CN117940253A - Multi-degree-of-freedom guiding mechanism and multi-degree-of-freedom guiding device - Google Patents
Multi-degree-of-freedom guiding mechanism and multi-degree-of-freedom guiding device Download PDFInfo
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- CN117940253A CN117940253A CN202180101457.XA CN202180101457A CN117940253A CN 117940253 A CN117940253 A CN 117940253A CN 202180101457 A CN202180101457 A CN 202180101457A CN 117940253 A CN117940253 A CN 117940253A
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- 230000007246 mechanism Effects 0.000 title claims abstract description 81
- 230000013011 mating Effects 0.000 claims description 28
- 230000000712 assembly Effects 0.000 claims description 19
- 238000000429 assembly Methods 0.000 claims description 19
- 230000004048 modification Effects 0.000 description 10
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Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
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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
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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
- B25J9/08—Programme-controlled manipulators characterised by modular constructions
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Abstract
A multi-degree-of-freedom guiding mechanism comprises a basic guiding piece (B), a terminal piece (E) and two differential components (A), wherein the differential components (A) are connected with the basic guiding piece (B) and the terminal piece (E), the terminal piece (E) at least has three translational degrees of freedom in a first direction (x), a second direction (y) and a third direction (z) which are perpendicular to each other, each differential component (A) comprises two primary movable pieces (10) and one secondary movable piece (20), the primary movable pieces (10) can translate in the first direction (x) under the guiding of the basic guiding piece (B), and the position of the terminal piece (E) can be controlled by driving the primary movable pieces (10) of each differential component (A). The invention also provides a multi-degree-of-freedom guiding device.
Description
The invention relates to the field of motion mechanisms, in particular to a multi-degree-of-freedom guiding mechanism and a multi-degree-of-freedom guiding device.
In some movement mechanisms for realizing complex operations, the movement mechanism is required to have a large number of degrees of freedom, large rigidity, high speed, high precision and the like, and these requirements are not always easy to be satisfied.
Disclosure of Invention
The invention aims to overcome or at least alleviate the defects in the prior art and provide a multi-degree-of-freedom guiding mechanism and a multi-degree-of-freedom guiding device.
According to a first aspect of the present application there is provided a multiple degree of freedom guiding mechanism comprising a base guide, a termination and two differential assemblies connecting the base guide and the termination, the termination having at least three translational degrees of freedom in first, second and third directions perpendicular to each other,
Each differential assembly being displaceable in a first direction and a second direction, the two differential assemblies comprising a terminal first guide member and a terminal second guide member, respectively, the terminal member comprising a terminal first mating member and a terminal second mating member, the terminal first mating member being reciprocable in the first guide direction under the guidance of the terminal first guide member, the terminal second mating member being reciprocable in the second guide direction under the guidance of the terminal second guide member, the first and second guide directions being non-parallel to each other and to the third direction,
Each differential assembly comprises two first-stage movable pieces and one second-stage movable piece, wherein the first-stage movable pieces can translate in a first direction relative to the basic guide piece under the guide of the basic guide piece, the two first-stage movable pieces comprise a first-stage first movable piece and a second-stage movable piece, the first-stage first movable piece is formed with a first-stage first guide piece, the second-stage movable piece is formed with a second-stage second guide piece, the second-stage movable piece is formed with a second-stage first matching piece and a second-stage second matching piece, the second-stage first matching piece can reciprocate in a third guide direction along the first-stage first guide piece, the second-stage second matching piece can reciprocate in a fourth guide direction along the first-stage second guide piece, the third guide direction and the fourth guide direction are not parallel to each other, at least one of the third guide direction and the fourth guide direction is not parallel to the first direction,
By driving at least three of the four primary moving members, control of the position of the termination member can be achieved.
In at least one embodiment, the termination includes a first termination, a second termination, and a third termination,
The first terminal member and the second terminal member are each rotatably connected to the third terminal member with respect to the third terminal member,
A terminal first mating member is formed on the first terminal member and a terminal second mating member is formed on the second terminal member.
