection member (30) and a base (70), wherein: the first platform (10) being respectively rotatably connected to a first support assembly (41) and to a second support assembly (42); the second platform (20) being respectively rotatably connected to a third support assembly (43) and to a fourth support assembly (44); the first support assembly (41), second support assembly (42), third support assembly (43) and fourth support assembly (44) each comprising a planar four-bar mechanism; the connection lines of four rotating connection points of a planar four-bar mechanism forming a parallelogram; and the first platform (10) and second platform (20) respectively being rotatably connected to the connection member (30), causing the connection member (30) to have at least two rotational degrees of freedom relative to the first platform (10) and causing the connection member (30) to have at least two rotational degrees of freedom relative to the second platform (20). Such a multiple-degree-of-freedom parallel mechanism allows for giving at least three displacement degrees of freedom and two rotational degrees of freedom to a connection member, and a moving component of the parallel mechanism being able to be asymmetrically disposed with high spatial utilization.

Description

多自由度并联机构Multi-degree-of-freedom parallel mechanism

相关申请的引用References to related applications

本发明要求2019年1月31日在中国提交的，名称为“多自由度并联机构”、申请号为201910100951.9的发明专利申请的优先权，该申请的全部内容通过引用并入本文。The present invention claims the priority of the invention patent application named "Multi-degree-of-freedom parallel mechanism" and application number 201910100951.9 filed in China on January 31, 2019, the entire content of which is incorporated herein by reference.

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，其特征在于，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, and are characterized in that:

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，且所述第一支撑组件、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中的至少一者能通过活动件转动连接到所述基座，The first support assembly, the second support assembly, the third support assembly, and the fourth support assembly are respectively connected to the base, and the first support assembly, the second support assembly, At least one of the third support assembly and the fourth support assembly can be rotatably connected to the base through a movable part,

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，In at least one embodiment,

所述多自由度并联机构还包括第一活动件，所述第一活动件与所述基座和所述第一支撑组件分别转动连接于两个不同的点，在所述第一活动件相对于所述基座转动的过程中，所述第一支撑组件在所述第一方向上产生位移；和/或，The multi-degree-of-freedom parallel mechanism further includes a first movable part, and the first movable part is rotatably connected to two different points with the base and the first support assembly, and the first movable part is opposite to each other. During the rotation of the base, the first support component is displaced in the first direction; and/or,

所述多自由度并联机构还包括第二活动件，所述第二活动件与所述基座和所述第二支撑组件分别转动连接于两个不同的点，在所述第二活动件相对于所述基座转动的过程中，所述第二支撑组件在所述第一方向上产生位移；和/或，The multi-degree-of-freedom parallel mechanism further includes a second movable part, and the second movable part is rotatably connected to two different points with the base and the second support assembly, and the second movable part is opposite to each other. During the rotation of the base, the second supporting component is displaced in the first direction; and/or,

所述多自由度并联机构还包括第三活动件，所述第三活动件与所述基座和所述第三支撑组件分别转动连接于两个不同的点，在所述第三活动件相对于所述基座转动的过程中，所述第三支撑组件在所述第一方向上产生位移；和/或，The multi-degree-of-freedom parallel mechanism further includes a third movable part, and the third movable part is rotatably connected to two different points with the base and the third support assembly, and is opposite to the third movable part. During the rotation of the base, the third supporting component is displaced in the first direction; and/or,

所述多自由度并联机构还包括第四活动件，所述第四活动件与所述基座和所述第四支撑组件分别转动连接于两个不同的点，在所述第四活动件相对于所述基座转动的过程中，所述第四支撑组件在所述第一方向上产生位移；和/或，The multi-degree-of-freedom parallel mechanism further includes a fourth movable part, and the fourth movable part is rotatably connected to two different points with the base and the fourth support assembly. During the rotation of the base, the fourth supporting component is displaced in the first direction; and/or,

所述多自由度并联机构还包括第五活动件，所述第五活动件与所述基座和所述辅助定位组件分别转动连接于两个不同的点，在所述第五活动件相对于所述基座转动的过程中，所述辅助定位组件在所述第一方向上产生位移。The multi-degree-of-freedom parallel mechanism further includes a fifth movable part, which is rotatably connected to two different points with the base and the auxiliary positioning assembly, and the fifth movable part is relative to During the rotation of the base, the auxiliary positioning component is displaced in the first direction.

