WO2021109062A1 - Multi-degree-of-freedom parallel mechanism - Google Patents

Multi-degree-of-freedom parallel mechanism Download PDF

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Publication number
WO2021109062A1
WO2021109062A1 PCT/CN2019/123262 CN2019123262W WO2021109062A1 WO 2021109062 A1 WO2021109062 A1 WO 2021109062A1 CN 2019123262 W CN2019123262 W CN 2019123262W WO 2021109062 A1 WO2021109062 A1 WO 2021109062A1
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WO
WIPO (PCT)
Prior art keywords
rod
point
main support
rotatably connected
assembly
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PCT/CN2019/123262
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French (fr)
Chinese (zh)
Inventor
周啸波
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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.)
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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 CN201980102673.9A priority Critical patent/CN114786884A/en
Priority to PCT/CN2019/123262 priority patent/WO2021109062A1/en
Publication of WO2021109062A1 publication Critical patent/WO2021109062A1/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.
  • the most common parallel robots are mostly six degrees of freedom.
  • the patent publication US3295224A discloses a parallel robot for motion simulation.
  • the cost of a parallel robot with full six degrees of freedom is often that the motion space of each degree of freedom is roughly equally divided, and the demand for greater motion space in certain directions cannot be well satisfied. Therefore, people limit the degree of freedom in certain directions according to specific needs, in exchange for greater movement space in other directions.
  • the most widely used in this regard is the parallel robot used for picking operations, most of which provide three degrees of freedom for translation and one rotation.
  • Patent Publication WO2009053506A1 discloses a four-degree-of-freedom parallel robot. Its support part uses multiple non-coplanar four-bar linkage mechanisms. The motions of these non-coplanar four-bar linkage mechanisms restrict each other, making the terminal The moving platform cannot realize the freedom of two translational and two rotations.
  • 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.
  • the present invention provides a multi-degree-of-freedom parallel mechanism, which includes a bridge assembly and at least two main support assemblies, wherein:
  • the main support assembly includes a main support block and four rods connected to the main support block. Two of the four rods can respectively be controlled to rotate around a first direction, thereby determining the The position of the main support block in the second direction and the third direction, the first direction, the second direction and the third direction are perpendicular to each other,
  • the bridge assembly is rotatably connected with the two main support blocks, so that the bridge assembly can rotate about two non-parallel axes relative to each of the main support blocks,
  • the bridge assembly has at least two translational degrees of freedom and two rotational degrees of freedom.
  • the bridge assembly can rotate about two mutually perpendicular axes relative to each of the main support blocks.
  • the four rods of the main support assembly are a first rod, a second rod, a third rod, and a fourth rod, respectively, and the main support assembly further includes a main support base block,
  • the first rod and the second rod are both rotatably connected to a first point with the main support block, the first rod and the third rod are rotatably connected to a second point, and the second rod and the first rod are rotatably connected to the second point.
  • the four rods are rotatably connected to the third point, the third rod and the main support base are rotatably connected to the fourth point, the fourth rod and the main support base are rotatably connected to the fifth point, and the first The line connecting one point, the second point, the fourth point, the fifth point, and the third point forms a pentagon,
  • the third rod and the fourth rod are active rods.
  • the four rods of the main support assembly are a first rod, a second rod, a third rod, and a fourth rod, respectively, and the main support assembly further includes a main support base block,
  • the first rod and the main support block are rotatably connected to a first point
  • the first rod and the third rod are rotatably connected to a second point
  • the first rod and the second rod are rotatably connected to At the fifth point
  • the second rod and the fourth rod are rotatably connected to a third point
  • the third rod and the fourth rod are both rotatably connected to the main support base block to the fourth point
  • the The line connecting the second point, the fifth point, the third point, and the fourth point forms a quadrilateral
  • the third rod and the fourth rod are active rods.
  • the line connecting the second point, the fifth point, the third point, and the fourth point forms a parallelogram.
  • the main support assembly further includes a first driving part and a second driving part, the first driving part and the second driving part are mounted on the main supporting base block,
  • the first driving member is connected to the third rod and is used to drive the third rod to rotate relative to the main support base block,
  • the second driving member is connected to the fourth rod and used to drive the fourth rod to rotate relative to the main support base block.
  • the multi-degree-of-freedom parallel mechanism further includes a secondary support assembly
  • the secondary support assembly includes a secondary support block, and the bridge assembly is rotatably connected with the secondary support block so that the bridge assembly can rotate relative to the secondary support block around two axes that are not parallel to each other,
  • the angle at which the secondary support block rotates around the first direction is controlled.
  • the bridge assembly can rotate about two mutually perpendicular axes relative to the secondary support block.
  • the secondary support assembly further includes a secondary first rod, a secondary second rod, an adapter, and a secondary support base block, and the secondary first rod and the secondary support block are rotatably connected to the secondary first point ,
  • the second first rod and the adapter are rotatably connected to the second second point, the second second rod and the adapter are rotatably connected to the second third point, and the second second rod is rotatably connected to the second third point.
  • the secondary support block is rotatably connected to the secondary fourth point, and the line connecting the secondary first point, the secondary second point, the secondary third point, and the secondary fourth point forms a parallelogram
  • the secondary support base block has a guide structure, and the adapter can move in the second direction along the guide structure.
  • the secondary support assembly further includes a sliding block, the guiding structure is a sliding groove, and the sliding block is used to slide along the sliding groove,
  • the adapter is rotatably connected to the slider, and the adapter can be controlled to rotate relative to the slider, thereby determining the angle of rotation of the bridge assembly around the first direction, so that the bridge
  • the assembly has at least two translational degrees of freedom and three rotational degrees of freedom.
  • the secondary support assembly further includes a secondary first rod, a secondary second rod, a secondary third rod, a secondary fourth rod, an adapter, and a secondary support base block,
  • the secondary first rod and the secondary support block are rotatably connected to the secondary first point
  • the secondary first rod and the adapter are rotatably connected to the secondary second point
  • the secondary second rod and the adapter are rotatably connected Is rotatably connected to the second third point
  • the second second rod and the second support block are rotatably connected to the second fourth point, the second first point, the second second point, the second third point, and the second
  • the connection of the fourth point forms a parallelogram
  • the secondary third rod and the adapter are rotatably connected to the secondary fifth point
  • the secondary third rod and the secondary support base block are rotatably connected to the secondary sixth point
  • the secondary fourth rod is rotatably connected to the secondary fifth point.
  • the secondary support base block is rotatably connected to the secondary seventh point
  • the secondary fourth rod and the adapter are rotatably connected to the secondary eighth point, the secondary fifth point, the secondary sixth point, and the secondary
  • the line connecting the seven points and the eighth point constitutes a parallelogram.
  • the parallel mechanism includes three main support assemblies, and the bridge assembly is rotatably connected with the main support blocks of the three main support assemblies so that the bridge assembly can be relative to each of the three main support assemblies.
  • the main support block rotates around two axes that are not parallel to each other,
  • the three rotating connection points of the bridge assembly and the three main support blocks are not collinear.
  • the parallel mechanism further includes a guide member having a component extending in the first direction, and the main support assembly can move along the guide member.
  • the bridge assembly includes a bridge first part and a bridge second part
  • One of the main support blocks is connected to the first part of the bridge, and the other main support block is connected to the second part of the bridge,
  • the first part of the bridge and the second part of the bridge can relatively slide or rotate to change the distance between the connection points of the two main support blocks and the bridge assembly.
  • the multi-degree-of-freedom parallel mechanism of the present invention at least two translational and two rotational movements can be realized in a limited space, and the controllable precision of the movement is high.
  • Fig. 1 shows a multi-degree-of-freedom parallel mechanism according to the first embodiment of the present invention.
  • Fig. 2 shows a multi-degree-of-freedom parallel mechanism according to a second embodiment of the present invention.
  • Fig. 3 shows a multi-degree-of-freedom parallel mechanism according to a third embodiment of the present invention.
  • Fig. 4 shows a multi-degree-of-freedom parallel mechanism according to a fourth embodiment of the present invention.
  • Fig. 5 shows a multi-degree-of-freedom parallel mechanism according to a fifth embodiment of the present invention.
  • Fig. 6 shows a multi-degree-of-freedom parallel mechanism according to a sixth embodiment of the present invention.
  • 3 main support assembly 30 main support block; 31 first rod; 32 second rod; 33 third rod; 34 fourth rod; 35 main support base block;
  • the present invention uses the three-dimensional coordinate system shown in FIG. 1 to illustrate the positional relationship of the components. 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.
  • the parallel mechanism includes two main support assemblies 3, a secondary support assembly 4, a bridge assembly 2 and a guide 1.
  • the main support assembly 3 includes a main support block 30, four rods (a first rod 31, a second rod 32, a third rod 33, and a fourth rod 34), a main support base block 35 and two driving parts (not shown) ).
