WO2020155843A1 - Mécanisme parallèle à degrés de liberté multiples - Google Patents

Mécanisme parallèle à degrés de liberté multiples Download PDF

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Publication number
WO2020155843A1
WO2020155843A1 PCT/CN2019/123302 CN2019123302W WO2020155843A1 WO 2020155843 A1 WO2020155843 A1 WO 2020155843A1 CN 2019123302 W CN2019123302 W CN 2019123302W WO 2020155843 A1 WO2020155843 A1 WO 2020155843A1
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WIPO (PCT)
Prior art keywords
platform
support assembly
base
movable part
rotatably connected
Prior art date
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Ceased
Application number
PCT/CN2019/123302
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English (en)
Chinese (zh)
Inventor
周啸波
蓝青
周润
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Suzhou Mailan Medical Technologies Co Ltd
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Suzhou Mailan Medical Technologies Co Ltd
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Suzhou Mailan Medical Technologies Co Ltd filed Critical Suzhou Mailan Medical Technologies Co Ltd
Publication of WO2020155843A1 publication Critical patent/WO2020155843A1/fr
Anticipated expiration legal-status Critical
Ceased legal-status Critical Current

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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—Program-controlled manipulators
    • B25J9/003—Program-controlled manipulators having parallel kinematics
    • B25J9/0045—Program-controlled manipulators having parallel kinematics with kinematics chains having a rotary joint at the base
    • B25J9/0048—Program-controlled manipulators having parallel kinematics with kinematics chains having a rotary joint at the base with kinematics chains of the type rotary-rotary-rotary