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，所述支撑杆的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。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 rotates, and the other end of the support rod is rotatably connected to the base so that the support rod can rotate about two non-parallel rotation axes relative to the base.

在至少一个实施方式中，所述辅助定位组件包括支撑杆，所述支撑杆包括支撑杆第一部分和支撑杆第二部分，所述支撑杆第一部分能相对于所述支撑杆第二部分绕所述支撑杆的轴向转动，所述支撑杆第一部分转动连接到所述第二平台、所述支撑杆第二部分转动连接到所述基座。In at least one embodiment, the auxiliary positioning assembly includes a support rod, the support rod includes a first part of the support rod and a second part of the support rod, and the first part of the support rod can circulate around the second part of the support rod. During the axial rotation of the support rod, the first part of the support rod is rotatably connected to the second platform, and the second part of the support rod is rotatably connected to the base.

在至少一个实施方式中，所述支撑杆能够伸长或缩短以使得所述支撑杆的长度能够被调节。In at least one embodiment, the support rod can be extended or shortened so that the length of the support rod can be adjusted.

在至少一个实施方式中，其特征在于，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, it is characterized in that 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 Arranged on 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.

图5是根据本发明的第三实施方式的多自由度并联机构的立体示意图。Fig. 5 is a perspective schematic view of a multi-degree-of-freedom parallel mechanism according to a third embodiment of the present invention.

图6是根据本发明的第四实施方式的多自由度并联机构的立体示意图。Fig. 6 is a perspective schematic view of a multi-degree-of-freedom parallel mechanism according to a fourth 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；41 first support assembly; 42 second support assembly; 43 third support assembly; 44 fourth support assembly;

50辅助定位组件；51支撑杆；511转接件；50 auxiliary positioning components; 51 support rods; 511 adapters;

411、421、431、441、501第一杆；412、422、432、442、502第二杆；413、423、433、443、503第三杆；414、424、434、444、504第四杆；411,421,431,441,501 first shot; 412,422,432,442,502 second shot;413,423,433,443,503 third shot;414,424,434,444,504 fourth Rod

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；70A基座第一部分；70B基座第二部分；71辅助导向件；701第一导向件；702第二导向件；70 base; 70A base first part; 70B base second part; 71 auxiliary guide; 701 first guide; 702 second 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6，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 6, taking a five-degree-of-freedom parallel mechanism as an example, the multi-degree-of-freedom parallel mechanism according to the present invention is introduced. 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中的一者或多者运动时，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. Under this arrangement, when one or more of the first movable part 61, the second movable part 62, the third movable part 63, and the fourth movable part 64 moves, the first platform 10 and the second platform 20 do not 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。在本实施方式中，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，即第一杆501、第二杆502、第三杆503和第四杆504形成平行四边形。这样的设置使得整个机构零部件的通用性增强、结构强度高。辅助定位组件50的第一杆501与第二平台20转动连接，第二平台20相对于第一杆501转动的转动轴线与第一杆501的轴向平行。辅助定位组件50的第二杆502与第五活动件65的一端转动连接，第五活动件65的另一端转动连接到基座70。The second platform 20 is also connected with an auxiliary positioning assembly 50. In this embodiment, the auxiliary positioning assembly 50 adopts the same structure as the supporting assembly, that is, the auxiliary positioning assembly 50 is also a parallelogram mechanism, that is, the first rod 501, the second rod 502, the third rod 503, and the fourth rod 504 form Parallelogram. Such an arrangement enhances the versatility of the entire mechanism components and high structural strength. The first rod 501 of the auxiliary positioning assembly 50 is rotatably connected with the second platform 20, and the rotation axis of the second platform 20 relative to the first rod 501 is parallel to the axial direction of the first rod 501. The second rod 502 of the auxiliary positioning assembly 50 is rotatably connected to one end of the fifth movable part 65, and the other end of the fifth movable part 65 is rotatably connected to the base 70.