  • the first rod 31 and the second rod 32 are both rotatably connected to the main support block 30 at a first point
  • the first rod 31 and the third rod 33 are rotatably connected to the second point
  • the second rod 32 and the fourth rod 34 are rotatably connected to
  • the third rod 33 and the main support base 35 are rotatably connected to the fourth point
  • the fourth rod 34 and the main support base 35 are rotatably connected to the fifth point, the first point, the second point, the fourth point
  • the line connecting the fifth point and the third point forms a pentagon.
  • the third rod 33 and the fourth rod 34 are active rods, and the two driving members are respectively used to drive the third rod 33 and the fourth rod 34 to rotate relative to the main support base 35 in the z direction (also called the first direction).
  • both the first driving part and the second driving part are installed on the main support base 35 to reduce the moment of inertia of the rod.
  • the position of the main support block 30 in the x direction (also called the second direction) and the y direction (also called the third direction) can be determined.
  • the two main support blocks 30 are both rotatably connected to the bridge assembly 2, so that each main support block 30 can rotate about two non-parallel axes relative to the bridge assembly 2.
  • each main support block 30 is relative to the bridge assembly 2 2 can rotate around two mutually perpendicular axes.
  • the bridge assembly 2 can have the freedom of translation along the x direction, the freedom of rotation around the x direction, the freedom of translation along the y direction and the freedom of rotation around the y direction.
  • the secondary support assembly 4 is used to control the degree of freedom of rotation of the bridge assembly 2 around the z direction.
  • the secondary support assembly 4 includes a secondary support block 40, a secondary first rod 41, a secondary second rod 42, an adapter 43, a sliding block 44 and a secondary support base 45.
  • the secondary first rod 41 and the secondary support block 40 are rotatably connected to the secondary first point
  • the secondary first rod 41 and the adapter 43 are rotatably connected to the secondary second point
  • the secondary second rod 42 and the adapter 43 are rotatably connected to the secondary third Point
  • the second second rod 42 and the second support block 40 are rotatably connected to the second fourth point
  • the line connecting the second first point, second second point, second third point, and second fourth point constitutes a quadrilateral, preferably the quadrilateral is a parallelogram .
  • the secondary support block 40 is rotatably connected to the bridge assembly 2, so that the secondary support block 40 can rotate about two non-parallel axes relative to the bridge assembly 2.
  • the secondary support block 40 can rotate about two mutually perpendicular axes relative to the bridge assembly 2. The axis rotates.
  • the secondary support base 45 has a sliding groove 451 extending in the x direction, and the slider 44 can slide guided by the sliding groove 451.
  • the adapter 43 is rotatably connected with the slider 44 so that the adapter 43 can rotate relative to the slider 44 in the z direction.
  • a driving member for realizing rotation between the adapter 43 and the slider 44 By arranging a driving member for realizing rotation between the adapter 43 and the slider 44, the rotation angle of the adapter 43 around the z direction can be controlled, and the rotation angle of the secondary support block 40 and the bridge assembly 2 around the z direction can be controlled.
  • the bridge assembly 2 also has a degree of freedom of rotation around the z direction.
  • the adapter 43 can also be fixedly connected to the slider 44, or the two can be formed integrally. In this case, the bridge assembly 2 does not have a degree of freedom of rotation around the z direction.
  • the guide 1 extends in the z direction or has an extension component in the z direction. Both the main support base block 35 and the secondary support base block 45 can slide along the guide 1. On the one hand, this makes the distance between the secondary support base 45 and the two main support bases 35 in the z direction adaptive when the positions of the secondary support block 40 and the two main support blocks 30 change. Adjustment. This is because under the condition that the distance between the two connection points of the two main support blocks 30 and the bridge assembly 2 is unchanged, when the position of the two main support blocks 30 in the xoy plane changes, the two main support blocks 30 The distance between the blocks 30 in the z direction changes, and the distance between the secondary support base block 45 and the two main support base blocks 35 in the z direction needs to be able to be adjusted accordingly.
  • the second embodiment of the multi-degree-of-freedom parallel mechanism of the present invention is described with reference to FIG. 2.
  • the second embodiment is a modification of the first embodiment.
  • the difference between the second embodiment and the first embodiment is mainly in the arrangement of the main support assembly 3. .
  • the first rod 31 and the main support block 30 are rotatably connected to the first point
  • the first rod 31 and the third rod 33 are rotatably connected to the second point
  • the first rod 31 and the second rod 32 are rotatably connected to the fifth point
  • the rod 32 and the fourth rod 34 are rotatably connected to the third point
  • the third rod 33 and the fourth rod 34 are both rotatably connected to the main support base 35 at the fourth point, the second point, the fifth point, the third point and the third point.
  • the connecting line of the four points constitutes a quadrilateral, and preferably a parallelogram.
  • the third lever 33 and the fourth lever 34 are active levers.
  • the two driving members respectively drive the third rod 33 and the fourth rod 34 to rotate relative to the main support base 35 in the z direction.
  • both the first driving member and the second driving member are installed on the main support base block 35.
  • the main support assembly 3 is asymmetric on both sides of the x direction, the space in the y direction can be reasonably used as required.
  • two multi-degree-of-freedom parallel mechanisms according to this embodiment can be arranged side by side in the y direction, so that the rods of the main support assembly 3 of each parallel mechanism are located opposite to the other parallel mechanism.
  • another parallel mechanism can be mirrored to make the parallelogram structure of the main support assembly 3 of the other parallel mechanism.
  • the third embodiment of the multi-degree-of-freedom parallel mechanism of the present invention is described with reference to FIG. 3.
  • the third embodiment is a modification of the first embodiment.
  • the difference between the third embodiment and the first embodiment is mainly in the arrangement of the secondary support assembly 4. .
  • the secondary support assembly 4 includes a secondary first rod 41, a secondary second rod 42, a secondary third rod 46, a secondary fourth rod 47, an adapter 43, and a secondary support base 45.
  • the secondary first rod 41 and the secondary support block 40 are rotatably connected to the secondary first point
  • the secondary first rod 41 and the adapter 43 are rotatably connected to the secondary second point
  • the secondary second rod 42 and the adapter 43 are rotatably connected to the secondary third
  • the secondary second rod 42 and the secondary support block 40 are rotatably connected to the secondary fourth point
  • the line connecting the secondary first point, the secondary second point, the secondary third point, and the secondary fourth point forms a parallelogram.
  • the secondary third rod 46 and the adapter 43 are rotatably connected to the secondary fifth point, the secondary third rod 46 and the secondary support base 45 are rotationally connected to the secondary sixth point, and the secondary fourth rod 47 is rotationally connected to the secondary support base 45 At the seventh point, the fourth rod 47 and the adapter 43 are rotatably connected to the eighth point, and the line connecting the fifth point, the sixth point, the seventh point, and the second eighth point forms a parallelogram.
  • the above-mentioned two parallelogram structures prevent the secondary support block 40, the adapter 43 and the secondary support base block 45 from rotating around the z direction. Therefore, in this embodiment, the degree of freedom of rotation of the bridge assembly 2 around the z direction is restricted.
  • the fourth embodiment of the multi-degree-of-freedom parallel mechanism of the present invention is described with reference to FIG. 4.
  • the fourth embodiment is a modification of the first embodiment.
  • the difference between the fourth embodiment and the first embodiment is mainly the arrangement of the bridge assembly 2.
  • the bridge assembly 2 includes a bridge first part 21 and a bridge second part 22.
  • One of the two main support blocks 30 is rotatably connected with the bridge first part 21, and the other is rotatably connected with the bridge second part 22.
  • the first part 21 of the bridge includes an extension guide 211 in the form of a rail, for example, and the second part 22 can slide along the extension guide 211.
  • the distance between the two main support bases 35 in the z direction can be determined, and the two main support bases 35 can be determined by, for example, The rigid parts are connected together or integrally formed, thereby increasing the structural strength of the main supporting base block 35.
  • the fifth embodiment of the multi-degree-of-freedom parallel mechanism of the present invention will be described with reference to FIG. 5.
  • the fifth embodiment is a modification of the fourth embodiment.
  • the bridge assembly 2 includes a first bridge member 21 and a second bridge member 22 that can rotate relatively.
  • One of the two main support blocks 30 is rotatably connected with the bridge first part 21, and the other is rotatably connected with the bridge second part 22.
  • the sixth embodiment of the multi-degree-of-freedom parallel mechanism of the present invention will be described with reference to FIG. 6.
  • the sixth embodiment is a modification of the first embodiment.
  • no secondary support assembly is provided but three main support assemblies are provided.
  • Fig. 6 schematically shows three connection points between the main support blocks of the three main support assemblies and the bridge assembly 2, and the three connection points j1, j2, and j3 are not collinear. In this way, the degree of freedom of rotation of the bridge assembly 2 around the z direction is restricted.
  • the present invention realizes at least two translational and two rotational degrees of freedom of the bridge assembly 2 connected with the translational assembly through two supporting components that realize the translational function.
  • the structure of the parallel mechanism is simple, and does not need to be symmetrical, and the space is adaptable. strong ability.
