WO2018108184A1 - 不动点机构 - Google Patents

不动点机构 Download PDF

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Publication number
WO2018108184A1
WO2018108184A1 PCT/CN2017/116826 CN2017116826W WO2018108184A1 WO 2018108184 A1 WO2018108184 A1 WO 2018108184A1 CN 2017116826 W CN2017116826 W CN 2017116826W WO 2018108184 A1 WO2018108184 A1 WO 2018108184A1
Authority
WO
WIPO (PCT)
Prior art keywords
link member
shaft structure
runner
angle
rotating shaft
Prior art date
Application number
PCT/CN2017/116826
Other languages
English (en)
French (fr)
Inventor
何超
袁帅
戴婷萍
Original Assignee
微创（上海）医疗机器人有限公司
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by 微创（上海）医疗机器人有限公司 filed Critical 微创（上海）医疗机器人有限公司
Priority to BR112019011770-9A priority Critical patent/BR112019011770B1/pt
Priority to US16/470,157 priority patent/US11148302B2/en
Priority to EP17880230.2A priority patent/EP3556520B1/en
Publication of WO2018108184A1 publication Critical patent/WO2018108184A1/zh

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Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Programme-controlled manipulators
    • B25J9/10—Programme-controlled manipulators characterised by positioning means for manipulator elements
    • B25J9/106—Programme-controlled manipulators characterised by positioning means for manipulator elements with articulated links
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J18/00—Arms
    • B25J18/007—Arms the end effector rotating around a fixed point
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Programme-controlled manipulators
    • B25J9/10—Programme-controlled manipulators characterised by positioning means for manipulator elements
    • B25J9/104—Programme-controlled manipulators characterised by positioning means for manipulator elements with cables, chains or ribbons
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
    • A61B34/30—Surgical robots
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B90/00—Instruments, implements or accessories specially adapted for surgery or diagnosis and not covered by any of the groups A61B1/00 - A61B50/00, e.g. for luxation treatment or for protecting wound edges
    • A61B90/50—Supports for surgical instruments, e.g. articulated arms
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J17/00—Joints
    • B25J17/02—Wrist joints
    • B25J17/0258—Two-dimensional joints
    • B25J17/0266—Two-dimensional joints comprising more than two actuating or connecting rods
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J5/00—Manipulators mounted on wheels or on carriages
    • B25J5/007—Manipulators mounted on wheels or on carriages mounted on wheels
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Programme-controlled manipulators
    • B25J9/10—Programme-controlled manipulators characterised by positioning means for manipulator elements
    • B25J9/106—Programme-controlled manipulators characterised by positioning means for manipulator elements with articulated links
    • B25J9/1065—Programme-controlled manipulators characterised by positioning means for manipulator elements with articulated links with parallelograms
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
    • A61B34/30—Surgical robots
    • A61B2034/302—Surgical robots specifically adapted for manipulations within body cavities, e.g. within abdominal or thoracic cavities
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B90/00—Instruments, implements or accessories specially adapted for surgery or diagnosis and not covered by any of the groups A61B1/00 - A61B50/00, e.g. for luxation treatment or for protecting wound edges
    • A61B90/50—Supports for surgical instruments, e.g. articulated arms
    • A61B2090/506—Supports for surgical instruments, e.g. articulated arms using a parallelogram linkage, e.g. panthograph
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J3/00—Manipulators of master-slave type, i.e. both controlling unit and controlled unit perform corresponding spatial movements
    • B25J3/02—Manipulators of master-slave type, i.e. both controlling unit and controlled unit perform corresponding spatial movements involving a parallelogram coupling of the master and slave units

Definitions

  • the invention relates to the technical field of mechanical structures, in particular to a fixed point mechanism, and more particularly to a fixed point mechanism with two degrees of freedom, which can be applied to the field of microtrauma surgical robots, and in particular Applied to the field of tool arm structures for surgical robots.
  • Microtrauma surgery refers to a new technique of performing surgery in the human body through laparoscopic, thoracoscopic and other endoscopes. It has the advantages of less trauma, less pain, less bleeding, etc., which can effectively reduce the recovery time of patients. Discomfort and avoid some of the harmful side effects of traditional surgery.
  • Early micro-trauma surgery due to the limitation of the body surface pores, caused the doctor's degree of freedom of surgical tools to be relatively reduced, and the operation direction also has the opposite direction of the desired direction, which increases the difficulty for the doctor to perform the operation, so the doctor only has to go through Long-term related training can be used to perform surgical operations more smoothly.
  • microtrauma surgery robot enables the doctor to observe the tissue characteristics of the patient's body through a two-dimensional or three-dimensional display device at the main console, and manipulates the robot to remotely manipulate the robotic arm and the surgical tool device on the robot to complete the operation. operating. It enables doctors to perform microtrauma surgery in the same way and in the same way as traditional surgery, greatly reducing the difficulty of doctors in performing microtrauma surgery, improving the efficiency and safety of surgery, and enabling remote surgery.
  • the implementation has made a breakthrough. In view of the superiority of surgical robots, countries all over the world are actively doing research in related fields and have produced some products and prototypes.
  • the portion of the hole on which the surgical tool device is placed in contact with the patient's body should be a stationary point.
  • the robot arm of the patient-end robot should have a fixed point mechanism.
  • the basic principle model of the existing fixed point mechanism is basically a double parallelogram fixed point principle, which can construct two mutually parallel parallelograms through the rod member, thereby forming a fixed point at a specific position.
  • Chinese patents CN101919739A and CN102813553A use fixed point mechanisms constructed by such principles.
  • the double parallelogram fixed point mechanism itself, the fixed point mechanism formed has only one degree of freedom, that is, the degree of freedom of rotation about the fixed point.
  • the microtrauma surgical robot also needs to have a degree of freedom of movement in the plane of the mechanism, that is, the degree of freedom of expansion and contraction.
  • the present invention provides a fixed point mechanism including: an active part, a driven part, and a transmission part, wherein
  • the active component includes: a first link member, a second link member, a third link member, a fourth link member, and a slider device, wherein the first end of the first link member passes the first
  • the shaft structure forms a rotational connection with the first end of the second link member, and the second end of the second link member is rotationally coupled to the slider device by a second shaft structure, the third link member Forming a sliding connection with the slider device, and the third link member passes through the axis of the second shaft structure, and the second end of the third link member passes through the third shaft structure and the fourth a second end of the link member forms a rotational connection, and a first end of the fourth link member forms a rotational connection with the first link member through a fourth pivot structure;
  • the driven member includes: a fifth link member, a sixth link member, and a seventh link member that are sequentially connected, wherein the first end of the fifth link member passes through the fifth shaft structure and The fourth link member forms a rotational connection, the second end of the fifth link member forms a rotational connection with the sixth link member through a sixth pivot structure, and the second end of the sixth link member passes the a seven-rotor structure forming a rotational connection with the second end of the seventh link member, the first end of the sixth link member being rotationally coupled to the second end of the first link member by an eighth pivot structure ;
  • the transmission component includes: a first runner structure, a second runner structure, a third runner structure, a fourth runner structure, and a flexible member, wherein
  • the first rotor structure and the third link member rotate synchronously around the third rotating shaft structure, and the fourth rotating wheel structure and the seventh connecting rod member are synchronized around the seventh rotating shaft structure.
  • Rotating, the first runner structure is equal in diameter to the fourth runner structure,
  • the second rotating wheel structure is sleeved on the fifth rotating shaft structure
  • the third rotating wheel structure is sleeved on the sixth rotating shaft structure
  • the second rotating wheel structure and the third rotating wheel structure are in diameter
  • the flexible members are fixedly coupled to the first runner structure and the fourth runner structure, respectively, and are bypassed from a side of the second runner structure and the third runner structure away from the seventh link. Forming a transmission closed loop;
  • the first rotor structure and the third link member rotate synchronously around the third rotating shaft structure, and the fourth rotating wheel structure and the seventh connecting rod member are synchronized around the seventh rotating shaft structure.