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 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的第一杆501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 first rod 501 of the auxiliary positioning assembly 50 pass through, and the axial directions of the three shaft 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转动。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 rotate relative to the base 70.

在本实施方式中，基座70呈六边形，上述五个活动件61、62、63、64、65设置于六边形六个边中的五个。每一个活动件均能相对于基座70转动，使得支撑组件41、42、43、44或辅助定位组件50能够相对于基座70发生在z方向上的移位。活动件61、62、63、64、65呈长条状，每一个活动件的一端转动连接于一个支撑组件(或辅助定位组件50)、另一端转动连接于基座70，活动件61、62、63、64、65相对于基座70的转动轴线、以及相对于支撑组件41、42、43、44或辅助定位组件50的转动轴线均平行于xoy平面。在活动件绕基座70转动的过程中支撑组件或辅助定位组件50的姿态和位置得到调整。In this embodiment, the base 70 has a hexagonal shape, and the above-mentioned five

movable members

61, 62, 63, 64, 65 are arranged on five of the six sides of the hexagon. Each movable part can rotate relative to the base 70, so that the supporting

assembly

41, 42, 43, 44 or the auxiliary positioning assembly 50 can be displaced relative to the base 70 in the z direction. The

movable parts

61, 62, 63, 64, 65 are elongated. One end of each movable part is rotatably connected to a supporting component (or auxiliary positioning component 50), and the other end is rotatably connected to the base 70. The

movable parts

61, 62 The axis of rotation of, 63, 64, 65 relative to the base 70 and the axis of rotation relative to the supporting

assembly

41, 42, 43, 44 or the auxiliary positioning assembly 50 are all parallel to the xoy plane. During the rotation of the movable part around the base 70, the posture and position of the supporting assembly or auxiliary positioning assembly 50 are adjusted.

应当理解，基座70还可以是其他形状，五个活动件61、62、63、64、65 互相之间间隔的角度并不需要是均匀的。It should be understood that the base 70 may also have other shapes, and the angles at which the five

movable parts

61, 62, 63, 64, 65 are spaced from each other need not be uniform.

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相对于基座70转动和/或第二活动件62相对于基座70转动时，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 part 61 rotates relative to the base 70 and/or the second movable part 62 rotates relative to the base 70, the first platform 10 only Translation occurs without rotation. 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相对于基座70转动和/或第四活动件64相对于基座70转动时，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 rotates relative to the base 70 and/or the fourth movable piece 64 rotates relative to the base 70 At this time, 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各自相对于基座70的转动角度，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 rotation angle of the third movable part 63, the fourth movable part 64 and the fifth movable part 65 relative to the base 70, 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各自相对于基座70的转动角度，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的转动自由度为连接件30提供了三个平动和两个转动的自由度。Above, by controlling the rotation angles 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 relative to the base 70, the connecting part 30 can be spaced. Positioning. The rotational degrees of 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 provide the connecting part 30 with three translational 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，与辅助定位组件50相连的第五活动件65相对于基座70的运动方式为平动。基座70包括沿z方向延伸的辅助导向件71，第五活动件65 能够沿辅助导向件71往复运动，从而改变第五活动件65相对于基座70在z方向上的位移。In this embodiment, the movement of the fifth movable member 65 connected to the auxiliary positioning assembly 50 relative to the base 70 is translational. The base 70 includes an auxiliary guide 71 extending along the z direction, and the fifth movable member 65 can reciprocate along the auxiliary guide 71 so as to change the displacement of the fifth movable member 65 relative to the base 70 in the z direction.

应当理解，辅助导向件71也可以不是沿z方向延伸的，辅助导向件71只需具有在z方向上的延伸分量即可。例如辅助导向件71可以是倾斜于z方向设置的直线轨道，或者例如辅助导向件71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。It should be understood that the auxiliary guide 71 may not extend along the z direction, and the auxiliary guide 71 only needs to have an extension component in the z direction. For example, the auxiliary guide 71 may be a linear track arranged obliquely to the z direction, or for example, the auxiliary guide 71 may be a curved track with an extension component in the z direction. Such an arrangement makes the movable part moving along the guide and The range of motion in the y direction is expanded.