In at least one embodiment, the axes of rotation of the first and second terminations relative to the third termination are both parallel to the third direction, or
The axes of rotation of the first and second terminals relative to the third terminal are each parallel to the second direction, or
The rotational axes of the first and second terminals relative to the third terminal are both parallel to the first direction.
In at least one embodiment, each differential assembly includes a differential member first portion and a differential member second portion that are rotatable relative to each other,
The terminal first guide member or the terminal second guide member is formed on the differential member first portion, and the secondary first mating member and the secondary second mating member are formed on the differential member second portion.
In at least one embodiment, the axis of rotation of the first differential portion relative to the second differential portion is parallel to a third direction, or
The axis of rotation of the first part of the differential member relative to the second part of the differential member is parallel to the second direction, or
The rotational axis of the first differential part relative to the second differential part is parallel to the first direction.
In at least one embodiment, all primary moving members move under the guidance of the same base guide.
In at least one embodiment, there are two base guides, two primary moving members belonging to one of the two differential assemblies move under the guide of one base guide, and two primary moving members belonging to the other of the two differential assemblies move under the guide of the other base guide.
In at least one embodiment, the two base guides are spaced apart in a second direction, and/or
The two base guides are spaced apart in a third direction.
In at least one embodiment, the guiding directions of the two basic guides are parallel to each other,
In at least one embodiment, the termination is sandwiched between two base guides.
According to a second aspect of the application, there is provided a multiple degree of freedom guiding device comprising a bridge assembly and two multiple degree of freedom guiding mechanisms according to the first aspect of the application,
The bridge assembly is rotatably connected to the terminal members of the two multiple degree of freedom guide mechanisms at two connection locations, respectively, and at each connection location the bridge assembly is rotatable relative to the terminal members about two axes of rotation that are non-parallel to each other.
In at least one embodiment, the two axes of rotation that are not parallel to each other are perpendicular to each other.
In at least one embodiment, the two multiple degree of freedom guides at least partially overlap in the first direction.
In at least one embodiment, the primary moving members of both multiple degree of freedom guides move under the guidance of the same base guide.
The multi-degree-of-freedom guide mechanism is simple in structure, convenient to control and capable of providing a plurality of degrees of freedom of movement. The multiple degree of freedom guide according to the application has the same advantages.
Fig. 1 is a schematic view of a first embodiment of a multiple degree of freedom guide mechanism according to the application.
Fig. 2 is a schematic diagram of the operation principle of the differential assembly of the first embodiment of the multi-degree of freedom guiding mechanism according to the present application.
Fig. 3 is a schematic view of a second embodiment of a multiple degree of freedom guide mechanism according to the application.
Fig. 4 is a schematic view of a third embodiment of a multiple degree of freedom guide mechanism according to the application.
Fig. 5 and 6 are schematic views of a fourth embodiment of a multiple degree of freedom guide mechanism according to the application.
Fig. 7 is a schematic view of a fifth embodiment of a multiple degree of freedom guide mechanism according to the application.
Fig. 8 is a schematic view of a sixth embodiment of a multiple degree of freedom guide mechanism according to the application.
Fig. 9 and 10 are schematic views of a seventh embodiment of a multiple degree of freedom guide mechanism according to the application.
Fig. 11 and 12 are schematic views of an eighth embodiment of a multiple degree of freedom guide mechanism according to the application.
Fig. 13 to 15 are schematic views of a ninth embodiment of a multiple degree of freedom guide mechanism according to the present application.
Fig. 16 to 18 are schematic views of first to third embodiments of the multiple degree of freedom guide according to the present application.
Reference numerals illustrate:
A base guide; a differential assembly; a1 differential first portion; a2 a differential second portion; eg1 terminating the first guide; eg2 terminating the second guide;
E, an end piece; e1 first termination; e2 second termination; e3 third terminal member; em1 terminal first mating member; em2 terminal second mating member;
10-stage moving parts; 11-stage first movable parts; 12 first-stage second movable parts; 11g primary first guide; 12g primary second guide;
20 second-stage moving parts; 20a second stage first mating member; 20b secondary second mating member; a C-bridge assembly;
d1 a first guiding direction; d2 a second guiding direction; d3 third guiding direction; d4 fourth guiding direction.