  • Rotating, the first runner structure is equal in diameter to the fourth runner structure,
  • the second rotating wheel structure is sleeved on the fourth rotating shaft structure
  • the third rotating wheel structure is sleeved on the eighth rotating shaft structure
  • the second rotating wheel structure and the third rotating wheel structure diameter are Equally, the flexible members are fixedly coupled to the first runner structure and the fourth runner structure, respectively, and are bypassed from a side of the second runner structure and the third runner structure away from the seventh link. Forming a transmission closed loop;
  • connection of the fourth shaft structure, the fifth shaft structure, the sixth shaft structure and the axis of the eighth shaft structure forms a parallelogram structure
  • the third link member and the seventh link member are both straight rods
  • the axial distance between the first rotating shaft structure and the fourth rotating shaft structure and the axial distance between the first rotating shaft structure and the eighth rotating shaft structure have a first proportional value
  • the axial distance between the axial center distance of the fourth rotating shaft structure and the axial center between the eighth rotating shaft structure and the seventh rotating shaft structure has a second ratio value, and the first proportional value and the second proportional value are configured to be equal;
  • a shaft connection of the fifth shaft structure and the fourth shaft structure forms a first line
  • the shaft connection of the fourth shaft structure and the third shaft structure forms a second line
  • the first line and the second line form a first angle
  • the axis connection of the second shaft structure and the third shaft structure form a third line
  • the third line and the seventh line
  • the rod member forms a second angle
  • the axial connection of the first shaft structure and the fourth shaft structure forms a fourth line
  • the shaft connection of the first shaft structure and the eighth shaft structure is formed a fifth connection
  • the fourth connection and the fifth connection form a third angle
  • the first angle, the second angle, and the third angle are configured to be equal.
  • the first angle is -30 to 30 degrees.
  • the first angle is 0°, -15° or 15°.
  • the first ratio is 1/12 to 1/2.
  • the second reel structure and the third revolving structure are both a single wheel, or the second reel structure and the third revolver
  • the structure is a set of single wheels.
  • the present invention also provides a fixed point mechanism, the fixed point mechanism comprising: an active part, a driven part and a transmission part, wherein
  • the active component includes: a first link member, a second link member, a third link member, a fourth link member, and a slider device, wherein the first end of the first link member passes the first
  • the shaft structure forms a rotational connection with the first end of the second link member, and the second end of the second link member is rotationally coupled to the slider device by a second shaft structure, the third link member Forming a sliding connection with the slider device, and the third link member passes through the axis of the second shaft structure, and the second end of the third link member passes through the third shaft structure and the fourth a second end of the link member forms a rotational connection, and a first end of the fourth link member forms a rotational connection with the first link member through a fourth pivot structure;
  • the driven member includes: a fifth link member, a sixth link member, and a seventh link member that are sequentially connected, wherein the first end of the fifth link member passes through the fifth shaft structure and The fourth link member forms a rotational connection, the second end of the fifth link member forms a rotational connection with the sixth link member through a sixth pivot structure, and the second end of the sixth link member passes the a seven-rotor structure forming a rotational connection with the second end of the seventh link member, the first end of the sixth link member being rotationally coupled to the second end of the first link member by an eighth pivot structure ;
  • the transmission component includes: a first runner structure, a second runner structure, a third runner structure, a fourth runner structure, and a flexible member, wherein
  • the first rotor structure and the third link member rotate synchronously around the third rotating shaft structure, and the fourth rotating wheel structure and the seventh connecting rod member are synchronized around the seventh rotating shaft structure.
  • Rotating, the first runner structure is equal in diameter to the fourth runner structure,
  • the second rotating wheel structure is sleeved on the fifth rotating shaft structure
  • the third rotating wheel structure is sleeved on the sixth rotating shaft structure
  • the second rotating wheel structure and the third rotating wheel structure are in diameter
  • the flexible members are fixedly coupled to the first runner structure and the fourth runner structure, respectively, and are bypassed from a side of the second runner structure and the third runner structure away from the seventh link. Forming a transmission closed loop;
  • the first rotor structure and the third link member rotate synchronously around the third rotating shaft structure, and the fourth rotating wheel structure and the seventh connecting rod member are synchronized around the seventh rotating shaft structure.
  • Rotating, the first runner structure is equal in diameter to the fourth runner structure,
  • the second rotating wheel structure is sleeved on the fourth rotating shaft structure
  • the third rotating wheel structure is sleeved on the eighth rotating shaft structure
  • the second rotating wheel structure and the third rotating wheel structure diameter are Equally, the flexible members are fixedly coupled to the first runner structure and the fourth runner structure, respectively, and are bypassed from a side of the second runner structure and the third runner structure away from the seventh link. Forming a transmission closed loop;
  • connection of the fourth shaft structure, the fifth shaft structure, the sixth shaft structure and the axis of the eighth shaft structure forms a parallelogram structure
  • the third link member includes a fifth member portion coupled to the third pivot structure and a sixth member portion slidably coupled to the slider device, the sixth member portion being a straight rod, the fifth member a member portion is fixedly coupled to the sixth member portion, a distance between the third shaft structure and the sixth member portion forms a first line segment; and the seventh link member includes a seventh shaft portion a seventh member portion and an eighth member portion of the structural connection, the eighth member portion being a straight rod, the seventh member portion being fixed to the eighth member portion, the seventh shaft structure being to the eighth The distance between the component parts forms a second line segment;
  • the axial distance between the first rotating shaft structure and the fourth rotating shaft structure and the axial distance between the first rotating shaft structure and the eighth rotating shaft structure have a first proportional value
  • the third rotating shaft structure and the a second ratio value exists between a pivot distance of the fourth shaft structure and an axial distance between the eighth shaft structure and the seventh shaft structure
  • a third ratio exists between the first line segment and the second line segment a value, the first ratio value, the second ratio value, and the third ratio value are configured to be equal
  • a shaft connection of the fifth shaft structure and the fourth shaft structure forms a first line
  • the shaft connection of the fourth shaft structure and the third shaft structure forms a second line
  • the first line and the second line form a first angle
  • a second angle is formed between the third link member and the seventh link member
  • the first shaft structure and the fourth shaft The axial connection of the structure forms a fourth line
  • the first shaft structure and the axis line of the eighth shaft structure form a fifth line
  • the fourth line and the fifth line form a third angle
  • the first angle, the second angle, and the third angle are configured to be equal.
  • the first angle is -30°-30°.
  • the first angle is 0°, -15° or 15°.
  • the first ratio is 1/12 to 1/2.
  • the fifth component part is a straight rod, and the fifth component part forms a fourth angle with the sixth component part, and the seventh component part is also always a rod, and the seventh member portion forms a fifth angle with the eighth member portion, the fourth angle and the fifth angle being configured to be equal.
  • the fourth angle is 0-180°.
  • the present invention also provides a fixed point mechanism, the fixed point mechanism comprising: an active part, a driven part and a transmission part, wherein
  • the active component includes: a first link member, a second link member, a third link member, a fourth link member, and a slider device, wherein the first end of the first link member passes the first
  • the shaft structure forms a rotational connection with the first end of the second link member, and the second end of the second link member is rotatably coupled to the third link member by a second shaft structure, the fourth link a second end of the rod member is rotatably coupled to the slider device by a third shaft structure, the third link member forming a sliding connection with the slider device, and the third link member passing the third shaft a shaft center of the structure, the first end of the fourth link member is formed in a rotational connection with the first link member by a fourth shaft structure;
  • the driven member includes: a fifth link member, a sixth link member, and a seventh link member that are sequentially connected, wherein the first end of the fifth link member passes through the fifth shaft structure and The fourth link member forms a rotational connection, the second end of the fifth link member forms a rotational connection with the sixth link member through a sixth pivot structure, and the second end of the sixth link member passes the a seven-rotor structure forming a rotational connection with the second end of the seventh link member, the first end of the sixth link member being rotationally coupled to the second end of the first link member by an eighth pivot structure ;
  • the transmission component includes: a first runner structure, a second runner structure, a third runner structure, a fourth runner structure, and a flexible member, wherein
  • the first rotor structure and the third link member rotate synchronously around the third rotating shaft structure, and the fourth rotating wheel structure and the seventh connecting rod member are synchronized around the seventh rotating shaft structure.
  • Rotating, the first runner structure is equal in diameter to the fourth runner structure,
  • the second rotating wheel structure is sleeved on the fifth rotating shaft structure
  • the third rotating wheel structure is sleeved on the sixth rotating shaft structure
  • the second rotating wheel structure and the third rotating wheel structure are in diameter
  • the flexible members are fixedly coupled to the first runner structure and the fourth runner structure, respectively, and are bypassed from a side of the second runner structure and the third runner structure away from the seventh link. Forming a transmission closed loop;
  • the first rotor structure and the third link member rotate synchronously around the third rotating shaft structure, and the fourth rotating wheel structure and the seventh connecting rod member are synchronized around the seventh rotating shaft structure.