Definitions

  • the invention relates to the field of robots, in particular to a multi-degree-of-freedom parallel mechanism of a parallel robot.
  • robots can be divided into two categories: series robots and parallel robots.
  • parallel robots Compared with series robots, parallel robots have the advantages of greater rigidity, strong carrying capacity, high precision, and low end piece inertia.
  • Chinese patent CN105729450B discloses a four-degree-of-freedom parallel mechanism, which can realize three degrees of freedom of translation and one rotation of a movable platform, but cannot realize the rotation of the movable platform around the y-axis or the x-axis.
  • the above-mentioned parallel mechanism that provides three translations and one rotation cannot satisfy such applications. demand.
  • the purpose of the present invention is to overcome or at least alleviate the above-mentioned shortcomings of the prior art, and provide a multi-degree-of-freedom parallel mechanism with at least three degrees of freedom for translation and two degrees of rotation.
  • the present invention provides a multi-degree-of-freedom parallel mechanism, which includes a first platform, a second platform, a connecting piece, and a base.
  • the first platform and the second platform are spaced apart in a first direction, and are characterized in that:
  • the first platform is rotatably connected to the first support assembly and the second support assembly, and the rotation axis of the first support assembly relative to the first platform and the second support assembly relative to the first platform
  • the axis of rotation is not parallel
  • the second platform is rotatably connected with the third support assembly and the fourth support assembly, and the rotation axis of the third support assembly relative to the second platform and the fourth support assembly relative to the second platform
  • the axis of rotation is not parallel
  • the first support assembly, the second support assembly, the third support assembly, and the fourth support assembly all include a planar four-bar mechanism, and the four rotational connection points of the planar four-bar mechanism form a connection line Parallelogram,
  • the first support assembly, the second support assembly, the third support assembly, and the fourth support assembly are respectively connected to the base, and 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,
  • the second platform is also rotatably connected with an auxiliary positioning component, and the auxiliary positioning component can move relative to the base so that the second platform is displaced in the first direction,
  • the first platform and the second platform are respectively rotatably connected to the connecting piece, so that the connecting piece has at least two rotational degrees of freedom relative to the first platform, and the connecting piece is relative to the second platform.
  • the platform has at least two rotational degrees of freedom.
  • the 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.
  • the first support component is displaced in the first direction; and/or,
  • 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.
  • the second supporting component is displaced in the first direction; and/or,
  • 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.
  • the third supporting component is displaced in the first direction; and/or,
  • 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,
  • 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.
  • the base includes a guide member having an extension component in the first direction, the first support assembly, the second support assembly, the third support assembly, and the first support assembly. At least one of the four support components and the auxiliary positioning component can reciprocate under the guidance of the guide.
  • the multi-degree-of-freedom parallel mechanism further includes a first intermediate adapter and a second intermediate adapter,
  • the connecting piece is rotatably connected with the first intermediate adapter along a first rotation axis
  • the first platform is rotatably connected with the first intermediate adapter along a second rotation axis
  • the first rotation axis is connected with The second axis of rotation is not parallel
  • the connecting piece is rotatably connected with the second intermediate adapter along a third rotation axis
  • the second platform is rotatably connected with the second intermediate adapter along a fourth rotation axis
  • the third rotation axis is connected with The fourth axis of rotation is not parallel.
  • the first rotation axis is perpendicular to the second rotation axis
  • the third rotation axis is perpendicular to the fourth rotation axis.
  • the auxiliary positioning assembly includes a planar four-bar mechanism in a parallelogram shape.
  • 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.
  • 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.
  • 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.
  • the support rod can be extended or shortened so that the length of the support rod can be adjusted.
  • the first platform is annular or semi-annular
  • the first support assembly and the second support assembly are arranged on the outer peripheral side of the first platform
  • the connecting member Arranged on the inner peripheral side of the first platform
  • the second platform is annular or semi-annular, the third support assembly, the fourth support assembly and the auxiliary positioning assembly are arranged on the outer peripheral side of the second platform, and the connecting piece is arranged on the first platform. 2. The inner peripheral side of the platform.
  • the multi-degree-of-freedom parallel mechanism of the present invention three translational and two rotational degrees of freedom can be provided for the connecting piece, and the movable parts of the parallel mechanism can be arranged asymmetrically, and the space utilization rate is high.
  • Fig. 1 is a perspective schematic view of a multi-degree-of-freedom parallel mechanism according to a first embodiment of the present invention.
  • Fig. 2 is a plan view of Fig. 1.
  • Fig. 3 is an enlarged schematic diagram of a part of the structure of Fig. 1.
  • Fig. 4 is a perspective schematic view of a multi-degree-of-freedom parallel mechanism according to a second embodiment of the present invention.
  • Fig. 5 is a perspective schematic view of a multi-degree-of-freedom parallel mechanism according to a third embodiment of the present invention.
  • Fig. 6 is a perspective schematic view of a multi-degree-of-freedom parallel mechanism according to a fourth embodiment of the present invention.
  • 70 base 70A base first part; 70B base second part; 71 auxiliary guide; 701 first guide; 702 second guide;
  • the present invention uses the three-dimensional coordinate system shown in FIG. 1 to illustrate the positional relationship of each component. It should be understood that the position relationship defined according to the x, y and z axes in the present invention is relative, and the coordinate axis can be rotated in space according to the actual application of the device.
  • the five-degree-of-freedom parallel mechanism according to the present invention has translational degrees of freedom in the three directions of x, y, and z, as well as rotational degrees of freedom around the x-axis and rotational degrees of freedom around the y-axis.
  • 1 to 3 firstly introduce the first embodiment of the five-degree-of-freedom parallel mechanism of the present invention.