Exemplary embodiments of the present invention are described below with reference to the accompanying drawings. It should be understood that these specific illustrations are for the purpose of teaching one skilled in the art how to practice the invention, and are not intended to be exhaustive of all of the possible ways of practicing the invention, nor to limit the scope of the invention.
The present application describes the positional relationship of the respective members in a three-dimensional coordinate system shown in the drawings unless otherwise specified. It should be understood that the positional relationship defined in terms of x, y and z directions is relative in the present application, and that the coordinate axes may be spatially rotated depending on the actual application of the device.
The present application is described with respect to the positional relationship of the respective members in terms of the upper and lower relationships shown in the drawings unless otherwise specified. It should be understood that this relationship is not absolute, and that the spatial orientation of the components may vary accordingly with the product application scenario and operational attitude.
The multi-degree-of-freedom guiding mechanism M according to the present application is capable of providing at least three translational degrees of freedom in the first direction x, the second direction y and the third direction z; according to various embodiments, the multiple degree of freedom guiding mechanism M according to some embodiments of the present application can provide a rotational degree of freedom in one direction in addition to the three translational degrees of freedom described above.
The multiple degree of freedom guide according to the present application includes two of the multiple degree of freedom guide mechanisms M described above, and is capable of providing at least three translational degrees of freedom in the first direction x, the second direction y, and the third direction z, and at least two rotational degrees of freedom among three rotational degrees of freedom about a rotational axis parallel to the first direction x, about a rotational axis parallel to the second direction y, and about a rotational axis parallel to the third direction z.
First, referring to fig. 1 to 15, a multi-degree-of-freedom guide mechanism M according to the present application is described.
(First embodiment of Multi-degree-of-freedom guide mechanism M)
Referring to fig. 1 and 2, a first embodiment of a multiple degree of freedom guiding mechanism M according to the present application is described.
The multiple degree of freedom guide mechanism M includes a base guide B, a termination E, and two differential assemblies a.
The two differential assemblies a are connected to the terminal E and the base guide B at one end of the terminal E, respectively. The base guide B provides a guide means (e.g. a rail) for the differential assembly a arranged in the first direction x. By driving the differential assembly a in the first direction x, translational movement of the termination E in the first direction x, the second direction y and the third direction z and rotation about an axis of rotation parallel to the third direction z can be achieved.
Specifically, each differential assembly a includes two primary moving members 10 (primary first moving member 11 and primary second moving member 12, respectively) and one secondary moving member 20. The primary moving member 10 connects the base guide member B and the secondary moving member 20, and by driving the two primary moving members 10 in the first direction x, translation of the secondary moving member 20 in the first direction x and the second direction y can be achieved.
The primary first movable member 11 is formed with a primary first guide member 11g, and the primary second movable member 12 is formed with a primary second guide member 12g. The secondary moving member 20 is formed with a secondary first mating member 20a and a secondary second mating member 20b. The second stage first engaging piece 20a can reciprocate in the third guide direction D3 along the first stage first guide piece 11g, the second stage second engaging piece 20b can reciprocate in the fourth guide direction D4 along the first stage second guide piece 12g, the third guide direction D3 and the fourth guide direction D4 are not parallel to each other and also are not parallel to the first direction x, and furthermore, at least one of the third guide direction D3 and the fourth guide direction D4 is not parallel to the second direction y.
The primary first guide 11g and the primary second guide 12g may be, for example, guide rails or guide rods, or may be a slider; correspondingly, the second-stage first mating piece 20a and the second-stage second mating piece 20b may be, for example, a slider, a guide rail, or a guide rod.