  • Rotating, the first runner structure is equal in diameter to the fourth runner structure,
  • the second rotating wheel structure is sleeved on the fourth rotating shaft structure
  • the third rotating wheel structure is sleeved on the eighth rotating shaft structure
  • the second rotating wheel structure and the third rotating wheel structure diameter are Equally, the flexible members are fixedly coupled to the first runner structure and the fourth runner structure, respectively, and are bypassed from a side of the second runner structure and the third runner structure away from the seventh link. Forming a transmission closed loop;
  • connection of the fourth shaft structure, the fifth shaft structure, the sixth shaft structure and the axis of the eighth shaft structure forms a parallelogram structure
  • the third link member and the seventh link member are both straight rods
  • the axial distance between the first rotating shaft structure and the fourth rotating shaft structure and the axial distance between the first rotating shaft structure and the eighth rotating shaft structure have a first proportional value
  • the axial distance between the axial center distance of the fourth rotating shaft structure and the axial center between the eighth rotating shaft structure and the seventh rotating shaft structure has a second ratio value, and the first proportional value and the second proportional value are configured to be equal;
  • a shaft connection of the fifth shaft structure and the fourth shaft structure forms a first line
  • the shaft connection of the fourth shaft structure and the third shaft structure forms a second line
  • the first line and the second line form a first angle
  • the axis connection of the second shaft structure and the third shaft structure form a third line
  • the third line and the seventh line
  • the rod member forms a second angle
  • the axial connection of the first shaft structure and the fourth shaft structure forms a fourth line
  • the shaft connection of the first shaft structure and the eighth shaft structure is formed a fifth connection
  • the fourth connection and the fifth connection form a third angle
  • the first angle, the second angle, and the third angle are configured to be equal.
  • the present invention also provides a fixed point mechanism, the fixed point mechanism comprising: an active part, a driven part and a transmission part, wherein
  • the active component includes: a first link member, a second link member, a third link member, a fourth link member, and a slider device, wherein the first end of the first link member passes the first
  • the shaft structure forms a rotational connection with the first end of the second link member, and the second end of the second link member is rotatably coupled to the third link member by a second shaft structure, the fourth link a second end of the rod member is rotatably coupled to the slider device by a third shaft structure, the third link member forming a sliding connection with the slider device, the third link member not passing the third a shaft center of the shaft structure, wherein the first end of the fourth link member forms a rotational connection with the first link member through a fourth shaft structure;
  • the driven member includes: a fifth link member, a sixth link member, and a seventh link member that are sequentially connected, wherein the first end of the fifth link member passes through the fifth shaft structure and The fourth link member forms a rotational connection, the second end of the fifth link member forms a rotational connection with the sixth link member through a sixth pivot structure, and the second end of the sixth link member passes the a seven-rotor structure forming a rotational connection with the second end of the seventh link member, the first end of the sixth link member being rotationally coupled to the second end of the first link member by an eighth pivot structure ;
  • the transmission component includes: a first runner structure, a second runner structure, a third runner structure, a fourth runner structure, and a flexible member, wherein
  • the first rotor structure and the third link member rotate synchronously around the third rotating shaft structure, and the fourth rotating wheel structure and the seventh connecting rod member are synchronized around the seventh rotating shaft structure.
  • Rotating, the first runner structure is equal in diameter to the fourth runner structure,
  • the second rotating wheel structure is sleeved on the fifth rotating shaft structure
  • the third rotating wheel structure is sleeved on the sixth rotating shaft structure
  • the second rotating wheel structure and the third rotating wheel structure are in diameter
  • the flexible members are fixedly coupled to the first runner structure and the fourth runner structure, respectively, and are bypassed from a side of the second runner structure and the third runner structure away from the seventh link. Forming a transmission closed loop;
  • the first rotor structure and the third link member rotate synchronously around the third rotating shaft structure, and the fourth rotating wheel structure and the seventh connecting rod member are synchronized around the seventh rotating shaft structure.
  • Rotating, the first runner structure is equal in diameter to the fourth runner structure,
  • the second rotating wheel structure is sleeved on the fourth rotating shaft structure
  • the third rotating wheel structure is sleeved on the eighth rotating shaft structure
  • the second rotating wheel structure and the third rotating wheel structure diameter are Equally, the flexible members are fixedly coupled to the first runner structure and the fourth runner structure, respectively, and are bypassed from a side of the second runner structure and the third runner structure away from the seventh link. Forming a transmission closed loop;
  • connection of the fourth shaft structure, the fifth shaft structure, the sixth shaft structure and the axis of the eighth shaft structure forms a parallelogram structure
  • the third link member is a straight rod, and a distance between the third shaft structure and the third link member forms a first line segment;
  • the seventh link member includes a first connection with the seventh shaft structure a seventh member portion and an eighth member portion, the seventh member portion being fixed to the eighth member portion, the eighth member portion being a straight rod, and the seventh shaft portion to the eighth member portion The distance forms a second line segment;
  • the axial distance between the first rotating shaft structure and the fourth rotating shaft structure and the axial distance between the first rotating shaft structure and the eighth rotating shaft structure have a first proportional value
  • the third rotating shaft structure and the a second ratio value exists between a pivot distance of the fourth shaft structure and an axial distance between the eighth shaft structure and the seventh shaft structure
  • a third ratio exists between the first line segment and the second line segment a value, the first ratio value, the second ratio value, and the third ratio value are configured to be equal
  • a shaft connection of the fifth shaft structure and the fourth shaft structure forms a first line
  • the shaft connection of the fourth shaft structure and the third shaft structure forms a second line
  • the first line and the second line form a first angle
  • a second angle is formed between the third link member and the seventh link member
  • the first shaft structure and the fourth shaft The axial connection of the structure forms a fourth line
  • the first shaft structure and the axis line of the eighth shaft structure form a fifth line
  • the fourth line and the fifth line form a third angle
  • the first angle, the second angle, and the third angle are configured to be equal.
  • the fixed point mechanism when a driving torque acts on the first link member or the slider device, the fixed point mechanism can realize a rotational motion around the fixed point; when a driving torque acts on The fourth link member or the sixth link member, the fixed point mechanism can realize the telescopic movement of the relative fixed point; when one driving torque acts on the first link member or the slider device, and the other driving torque When acting on the fourth link member or the sixth link member, the fixed point mechanism can realize a rotational motion about a fixed point and a telescopic motion of a relatively fixed point. That is, the fixed point mechanism has a double degree of freedom of a rotational motion about a fixed point and a telescopic motion of a relatively fixed point.
  • FIG. 1 is a schematic diagram of the principle of a fixed point mechanism according to Embodiment 1 of the present invention.
  • Figure 2 is a schematic view of the fixed point mechanism shown in Figure 1 after movement;
  • FIG. 3 is a schematic diagram of the principle of a fixed point mechanism according to Embodiment 2 of the present invention.
  • Figure 4 is a schematic view of the fixed point mechanism shown in Figure 3 after movement;
  • Figure 5 is a schematic diagram showing the principle of a fixed point mechanism according to a third embodiment of the present invention.
  • FIG. 6 is a schematic diagram of the principle of a fixed point mechanism according to Embodiment 4 of the present invention.
  • FIG. 7 is a schematic diagram of the principle of a fixed point mechanism according to Embodiment 5 of the present invention.
  • FIG. 8 is a schematic diagram showing the principle of a fixed point mechanism according to Embodiment 6 of the present invention.
  • FIG. 9 is a schematic diagram of the principle of a fixed point mechanism according to Embodiment 7 of the present invention.
  • FIG. 10 is a schematic diagram of the principle of a fixed point mechanism according to Embodiment 8 of the present invention.
  • First link member 100, 200, 300, 400, 500, 600, 700, 800;
  • Second link member 101, 201, 301, 401, 501, 601, 701, 801;
  • Third link member 102, 202, 302, 402, 502, 602, 702, 802;
  • Fourth link member 103, 203, 303, 403, 503, 603, 703, 803;
  • a fifth link member 104, 204, 304, 404, 504, 604, 704, 804;
  • a sixth link member 105, 205, 305, 405, 505, 605, 705, 805;
  • a seventh link member 106, 206, 306, 406, 506, 606, 706, 806;
  • Slider device 110, 210, 310, 410, 510, 610, 710, 810;
  • First shaft structure 120, 220, 320, 420, 520, 620, 720, 820;
  • Second shaft structure 121, 221, 321, 421, 521, 621, 721, 821;
  • Third shaft structure 122, 222, 322, 422, 522, 622, 722, 822;
  • Fourth shaft structure 123, 223, 323, 423, 523, 623, 723, 823;
  • the fifth shaft structure 124, 224, 324, 424, 524, 624, 724, 824;
  • Sixth shaft structure 125, 225, 325, 425, 525, 625, 725, 825;
  • the seventh shaft structure 126, 226, 326, 426, 526, 626, 726, 826;
  • Eightth shaft structure 127, 227, 327, 427, 527, 627, 727, 827;
  • First runner structure 130, 230, 330, 430, 530, 630, 730, 830;
  • Second runner structure 131, 231, 331, 431, 531, 631, 731, 831;
  • Third runner structure 132, 232, 332, 432, 532, 632, 732, 832;
  • Fourth runner structure 133, 233, 333, 433, 533, 633, 733, 833;
  • the link member (including the first link member, the second link member, the third link member, the fourth link member, and the fifth link) will be illustrated.