  • the driving member for the movement of the active rod that is, the driving member that drives the third rod 33 and the fourth rod 34 to rotate, can be fixed to the main support base 35, which reduces the inertia of the rod and helps to improve the Control of the movement accuracy of the bridge assembly 2.
  • the structure of the main support assembly 3 of the second embodiment of the present invention is asymmetrical, so that the parallel mechanism occupies a large space on one side and a small space on the other side, which is particularly beneficial for the parallel installation of two parallel mechanisms. .
  • the support assembly and the bridge assembly 2 of the parallel mechanism according to the present invention have multiple alternative implementation structures, which can adapt to different installation environments.
  • 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 bridge assembly 2; 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 guide 1, the stretch guide 211 of the bridge assembly 2 and the sliding groove 451 of the secondary support assembly 4 of the present invention are not limited to the form shown in the figure, and may also be other such as guide grooves or guide rods. Form guides.

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  • Mechanical Engineering (AREA)
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Abstract

A multi-degree-of-freedom parallel mechanism, comprising a bridge assembly (2) and at least two primary support assemblies (3). Each primary support assembly (3) comprises a primary support block (30) and four rods connected to the primary support block (30), and two of the four rods can be controlled to rotate in a first direction (Z), respectively, thereby determining a position of the primary support block (30) in a second direction (X) and in a third direction (Y); the bridge assembly (2) is rotatably connected to the two primary support blocks (30) such that the bridge assembly (2) can rotate about two axes that are not parallel to each other relative to each support block (30); the bridge assembly (2) has at least two translational degrees of freedom and two rotational degrees of freedom. The multi-degree-of-freedom parallel mechanism can realize at least two translational motions and two rotational motions in a limited space, and the controllable precision of the motions 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.
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、或是不能使多台机器人在有限空间内同时布置。Most of the existing parallel robots adopt a completely symmetrical design, which results in a larger overall size of the robot, which cannot be well adapted to a small operating space, or multiple robots cannot be arranged in a limited space at the same time.
最常见的并联机器人多为六自由度，例如专利公开US3295224A公开了一种用于运动模拟的并联机器人。然而并联机器人具有完全六自由度的代价往往是每个自由度的运动空间被大致均分了，对于某些在特定方向具有更大运动空间的需求则不能很好满足。因此，人们根据特定需求限制了某些方向的自由度，换取其他方向更大的运动空间，这方面应用最广的是用于拾取操作的并联机器人，多数提供了三平动一转动的自由度，例如，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。又如，专利公开WO2009053506A1公开了一种四自由度的并联机器人，其支撑部使用了多个不共面的四连杆机构，这些不共面的四连杆机构的运动互相制约，使得终端的动平台不能实现两平动两转动的自由度。The most common parallel robots are mostly six degrees of freedom. For example, the patent publication US3295224A discloses a parallel robot for motion simulation. However, the cost of a parallel robot with full six degrees of freedom is often that the motion space of each degree of freedom is roughly equally divided, and the demand for greater motion space in certain directions cannot be well satisfied. Therefore, people limit the degree of freedom in certain directions according to specific needs, in exchange for greater movement space in other directions. The most widely used in this regard is the parallel robot used for picking operations, most of which provide three degrees of freedom for translation and one rotation. For example, the patent CN105729450B discloses a four-degree-of-freedom parallel mechanism, which can realize the freedom of three translational movement and one rotation of the movable platform, but cannot realize the rotation of the movable platform around the y-axis or the x-axis. For another example, Patent Publication WO2009053506A1 discloses a four-degree-of-freedom parallel robot. Its support part uses multiple non-coplanar four-bar linkage mechanisms. The motions of these non-coplanar four-bar linkage mechanisms restrict each other, making the terminal The moving platform cannot realize the freedom of two translational and two rotations.
然而，在例如手术机器人或者机床等应用中，需要控制刀具至少两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适用。However, in applications such as surgical robots or machine tools, it is necessary to control the degree of freedom of at least two translations and two rotations of the tool, and the above-mentioned parallel mechanism that provides three translations and one rotation is not applicable.
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.
本发明提供一种多自由度并联机构，其包括桥组件和至少两个主支撑组件，其中，The present invention provides a multi-degree-of-freedom parallel mechanism, which includes a bridge assembly and at least two main support assemblies, wherein:
所述主支撑组件包括主支撑块和与所述主支撑块相连的四个杆件，所述四个杆件中的两个杆件能够分别受控制地绕第一方向转动，从而确定所述主支撑块在第二方向上和第三方向上的位置，所述第一方向、所述第二方向和所述第三方向互相垂直，The main support assembly includes a main support block and four rods connected to the main support block. Two of the four rods can respectively be controlled to rotate around a first direction, thereby determining the The position of the main support block in the second direction and the third direction, the first direction, the second direction and the third direction are perpendicular to each other,
所述桥组件与两个所述主支撑块转动连接、使得所述桥组件能够相对于每个所述主支撑块绕两个彼此不平行的轴线转动，The bridge assembly is rotatably connected with the two main support blocks, so that the bridge assembly can rotate about two non-parallel axes relative to each of the main support blocks,
所述桥组件具有至少两个平动自由度和两个转动自由度。The bridge assembly has at least two translational degrees of freedom and two rotational degrees of freedom.
在至少一个实施方式中，所述桥组件能够相对于每个所述主支撑块绕两个互相垂直的轴线转动。In at least one embodiment, the bridge assembly can rotate about two mutually perpendicular axes relative to each of the main support blocks.
在至少一个实施方式中，所述主支撑组件的所述四个杆件分别为第一杆、第二杆、第三杆和第四杆，所述主支撑组件还包括主支撑基块，In at least one embodiment, the four rods of the main support assembly are a first rod, a second rod, a third rod, and a fourth rod, respectively, and the main support assembly further includes a main support base block,
所述第一杆和所述第二杆均与主支撑块转动连接于第一点，所述第一杆和所述第三杆转动连接于第二点，所述第二杆和所述第四杆转动连接于第三点，所述第三杆和所述主支撑基块转动连接于第四点，所述第四杆和所述主支撑基块转动连接于第五点，所述第一点、所述第二点、所述第四点、所述第五点和所述第三点的连线构成五边形，The first rod and the second rod are both rotatably connected to a first point with the main support block, the first rod and the third rod are rotatably connected to a second point, and the second rod and the first rod are rotatably connected to the second point. The four rods are rotatably connected to the third point, the third rod and the main support base are rotatably connected to the fourth point, the fourth rod and the main support base are rotatably connected to the fifth point, and the first The line connecting one point, the second point, the fourth point, the fifth point, and the third point forms a pentagon,
所述第三杆和所述第四杆为主动杆。The third rod and the fourth rod are active rods.
在至少一个实施方式中，所述主支撑组件的所述四个杆件分别为第一杆、第二杆、第三杆和第四杆，所述主支撑组件还包括主支撑基块，In at least one embodiment, the four rods of the main support assembly are a first rod, a second rod, a third rod, and a fourth rod, respectively, and the main support assembly further includes a main support base block,
所述第一杆与所述主支撑块转动连接于第一点，所述第一杆与所述第三 杆转动连接于第二点，所述第一杆与所述第二杆转动连接于第五点，所述第二杆与所述第四杆转动连接于第三点，所述第三杆和所述第四杆均与所述主支撑基块转动连接于第四点，所述第二点、所述第五点、所述第三点和所述第四点的连线构成四边形，The first rod and the main support block are rotatably connected to a first point, the first rod and the third rod are rotatably connected to a second point, and the first rod and the second rod are rotatably connected to At the fifth point, the second rod and the fourth rod are rotatably connected to a third point, and the third rod and the fourth rod are both rotatably connected to the main support base block to the fourth point, the The line connecting the second point, the fifth point, the third point, and the fourth point forms a quadrilateral,
所述第三杆和所述第四杆为主动杆。The third rod and the fourth rod are active rods.
在至少一个实施方式中，所述第二点、所述第五点、所述第三点和所述第四点的连线构成平行四边形。In at least one embodiment, the line connecting the second point, the fifth point, the third point, and the fourth point forms a parallelogram.
在至少一个实施方式中，所述主支撑组件还包括第一驱动件和第二驱动件，所述第一驱动件和所述第二驱动件安装于所述主支撑基块，In at least one embodiment, the main support assembly further includes a first driving part and a second driving part, the first driving part and the second driving part are mounted on the main supporting base block,
所述第一驱动件连接所述第三杆并用于驱动所述第三杆相对于所述主支撑基块转动，The first driving member is connected to the third rod and is used to drive the third rod to rotate relative to the main support base block,
所述第二驱动件连接所述第四杆并用于驱动所述第四杆相对于所述主支撑基块转动。The second driving member is connected to the fourth rod and used to drive the fourth rod to rotate relative to the main support base block.