第三实施方式The third embodiment

图5示出了根据本发明的第三实施方式的五自由度并联机构。第三实施方式示出了辅助定位组件50和活动件的另一种变型。Fig. 5 shows a five-degree-of-freedom parallel mechanism according to the third embodiment of the present invention. The third embodiment shows another modification of the auxiliary positioning assembly 50 and the movable part.

在本实施方式中，辅助定位组件50不具备平行四边形机构，其主要由呈杆状的支撑杆51和连接于支撑杆51两端的转接件511构成。辅助定位组件50可以省略平行四边形机构是因为，具有平行四边形机构的第三支撑组件43和第四支撑组件44已经能确定第二平台20的平行于xoy平面的姿态，而辅助定位组件50的作用主要是为了确定第二平台20在z方向上的定位。In this embodiment, the auxiliary positioning assembly 50 does not have a parallelogram mechanism, and is mainly composed of a rod-shaped support rod 51 and an adapter 511 connected to both ends of the support rod 51. The auxiliary positioning assembly 50 can omit the parallelogram mechanism because the third support assembly 43 and the fourth support assembly 44 with the parallelogram mechanism can already determine the posture of the second platform 20 parallel to the xoy plane, and the role of the auxiliary positioning assembly 50 It is mainly to determine the positioning of the second platform 20 in the z direction.

支撑杆51为长度可调节的伸缩杆，通过调节支撑杆51的长度可以控制第二平台20相对于基座70的距离。The support rod 51 is a telescopic rod with an adjustable length, and the distance of the second platform 20 relative to the base 70 can be controlled by adjusting the length of the support rod 51.

支撑杆51能相对于自身的轴线绕转接件511转动。支撑杆51两端的转接件511能分别相对于基座70和第二平台20转动，转动轴线平行于xoy平面。The support rod 51 can rotate around the adapter 511 relative to its axis. The adapters 511 at both ends of the support rod 51 can respectively rotate relative to the base 70 and the second platform 20, and the rotation axis is parallel to the xoy plane.

在一种替代的实施方式中，转接件511可以是与支撑杆51的两端固定连接的，而支撑杆51在其轴向上由至少两个子支撑杆彼此相连，这两个子支撑杆(即，支撑杆第一部分和支撑杆第二部分)能绕支撑杆51的轴向相对转动。In an alternative embodiment, the adaptor 511 may be fixedly connected to the two ends of the support rod 51, and the support rod 51 is connected to each other in its axial direction by at least two sub-support rods. That is, the first part of the support rod and the second part of the support rod can relatively rotate around the axial direction of the support rod 51.

第三实施方式中活动件的变型表现在，第一活动件61和第二活动件62相对于基座70的运动方式是平动。基座70包括沿z方向延伸的第一导向件701和第二导向件702，第一活动件61能够沿第一导向件701往复运动，第二活动件 62能够沿第二导向件702往复运动，从而分别改变第一活动件61和第二活动件62相对于基座70在z方向上的位移。The modification of the movable part in the third embodiment is that the movement of the first movable part 61 and the second movable part 62 relative to the base 70 is translational. The base 70 includes a first guide 701 and a second guide 702 extending in the z direction. The first movable part 61 can reciprocate along the first guide 701, and the second movable part 62 can reciprocate along the second guide 702 , Thereby respectively changing the displacement of the first movable part 61 and the second movable part 62 relative to the base 70 in the z direction.