  • the lower end of the rod member, the sixth link member, and the seventh link member is referred to as a first end
  • the upper end is referred to as a second end
  • the proximal end is referred to as a first end
  • the distal end is referred to as a second end.
  • the fixed point mechanism 1 includes an active member, a driven member, and a transmission member.
  • the active component includes: a first link member 100, a second link member 101, a third link member 102, a fourth link member 103, and a slider device 110, wherein the first link The first end (here, the lower end) of the member 100 forms a rotational connection with the first end (here, the proximal end) of the second link member 101 through the first shaft structure 120, the second link member 101 The second end (here, the distal end) is rotatably coupled to the slider device 110 via the second pivot structure 121, the third link member 102 is in sliding connection with the slider device 110, and the first The third link member 102 passes through the axis of the second shaft structure 121, and the second end (here, the upper end) of the third link member 102
  • sliding connection means that the third link member 102 and the slider device 110 constitute a rail slider structure, that is, the third link member 102 can only move in the direction in which the slider device 110 is restrained. The same below.
  • the driven member includes: a fifth link member 104, a sixth link member 105, and a seventh link member 106 that are sequentially connected, wherein the first end of the fifth link member 104 (here The lower end) forms a rotational connection with the fourth link member 103 through the fifth pivot structure 124, and the second end (here, the upper end) of the fifth link member 104 passes through the sixth pivot structure 125 and The sixth link member 105 forms a rotational connection, and the second end (here, the distal end) of the sixth link member 105 passes through the seventh pivot structure 126 and the second end of the seventh link member 106 (at The upper end) forms a rotational connection, and the first end (here, the proximal end) of the sixth link member 105 passes through the eighth shaft structure 127 and the second end of the first link member 100 (here The upper end forms a rotational connection.
  • the transmission component includes: a first runner structure 130, a second runner structure 131, a third runner structure 132, a fourth runner structure 133, and a flexible member S1, wherein the first runner structure 130 and the The third link member 102 is synchronously rotated about the third rotating shaft structure 122, the second rotating wheel structure 131 is sleeved on the fifth rotating shaft structure 124, and the third rotating wheel structure 132 is sleeved in the same
  • the sixth rotating shaft structure 125, the fourth rotating wheel structure 133 and the seventh connecting rod member 106 are synchronously rotated about the seventh rotating shaft structure 126, and the flexible member S1 and the first rotating wheel structure respectively 130 and the fourth runner structure 133 are fixedly coupled and bypassed from the side of the second runner structure 131 and the third runner structure 132 away from the seventh link member 106 to form a transmission closed loop, while the first The runner structure 130 is equal in diameter to the fourth runner structure 133, and the third runner structure 132 and
  • the flexible member S1 is "fixedly connected" to the runner structure, it being understood that the flexible member S1 at least partially surrounds the periphery of the runner structure, and there is sufficient friction between the flexible member S1 and the runner structure, so that There is no relative movement between the flexible member S1 and the runner structure, that is, no so-called "slip" phenomenon occurs. The same below.
  • the winding path of the flexible member S1 can form a complementary wrap angle similar to a parallelogram. That is, the flexible member S1 passes from the side of the third runner structure 132 and the second runner structure 131 away from the seventh link member 106, and forms with the third runner structure 132. Forming a first wrap angle ⁇ 1 and forming a second wrap angle ⁇ 2 with the second reel structure 131, and acting on the first link member 100 or the slider device 110 with a driving torque, or driving When the moment acts on the fourth link member 103 or the sixth link member 105, the fluctuation value of the first wrap angle ⁇ 1 and the fluctuating value of the second wrap angle ⁇ 2 are numerically equal.
  • the outward path and the loop of the flexible member S1 are formed on the same side of the third reel structure 132 and the second revolving structure 131, that is, the outward path and the loop of the flexible member S1.
  • the same set of runner structures i.e., the third runner structure 132 and the second runner structure 131) are used, the third runner structure 132 and the second runner structure 131 being equal in diameter.
  • the outward path and the loop of the flexible member S1 may also use different sets of runner structures, that is, at both the third runner structure 132 and the second runner structure 131.
  • the structure of the runner is equivalent to having two sets of runner structures, that is, the third runner structure 132 in FIG. 1 is replaced by the third runner structure A and the third runner structure B, and the second runner structure in FIG.
  • the 131 is replaced by the second revolving structure A and the second revolving structure B, and the third revolving structure A and the second revolving structure A constitute a set of revolving structure, and the third revolving structure B and the second revolving
  • the wheel structure B constitutes another set of runner structure, wherein the outward path of the flexible member S1 can be formed on one side of the third revolving structure A and the second revolving structure A, and the loop of the flexible member S1 can be Formed on one side of the third revolving structure B and the second revolving structure B, the third revolving structure A and the second revolving structure A are equal in diameter, the third revolving structure B and the second
  • the second rotating wheel structure 131 and the fifth rotating shaft structure 124 may be a fixed connection or a rotational connection, that is, between the second rotating wheel structure 131 and the fifth rotating shaft structure 124. Can be rotated relative to each other.
  • the connection of the third runner structure 132 to the sixth spindle structure 125 is also arranged in a similar manner.
  • first runner structure 130 and the third link member 102 may be fixedly coupled to achieve synchronous rotation about the third spindle structure 122.
  • first revolver structure 130 and the third link member 102 are both fixedly coupled to the third reel structure 122 for synchronous rotation about the third reel structure 122.
  • the line connecting the axes of the fourth rotating shaft structure 123, the fifth rotating shaft structure 124, the sixth rotating shaft structure 125 and the eighth rotating shaft structure 127 forms a parallelogram structure.
  • the axial distance between the first rotating shaft structure 120 and the fourth rotating shaft structure 123 and the axial distance between the first rotating shaft structure 120 and the eighth rotating shaft structure 127 have a first proportional value
  • the third rotating shaft There is a second ratio value between the axial distance of the structure 122 and the fourth rotating shaft structure 123 and the axial distance between the eighth rotating shaft structure 127 and the seventh rotating shaft structure 126, the first proportional value and the first
  • the two scale values are configured to be equal.
  • the first ratio value and the second ratio value are equal to ensure the variation of the angle formed by the third link member 102 and the fourth link member 103 in the fixed point mechanism 1 during the movement.
  • the angle formed by the sixth link member 105 and the seventh link member 106 is changed by the same amount.
  • the preferred range of the first ratio value and the second ratio value is 1/12 to 1/2. In this embodiment, the first ratio value and the second ratio value are 1/6.
  • a shaft connecting the fifth shaft structure 124 and the fourth shaft structure 123 forms a first line
  • the shaft connecting the fourth shaft structure 123 and the third shaft structure 122 forms a second line a line
  • the first line and the second line form a first angle (having a first angle value)
  • the axis connection of the second shaft structure 121 and the third shaft structure 122 form a third line
  • the third connecting line and the seventh link member 106 form a second angle (having a second angle value)
  • the axial connection of the first rotating shaft structure 120 and the fourth rotating shaft structure 123 forms a a fourth line
  • the axis connection of the first shaft structure 120 and the eighth shaft structure 127 forms a fifth line
  • the fourth line and the fifth line form a third angle (having a The three angle values); the first angle, the second angle, and the third angle are configured to be equal.
  • the first angle, the second angle, and the third angle are positively and negatively agreed as follows: if the first line rotates counterclockwise around the axis of the fourth shaft structure 123 by a first angle After the value is coincident with the second connecting line, the corresponding first angle is a positive value.
  • the corresponding The first angle is a negative value
  • the first parallel line is a line parallel to the axis of the seventh link member 106 and passing through the axis of the second shaft structure 121, if the third line is clockwise around the second shaft After the axis of the structure 121 rotates the second angle value and coincides with the first parallel line, the corresponding second angle is a positive value, and the counterclockwise surround is a negative value; if the fourth line is clockwise around the first rotating shaft structure 120 When the axis rotates the third angle value and coincides with the fifth line, the corresponding third angle is a positive value, and the counterclockwise surround is a negative value.
  • the mechanism can be realized as a fixed point mechanism.
  • the angle value of an angle in the mechanism is a negative value, but the angle value is equivalent to a positive value (ie, 360° minus the absolute value of the angle value of an angle) and the other two angles
  • the angle values are equal, and the mechanism is also within the scope of the present invention.