The secondary mover 20 is formed with a terminal guide at a portion connected to the terminal E. For convenience of description, the terminal guides formed by the two secondary moving members 20 are referred to as a terminal first guide Eg1 and a terminal second guide Eg2, respectively.
The terminal E includes a first terminal E1, a second terminal E2, and a third terminal E3. The first and second terminals E1 and E2 are rotatably connected to the third terminal E3, respectively. In this embodiment, the rotation axes of the rotational connection are all parallel to the third direction z. The arrow ω in fig. 1 shows the rotation direction.
The first terminal E1 is formed with a terminal first fitting Em1 connected to the terminal first guide Eg1, and the second terminal E2 is formed with a terminal second fitting Em2 connected to the terminal second guide Eg 2.
The terminal first fitting Em1 can reciprocate in the first guide direction D1 under the guide of the terminal first guide Eg1, and the terminal second fitting Em2 can reciprocate in the second guide direction D2 under the guide of the terminal second guide Eg2, and the first and second guide directions D1 and D2 are not parallel to each other and also not parallel to the third direction z.
Alternatively, the plane parallel to the first and second guiding directions D1 and D2 is perpendicular to the xoy plane.
The terminal first guide Eg1 and the terminal second guide Eg2 may be, for example, guide rails or guide rods, or may be sliders; correspondingly, the first end engagement element Em1 and the second end engagement element Em2 may be, for example, a slider or a guide rail or a guide rod. As another example, the terminal first guides Eg1 and the terminal first mating members Em1 (or the terminal second guides Eg2 and the terminal second mating members Em 2) may be paired crossed roller guides.
The first guide direction D1 and the second guide direction D2 may be straight or curved.
Thus, by driving at least three (preferably four) of the four primary moving members 10 in the first direction x, the translation of the third terminal member E3 in the first direction x, the second direction y and the third direction z and the rotation about the rotation axis parallel to the third direction z can be controlled.
(Second embodiment of Multi-degree-of-freedom guide mechanism M)
A second embodiment of the multi-degree of freedom guide mechanism M according to the present application is described below with reference to fig. 3. The second embodiment is a modification of the first embodiment, the same reference numerals are given to the same or similar components as those in the first embodiment in terms of structure or function, and detailed description of these components is omitted.
In comparison with the first embodiment, in the present embodiment, the rotational connecting structure of the multiple degree of freedom guide mechanism M is disposed closer to the base guide B than the terminal E, or, in other words, the entire terminal E itself does not include a portion that can rotate relatively, but two rotational connecting structures are disposed within the differential assembly a.
In this embodiment, each differential assembly a includes a differential member first portion A1 and a differential member second portion A2 that are rotatable relative to each other. The terminal guides (terminal first guides Eg1 or terminal second guides Eg 2) are formed in the differential element first portion A1, and the secondary first mating members 20a and the secondary second mating members 20b are formed in the differential element second portion A2.
(Third embodiment of Multi-degree-of-freedom guide mechanism M)
A third embodiment of the multiple degree of freedom guide mechanism M according to the present application is described below with reference to fig. 4. The third embodiment is a modification of the first embodiment, the same reference numerals are given to the same or similar components as those in the first embodiment in terms of structure or function, and detailed description of these components is omitted.
In the present embodiment, the rotational axis of the first end piece E1 with respect to the third end piece E3 and the rotational axis of the second end piece E2 with respect to the third end piece E3 are both parallel to the second direction y, so that the third end piece E3 has a translational degree of freedom in the first direction x, the second direction y and the third direction z and a rotational degree of freedom about an axis of rotation parallel to the second direction y.
It should be understood that the specific shape of the third terminal E3 is not limited in the present application, and for example, in the present embodiment, the third terminal E3 may be formed in a bent plate shape in order to facilitate connection of the third terminal E3 with the first terminal E1 and the second terminal E2.
Alternatively, in order to make the terminal E have a relatively stable structure, the connection positions of the third terminal E3 with the first terminal E1 and the second terminal E2 may be located at both ends of the third terminal E3 in the second direction y, respectively.