第四实施方式Fourth embodiment

图6示出了根据本发明的第四实施方式的五自由度并联机构。在之前的实施方式中，第一活动件61和第二活动件62在z方向上位于第一平台10的一侧(图中的下侧)，第三活动件63和第四活动件64在z方向上也位于第二平台20的同一侧(图中的下侧)。在本实施方式中，第三活动件63和第四活动件64在z方向上位于第二平台20的一侧(图6中的下侧)，而第一活动件61和第二活动件62在z方向上位于第一平台10的另一侧(图6中的上侧)。Fig. 6 shows a five-degree-of-freedom parallel mechanism according to the fourth embodiment of the present invention. In the previous embodiment, the first movable piece 61 and the second movable piece 62 are located on one side of the first platform 10 (the lower side in the figure) in the z direction, and the third movable piece 63 and the fourth movable piece 64 are located at It is also located on the same side of the second platform 20 in the z direction (the lower side in the figure). In this embodiment, the third movable piece 63 and the fourth movable piece 64 are located on one side of the second platform 20 (the lower side in FIG. 6) in the z direction, and the first movable piece 61 and the second movable piece 62 It is located on the other side of the first platform 10 in the z direction (upper side in FIG. 6).

基座70包括在z方向上间隔开的基座第一部分70A和基座第二部分70B。第一活动件61和第二活动件62转动连接到基座第一部分70A，第三活动件63和第四活动件64转动连接到基座第二部分70B。第一平台10、第二平台20和连接件30均位于基座第一部分70A和基座第二部分70B之间。The base 70 includes a base first portion 70A and a base second portion 70B spaced apart in the z direction. The first movable part 61 and the second movable part 62 are rotatably connected to the first part 70A of the base, and the third movable part 63 and the fourth movable part 64 are rotatably connected to the second part 70B of the base. The first platform 10, the second platform 20 and the connecting member 30 are all located between the first part 70A of the base and the second part 70B of the base.

上述设置方式使得与第一平台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和辅助定位组件50)在运动过程中不容易发生干涉。The above arrangement makes the branch chain connected to the first platform 10 (including the first support assembly 41, the first movable part 61, the second support assembly 42 and the second movable part 62) and the branch chain connected to the second platform 20 ( Including the third support assembly 43, the third movable part 63, the fourth support assembly 44, the fourth movable part 64 and the auxiliary positioning assembly 50) it is not easy to interfere during the movement.

在一种替代的实施方式中，基座70也可以不包括在z方向上间隔开的基座第一部分70A和基座第二部分70B，例如基座70可以设置成环形或半环形，使得基座70不会在z方向上阻挡与第一平台10相连的支链或与第二平台20相连的支链。In an alternative embodiment, the base 70 may not include the base first part 70A and the base second part 70B spaced apart in the z direction. For example, the base 70 may be arranged in a ring shape or a semi-ring shape, so that the base The seat 70 will not block the branch chain connected to the first platform 10 or the branch chain connected to the second platform 20 in the z direction.

应当理解，上述实施方式、尤其是第二至第四实施方式及其部分方面或特征可以适当地组合。It should be understood that the above-mentioned embodiments, especially the second to fourth embodiments, and some aspects or features thereof can be combined as appropriate.

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(或可伸缩的支撑杆51)的运动，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, you only need to control the movement 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 (or the retractable support rod 51). It can realize the translation and/or rotation of the connecting member 30 in five 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)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。(iv) The auxiliary positioning component 50 may be connected to either the first platform 10 or the second platform 20 to perform the positioning function of 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.

(v)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。(v) The present invention does not limit the shapes 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.

Claims

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，其特征在于，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 in the first direction (z), characterized in that,

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)，且所述第一支撑组件(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)中的至少一者能通过活动件转动连接到所述基座(70)，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 at least one of the first support assembly (41), the second support assembly (42), the third support assembly (43) and the fourth support assembly (44) can be rotated by a movable part Connected to the base (70),

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).
根据权利要求1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 1, wherein:

所述多自由度并联机构还包括第一活动件(61)，所述第一活动件(61) 与所述基座(70)和所述第一支撑组件(41)分别转动连接于两个不同的点，在所述第一活动件(61)相对于所述基座(70)转动的过程中，所述第一支撑组件(41)在所述第一方向(z)上产生位移；和/或，The multi-degree-of-freedom parallel mechanism further includes a first movable part (61), and the first movable part (61) is rotatably connected with the base (70) and the first support assembly (41) to two In a different point, during the rotation of the first movable part (61) relative to the base (70), the first support assembly (41) is displaced in the first direction (z); and / or,