  • the first angle is -345°
  • the second angle is +15°
  • the third angle is +15°.
  • the three angles are equal, and an exemplary technical solution is also within the scope of the present invention.
  • the angle value of an angle in the mechanism is a positive value, but the negative value equivalent to the angle value (ie, the absolute value of the angle value of an angle minus 360°) is equal to the angle values of the other two angles.
  • the mechanism is also within the scope of the invention.
  • the first angle is +15°
  • the second angle is -345°
  • the third angle is -345°. It should be considered that the three angles are equal, and an exemplary technical solution is also within the scope of the present invention.
  • the first angle, the second angle, and the third angle preferably range from -30° to 30°.
  • the first angle, the second angle, and the third angle are both set to 0°. That is, the third rotating shaft structure 122, the fourth rotating shaft structure 123 and the fifth rotating shaft structure 124 are on the same straight line, that is, the fourth connecting rod member 103 is a straight rod; the first rotating shaft structure 120 The fourth rotating shaft structure 123 and the eighth rotating shaft structure 127 are located on the same straight line, that is, the first connecting rod member 100 is a straight rod.
  • the third link member 102 is also a straight rod, and the seventh link member 106 is parallel to the third link member 102, that is, the seventh link member 106 and the second shaft structure 121 and The axis connection of the third shaft structure 122 is parallel.
  • the intersection of the extension line of the axial connection of the first shaft structure 120 and the second shaft structure 121 and the seventh link member 106 is a fixed point D1.
  • the first proportional value or the second proportional value is the entire fixed point mechanism 1 during the movement, and the first end (here, the lower end) of the third link member 102 in the active member is compared to the The distance between the movement distance of the second shaft structure 121 and the first end (here, the lower end) of the seventh link member 106 in the driven member is smaller than the movement distance of the fixed point D1.
  • the second link member 101 is used as a reference line (the extension line of the second link member 101 always passes through the fixed point D1), when a driving torque acts on the first link member 100 or
  • the fixed point mechanism 1 can realize a rotational movement about the fixed point D1, for example, between the third link member 102 or the seventh link member 106 and the reference line.
  • the fixed point mechanism 2 includes an active component, a driven component, and a transmission component.
  • the active component includes: a first link member 200, a second link member 201, a third link member 202, a fourth link member 203, and a slider device 210, wherein the first link The first end (here, the lower end) of the member 200 forms a rotational connection with the first end (here, the proximal end) of the second link member 201 through the first shaft structure 220, the second link member 201 The second end (here, the distal end) forms a rotational connection with the slider device 210 through the second pivot structure 221, the third link member 202 forms a sliding connection with the slider device 210, and the third The link member 202 passes through the axis of the second shaft structure 221, and the second end (here, the upper end) of the
  • the driven member includes: a fifth link member 204, a sixth link member 205, and a seventh link member 206 that are sequentially connected, wherein the first end of the fifth link member 204 (here The lower end) forms a rotational connection with the fourth link member 203 through the fifth shaft structure 224, and the second end (here, the upper end) of the fifth link member 204 passes through the sixth shaft structure 225 and The sixth link member 205 forms a rotational connection, and the second end (here, the distal end) of the sixth link member 205 passes through the seventh pivot structure 226 and the second end of the seventh link member 206 (at The upper end) forms a rotational connection, and the first end (here, the proximal end) of the sixth link member 205 passes through the eighth shaft structure 227 and the second end of the first link member 200 (here The upper end forms a rotational connection.
  • the transmission component includes: a first runner structure 230, a second runner structure 231, a third runner structure 232, a fourth runner structure 233, and a flexible member S2, wherein the first runner structure 230 and the The third link member 202 is synchronously rotated about the third rotating shaft structure 222, the second rotating wheel structure 231 is sleeved on the fourth rotating shaft structure 223, and the third rotating wheel structure 232 is sleeved in the same
  • the eighth rotating shaft structure 227, the fourth rotating wheel structure 233 and the seventh connecting rod member 206 are synchronously rotated about the seventh rotating shaft structure 226, and the flexible member S2 and the first rotating wheel structure respectively 230 and the fourth runner structure 233 are fixedly coupled and bypassed from the side of the second runner structure 231 and the third runner structure 232 away from the seventh link member 206 to form a transmission closed loop, while the first The runner structure 230 is equal in diameter to the fourth runner structure 233, and the third runner structure 232
  • the winding path of the flexible member S2 can form a complementary wrap angle similar to a parallelogram. That is, the flexible member S2 passes from the side of the third reel structure 232 and the second reel structure 231 away from the seventh link member 206, and forms with the third reel structure 232. Forming a first wrap angle, and forming a second wrap angle with the second reel structure 231, and acting on the first link member 200 or the slider device 210 with a driving torque, or driving torque In the fourth link member 203 or the sixth link member 205, the variation value of the first wrap angle and the variation value of the second wrap angle are numerically equal.
  • the outward path and the loop of the flexible member S2 are formed on the same side of the third revolving structure 232 and the second revolving structure 231, that is, the outward path and the loop of the flexible member S2.
  • the same set of runner structures i.e., the third runner structure 232 and the second runner structure 231) are used, and the third runner structure 232 and the second runner structure 231 are equal in diameter.
  • the outward path and the loop of the flexible member S2 may also use different sets of runner structures, that is, at both the third runner structure 232 and the second runner structure 231.
  • the structure of the runner is equivalent to having two sets of runner structures, that is, the third runner structure 232 in FIG. 3 is replaced by the third runner structure A and the third runner structure B, and the second runner structure in FIG. 231 is replaced by a second revolving structure A and a second revolving structure B, the third revolving structure A and the second revolving structure A constitute a set of runner structure, and the third revolving structure B and the second revolving
  • the wheel structure B constitutes another set of runner structure, wherein the outward path of the flexible member S2 can be formed on one side of the third runner structure A and the second runner structure A, and the loop of the flexible member S2 can be Formed on one side of the third revolving structure B and the second revolving structure B, the third revolving structure A and the second revolving structure A are equal in diameter, the third revolving structure B and the second
  • the runner structure B has the same diameter, and the
  • the second rotating wheel structure 231 and the fourth rotating shaft structure 223 may be a fixed connection or a rotational connection, that is, between the second rotating wheel structure 231 and the fourth rotating shaft structure 223. Can be rotated relative to each other.
  • the connection of the third runner structure 232 to the eighth spindle structure 227 is also arranged in a similar manner.
  • first runner structure 230 and the third link member 202 may be fixedly coupled to achieve synchronous rotation about the third spindle structure 222.
  • first reel structure 230 and the third link member 202 are both fixedly coupled to the third shaft structure 222 to achieve synchronous rotation about the third shaft structure 222.
  • the line connecting the axes of the fourth rotating shaft structure 223, the fifth rotating shaft structure 224, the sixth rotating shaft structure 225 and the eighth rotating shaft structure 227 forms a parallelogram structure.
  • the axial distance between the first rotating shaft structure 220 and the fourth rotating shaft structure 223 and the axial distance between the first rotating shaft structure 220 and the eighth rotating shaft structure 227 have a first proportional value
  • the third rotating shaft There is a second ratio value between the axial distance of the structure 222 and the fourth rotating shaft structure 223 and the axial distance between the eighth rotating shaft structure 227 and the seventh rotating shaft structure 226, the first proportional value and the first
  • the two scale values are configured to be equal.
  • the first ratio value and the second ratio value are equal to ensure the variation of the angle formed by the third link member 202 and the fourth link member 203 in the fixed point mechanism 2 during the movement.
  • the angle formed by the sixth link member 205 and the seventh link member 206 is equal.
  • the preferred range of the first ratio value and the second ratio value is 1/12 to 1/2. In this embodiment, the first ratio value and the second ratio value are 1/6.
  • a shaft line connecting the fifth shaft structure 224 and the fourth shaft structure 223 forms a first line
  • the shaft connection of the fourth shaft structure 223 and the third shaft structure 222 forms a second line a line
  • the first line and the second line form a first angle (having a first angle value)
  • the axis connection of the second shaft structure 221 and the third shaft structure 222 forms a third line
  • the third connecting line and the seventh link member 206 form a second angle (having a second angle value)
  • the axial connection of the first rotating shaft structure 220 and the fourth rotating shaft structure 223 forms a first a fourth line
  • the first shaft structure 220 and the axis connection of the eighth shaft structure 227 form a fifth line
  • the fourth line and the fifth line form a third angle (having a The three angle values); the first angle, the second angle, and the third angle are configured to be equal.
  • the first angle, the second angle, and the third angle preferably range from -30° to 30°.