在至少一个实施方式中，所述多自由度并联机构还包括次支撑组件，In at least one embodiment, the multi-degree-of-freedom parallel mechanism further includes a secondary support assembly,
所述次支撑组件包括次支撑块，所述桥组件与所述次支撑块转动连接、使得所述桥组件能够相对于所述次支撑块绕两个彼此不平行的轴线转动，The secondary support assembly includes a secondary support block, and the bridge assembly is rotatably connected with the secondary support block so that the bridge assembly can rotate relative to the secondary support block around two axes that are not parallel to each other,
所述次支撑块绕所述第一方向转动的角度是受控制的。The angle at which the secondary support block rotates around the first direction is controlled.
在至少一个实施方式中，所述桥组件能够相对于所述次支撑块绕两个互相垂直的轴线转动。In at least one embodiment, the bridge assembly can rotate about two mutually perpendicular axes relative to the secondary support block.
在至少一个实施方式中，所述次支撑组件还包括次第一杆、次第二杆、转接件和次支撑基块，所述次第一杆与所述次支撑块转动连接于次第一点，所述次第一杆与所述转接件转动连接于次第二点，所述次第二杆与所述转接件转动连接于次第三点，所述次第二杆与所述次支撑块转动连接于次第四点，所述次第一点、所述次第二点、所述次第三点和所述次第四点的连线构成平行四边形，In at least one embodiment, the secondary support assembly further includes a secondary first rod, a secondary second rod, an adapter, and a secondary support base block, and the secondary first rod and the secondary support block are rotatably connected to the secondary first point , The second first rod and the adapter are rotatably connected to the second second point, the second second rod and the adapter are rotatably connected to the second third point, and the second second rod is rotatably connected to the second third point. The secondary support block is rotatably connected to the secondary fourth point, and the line connecting the secondary first point, the secondary second point, the secondary third point, and the secondary fourth point forms a parallelogram,
所述次支撑基块具有引导结构，所述转接件能够沿所述引导结构在所述第二方向上活动。The secondary support base block has a guide structure, and the adapter can move in the second direction along the guide structure.
在至少一个实施方式中，所述次支撑组件还包括滑块，所述引导结构为滑槽，所述滑块用于沿所述滑槽滑动，In at least one embodiment, the secondary support assembly further includes a sliding block, the guiding structure is a sliding groove, and the sliding block is used to slide along the sliding groove,
所述转接件转动连接于所述滑块，所述转接件能够受控制地相对于所述滑块转动，从而确定所述桥组件绕所述第一方向转动的角度，使得所述桥组件具有至少两个平动自由度和三个转动自由度。The adapter is rotatably connected to the slider, and the adapter can be controlled to rotate relative to the slider, thereby determining the angle of rotation of the bridge assembly around the first direction, so that the bridge The assembly has at least two translational degrees of freedom and three rotational degrees of freedom.
在至少一个实施方式中，所述次支撑组件还包括次第一杆、次第二杆、次第三杆、次第四杆、转接件和次支撑基块，In at least one embodiment, the secondary support assembly further includes a secondary first rod, a secondary second rod, a secondary third rod, a secondary fourth rod, an adapter, and a secondary support base block,
所述次第一杆与所述次支撑块转动连接于次第一点，所述次第一杆与所述转接件转动连接于次第二点，所述次第二杆与所述转接件转动连接于次第三点，所述次第二杆与所述次支撑块转动连接于次第四点，所述次第一点、所述次第二点、所述次第三点和所述次第四点的连线构成平行四边形，The secondary first rod and the secondary support block are rotatably connected to the secondary first point, the secondary first rod and the adapter are rotatably connected to the secondary second point, and the secondary second rod and the adapter are rotatably connected Is rotatably connected to the second third point, the second second rod and the second support block are rotatably connected to the second fourth point, the second first point, the second second point, the second third point, and the second The connection of the fourth point forms a parallelogram,
所述次第三杆与所述转接件转动连接于次第五点，所述次第三杆与所述次支撑基块转动连接于次第六点，所述次第四杆与所述次支撑基块转动连接于次第七点，所述次第四杆与所述转接件转动连接于次第八点，所述次第五点、所述次第六点、所述次第七点和所述次第八点的连线构成平行四边形。The secondary third rod and the adapter are rotatably connected to the secondary fifth point, the secondary third rod and the secondary support base block are rotatably connected to the secondary sixth point, and the secondary fourth rod is rotatably connected to the secondary fifth point. The secondary support base block is rotatably connected to the secondary seventh point, the secondary fourth rod and the adapter are rotatably connected to the secondary eighth point, the secondary fifth point, the secondary sixth point, and the secondary The line connecting the seven points and the eighth point constitutes a parallelogram.
在至少一个实施方式中，所述并联机构包括三个主支撑组件，所述桥组件与所述三个主支撑组件的所述主支撑块转动连接、使得所述桥组件能够相对于每个所述主支撑块绕两个彼此不平行的轴线转动，In at least one embodiment, the parallel mechanism includes three main support assemblies, and the bridge assembly is rotatably connected with the main support blocks of the three main support assemblies so that the bridge assembly can be relative to each of the three main support assemblies. The main support block rotates around two axes that are not parallel to each other,
所述桥组件与三个所述主支撑块的三个转动连接点不共线。The three rotating connection points of the bridge assembly and the three main support blocks are not collinear.
在至少一个实施方式中，所述并联机构还包括导向件，所述导向件具有在所述第一方向上延伸的分量，所述主支撑组件能够沿所述导向件运动。In at least one embodiment, the parallel mechanism further includes a guide member having a component extending in the first direction, and the main support assembly can move along the guide member.
在至少一个实施方式中，所述桥组件包括桥第一部件和桥第二部件，In at least one embodiment, the bridge assembly includes a bridge first part and a bridge second part,
一个所述主支撑块与所述桥第一部件相连、另一个所述主支撑块与所述 桥第二部件相连，One of the main support blocks is connected to the first part of the bridge, and the other main support block is connected to the second part of the bridge,
所述桥第一部件和所述桥第二部件能相对滑动或相对转动从而改变两个所述主支撑块与所述桥组件的连接点之间的距离。The first part of the bridge and the second part of the bridge can relatively slide or rotate to change the distance between the connection points of the two main support blocks and the bridge assembly.
根据本发明的多自由度并联机构，能在有限空间内实现至少两平动两转动的运动，且运动的可控精度高。According to the multi-degree-of-freedom parallel mechanism of the present invention, at least two translational and two rotational movements can be realized in a limited space, and the controllable precision of the movement is high.
附图说明Description of the drawings
图1示出了根据本发明的第一实施方式的多自由度并联机构。Fig. 1 shows a multi-degree-of-freedom parallel mechanism according to the first embodiment of the present invention.
图2示出了根据本发明的第二实施方式的多自由度并联机构。Fig. 2 shows a multi-degree-of-freedom parallel mechanism according to a second embodiment of the present invention.
图3示出了根据本发明的第三实施方式的多自由度并联机构。Fig. 3 shows a multi-degree-of-freedom parallel mechanism according to a third embodiment of the present invention.
图4示出了根据本发明的第四实施方式的多自由度并联机构。Fig. 4 shows a multi-degree-of-freedom parallel mechanism according to a fourth embodiment of the present invention.
图5示出了根据本发明的第五实施方式的多自由度并联机构。Fig. 5 shows a multi-degree-of-freedom parallel mechanism according to a fifth embodiment of the present invention.
图6示出了根据本发明的第六实施方式的多自由度并联机构。Fig. 6 shows a multi-degree-of-freedom parallel mechanism according to a sixth embodiment of the present invention.
附图标记说明Description of Reference Signs
1导向件；2桥组件；1 guide; 2 bridge components;
21桥第一部件；211伸展导引件；22桥第二部件；21 the first part of the bridge; 211 the extension guide; 22 the second part of the bridge;
3主支撑组件；30主支撑块；31第一杆；32第二杆；33第三杆；34第四杆；35主支撑基块；3 main support assembly; 30 main support block; 31 first rod; 32 second rod; 33 third rod; 34 fourth rod; 35 main support base block;
4次支撑组件；40次支撑块；41次第一杆；42次第二杆；43转接件；44滑块；45次支撑基块；451滑槽；46次第三杆；47次第四杆；4 times support assembly; 40 times support block; 41 times first rod; 42 times second rod; 43 adapters; 44 sliders; 45 times support base blocks; 451 chute; 46 times third rod; 47 times Four strokes
j1、j2、j3连接点。Connection points j1, j2, j3.
具体实施方式Detailed ways
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。Hereinafter, exemplary embodiments of the present invention will be described 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, and are not used to exhaust all possible ways of the present invention, nor are they used 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，坐标轴可在空间内旋转。Unless otherwise specified, the present invention uses the three-dimensional coordinate system shown in FIG. 1 to illustrate the positional relationship of the components. 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.
(第一实施方式)(First embodiment)
首先参照图1介绍本发明的多自由度并联机构的第一实施方式。First, the first embodiment of the multi-degree-of-freedom parallel mechanism of the present invention will be described with reference to FIG. 1.