(Fourth embodiment of Multi-degree-of-freedom guide mechanism M)
A fourth embodiment of the multiple degree of freedom guide mechanism M according to the present application is described below with reference to fig. 5 and 6. The fourth embodiment is a modification of the second embodiment, the same reference numerals are given to the same or similar components as those in the second embodiment in terms of structure or function, and detailed description of these components is omitted.
In the present embodiment, the rotational axis of the differential element first portion A1 with respect to the differential element second portion A2 is parallel to the second direction y, so that the terminal element E has translational degrees of freedom in the first direction x, the second direction y, and the third direction z, and rotational degrees of freedom about a rotational axis parallel to the second direction y.
(Fifth to eighth embodiments of the multiple freedom guide mechanism M)
A fifth embodiment of the multiple degree of freedom guide mechanism M according to the present application is described with reference to fig. 7. The fifth embodiment is a modification of the first embodiment.
In the first embodiment, the four primary moving members 10 in the two differential assemblies a each move under the guide of the same base guide B. In the present embodiment, the primary moving members 10 belonging to the two differential assemblies a are respectively moved under the guidance of two different base guides B.
Optionally, two base guides B are arranged at a distance from each other in the second direction y and/or two base guides B are arranged at a distance from each other in the third direction z.
Alternatively, the guiding directions of the two base guides B are parallel to each other.
The arrangement makes the multi-degree-of-freedom guiding mechanism M occupy smaller volume in the first direction x, or in the same space, the multi-degree-of-freedom guiding mechanism M has larger movable space in the first direction x.
Similarly, the sixth to eighth embodiments of the multiple degree of freedom guide mechanism M described below each modify the arrangement of the differential assembly a on the base guide B in the previous embodiments.
Fig. 8 shows a sixth embodiment of the multiple degree of freedom guide mechanism M, which is a modification of the second embodiment.
Fig. 9 and 10 show a seventh embodiment of the multi-degree-of-freedom guide mechanism M, which is a modification of the third embodiment. In addition to the different arrangement of the base guides B, in this embodiment the axes of rotation of the first and second end pieces E1, E2 relative to the third end piece E3 are parallel to the first direction x, so that the third end piece E3 has a translational degree of freedom in the first, second and third directions x, y and z and a rotational degree of freedom about an axis of rotation parallel to the first direction x.
Fig. 11 and 12 show an eighth embodiment of the multi-degree-of-freedom guide mechanism M, which is a modification of the fourth embodiment. In addition to the different arrangement of the basic guides B, in this embodiment the rotational axis of the differential element first part A1 relative to the differential element second part A2 is parallel to the first direction x, so that the termination E has translational degrees of freedom in the first direction x, the second direction y and the third direction z and rotational degrees of freedom about the rotational axis parallel to the first direction x.
(Ninth embodiment of Multi-degree-of-freedom guide mechanism M)
A ninth embodiment of the multiple degree of freedom guide mechanism M according to the present application is described below with reference to fig. 13 to 15. The ninth embodiment is a modification of the first embodiment, the same reference numerals are given to the same or similar components as those in the first embodiment in terms of structure or function, and detailed description of these components is omitted.
In the present embodiment, the multiple degree of freedom guide mechanism M is not provided with a rotation structure, and the terminal E has three translational degrees of freedom in the first direction x, the second direction y, and the third direction z.
Alternatively, in the present embodiment, the primary moving members 10 belonging to the two differential assemblies a are respectively moved under the guidance of two different base guides B, and the terminal member E is sandwiched between the two base guides B.
It should be understood that in other possible embodiments, all four primary movers 10 of two differential assemblies a can also move on the same base guide B.
Next, referring to fig. 16 to 18, a multi-degree-of-freedom guide formed by the multi-degree-of-freedom guide mechanism M described above will be described.
(First embodiment of Multi-degree-of-freedom guide device)
A first embodiment of the multiple degree of freedom guide according to the application is described with reference to fig. 16.