  • the five-degree-of-freedom parallel mechanism includes a first platform 10, a second platform 20 and a connecting member 30.
  • the first platform 10 is supported and guided by the first support assembly 41 and the second support assembly 42 to have translational freedom in the x, y, and z directions.
  • the second platform 20 is supported by the third support assembly 43, The support and guidance of the fourth supporting component 44 and the auxiliary positioning component 50 have translational freedom in the x, y and z directions.
  • the connecting piece 30 is connected to the first platform 10 and the second platform 20 respectively. During the movement of the first platform 10 and/or the second platform 20, the connecting piece 30 can move in the x, y, and z directions. And rotating around the x-axis and rotating around the y-axis, that is, the connecting member 30 has five degrees of freedom.
  • the first support assembly 41, the second support assembly 42, the third support assembly 43, and the fourth support assembly 44 each include four connecting rods.
  • the four connecting rods constitute a planar four-bar mechanism, and the four The rotating connection points form the four vertices of the parallelogram.
  • the above-mentioned plane four-bar mechanism is referred to as "parallelogram mechanism" for short, or the above-mentioned plane four-bar mechanism is a parallelogram; during movement, the parallelogram mechanism always maintains a parallelogram shape .
  • the first support assembly 41 includes a first rod 411, a second rod 412, a third rod 413, and a fourth rod 414 that are connected end to end and rotatably connected, the first rod 411, the second rod 412, and the third rod 413.
  • the fourth rod 414 form a parallelogram mechanism.
  • the second support assembly 42 includes a first rod 421, a second rod 422, a third rod 423, and a fourth rod 424 that are connected end to end and rotatably connected, the first rod 421, the second rod 422, the third rod 423, and the fourth rod 424 forms a parallelogram mechanism.
  • the third support assembly 43 includes a first rod 431, a second rod 432, a third rod 433, and a fourth rod 434 that are connected end to end and rotatably connected, the first rod 431, the second rod 432, the third rod 433, and the fourth rod. 434 forms a parallelogram mechanism.
  • the fourth support assembly 44 includes a first rod 441, a second rod 442, a third rod 443 and a fourth rod 444 which are connected end to end and rotatably connected, the first rod 441, the second rod 442, the third rod 443 and the fourth rod 444 forms a parallelogram mechanism.
  • the first rod 411, the second rod 412, the first rod 421, the second rod 422, the first rod 431, the second rod 432, the first rod 441 and the second rod 442 are all parallel to the xoy plane. .
  • the first support assembly 41 is rotatably connected with the first platform 10 and the first movable part 61
  • the second support assembly 42 is rotatably connected with the first platform 10 and the second movable part 62
  • the third support assembly 43 is rotatably connected with the second platform 20.
  • the fourth support assembly 44 is rotatably connected to the second platform 20 and the fourth movable member 64 respectively.
  • each support assembly (first support assembly 41, second support assembly 42, third support assembly 43, and fourth support assembly 44) is associated with the movable platform (first platform 10, second platform 20) and the movable part (the first The connection modes of the first movable part 61, the second movable part 62, the third movable part 63, and the fourth movable part 64) are similar, and the first support assembly 41 is taken as an example for description below.
  • the first rod 411 of the first support assembly 41 is rotatably connected to the first platform 10, and the rotation axis of the first platform 10 relative to the first rod 411 is parallel to the axial direction of the first rod 411.
  • the second rod 412 of the first support assembly 41 is rotatably connected with the first movable part 61, and the rotation axis of the first movable part 61 relative to the second rod 412 is parallel to the axial direction of the second rod 412.
  • first rod 411 of the first support assembly 41 and the first rod 421 of the second support assembly 42 are not parallel.
  • the first rod 411 and the first rod 421 determine the position of the first platform 10 parallel to the xoy plane.
  • Posture; the first rod 431 of the third support assembly 43 and the first rod 441 of the fourth support assembly 44 are not parallel, and the first rod 431 and the first rod 441 determine the posture of the second platform 20 parallel to the xoy plane.
  • the first movable 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.
  • the first platform 10 and the second platform 20 are always parallel to the xoy plane.
  • the second platform 20 is also connected with an auxiliary positioning assembly 50.
  • the auxiliary positioning assembly 50 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.
  • 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.
  • the auxiliary positioning component 50 plays a role of assisting in determining the position of the second platform 20, which will be easier to understand when the movement positioning of each component is introduced below.
  • the first platform 10 has a semi-annular shape, and on the outer periphery of the first platform 10 there are two connecting parts distributed along the circumferential direction of the first platform 10, and each connecting part is formed with a shaft hole for the first supporting assembly 41.
  • the rod 411 and the first rod 421 of the second support assembly 42 pass through, and the axial directions of the two shaft holes are parallel to the xoy plane.
  • the second platform 20 is ring-shaped. On the outer periphery of the second platform 20, there are three connecting parts distributed along the circumference of the second platform 20, and each connecting part is formed with a shaft hole for the first rod of the third support assembly 43. 431, the first rod 441 of the fourth support assembly 44 and the 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.
  • 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.
  • 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.
  • 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.
  • connection mode of the connecting piece 30 and the first platform 10 and the second platform 20 and the influence of the movement of each component on the positioning of the connecting piece 30 are introduced.
  • the first platform 10 follows the movement of the first movable part 61 and the second movable part 62; and because the first support assembly 41 is parallelogram, the second support assembly 42 is parallelogram, and the first support assembly 41 The rod 411 and the first rod 421 of the second support assembly 42 are not parallel. Therefore, when the first movable 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.
  • 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.
  • the auxiliary positioning component 50 helps determine the only specific positioning of the second platform 20 because the introduced auxiliary positioning component 50 increases the limitation of the distance of the second platform 20 relative to the fifth movable part 65.