根据本实施方式的并联机构包括两个主支撑组件3、一个次支撑组件4、桥组件2和导向件1。The parallel mechanism according to this embodiment includes two main support assemblies 3, a secondary support assembly 4, a bridge assembly 2 and a guide 1.
主支撑组件3包括主支撑块30、四个杆件(第一杆31、第二杆32、第三杆33和第四杆34)、主支撑基块35和两个驱动件(图未示)。The main support assembly 3 includes a main support block 30, four rods (a first rod 31, a second rod 32, a third rod 33, and a fourth rod 34), a main support base block 35 and two driving parts (not shown) ).
第一杆31和第二杆32均与主支撑块30转动连接于第一点，第一杆31和第三杆33转动连接于第二点，第二杆32和第四杆34转动连接于第三点，第三杆33和主支撑基块35转动连接于第四点，第四杆34和主支撑基块35转动连接于第五点，第一点、第二点、第四点、第五点和第三点的连线构成五边形。The first rod 31 and the second rod 32 are both rotatably connected to the main support block 30 at a first point, the first rod 31 and the third rod 33 are rotatably connected to the second point, and the second rod 32 and the fourth rod 34 are rotatably connected to At the third point, the third rod 33 and the main support base 35 are rotatably connected to the fourth point, the fourth rod 34 and the main support base 35 are rotatably connected to the fifth point, the first point, the second point, the fourth point, The line connecting the fifth point and the third point forms a pentagon.
第三杆33和第四杆34为主动杆，两个驱动件分别用于驱动第三杆33和第四杆34相对于主支撑基块35绕z方向(也称第一方向)转动。优选地，第一驱动件和第二驱动件均安装于主支撑基块35以减小杆件的转动惯量。The third rod 33 and the fourth rod 34 are active rods, and the two driving members are respectively used to drive the third rod 33 and the fourth rod 34 to rotate relative to the main support base 35 in the z direction (also called the first direction). Preferably, both the first driving part and the second driving part are installed on the main support base 35 to reduce the moment of inertia of the rod.
通过分别驱动第三杆33和第四杆34的转动，可以确定主支撑块30在x方向(也称第二方向)上和y方向(也称第三方向)上的位置。By driving the rotation of the third rod 33 and the fourth rod 34 respectively, the position of the main support block 30 in the x direction (also called the second direction) and the y direction (also called the third direction) can be determined.
两个主支撑块30均与桥组件2转动连接，使得每个主支撑块30相对于桥组件2能绕两个彼此不平行的轴线转动，优选地，每个主支撑块30相对于桥组件2能绕两个互相垂直的轴线转动。从而可以使得桥组件2具有沿x方向平动的自由度、绕x方向转动的自由度以及沿y方向平动的自由度和绕y方向转动的自由度。The two main support blocks 30 are both rotatably connected to the bridge assembly 2, so that each main support block 30 can rotate about two non-parallel axes relative to the bridge assembly 2. Preferably, each main support block 30 is relative to the bridge assembly 2 2 can rotate around two mutually perpendicular axes. Thus, the bridge assembly 2 can have the freedom of translation along the x direction, the freedom of rotation around the x direction, the freedom of translation along the y direction and the freedom of rotation around the y direction.
次支撑组件4用于控制桥组件2的绕z方向的转动自由度。在本实施方式中，次支撑组件4包括次支撑块40、次第一杆41、次第二杆42、转接件43、滑块44和次支撑基块45。The secondary support assembly 4 is used to control the degree of freedom of rotation of the bridge assembly 2 around the z direction. In this embodiment, the secondary support assembly 4 includes a secondary support block 40, a secondary first rod 41, a secondary second rod 42, an adapter 43, a sliding block 44 and a secondary support base 45.
次第一杆41与次支撑块40转动连接于次第一点，次第一杆41与转接件43转动连接于次第二点，次第二杆42与转接件43转动连接于次第三点，次第二杆42与次支撑块40转动连接于次第四点，次第一点、次第二点、次第三点和次第四点的连线构成四边形，优选地该四边形为平行四边形。The secondary first rod 41 and the secondary support block 40 are rotatably connected to the secondary first point, the secondary first rod 41 and the adapter 43 are rotatably connected to the secondary second point, and the secondary second rod 42 and the adapter 43 are rotatably connected to the secondary third Point, the second second rod 42 and the second support block 40 are rotatably connected to the second fourth point, and the line connecting the second first point, second second point, second third point, and second fourth point constitutes a quadrilateral, preferably the quadrilateral is a parallelogram .
次支撑块40与桥组件2转动连接，使得次支撑块40相对于桥组件2能绕两个彼此不平行的轴线转动，优选地，次支撑块40相对于桥组件2能绕两个互相垂直的轴线转动。The secondary support block 40 is rotatably connected to the bridge assembly 2, so that the secondary support block 40 can rotate about two non-parallel axes relative to the bridge assembly 2. Preferably, the secondary support block 40 can rotate about two mutually perpendicular axes relative to the bridge assembly 2. The axis rotates.
次支撑基块45具有沿x方向延伸的滑槽451，滑块44能够受滑槽451导引地滑动。转接件43与滑块44转动连接，使得转接件43能够相对于滑块44绕z方向转动。通过在转接件43与滑块44之间设置用于实现转动的驱动件，可以控制转接件43绕z方向的转动角度、进而控制次支撑块40和桥组件2绕z方向的转动角度。使得桥组件2还具有绕z方向的转动自由度。The secondary support base 45 has a sliding groove 451 extending in the x direction, and the slider 44 can slide guided by the sliding groove 451. The adapter 43 is rotatably connected with the slider 44 so that the adapter 43 can rotate relative to the slider 44 in the z direction. By arranging a driving member for realizing rotation between the adapter 43 and the slider 44, the rotation angle of the adapter 43 around the z direction can be controlled, and the rotation angle of the secondary support block 40 and the bridge assembly 2 around the z direction can be controlled. . The bridge assembly 2 also has a degree of freedom of rotation around the z direction.
应当理解，转接件43也可以和滑块44固定连接，或者二者一体形成，这种情况下，桥组件2不具有绕z方向的转动自由度。It should be understood that the adapter 43 can also be fixedly connected to the slider 44, or the two can be formed integrally. In this case, the bridge assembly 2 does not have a degree of freedom of rotation around the z direction.
导向件1沿z方向延伸或者是在z方向上具有延伸分量。主支撑基块35和次支撑基块45均能沿导向件1滑动。一方面，这使得当次支撑块40和两个主支撑块30的位置发生改变时，次支撑基块45和两个主支撑基块35两两之间在z方向上的距离能适应性地调整。这是因为在两个主支撑块30与桥组件2的两个连接点之间的距离不变的情况下，当两个主支撑块30在xoy平面内的位置发生改变后，两个主支撑块30之间在z方向上的距离发生变化，次支撑基块45和两个主支撑基块35两两之间在z方向上的距离需要能够跟随调整。另一方面，可以通过主动地控制次支撑基块45和两个主支撑基块35中的任一者在导向件1上的位置来控制桥组件2在z方向上的平动，增加桥组件2在z方向的平动自由度。由于次支撑基块45和两个主支撑基块35这三者都间接地与桥组件2连接，这三者在z方向上两两之间的距离是确定的，因此当驱动这三者中的任一者在z方向上运动时，这三者两两之间确定的距离导致未被驱动的两者将以确定的运动距离随动。The guide 1 extends in the z direction or has an extension component in the z direction. Both the main support base block 35 and the secondary support base block 45 can slide along the guide 1. On the one hand, this makes the distance between the secondary support base 45 and the two main support bases 35 in the z direction adaptive when the positions of the secondary support block 40 and the two main support blocks 30 change. Adjustment. This is because under the condition that the distance between the two connection points of the two main support blocks 30 and the bridge assembly 2 is unchanged, when the position of the two main support blocks 30 in the xoy plane changes, the two main support blocks 30 The distance between the blocks 30 in the z direction changes, and the distance between the secondary support base block 45 and the two main support base blocks 35 in the z direction needs to be able to be adjusted accordingly. On the other hand, it is possible to control the translation of the bridge assembly 2 in the z direction by actively controlling the position of any one of the secondary support base block 45 and the two main support base blocks 35 on the guide 1 to increase the bridge assembly 2 Translational degrees of freedom in the z direction. Since the secondary support base block 45 and the two main support base blocks 35 are indirectly connected to the bridge assembly 2, the distance between the three in the z direction is determined, so when driving these three When any one of the three moves in the z direction, the determined distance between the three will cause the two that are not driven to follow the determined movement distance.
(第二实施方式)(Second embodiment)
参照图2介绍本发明的多自由度并联机构的第二实施方式，第二实施方式是第一实施方式的变型，第二实施方式与第一实施方式的区别主要在于主支撑组件3的设置方式。The second embodiment of the multi-degree-of-freedom parallel mechanism of the present invention is described with reference to FIG. 2. The second embodiment is a modification of the first embodiment. The difference between the second embodiment and the first embodiment is mainly in the arrangement of the main support assembly 3. .