The multiple degree of freedom guide device includes two multiple degree of freedom guide mechanisms M according to the present application (in this embodiment, the ninth embodiment of the multiple degree of freedom guide mechanism M is embodied), and includes one bridge assembly C. The two multi-degree-of-freedom guide mechanisms M are disposed at a distance in the second direction y.
The bridge assembly C is rotatably connected to the two terminals E of the two multi-degree-of-freedom guide mechanisms M. At each rotational connection, the bridge assembly C can be rotated about two axes of rotation which are not parallel to one another with respect to the terminal element E connected thereto, the arrows ω1 and ω2 in the figure respectively showing two directions of rotation.
Alternatively, the two axes of rotation that are not parallel to each other are perpendicular to each other.
Alternatively, the four base guides B in the present embodiment are fixed to the same stage.
The bridge assembly of the multiple degree of freedom guide according to the present embodiment has three translational degrees of freedom in the first direction x, the second direction y, and the third direction z, and rotational degrees of freedom about an axis of rotation parallel to the first direction x and about an axis of rotation parallel to the third direction z.
(Second embodiment of Multi-degree-of-freedom guide device)
Fig. 17 shows a second embodiment of a multiple degree of freedom guide according to the application.
In the present embodiment, each multiple degree of freedom guide mechanism M uses one base guide B, and two base guides B are disposed at a spacing in the second direction y.
(Third embodiment of Multi-degree-of-freedom guide device)
Fig. 18 shows a third embodiment of a multiple degree of freedom guide according to the application.
In the present embodiment, the same base guide B is used for the two multi-degree-of-freedom guide mechanisms M.
The two multiple degree of freedom guides M at least partially overlap in the first direction x and the terminations E of the multiple degree of freedom guides M are spaced apart in the second direction y.
Alternatively, as shown, two differential assemblies a belonging to one multiple degree of freedom guiding mechanism M enclose two differential assemblies a belonging to the other multiple degree of freedom guiding mechanism M, or in other words, in the first direction x, two differential assemblies a belonging to one multiple degree of freedom guiding mechanism M are respectively located at two sides of two differential assemblies a belonging to the other multiple degree of freedom guiding mechanism M. The arrangement mode enables the layout of the multi-degree-of-freedom guiding device in the first direction x to be compact, and the occupied space is small.
It should be understood that the two multiple degree of freedom guiding mechanisms M at least partially overlap in the first direction x is not limited to one multiple degree of freedom guiding mechanism M being sandwiched between the other multiple degree of freedom guiding mechanisms M, but may be in a form in which both are staggered with each other.
It should be appreciated that the embodiments of the multiple degree of freedom guide mechanism M described above, as well as the embodiments of the multiple degree of freedom guide device and portions of aspects or features thereof, may be suitably combined. For example, in the case where the multi-degree-of-freedom guide mechanism M in the multi-degree-of-freedom guide apparatus uses the aforementioned first to eighth embodiments, the bridge assembly C may also have a third degree of freedom of rotation, that is, the bridge assembly C has three degrees of translational freedom and three degrees of rotational freedom.
Some advantageous effects of the above-described embodiments of the present application are briefly described below.
(I) The multi-degree-of-freedom guiding mechanism M and the multi-degree-of-freedom guiding device can realize multiple degrees of freedom of the terminal through driving in one direction, and the multi-degree-of-freedom guiding mechanism M and the multi-degree-of-freedom guiding device are stable in structure, simple in driving, high in control precision and high in reliability.
(Ii) The multi-degree-of-freedom guide mechanism M and the multi-degree-of-freedom guide device according to the present application have various modifications, and can be adapted to different operation spaces.
It should be understood that the above-described embodiments are merely exemplary and are not intended to limit the present application. Those skilled in the art can make various modifications and changes to the above-described embodiments without departing from the scope of the present application. For example, the number of the cells to be processed,
(I) The terminal E according to the present application is not meant to be the final output of a mechanism or device, but may be a platform for mounting other actuating components, such as a manipulator or a medical instrument, etc., depending on the specific application of the mechanism or device.