  • the first platform 10 is relative to the first movable part 61 and The distance of the second movable part 62 is constant. Since the first platform 10 and the second platform 20 are both connected to the connecting piece 30, the distance between the first platform 10 and the second platform 20 is determined. In other words, the connecting piece 30 plays a role in assisting the positioning of the first platform 10; When the position of the second platform 20 is determined, the position of the first platform 10 can be uniquely determined.
  • the first platform 10 and the second platform 20 have a certain interval in the z direction
  • the connecting piece 30 is rotatably connected to the first platform 10 through a first intermediate adapter 31, and the connecting piece 30 is also rotated through a second intermediate
  • the connecting member 32 is rotatably connected with the second platform 20.
  • the rotation shaft is not shown in the figure, but is only shown in the form of a rotation axis.
  • the connecting member 30 has two rotational degrees of freedom relative to the first platform 10, and the connecting member 30 has two rotational degrees of freedom relative to the second platform 20.
  • the connecting member 30 is rotatably connected with the first intermediate adapter 31, and the two can be relatively rotated around the rotation axis a1; the first intermediate adapter 31 is rotatably connected with the first platform 10, and the two can be rotated around the rotation axis. a2 relative rotation.
  • the rotation axis a1 and the rotation axis a2 are not parallel, and preferably, the rotation axis a1 and the rotation axis a2 are perpendicular to each other.
  • the connecting member 30 is rotatably connected with the second intermediate adapter 32, and the two can be relatively rotated around the rotation axis a3; the second intermediate adapter 32 is rotatably connected with the second platform 20, and the two can be relatively rotated around the rotation axis a4 .
  • the rotation axis a3 and the rotation axis a4 are not parallel, and preferably, the rotation axis a3 and the rotation axis a4 are perpendicular to each other.
  • the connecting piece 30 has two rotational degrees of freedom relative to the first platform 10 and relative to the second platform 20, which makes the connecting piece 30 in addition to following the movement of the first platform 10 and/or the second platform 20
  • the ground moves in the x, y, and z directions, and can also rotate around the x axis and/or around the y axis.
  • the connecting part 30 can be 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 .
  • Fig. 4 shows a five-degree-of-freedom parallel mechanism according to the second embodiment of the present invention.
  • the second embodiment is a modification of the first embodiment, and the same or similar reference numerals are given to the same or similar components as the first embodiment, and detailed description of these components is omitted.
  • the 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.
  • 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.
  • 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.
  • 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.
  • 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.
  • 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.
  • 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.
  • 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.
  • 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
  • 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.
  • Fig. 6 shows a five-degree-of-freedom parallel mechanism according to the fourth embodiment of the present invention.
  • 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
  • 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).
  • 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
  • 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).
  • 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.
  • 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.
  • the base 70 may not include the base first part 70A and the base second part 70B spaced apart in the z direction.
  • 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.
  • the present invention uses a parallelogram mechanism that makes the two groups of planes not parallel (for example, the parallelogram mechanism formed by the first support assembly 41 and the parallelogram mechanism formed by the second support assembly 42, where the planes are not parallel) It is connected with a movable platform (for example, the first platform 10) to determine the two translational degrees of freedom of the movable platform. Together with the auxiliary positioning components, the three together completely control the three degrees of translational freedom of the movable platform.
  • the first platform 10 and the second platform 20 are spaced apart in the z direction, and the first platform 10 and the second platform 20 are connected together by a connecting piece 30, and the connecting piece 30 can be relatively
  • the first platform 10 rotates around two non-parallel axes (preferably two vertical axes)
  • the connecting member 30 can rotate relative to the second platform 20 around two non-parallel axes (preferably two vertical axes)
  • the connecting member 30 has three translational degrees of freedom and two rotational degrees of freedom.
  • the first platform 10 and the second platform 20 are annular or semi-annular, the first support assembly 41 and the second support assembly 42 are arranged on the outer peripheral side of the first platform 10, and the connecting member 30 is arranged inside the first platform 10 On the peripheral side, the second platform 20 is annular or semi-annular, the third support assembly 43, the fourth support assembly 44 and the auxiliary positioning assembly 50 are arranged on the outer peripheral side of the second platform 20, and the connector 30 is arranged inside the second platform 20 On the peripheral side, the space utilization rate of the parallel mechanism is further improved.
  • the parallel mechanism according to the present invention is preferably used as a part of a surgical robot.
  • the z direction preferably represents the vertical direction, and surgical instruments can be added to the connecting member 30; however, the present invention is not limited to this, according to The parallel mechanism of the present invention can also provide guidance for other instruments.
  • the connecting piece 30 of the multi-degree-of-freedom parallel mechanism according to the present invention has five degrees of freedom.
  • the connecting piece 30 is required as a terminal to provide more degrees of freedom, other motions can be added to the connecting piece 30
  • the component for example, a terminal attachment that can rotate around the axial direction of the connecting member 30 is added, so that the terminal attachment has six degrees of freedom including rotation around the z direction.
  • the rotating connection of the connecting piece 30 with the first platform 10 and the second platform 20 can also be realized by a spherical hinge.
  • the connecting piece 30 When the connecting piece 30 is connected with the first platform 10 and the second platform 20 using spherical hinges, the connecting piece 30 has six degrees of freedom including rotation around the z direction.
  • the 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.
  • the auxiliary positioning component 50 may not be connected to the second platform 20, Instead, it is connected to the first platform 10.
  • the present invention does not limit the 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.