在该实施方式中，四个杆件中只有第一杆31与主支撑块30相连，四个杆件的连接结构在y方向上是不对称的。In this embodiment, only the first rod 31 of the four rods is connected to the main support block 30, and the connection structure of the four rods is asymmetric in the y direction.
第一杆31与主支撑块30转动连接于第一点，第一杆31与第三杆33转动连接于第二点，第一杆31与第二杆32转动连接于第五点，第二杆32与第四杆34转动连接于第三点，第三杆33和第四杆34均与主支撑基块35转动连接于第四点，第二点、第五点、第三点和第四点的连线构成四边形，且优选地构成平行四边形。The first rod 31 and the main support block 30 are rotatably connected to the first point, the first rod 31 and the third rod 33 are rotatably connected to the second point, the first rod 31 and the second rod 32 are rotatably connected to the fifth point, and the second rod The rod 32 and the fourth rod 34 are rotatably connected to the third point, the third rod 33 and the fourth rod 34 are both rotatably connected to the main support base 35 at the fourth point, the second point, the fifth point, the third point and the third point. The connecting line of the four points constitutes a quadrilateral, and preferably a parallelogram.
与第一实施方式类似地，第三杆33和第四杆34为主动杆。两个驱动件分别驱动第三杆33和第四杆34相对于主支撑基块35绕z方向转动。优选地，第一驱动件和第二驱动件均安装于主支撑基块35。Similar to the first embodiment, the third lever 33 and the fourth lever 34 are active levers. The two driving members respectively drive the third rod 33 and the fourth rod 34 to rotate relative to the main support base 35 in the z direction. Preferably, both the first driving member and the second driving member are installed on the main support base block 35.
本实施方式中由于主支撑组件3在x方向的两侧是不对称的，这使得y方向上的空间能根据需要被合理利用。例如，可以在y方向上并列地设置两个根据本实施方式的多自由度并联机构，使这每一个并联机构的主支撑组件3的各杆件相对于另一个并联机构反向地位于各自的外侧，例如在图2所示的平行四边形结构的杆件朝图中右上方设置的并联机构的下方，可以镜像设置另一个并联机构，使该另一个并联机构的主支撑组件3的平行四边形结构朝向图中的左下方。In this embodiment, since the main support assembly 3 is asymmetric on both sides of the x direction, the space in the y direction can be reasonably used as required. For example, two multi-degree-of-freedom parallel mechanisms according to this embodiment can be arranged side by side in the y direction, so that the rods of the main support assembly 3 of each parallel mechanism are located opposite to the other parallel mechanism. On the outside, for example, when the rod of the parallelogram structure shown in FIG. 2 faces below the parallel mechanism set on the upper right in the figure, another parallel mechanism can be mirrored to make the parallelogram structure of the main support assembly 3 of the other parallel mechanism. Towards the bottom left in the figure.
(第三实施方式)(Third embodiment)
参照图3介绍本发明的多自由度并联机构的第三实施方式，第三实施方式是第一实施方式的变型，第三实施方式与第一实施方式的区别主要在于次支撑组件4的设置方式。The third embodiment of the multi-degree-of-freedom parallel mechanism of the present invention is described with reference to FIG. 3. The third embodiment is a modification of the first embodiment. The difference between the third embodiment and the first embodiment is mainly in the arrangement of the secondary support assembly 4. .
在本实施方式中，次支撑组件4包括次第一杆41、次第二杆42、次第三 杆46、次第四杆47、转接件43和次支撑基块45。In this embodiment, the secondary support assembly 4 includes a secondary first rod 41, a secondary second rod 42, a secondary third rod 46, a secondary fourth rod 47, an adapter 43, and a secondary support base 45.
次第一杆41与次支撑块40转动连接于次第一点，次第一杆41与转接件43转动连接于次第二点，次第二杆42与转接件43转动连接于次第三点，次第二杆42与次支撑块40转动连接于次第四点，次第一点、次第二点、次第三点和次第四点的连线构成平行四边形。次第三杆46与转接件43转动连接于次第五点，次第三杆46与次支撑基块45转动连接于次第六点，次第四杆47与次支撑基块45转动连接于次第七点，次第四杆47与转接件43转动连接于次第八点，次第五点、次第六点、次第七点和次第八点的连线构成平行四边形。The secondary first rod 41 and the secondary support block 40 are rotatably connected to the secondary first point, the secondary first rod 41 and the adapter 43 are rotatably connected to the secondary second point, and the secondary second rod 42 and the adapter 43 are rotatably connected to the secondary third At this point, the secondary second rod 42 and the secondary support block 40 are rotatably connected to the secondary fourth point, and the line connecting the secondary first point, the secondary second point, the secondary third point, and the secondary fourth point forms a parallelogram. The secondary third rod 46 and the adapter 43 are rotatably connected to the secondary fifth point, the secondary third rod 46 and the secondary support base 45 are rotationally connected to the secondary sixth point, and the secondary fourth rod 47 is rotationally connected to the secondary support base 45 At the seventh point, the fourth rod 47 and the adapter 43 are rotatably connected to the eighth point, and the line connecting the fifth point, the sixth point, the seventh point, and the second eighth point forms a parallelogram.
上述两个平行四边形结构使得次支撑块40、转接件43和次支撑基块45不绕z方向转动。因此在本实施方式中，桥组件2绕z方向的转动自由度是被限制的。The above-mentioned two parallelogram structures prevent the secondary support block 40, the adapter 43 and the secondary support base block 45 from rotating around the z direction. Therefore, in this embodiment, the degree of freedom of rotation of the bridge assembly 2 around the z direction is restricted.
(第四实施方式)(Fourth embodiment)
参照图4介绍本发明的多自由度并联机构的第四实施方式，第四实施方式是第一实施方式的变型，第四实施方式与第一实施方式的区别主要在于桥组件2的设置。The fourth embodiment of the multi-degree-of-freedom parallel mechanism of the present invention is described with reference to FIG. 4. The fourth embodiment is a modification of the first embodiment. The difference between the fourth embodiment and the first embodiment is mainly the arrangement of the bridge assembly 2.
在本实施方式中，桥组件2包括桥第一部件21和桥第二部件22。两个主支撑块30中的一个与桥第一部件21转动连接、另一个与桥第二部件22转动连接。桥第一部件21包括例如导轨形式的伸展导引件211，第二部件22能够沿伸展导引件211滑动。In this embodiment, the bridge assembly 2 includes a bridge first part 21 and a bridge second part 22. One of the two main support blocks 30 is rotatably connected with the bridge first part 21, and the other is rotatably connected with the bridge second part 22. The first part 21 of the bridge includes an extension guide 211 in the form of a rail, for example, and the second part 22 can slide along the extension guide 211.
当两个主支撑块30在xoy平面内的位置改变时，两个主支撑块30与桥组件2的两个连接点之间的距离发生变化，桥第二部件22可以随动地相对于桥第一部件21滑动来适应这种距离的变化，因此在该实施方式中，两个主支撑基块35之间在z方向上的距离可以是确定的，两个主支撑基块35例如可以由刚性件连接在一起或是一体形成，从而增加主支撑基块35的结构强度。When the position of the two main support blocks 30 in the xoy plane changes, the distance between the two main support blocks 30 and the two connection points of the bridge assembly 2 changes, and the second bridge member 22 can move relative to the bridge The first part 21 slides to adapt to this change in distance. Therefore, in this embodiment, the distance between the two main support bases 35 in the z direction can be determined, and the two main support bases 35 can be determined by, for example, The rigid parts are connected together or integrally formed, thereby increasing the structural strength of the main supporting base block 35.
(第五实施方式)(Fifth Embodiment)
参照图5介绍本发明的多自由度并联机构的第五实施方式，第五实施方 式是第四实施方式的变型。The fifth embodiment of the multi-degree-of-freedom parallel mechanism of the present invention will be described with reference to FIG. 5. The fifth embodiment is a modification of the fourth embodiment.
在本实施方式中，桥组件2包括能相对转动的桥第一部件21和桥第二部件22。In this embodiment, the bridge assembly 2 includes a first bridge member 21 and a second bridge member 22 that can rotate relatively.
两个主支撑块30中的一个与桥第一部件21转动连接、另一个与桥第二部件22转动连接。当两个主支撑块30在xoy平面内的位置改变时，两个主支撑块30与桥组件2的两个连接点之间的距离发生变化，桥第一部件21与桥第二部件22可以通过随动地转动来适应这种距离的变化。One of the two main support blocks 30 is rotatably connected with the bridge first part 21, and the other is rotatably connected with the bridge second part 22. When the position of the two main support blocks 30 in the xoy plane changes, the distance between the two connection points of the two main support blocks 30 and the bridge assembly 2 changes, and the bridge first part 21 and the bridge second part 22 can be It adapts to this change in distance by rotating with it.