(Ii) The first guide direction D1, the second guide direction D2, the third guide direction D3, the fourth guide direction D4, and the guide direction of the base guide B may be straight or curved.
(Iii) The translation referred to by the application is relative rotation, and can be translation along a straight line direction or translation along a curve.
Claims (14)
- A multi-degree-of-freedom guiding mechanism is characterized by comprising a basic guiding piece (B), a terminal piece (E) and two differential assemblies(A) The differential assembly (A) connects the base guide (B) and the terminal (E) which have at least three translational degrees of freedom in a first direction (x), a second direction (y) and a third direction (z) perpendicular to each other,Each differential assembly (A) being displaceable in the first direction (x) and the second direction (y), both differential assemblies (A) comprising a terminal first guide (Eg 1) and a terminal second guide (Eg 2), respectively, the terminal (E) comprising a terminal first counterpart (Em 1) and a terminal second counterpart (Em 2), the terminal first counterpart (Em 1) being reciprocable in a first guide direction (D1) under the guidance of the terminal first guide (Eg 1), the terminal second counterpart (Em 2) being reciprocable in a second guide direction (D2) under the guidance of the terminal second guide (Eg 2), the first guide direction (D1) and the second guide direction (D2) being non-parallel to each other and to the third direction (z),Each differential assembly (A) comprising two primary moving parts (10) and one secondary moving part (20), said primary moving parts (10) being translatable in relation to said primary guiding part (B) in said first direction (x) under the guidance of said primary guiding part (B), said two primary moving parts (10) comprising a primary first moving part (11) and a primary second moving part (12), said primary first moving part (11) being formed with a primary first guiding part (11 g), said primary second moving part (12) being formed with a primary second guiding part (12 g), said secondary moving part (20) being formed with a secondary first mating part (20 a) and a secondary second mating part (20B), said secondary first mating part (20 a) being reciprocable in a third guiding direction (D3) along said primary second guiding part (11 g), said secondary second mating part (20B) being reciprocable in a fourth direction (4D) along said primary second guiding part (12 g) in said third direction (4D) and in said fourth direction (4D) being non-parallel to each other, said second direction (4D) being formed with said second direction (4D) and said third direction (4D),By driving at least three of the four primary moving members (10), control of the position of the terminal member (E) can be achieved.
- The multiple degree of freedom guide mechanism of claim 1 wherein the termination (E) comprises a first termination (E1), a second termination (E2) and a third termination (E3),The first end piece (E1) and the second end piece (E2) are both rotatably connected to the third end piece (E3) relative to the third end piece (E3),The terminal first mating piece (Em 1) is formed to the first terminal piece (E1), and the terminal second mating piece (Em 2) is formed to the second terminal piece (E2).
- The multiple degree of freedom guiding mechanism of claim 2 wherein the rotational axis of the first and second end pieces (E1, E2) relative to the third end piece (E3) is either parallel to the third direction (z), orThe axes of rotation of the first (E1) and second (E2) end pieces relative to the third end piece (E3) are either parallel to the second direction (y), orThe axes of rotation of the first (E1) and second (E2) terminal members with respect to the third terminal member (E3) are both parallel to the first direction (x).
- The multiple degree of freedom guide mechanism of claim 1 wherein each of the differential assemblies (a) includes a differential member first portion (A1) and a differential member second portion (A2) that are rotatable relative to each other,The terminal first guide (Eg 1) or the terminal second guide (Eg 2) is formed at the differential element first portion (A1), and the secondary first mating element (20 a) and the secondary second mating element (20 b) are formed at the differential element second portion (A2).
- The multiple degree of freedom guiding mechanism of claim 4 wherein the rotational axis of the differential first portion (A1) relative to the differential second portion (A2) is parallel to the third direction (z), orThe axis of rotation of the first differential part (A1) relative to the second differential part (A2) is parallel to the second direction (y), orThe rotational axis of the differential first portion (A1) relative to the differential second portion (A2) is parallel to the first direction (x).