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  • Engineering & Computer Science (AREA)
  • Robotics (AREA)
  • Mechanical Engineering (AREA)
  • Transmission Devices (AREA)
  • Manipulator (AREA)

Abstract

L'invention concerne un mécanisme parallèle à degrés de liberté multiples, comprenant une première plateforme (10), une seconde plateforme (20), un élément de liaison (30) et une base (70), la première plateforme (10) étant reliée de façon rotative respectivement à un premier ensemble de support (41) et à un deuxième ensemble de support (42) ; la seconde plateforme (20) étant reliée de façon rotative respectivement à un troisième ensemble de support (43) et à un quatrième ensemble de support (44) ; le premier ensemble de support (41), le deuxième ensemble de support (42), le troisième ensemble de support (43) et le quatrième ensemble de support (44) comprenant chacun un quadrilatère articulé plan ; les lignes de connexion de quatre points de liaison rotatifs d'un quadrilatère articulé plan formant un parallélogramme ; et la première plate-forme (10) et la seconde plate-forme (20) étant respectivement reliées de manière rotative à l'élément de liaison (30), ce qui amène l'élément de liaison (30) à présenter au moins deux degrés de liberté de rotation par rapport à la première plateforme (10) et ce qui amène l'élément de liaison (30) à présenter au moins deux degrés de liberté de rotation par rapport à la seconde plateforme (20). Un tel mécanisme parallèle à degrés de liberté multiples permet de donner au moins trois degrés de liberté de déplacement et deux degrés de liberté de rotation à un élément de liaison, et permet à un composant mobile du mécanisme parallèle d'être disposé de manière asymétrique avec une grande utilisation de l'espace.
PCT/CN2019/123302 2019-01-31 2019-12-05 Mécanisme parallèle à degrés de liberté multiples Ceased WO2020155843A1 (fr)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
CN201910100951.9A CN109605339B (zh) 2019-01-31 2019-01-31 多自由度并联机构
CN201910100951.9 2019-01-31

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