(第六实施方式)(Sixth Embodiment)
参照图6介绍本发明的多自由度并联机构的第六实施方式，第六实施方式是第一实施方式的变型。在第六实施方式中，不设置次支撑组件而设置三个主支撑组件。The sixth embodiment of the multi-degree-of-freedom parallel mechanism of the present invention will be described with reference to FIG. 6. The sixth embodiment is a modification of the first embodiment. In the sixth embodiment, no secondary support assembly is provided but three main support assemblies are provided.
图6示意性地示出了三个主支撑组件的主支撑块与桥组件2的三个连接点，这三个连接点j1、j2和j3不共线。通过这种方式，限制了桥组件2绕z方向的转动自由度。Fig. 6 schematically shows three connection points between the main support blocks of the three main support assemblies and the bridge assembly 2, and the three connection points j1, j2, and j3 are not collinear. In this way, the degree of freedom of rotation of the bridge assembly 2 around the z direction is restricted.
应当理解，上述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 and part of their aspects or features can be combined as appropriate.
下面简单说明本发明的上述实施方式的部分有益效果。The following briefly describes some of the beneficial effects of the above-mentioned embodiments of the present invention.
(i)本发明通过两个实现平移功能的支撑组件，实现了连接平移组件的桥组件2的至少两平动两转动的自由度，并联机构的结构简单，且不需是对称的，空间适应能力强。(i) The present invention realizes at least two translational and two rotational degrees of freedom of the bridge assembly 2 connected with the translational assembly through two supporting components that realize the translational function. The structure of the parallel mechanism is simple, and does not need to be symmetrical, and the space is adaptable. strong ability.
(ii)主动杆的运动的驱动件，即驱动第三杆33和第四杆34转动的驱动件，可以固定于主支撑基块35，减小了杆件的运动惯量，有助于提高对桥组件2的运动精度的控制。(ii) The driving member for the movement of the active rod, that is, the driving member that drives the third rod 33 and the fourth rod 34 to rotate, can be fixed to the main support base 35, which reduces the inertia of the rod and helps to improve the Control of the movement accuracy of the bridge assembly 2.
(iii)本发明的第二实施方式的主支撑组件3的结构是不对称的，使得并联机构在一侧占用的空间大、另一侧占用的空间小，尤其有利于两个并联机构并列安装。(iii) The structure of the main support assembly 3 of the second embodiment of the present invention is asymmetrical, so that the parallel mechanism occupies a large space on one side and a small space on the other side, which is particularly beneficial for the parallel installation of two parallel mechanisms. .
(iv)根据本发明的并联机构的支撑组件和桥组件2均有多种可替代的实现结构，能够适应不同的安装环境。(iv) The support assembly and the bridge assembly 2 of the parallel mechanism according to the present invention have multiple alternative implementation structures, which can adapt to different installation environments.
应当理解，上述实施方式仅是示例性的，不用于限制本发明。本领域技术人员可以在本发明的教导下对上述实施方式做出各种变型和改变，而不脱离本发明的范围。例如，It should be understood that the above-mentioned embodiments are only exemplary and are not used to limit the present invention. Those skilled in the art can make various modifications and changes to the above-mentioned embodiments 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，在这种应用下，z方向优选代表竖直方向，并且可以在桥组件2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 bridge assembly 2; 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)本发明的导向件1、桥组件2的伸展导引件211和次支撑组件4的滑槽451不限于是如图所示的形式，也可以是其它的例如导槽或导杆等形式的导引件。(ii) The guide 1, the stretch guide 211 of the bridge assembly 2 and the sliding groove 451 of the secondary support assembly 4 of the present invention are not limited to the form shown in the figure, and may also be other such as guide grooves or guide rods. Form guides.

Claims (14)

  1. 一种多自由度并联机构，其包括桥组件(2)和至少两个主支撑组件(3)，其中，A multi-degree-of-freedom parallel mechanism, which includes a bridge assembly (2) and at least two main support assemblies (3), wherein,
    所述主支撑组件(3)包括主支撑块(30)和与所述主支撑块(30)相连的四个杆件，所述四个杆件中的两个杆件能够分别受控制地绕第一方向(z)转动，从而确定所述主支撑块(30)在第二方向(x)上和第三方向(y)上的位置，所述第一方向(z)、所述第二方向(x)和所述第三方向(y)互相垂直，The main support assembly (3) includes a main support block (30) and four rods connected to the main support block (30), two of the four rods can be controlled to circumvent respectively. Rotate in the first direction (z) to determine the position of the main support block (30) in the second direction (x) and the third direction (y). The first direction (z), the second The direction (x) and the third direction (y) are perpendicular to each other,
    所述桥组件(2)与两个所述主支撑块(30)转动连接、使得所述桥组件(2)能够相对于每个所述主支撑块(30)绕两个彼此不平行的轴线转动，The bridge assembly (2) is rotatably connected with the two main support blocks (30), so that the bridge assembly (2) can rotate about two non-parallel axes relative to each of the main support blocks (30) Rotate,
    所述桥组件(2)具有至少两个平动自由度和两个转动自由度。The bridge assembly (2) has at least two translational degrees of freedom and two rotational degrees of freedom.
  2. 根据权利要求1所述的多自由度并联机构，其特征在于，所述桥组件(2)能够相对于每个所述主支撑块(30)绕两个互相垂直的轴线转动。The multi-degree-of-freedom parallel mechanism according to claim 1, characterized in that the bridge assembly (2) can rotate about two mutually perpendicular axes relative to each of the main support blocks (30).
  3. 根据权利要求1所述的多自由度并联机构，其特征在于，所述主支撑组件(3)的所述四个杆件分别为第一杆(31)、第二杆(32)、第三杆(33)和第四杆(34)，所述主支撑组件(3)还包括主支撑基块(35)，The multi-degree-of-freedom parallel mechanism according to claim 1, wherein the four rods of the main support assembly (3) are respectively a first rod (31), a second rod (32), and a third rod. Rod (33) and a fourth rod (34), the main support assembly (3) also includes a main support base block (35),
    所述第一杆(31)和所述第二杆(32)均与主支撑块(30)转动连接于第一点，所述第一杆(31)和所述第三杆(33)转动连接于第二点，所述第二杆(32)和所述第四杆(34)转动连接于第三点，所述第三杆(33)和所述主支撑基块(35)转动连接于第四点，所述第四杆(34)和所述主支撑基块(35)转动连接于第五点，所述第一点、所述第二点、所述第四点、所述第五点和所述第三点的连线构成五边形，The first rod (31) and the second rod (32) are both rotatably connected with the main support block (30) to a first point, and the first rod (31) and the third rod (33) rotate Connected to the second point, the second rod (32) and the fourth rod (34) are rotatably connected to the third point, and the third rod (33) and the main support base (35) are rotatably connected At the fourth point, the fourth rod (34) and the main support base block (35) are rotatably connected to the fifth point, the first point, the second point, the fourth point, and the The line connecting the fifth point and the third point forms a pentagon,
    所述第三杆(33)和所述第四杆(34)为主动杆。The third rod (33) and the fourth rod (34) are active rods.
  4. 根据权利要求1所述的多自由度并联机构，其特征在于，所述主支撑组件(3)的所述四个杆件分别为第一杆(31)、第二杆(32)、第三杆(33)和第四杆(34)，所述主支撑组件(3)还包括主支撑基块(35)，The multi-degree-of-freedom parallel mechanism according to claim 1, wherein the four rods of the main support assembly (3) are a first rod (31), a second rod (32), and a third rod. Rod (33) and a fourth rod (34), the main support assembly (3) also includes a main support base block (35),
    所述第一杆(31)与所述主支撑块(30)转动连接于第一点，所述第一杆(31)与所述第三杆(33)转动连接于第二点，所述第一杆(31)与所述第二杆(32)转动连接于第五点，所述第二杆(32)与所述第四杆(34)转动连接于第三点，所述第三杆(33)和所述第四杆(34)均与所述主支撑基块(35)转动连接于第四点，所述第二点、所述第五点、所述第三点和所述第四点的连线构成四边形，The first rod (31) and the main support block (30) are rotatably connected to a first point, the first rod (31) and the third rod (33) are rotatably connected to a second point, and the The first rod (31) and the second rod (32) are rotatably connected to the fifth point, the second rod (32) and the fourth rod (34) are rotatably connected to the third point, and the third rod The rod (33) and the fourth rod (34) are both rotatably connected to the main support base block (35) at the fourth point, the second point, the fifth point, the third point and the The connection of the fourth point constitutes a quadrilateral,
    所述第三杆(33)和所述第四杆(34)为主动杆。The third rod (33) and the fourth rod (34) are active rods.
  5. 根据权利要求4所述的多自由度并联机构，其特征在于，所述第二点、所述第五点、所述第三点和所述第四点的连线构成平行四边形。The multi-degree-of-freedom parallel mechanism according to claim 4, wherein a line connecting the second point, the fifth point, the third point, and the fourth point forms a parallelogram.