- A multiple degree of freedom guide mechanism according to any one of claims 1 to 5 wherein all of the primary moving members (10) move under the guidance of the same base guide member (B).
- A multiple degree of freedom guide mechanism according to any one of claims 1 to 5 wherein there are two base guides (B), the two primary moving members (10) belonging to one of the two differential assemblies (a) moving under the guidance of one of the base guides (B), the two primary moving members (10) belonging to the other of the two differential assemblies (a) moving under the guidance of the other base guide (B).
- The multiple degree of freedom guide mechanism of claim 7 wherein two of the base guides (B) are spaced apart in the second direction (y), and/orTwo of the base guides (B) are spaced apart in the third direction (z).
- A multi-degree of freedom guide mechanism according to claim 8 wherein the guide directions of the two base guides (B) are parallel to each other,
- A multi-degree of freedom guide mechanism according to claim 7 wherein the termination (E) is sandwiched between two of the base guides (B).
- A multiple degree of freedom guiding device characterized by comprising a bridge assembly (C) and two multiple degree of freedom guiding mechanisms (M) according to any of claims 1 to 10,The bridge assembly (C) is rotatably connected to the end pieces (E) of the two multi-degree-of-freedom guide mechanisms (M) at two connection positions, respectively, and at each connection position, the bridge assembly (C) can rotate relative to the end pieces (E) about two rotation axes which are not parallel to each other.
- The multiple degree of freedom guide of claim 11 wherein the two axes of rotation that are non-parallel to one another are perpendicular to one another.
- Multi-degree of freedom guiding device according to claim 11 or 12, characterized in that two multi-degree of freedom guiding mechanisms (M) at least partially overlap in the first direction (x).
- A multiple degree of freedom guide according to claim 13, wherein the primary moving members (10) of both multiple degree of freedom guides (M) are both moved under the guidance of the same base guide (B).
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| PCT/CN2021/100891 WO2022261934A1 (en) | 2021-06-18 | 2021-06-18 | Multi-degree-of-freedom guiding mechanism and multi-degree-of-freedom guiding device |
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| CN202180101457.XA Pending CN117940253A (en) | 2021-06-18 | 2021-06-18 | Multi-degree-of-freedom guiding mechanism and multi-degree-of-freedom guiding device |
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| WO (1) | WO2022261934A1 (en) |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| US7673537B2 (en) * | 2007-06-01 | 2010-03-09 | Socovar, Société En Commandite | Parallel manipulator |
| CN100488735C (en) * | 2007-08-16 | 2009-05-20 | 上海交通大学 | Two-degree-of-freedom plane parallel robot mechanism |
| CN100553899C (en) * | 2008-03-31 | 2009-10-28 | 浙江理工大学 | A kind of fork four-freedom parallel connection robot mechanism |
| CN102152300A (en) * | 2011-02-25 | 2011-08-17 | 天津大学 | Linear-driven high-speed planar parallel mechanical arm |
| WO2014176337A1 (en) * | 2013-04-23 | 2014-10-30 | Northwestern University | Translational parallel manipulators and methods of operating the same |
| CN103273356B (en) * | 2013-04-28 | 2015-09-30 | 清华大学 | A kind of multi-axes synchronous hybrid device based on four-freedom parallel mechanism |
| CN105729450B (en) * | 2016-05-09 | 2018-04-20 | 中国科学院宁波材料技术与工程研究所 | Four-freedom parallel mechanism |
| CN110355737B (en) * | 2018-04-10 | 2022-06-10 | 苏州迈澜医疗科技有限公司 | Translation mechanism and multi-degree-of-freedom guide mechanism with same |
| CN110355738B (en) * | 2018-04-10 | 2021-12-24 | 苏州迈澜医疗科技有限公司 | Multi-degree-of-freedom guide mechanism |
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| WO2022261934A1 (en) | 2022-12-22 |
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