  • the first angle, the second angle, and the third angle are both set to 0°. That is, the third rotating shaft structure 222, the fourth rotating shaft structure 223 and the fifth rotating shaft structure 224 are on the same straight line, that is, the fourth connecting rod member 203 is a straight rod; the first rotating shaft structure 220 The fourth rotating shaft structure 223 and the eighth rotating shaft structure 227 are located on the same straight line, that is, the first connecting rod member 200 is a straight rod.
  • the third link member 202 is also a straight rod, and the seventh link member 206 is parallel to the third link member 202. That is, the seventh link member 206 is parallel to the axial connection of the second shaft structure 221 and the third shaft structure 222.
  • the intersection of the extension line of the axial connection of the first shaft structure 220 and the second shaft structure 221 and the seventh link member 206 is a fixed point D2.
  • the first proportional value or the second proportional value, that is, during the movement of the entire fixed point mechanism 2, the first end (here, the lower end) of the third link member 202 in the active member is compared to the The distance between the movement distance of the second shaft structure 221 and the movement distance of the first end (here, the lower end) of the seventh link member 206 in the driven member compared to the fixed point D2.
  • the fixed point mechanism 1 when a driving torque acts on the first link member 200 or the slider device 210, the fixed point mechanism 1 can achieve the winding.
  • the fixed point mechanism 2 can realize the fixed point D2
  • the fixed point mechanism 3 includes an active member, a driven member, and a transmission member.
  • the active component includes: a first link member 300, a second link member 301, a third link member 302, a fourth link member 303, and a slider device 310, wherein the first link
  • the first end (here, the lower end) of the member 300 forms a rotational connection with the first end (here, the proximal end) of the second link member 301 through the first shaft structure 320, the second link member 301
  • the second end (here, the distal end) forms a rotational connection with the slider device 310 through the second pivot structure 321
  • the third link member 302 forms a sliding connection with the slider device 310
  • the The third link member 302 passes through the axis of the second shaft structure 321 , and the second end (here, the upper end)
  • the driven member includes: a fifth link member 304, a sixth link member 305, and a seventh link member 306 that are sequentially connected, wherein the second end of the fifth link member 304 (here The upper end) forms a rotational connection with the sixth link member 305 through the sixth shaft structure 325, and the second end (here, the distal end) of the sixth link member 305 passes through the seventh shaft structure 326 and the first The second end (here, the upper end) of the seven-link member 306 forms a rotational connection.
  • first end (here, the lower end) of the fifth link member 304 forms a rotational connection with the fourth link member 303 through the fifth shaft structure 324
  • first of the sixth link member 305 The end (here, the proximal end) forms a rotational connection with the second end (here the upper end) of the first link member 300 via the eighth pivot structure 327.
  • the transmission component includes: a first runner structure 330, a second runner structure 331, a third runner structure 332, a fourth runner structure 333, and a flexible member S3, wherein the first runner structure 330 and the The third link member 302 is synchronously rotated about the third rotating shaft structure 322, the second rotating wheel structure 331 is sleeved on the fifth rotating shaft structure 324, and the third rotating wheel structure 332 is sleeved in the same
  • the sixth rotating shaft structure 325, the fourth rotating wheel structure 333 and the seventh connecting rod member 306 are synchronously rotated about the seventh rotating shaft structure 326, and the flexible member S3 and the first rotating wheel structure respectively 330 and the fourth runner structure 333 are fixedly coupled and bypassed from the side of the second runner structure 331 and the third runner structure 332 away from the seventh link member 306 to form a transmission closed loop, while the first The runner structure 330 is equal in diameter to the fourth runner structure 333, and the third runner structure 332
  • the winding path of the flexible member S3 can form a complementary wrap angle similar to a parallelogram. That is, the flexible member S3 passes from the side of the third reel structure 332 and the second reel structure 331 away from the seventh link member 306, and forms with the third reel structure 332.
  • the variation value of the first wrap angle and the variation value of the second wrap angle are numerically equal.
  • the outward path and the loop of the flexible member S3 are formed on the same side of the third revolving structure 332 and the second revolving structure 331, that is, the outward path and the loop of the flexible member S3.
  • the same set of runner structures i.e., the third runner structure 332 and the second runner structure 331) are used, and the third runner structure 332 and the second runner structure 331 are equal in diameter.
  • the outward path and the loop of the flexible member S3 may also use different sets of runner structures, that is, at both the third runner structure 332 and the second runner structure 331
  • the structure of the runner is equivalent to having two sets of runner structures, that is, the third runner structure 332 in FIG. 5 is replaced by the third runner structure A and the third runner structure B, and the second runner structure in FIG.
  • the 331 is replaced by a second revolving structure A and a second revolving structure B, the third revolving structure A and the second revolving structure A constitute a set of revolving structure, and the third revolving structure B and the second revolving
  • the wheel structure B constitutes another set of runner structure, wherein the outward path of the flexible member S3 can be formed on one side of the third revolving structure A and the second revolving structure A, and the loop of the flexible member S3 can be Formed on one side of the third revolving structure B and the second revolving structure B, the third revolving structure A and the second revolving structure A are equal in diameter, the third revolving structure B and the second
  • the runner structure B has the same diameter, and the diameters of the third runner structure A and the third runner structure B may be equal or unequal.
  • the second rotating wheel structure 331 and the fifth rotating shaft structure 324 may be a fixed connection or a rotational connection, that is, between the second rotating wheel structure 331 and the fifth rotating shaft structure 324. Can be rotated relative to each other.
  • the third runner structure 332 is also coupled to the sixth spindle structure 325 in a similar manner.
  • first runner structure 330 and the third link member 302 may be fixedly coupled to achieve synchronous rotation about the third spindle structure 322.
  • both the first runner structure 330 and the third link member 302 are fixedly coupled to the third spindle structure 322 for synchronous rotation about the third spindle structure 322.
  • the line connecting the axes of the fourth rotating shaft structure 323, the fifth rotating shaft structure 324, the sixth rotating shaft structure 325 and the eighth rotating shaft structure 327 forms a parallelogram structure.
  • the axial distance between the first rotating shaft structure 320 and the fourth rotating shaft structure 323 and the axial distance between the first rotating shaft structure 320 and the eighth rotating shaft structure 327 have a first proportional value
  • the third rotating shaft There is a second ratio value between the axial distance of the structure 322 and the fourth rotating shaft structure 323 and the axial distance between the eighth rotating shaft structure 327 and the seventh rotating shaft structure 326, the first proportional value and the first
  • the two scale values are configured to be equal.
  • the first ratio value and the second ratio value are equal to ensure the variation of the angle formed by the third link member 302 and the fourth link member 303 in the fixed point mechanism 3 during the movement.
  • the angle formed by the sixth link member 305 and the seventh link member 306 is changed by an equal amount.
  • the preferred range of the first ratio value and the second ratio value is 1/12 to 1/2. In this embodiment, the first ratio value and the second ratio value are 1/6.
  • the shaft connection of the fifth shaft structure 324 and the fourth shaft structure 323 forms a first line
  • the shaft connection of the fourth shaft structure 323 and the third shaft structure 322 forms a second line.
  • a line, the first line and the second line form a first angle a1 (having a first angle value)
  • the axis connection of the second shaft structure 321 and the third shaft structure 322 forms a third line
  • the third line forms a second angle (having a second angle value) with the axis of the seventh link member 306
  • the first shaft structure 320 and the fourth shaft structure 323 form a fourth line
  • the first rotating shaft structure 320 forms a fifth line with the eighth rotating shaft structure 327
  • the fourth connecting line and the fifth connecting line form a third angle a3 (having a third angle value).
  • the first angle a1, the second angle, and the third angle a3 are configured to be equal.
  • the first angle a1, the second angle, and the third angle a3 are positively and negatively agreed as follows: if the first line is rotated counterclockwise around the axis of the fourth shaft structure 323 After the angle value coincides with the second line, the corresponding first angle a1 is a positive value. If the first line rotates clockwise around the axis of the fourth shaft structure 323, the first angle value is coincident with the second line.
  • the corresponding first angle a1 is a negative value
  • the first parallel line is a line parallel to the axis of the seventh link member 306 and passing through the axis of the second shaft structure 321 if the third line is clockwise Rotating the second angle value around the axis of the second shaft structure 321 and then coincident with the first parallel line, the corresponding second angle is a positive value, and the counterclockwise surround is a negative value; if the fourth line is clockwise around the first When the axis of the rotating shaft structure 320 rotates by the third angle value and coincides with the fifth connecting line, the corresponding third angle a3 is a positive value, and the counterclockwise surrounding is a negative value.