  6. 根据权利要求3至5中任一项所述的多自由度并联机构，其特征在于，所述主支撑组件(3)还包括第一驱动件和第二驱动件，所述第一驱动件和所述第二驱动件安装于所述主支撑基块(35)，The multi-degree-of-freedom parallel mechanism according to any one of claims 3 to 5, wherein the main support assembly (3) further comprises a first driving part and a second driving part, the first driving part and The second driving member is installed on the main support base block (35),
    所述第一驱动件连接所述第三杆(33)并用于驱动所述第三杆(33)相对于所述主支撑基块(35)转动，The first driving member is connected to the third rod (33) and is used to drive the third rod (33) to rotate relative to the main support base block (35),
    所述第二驱动件连接所述第四杆(34)并用于驱动所述第四杆(34)相对于所述主支撑基块(35)转动。The second driving member is connected to the fourth rod (34) and is used to drive the fourth rod (34) to rotate relative to the main support base block (35).
  7. 根据权利要求1至5中任一项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次支撑组件(4)，The multi-degree-of-freedom parallel mechanism according to any one of claims 1 to 5, wherein the multi-degree-of-freedom parallel mechanism further comprises a secondary support assembly (4),
    所述次支撑组件(4)包括次支撑块(40)，所述桥组件(2)与所述次支撑块(40)转动连接、使得所述桥组件(2)能够相对于所述次支撑块(40)绕两个彼此不平行的轴线转动，The secondary support assembly (4) includes a secondary support block (40), and the bridge assembly (2) is rotatably connected with the secondary support block (40) so that the bridge assembly (2) can be relative to the secondary support The block (40) rotates around two axes that are not parallel to each other,
    所述次支撑块(40)绕所述第一方向(z)转动的角度是受控制的。The rotation angle of the secondary support block (40) around the first direction (z) is controlled.
  8. 根据权利要求7所述的多自由度并联机构，其特征在于，所述桥组件(2)能够相对于所述次支撑块(40)绕两个互相垂直的轴线转动。The multi-degree-of-freedom parallel mechanism according to claim 7, characterized in that the bridge assembly (2) can rotate about two mutually perpendicular axes relative to the secondary support block (40).
  9. 根据权利要求7所述的多自由度并联机构，其特征在于，所述次支撑 组件(4)还包括次第一杆(41)、次第二杆(42)、转接件(43)和次支撑基块(45)，所述次第一杆(41)与所述次支撑块(40)转动连接于次第一点，所述次第一杆(41)与所述转接件(43)转动连接于次第二点，所述次第二杆(42)与所述转接件(43)转动连接于次第三点，所述次第二杆(42)与所述次支撑块(40)转动连接于次第四点，所述次第一点、所述次第二点、所述次第三点和所述次第四点的连线构成平行四边形，The multi-degree-of-freedom parallel mechanism according to claim 7, wherein the secondary support assembly (4) further comprises a secondary first rod (41), a secondary second rod (42), an adapter (43) and The secondary support base block (45), the secondary first rod (41) and the secondary support block (40) are rotatably connected to the secondary first point, the secondary first rod (41) and the adapter (43) Rotatingly connected to the second second point, the second second rod (42) and the adapter (43) are rotationally connected to the second third point, the second second rod (42) and the second support block ( 40) Rotatingly connected to the second fourth point, and the line connecting the second first point, the second second point, the second third point, and the second fourth point forms a parallelogram,
    所述次支撑基块(45)具有引导结构，所述转接件(43)能够沿所述引导结构在所述第二方向(x)上活动。The secondary support base block (45) has a guide structure, and the adapter (43) can move in the second direction (x) along the guide structure.
  10. 根据权利要求9所述的多自由度并联机构，其特征在于，所述次支撑组件(4)还包括滑块(44)，所述引导结构为滑槽(451)，所述滑块(44)用于沿所述滑槽(451)滑动，The multi-degree-of-freedom parallel mechanism according to claim 9, characterized in that the secondary support assembly (4) further comprises a sliding block (44), the guiding structure is a sliding groove (451), and the sliding block (44) ) Is used to slide along the chute (451),
    所述转接件(43)转动连接于所述滑块(44)，所述转接件(43)能够受控制地相对于所述滑块(44)转动，从而确定所述桥组件(2)绕所述第一方向(z)转动的角度，使得所述桥组件(2)具有至少两个平动自由度和三个转动自由度。The adapter (43) is rotatably connected to the slider (44), and the adapter (43) can be controlled to rotate relative to the slider (44), thereby determining the bridge assembly (2) ) The angle of rotation around the first direction (z), so that the bridge assembly (2) has at least two translational degrees of freedom and three rotational degrees of freedom.
  11. 根据权利要求7所述的多自由度并联机构，其特征在于，所述次支撑组件(4)还包括次第一杆(41)、次第二杆(42)、次第三杆(46)、次第四杆(47)、转接件(43)和次支撑基块(45)，The multi-degree-of-freedom parallel mechanism according to claim 7, wherein the secondary support assembly (4) further comprises a secondary first rod (41), a secondary second rod (42), and a secondary third rod (46) , Secondary fourth rod (47), adapter (43) and secondary support base block (45),
    所述次第一杆(41)与所述次支撑块(40)转动连接于次第一点，所述次第一杆(41)与所述转接件(43)转动连接于次第二点，所述次第二杆(42)与所述转接件(43)转动连接于次第三点，所述次第二杆(42)与所述次支撑块(40)转动连接于次第四点，所述次第一点、所述次第二点、所述次第三点和所述次第四点的连线构成平行四边形，The secondary first rod (41) and the secondary support block (40) are rotatably connected to the secondary first point, and the secondary first rod (41) and the adapter (43) are rotatably connected to the secondary second point, The secondary second rod (42) and the adapter (43) are rotatably connected to the secondary third point, and the secondary second rod (42) and the secondary support block (40) are rotatably connected to the secondary fourth point. Point, the line connecting the second first point, the second second point, the second third point, and the second fourth point forms a parallelogram,
    所述次第三杆(46)与所述转接件(43)转动连接于次第五点，所述次第三杆(46)与所述次支撑基块(45)转动连接于次第六点，所述次第四杆 (47)与所述次支撑基块(45)转动连接于次第七点，所述次第四杆(47)与所述转接件(43)转动连接于次第八点，所述次第五点、所述次第六点、所述次第七点和所述次第八点的连线构成平行四边形。The secondary third rod (46) and the adapter (43) are rotatably connected to the secondary fifth point, and the secondary third rod (46) and the secondary support base block (45) are rotatably connected to the secondary fifth point. At six o'clock, the secondary fourth rod (47) and the secondary support base block (45) are rotatably connected to the secondary seventh point, and the secondary fourth rod (47) is rotatably connected to the adapter (43) At the eighth point, the line connecting the fifth point, the sixth point, the seventh point, and the eighth point forms a parallelogram.
  12. 根据权利要求1至5中任一项所述的多自由度并联机构，其特征在于，所述并联机构包括三个主支撑组件(3)，所述桥组件(2)与所述三个主支撑组件(3)的所述主支撑块(30)转动连接、使得所述桥组件(2)能够相对于每个所述主支撑块(30)绕两个彼此不平行的轴线转动，The multi-degree-of-freedom parallel mechanism according to any one of claims 1 to 5, wherein the parallel mechanism includes three main support assemblies (3), and the bridge assembly (2) is connected to the three main support assemblies (3). The main support blocks (30) of the support assembly (3) are rotatably connected so that the bridge assembly (2) can rotate about two non-parallel axes relative to each of the main support blocks (30),
    所述桥组件(2)与三个所述主支撑块(30)的三个转动连接点不共线。The three rotating connection points of the bridge assembly (2) and the three main support blocks (30) are not collinear.
  13. 根据权利要求1至5中任一项所述的多自由度并联机构，其特征在于，所述并联机构还包括导向件(1)，所述导向件(1)具有在所述第一方向(z)上延伸的分量，所述主支撑组件(3)能够沿所述导向件(1)运动。The multi-degree-of-freedom parallel mechanism according to any one of claims 1 to 5, wherein the parallel mechanism further comprises a guide (1), and the guide (1) has a direction in the first direction ( z) The upper extending component, the main support assembly (3) can move along the guide (1).
  14. 根据权利要求1至5中任一项所述的多自由度并联机构，其特征在于，所述桥组件(2)包括桥第一部件(21)和桥第二部件(22)，The multi-degree-of-freedom parallel mechanism according to any one of claims 1 to 5, wherein the bridge assembly (2) comprises a bridge first part (21) and a bridge second part (22),
    一个所述主支撑块(30)与所述桥第一部件(21)相连、另一个所述主支撑块(30)与所述桥第二部件(22)相连，One of the main support blocks (30) is connected to the first part (21) of the bridge, and the other main support block (30) is connected to the second part (22) of the bridge,
    所述桥第一部件(21)和所述桥第二部件(22)能相对滑动或相对转动从而改变两个所述主支撑块(30)与所述桥组件(2)的连接点之间的距离。The first part of the bridge (21) and the second part of the bridge (22) can slide or rotate relative to each other so as to change the connection point between the two main support blocks (30) and the bridge assembly (2). distance.
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