所述多自由度并联机构还包括第二活动件(62)，所述第二活动件(62)与所述基座(70)和所述第二支撑组件(42)分别转动连接于两个不同的点，在所述第二活动件(62)相对于所述基座(70)转动的过程中，所述第二支撑组件(42)在所述第一方向(z)上产生位移；和/或，The multi-degree-of-freedom parallel mechanism further includes a second movable part (62), and the second movable part (62) is rotatably connected to the base (70) and the second support assembly (42). In a different point, during the rotation of the second movable part (62) relative to the base (70), the second support assembly (42) is displaced in the first direction (z); and / or,

所述多自由度并联机构还包括第三活动件(63)，所述第三活动件(63)与所述基座(70)和所述第三支撑组件(43)分别转动连接于两个不同的点，在所述第三活动件(63)相对于所述基座(70)转动的过程中，所述第三支撑组件(43)在所述第一方向(z)上产生位移；和/或，The multi-degree-of-freedom parallel mechanism also includes a third movable part (63), and the third movable part (63) is rotatably connected to the base (70) and the third support assembly (43). In a different point, during the rotation of the third movable part (63) relative to the base (70), the third support assembly (43) is displaced in the first direction (z); and / or,

所述多自由度并联机构还包括第四活动件(64)，所述第四活动件(64)与所述基座(70)和所述第四支撑组件(44)分别转动连接于两个不同的点，在所述第四活动件(64)相对于所述基座(70)转动的过程中，所述第四支撑组件(44)在所述第一方向(z)上产生位移；和/或，The multi-degree-of-freedom parallel mechanism further includes a fourth movable part (64), and the fourth movable part (64) is rotatably connected to the base (70) and the fourth support assembly (44). In a different point, during the rotation of the fourth movable member (64) relative to the base (70), the fourth support assembly (44) is displaced in the first direction (z); and / or,

所述多自由度并联机构还包括第五活动件(65)，所述第五活动件(65)与所述基座(70)和所述辅助定位组件(50)分别转动连接于两个不同的点，在所述第五活动件(65)相对于所述基座(70)转动的过程中，所述辅助定位组件(50)在所述第一方向(z)上产生位移。The multi-degree-of-freedom parallel mechanism further includes a fifth movable part (65), and the fifth movable part (65) is rotatably connected with the base (70) and the auxiliary positioning assembly (50) to two different When the fifth movable member (65) rotates relative to the base (70), the auxiliary positioning component (50) is displaced in the first direction (z).
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、701、702)，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、701、702)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, 701, 702) having an extension component in the first direction (z), so At least one of 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) One can reciprocate under the guidance of the guide (71, 701, 702).
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 comprises 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.
根据权利要求4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 4, 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).
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.
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，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 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) The support rod (51) can be rotated about two non-parallel rotation axes relative to the second platform (20), and the other end of the support rod (51) is rotatably connected to the base (70) ) Enables the support rod (51) to rotate relative to the base (70) about two non-parallel rotation axes.
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)包括支撑杆第一部分和支撑杆第二部分，所述支撑杆第一部分能相对于所述支撑杆第二部分绕所述支撑杆的轴向转动，所述支撑杆第一部分转动连接到所述第二平台(20)、所述支撑杆第二部分转动连接到所述基座(70)。The multi-degree-of-freedom parallel mechanism according to claim 1, wherein the auxiliary positioning assembly (50) includes a support rod (51), and the support rod (51) includes a first part of the support rod and a second part of the support rod , The first part of the support rod can rotate relative to the second part of the support rod around the axis of the support rod, and the first part of the support rod is rotatably connected to the second platform (20) and the support rod. The two parts are rotatably connected to the base (70).
根据权利要求7或8所述的多自由度并联机构，其特征在于，所述支撑杆(51)能够伸长或缩短以使得所述支撑杆(51)的长度能够被调节。The multi-degree-of-freedom parallel mechanism according to claim 7 or 8, characterized in that the support rod (51) can be extended or shortened so that the length of the support rod (51) can be adjusted.
根据权利要求1至8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 8, 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).