  • the mechanism can be realized as a fixed point mechanism. Those skilled in the art should understand that if the angle value of an angle in the mechanism is a negative value, but the angle value is equivalent to a positive value (ie, 360° minus the absolute value of the angle value of an angle) and other angles of view If the values are equal, then the mechanism is also within the scope of the present invention.
  • the angle value of an angle in the mechanism is a positive value, but the negative value equivalent to the angle value (ie, the absolute value of the angle value of an angle minus 360°) is equal to the angle value of the other angles, then
  • the mechanism is also within the scope of the invention.
  • the first angle, the second angle, and the third angle preferably range from -30° to 30°.
  • the first angle a1, the second angle, and the third angle a3 are all positive values, specifically 15°.
  • the fourth link member 303 is a folding bar, specifically, the fourth link member 303 includes a first member portion between the fourth rotating shaft structure 323 and the fifth rotating shaft structure 324, and is located at the third A second member portion between the shaft structure 322 and the fifth shaft structure 324, and the first member portion and the second member portion are fixed at a bend angle. In FIG.
  • the first member portion and the second member portion are both straight rods, and the fifth shaft structure 324 is located below the axial connection of the third shaft structure 322 and the fourth shaft structure 323 (ie, An angle a1 is formed by rotating the first angle counterclockwise around the axis of the fourth shaft structure 423 by a first line and then overlapping the second line.
  • the first link member 300 is a folding rod, and specifically the first link member 300 includes a third member portion between the first shaft structure 320 and the fourth shaft structure 323, and is located at the A fourth member portion between the four-axis structure 323 and the eighth shaft structure 327, and the third member portion and the fourth member portion are fixed at a bending angle.
  • the third member portion and the fourth member portion are all straight rods, and the fourth shaft structure 323 is located on the left side or near the axial connection of the first shaft structure 320 and the eighth shaft structure 327.
  • the end ie, the third angle a3 is formed by rotating the third angle value clockwise around the axis of the third shaft structure 322 by the fourth line and then coincident with the fifth line).
  • the first parallel line is a line parallel to the axis of the seventh link member 306 and passes through the axis of the second shaft structure 321 , and the axis of the third shaft structure 322 is located at the The left side of a parallel line (ie, the second angle is formed by rotating the second angle value clockwise around the axis of the second shaft structure 321 clockwise by the third line to coincide with the first parallel line).
  • the sixth connecting line formed by the axial connection of the first rotating shaft structure 320 and the second rotating shaft structure 321 is rotated at a clockwise end with the axis of the first rotating shaft structure 320 as an end point. After the first angle a1, the axis of the seventh link member 306 intersects, and the intersection of the intersections is the fixed point D3.
  • the fifth rotating shaft structure 324 may also be located above the axial connection of the third rotating shaft structure 322 and the fourth rotating shaft structure 323 (ie, the first angle a1 passes through the first connecting line) It is formed clockwise around the axis of the fourth shaft structure 323 by a first angle value and then coincides with the second line.
  • the fourth rotating shaft structure 323 is located at the right or the far end of the axial connection of the first rotating shaft structure 320 and the eighth rotating shaft structure 327 (ie, the third angle a3 is surrounded by the fourth connecting line counterclockwise)
  • the axis of the shaft structure 320 is rotated by a third angle value and is formed by overlapping with the fifth line.
  • the axis of the third shaft structure 322 is located on the right side of the first parallel line (ie, the second angle passes through the third line)
  • the line is formed counterclockwise around the axis of the second shaft structure 321 by a second angle value and then coincident with the first parallel line).
  • a sixth line formed by the axial connection of the first rotating shaft structure 320 and the second rotating shaft structure 321 is an end point of the first rotating shaft structure 320, and the first angle is rotated counterclockwise. After a1, it intersects with the axis of the seventh link member 306, and the intersection of the intersections is the fixed point D3.
  • the first proportional value or the second proportional value is also during the movement of the entire fixed point mechanism 3, wherein the first end (here, the lower end) of the third link member 302 in the active member is compared to the first The distance between the moving distance of the two-axis structure 321 and the moving distance of the first end (here, the lower end) of the seventh link member 306 in the driven member compared to the fixed point D3.
  • the second link member 301 is regarded as a reference line during operation, and when a driving torque acts on the first link member 300 or the slider device 310, the fixed point mechanism 3 can achieve the winding.
  • the fixed point mechanism 4 includes an active member, a driven member, and a transmission member.
  • the active component includes: a first link member 400, a second link member 401, a third link member 402, a fourth link member 403, and a slider device 410, wherein the first link A first end (here, a lower end) of the member 400 forms a rotational connection with a first end (here, a proximal end) of the second link member 401 through a first shaft structure 420, the second link member 401 a second end (here, a distal end) is in rotational connection with the slider device 410 by a second pivot structure 421, the third link member 402 forming a sliding connection with the slider device 410, and
  • the third link member 402 passes through the axis of the second shaft structure 421, and the second end (here, the upper).
  • the driven member includes: a fifth link member 404, a sixth link member 405, and a seventh link member 406 that are sequentially connected, wherein the first end of the fifth link member 404 (here The lower end) forms a rotational connection with the fourth link member 403 through the fifth shaft structure 424, and the second end (here, the upper end) of the fifth link member 404 passes through the sixth shaft structure 425 and the sixth
  • the link member 405 forms a rotational connection
  • the second end (here, the distal end) of the sixth link member 405 passes through the seventh pivot structure 426 and the second end of the seventh link member 406 (here The upper end) forms a rotational connection
  • the first end (here, the proximal end) of the sixth link member 405 passes through the eighth shaft structure 427 and the second end of the first link member 400 (here, the upper end) Form a rotational connection.
  • the transmission component includes: a first runner structure 430, a second runner structure 431, a third runner structure 432, a fourth runner structure 433, and a flexible member S4, wherein the first runner structure 430 and the The third link member 402 is synchronously rotated about the third rotating shaft structure 422, the second rotating wheel structure 431 is sleeved on the fourth rotating shaft structure 423, and the third rotating wheel structure 432 is sleeved in the same
  • the eighth rotating shaft structure 427, the fourth rotating wheel structure 433 and the seventh connecting rod member 406 are synchronously rotated about the seventh rotating shaft structure 426, and the flexible member S4 and the first rotating wheel structure respectively
  • the 430 and the fourth runner structure 433 are fixedly coupled and bypassed from the side of the second runner structure 431 and the third runner structure 432 away from the seventh link member 406 to form a transmission closed loop, while the first The runner structure 430 is equal in diameter to the fourth runner structure 433, and the third runner structure
  • the winding path of the flexible member S4 can form a complementary wrap angle similar to a parallelogram. That is, the flexible member S4 passes from the side of the third reel structure 432 and the second reel structure 431 away from the seventh link member 406, and forms with the third reel structure 432. Forming a first wrap angle and forming a second wrap angle with the second reel structure 431, and acting on the first link member 400 or the slider device 410 with a driving torque, or driving torque In the fourth link member 403 or the sixth link member 405, the variation value of the first wrap angle and the variation value of the second wrap angle are numerically equal.
  • the outward path and the loop of the flexible member S4 are formed on the same side of the third rotating wheel structure 432 and the second rotating wheel structure 431 away from the seventh connecting member, that is, the flexibility
  • the same set of runner structures i.e., the third runner structure 432 and the second runner structure 431) are used for the outward path and the loop of the member S4, the third runner structure 432 and the second runner structure 431 is equal in diameter.
  • the outward path and the loop of the flexible member S4 may also use different sets of runner structures, that is, at both the third runner structure 432 and the second runner structure 431.
  • the structure of the runner is equivalent to having two sets of runner structures, that is, the third runner structure 432 in FIG. 6 is replaced by the third runner structure A and the third runner structure B, and the second runner structure in FIG. 431 is replaced by a second revolving structure A and a second revolving structure B, and the third revolving structure A and the second revolving structure A constitute a set of revolving structure, and the third revolving structure B and the second revolving
  • the wheel structure B constitutes another set of runner structure, wherein the outward path of the flexible member S4 can be formed on one side of the third revolving structure A and the second revolving structure A, and the loop of the flexible member S4 can be Formed on one side of the third revolving structure B and the second revolving structure B, the third revolving structure A and the second revolving structure A are equal in diameter, the third revolving structure B and the second
  • the runner structure B
  • the second rotating wheel structure 431 and the fourth rotating shaft structure 423 may be a fixed connection or a rotational connection, that is, between the second rotating wheel structure 431 and the fourth rotating shaft structure 423. Can be rotated relative to each other.
  • the third runner structure 432 is also coupled to the eighth spindle structure 427 in a similar manner.
  • first runner structure 430 and the third link member 402 may be fixedly coupled to achieve synchronous rotation about the third spindle structure 422. Still alternatively, both the first runner structure 430 and the third link member 402 are fixedly coupled to the third spindle structure 422 to effect synchronous rotation about the third spindle structure 422.
  • the line connecting the axes of the fourth shaft structure 423, the fifth shaft structure 424, the sixth shaft structure 425 and the eighth shaft structure 427 forms a parallelogram structure.
  • the axial distance between the first rotating shaft structure 420 and the fourth rotating shaft structure 423 and the axial distance between the first rotating shaft structure 420 and the eighth rotating shaft structure 427 have a first proportional value
  • the third rotating shaft There is a second ratio value between the axial distance of the structure 422 and the fourth shaft structure 423 and the axial distance between the eighth shaft structure 427 and the seventh shaft structure 426, the first ratio value and the first
  • the two scale values are configured to be equal.
  • the first ratio value and the second ratio value are equal to ensure the variation of the angle formed by the third link member 402 and the fourth link member 403 in the fixed point mechanism 4 during the movement.
  • the angle formed by the sixth link member 405 and the seventh link member 406 is changed by an equal amount.
  • the preferred range of the first ratio value and the second ratio value is 1/12 to 1/2. In this embodiment, the first ratio value and the second ratio value are 1/6.
  • a shaft line connecting the fifth shaft structure 424 and the fourth shaft structure 423 forms a first line
  • the shaft connection of the fourth shaft structure 423 and the third shaft structure 422 forms a second line a line
  • the first line and the second line form a first angle a1 (having a first angle value)
  • the axis connection of the second shaft structure 421 and the third shaft structure 422 form a third line
  • the third line forms a second angle (having a second angle value) with the axis of the seventh link member 406
  • the first shaft structure 420 and the fourth shaft structure 423 form a fourth line
  • the first shaft structure 420 forms a fifth line with the eighth shaft structure 427
  • the fourth line and the fifth line form a third angle a3 (having a third angle value).
  • the first angle a1, the second angle, and the third angle a3 are configured to be equal.
  • the third link member 402 passes through the axial center of the second rotating shaft structure 421, and the seventh connecting member 406 is formed by the axial connection of the second rotating shaft structure 421 and the third rotating shaft structure 422.
  • the two angles are the angle formed between the seventh link member 406 and the third link member 402.
  • the third link member 402 is a straight rod.
  • the first angle a1, the second angle, and the third angle a3 are positively and negatively agreed as follows: if the first line is rotated counterclockwise around the axis of the fourth shaft structure 423 After the angle value coincides with the second line, the corresponding first angle a1 is a positive value. If the first line rotates clockwise around the axis of the fourth shaft structure 423, the first angle value is coincident with the second line.
  • the corresponding first angle a1 is a negative value
  • the first parallel line is a line parallel to the axis of the seventh link member 406 and passing through the axis of the second shaft structure 421, if the third line is clockwise Rotating the second angle value around the axis of the second shaft structure 421 and then coincident with the first parallel line, the corresponding second angle is a positive value, and the counterclockwise surround is a negative value; if the fourth line is clockwise around the first When the axis of the rotating shaft structure 420 is rotated by the third angle value and coincides with the fifth connecting line, the corresponding third angle a3 is a positive value, and the counterclockwise surrounding is a negative value.
  • the mechanism can be realized as a fixed point mechanism. Those skilled in the art should understand that if the angle value of an angle in the mechanism is a negative value, but the angle value is equivalent to a positive value (ie, 360° minus the absolute value of the angle value of an angle) and other angles of view If the values are equal, then the mechanism is also within the scope of the present invention.
  • the angle value of an angle in the mechanism is a positive value, but the negative value equivalent to the angle value (ie, the absolute value of the angle value of an angle minus 360°) is equal to the angle value of the other angles, then
  • the mechanism is also within the scope of the invention.
  • the first angle, the second angle, and the third angle are preferably in the range of -30 to 30.
  • the first angle a1, the second angle, and the third angle a3 are all positive values, specifically 15°. That is, the fourth link member 403 is a folded rod, specifically, the fourth link member 403 includes a first member portion between the fourth shaft structure 423 and the fifth shaft structure 424, and is located at the third A second member portion between the shaft structure 422 and the fifth shaft structure 424, and the first member portion and the second member portion are fixed at a bend angle. In FIG.
  • the first member portion and the second member portion are both straight rods, and the fifth shaft structure 424 is located below the axial connection of the third shaft structure 422 and the fourth shaft structure 423 (ie, An angle a1 is formed by rotating the first angle counterclockwise around the axis of the fourth shaft structure 423 by a first line and then overlapping the second line.
  • the first link member 400 is a folding rod, and specifically the first link member 400 includes a third member portion between the first shaft structure 420 and the fourth shaft structure 423, and is located at the A fourth member portion between the four-axis structure 423 and the eighth shaft structure 427, and the third member portion and the fourth member portion are fixed at a bend angle.
  • the third member portion and the fourth member portion are both straight rods, and the fourth shaft structure 423 is located on the left side or near the axis line of the first shaft structure 420 and the eighth shaft structure 427.
  • the end ie, the third angle a3 is formed by rotating the third angle value clockwise around the axis of the third shaft structure 422 by the fourth line and then coincident with the fifth line).
  • the first parallel line is a line parallel to the axis of the seventh link member 406 and passing through the axis of the second shaft structure 421, and the axis of the third shaft structure 422 is located at the The left side of a parallel line (ie, the second angle is formed by rotating the second angle value clockwise around the axis of the second shaft structure 421 by the third line and then coincident with the first parallel line).
  • the sixth connecting line formed by the axial connection of the first rotating shaft structure 420 and the second rotating shaft structure 421 is rotated clockwise with the axial center of the first rotating shaft structure 420 as an end point. After the first angle a1, the axis of the seventh link member 406 intersects, and the intersection of the intersections is the fixed point D4.
  • the fifth rotating shaft structure 424 may also be located above the axial connection of the third rotating shaft structure 422 and the fourth rotating shaft structure 423 (ie, the first angle a1 passes through the first connecting line) It is formed clockwise around the axis of the fourth shaft structure 423 by a first angle value and then coincident with the second line.
  • the fourth rotating shaft structure 423 is located at the right or the far end of the axial connection of the first rotating shaft structure 220 and the eighth rotating shaft structure 227 (ie, the third angle a3 is surrounded by the fourth connecting line counterclockwise)
  • the axis of the shaft structure 420 is rotated by a third angle value and is formed by overlapping with the fifth line.
  • the axis of the third shaft structure 422 is located on the right side of the first parallel line (ie, the second angle passes through the third line)
  • the line is formed counterclockwise around the axis of the second shaft structure 421 by a second angle value and then coincident with the first parallel line).
  • a sixth line formed by the axial connection of the first shaft structure 420 and the second shaft structure 421 is an end point of the first shaft structure 420, and the first angle is rotated counterclockwise. After a1, it intersects with the axis of the seventh link member 406, and the intersection of the intersections is the fixed point D4.
  • the first proportional value or the second proportional value is also during the movement of the entire fixed point mechanism 4, wherein the first end (here, the lower end) of the third link member 402 in the active member is compared to the first The distance between the moving distance of the two-axis structure 421 and the moving distance of the first end (here, the lower end) of the seventh link member 406 in the driven member compared to the fixed point D4.
  • the second link member 401 is regarded as a reference line during operation, and when a driving torque acts on the first link member 400 or the slider device 410, the fixed point mechanism 4 can achieve the winding.
  • the fixed point mechanism 4 can achieve the fixed point D4.
  • the fixed point mechanism 5 includes an active member, a driven member, and a transmission member.
  • the active component includes: a first link member 500, a second link member 501, a third link member 502, a fourth link member 503, and a slider device 510, wherein the first link The first end (here, the lower end) of the member 500 forms a rotational connection with the first end (here, the proximal end) of the second link member 501 through the first shaft structure 520, the second link member 501 The second end (here, the distal end) is rotatably coupled to the slider device 510 by a second pivot structure 521, the third link member 502 is in sliding connection with the slider device 510, and the first The third link member 502 passes through the axis of the second shaft structure 521, and the second end (here, the upper end) of the third
  • the second end (here, the distal end) forms a rotational connection
  • the first end (here, the proximal end) of the fourth link member 503 is formed with the first link member 500 through the fourth shaft structure 523 Turn the connection.
  • the third link member 502 passes through the axis of the second shaft structure 521 .
  • the driven member includes: a fifth link member 504, a sixth link member 505, and a seventh link member 506 that are sequentially connected, wherein the first end of the fifth link member 504 (here The lower end) forms a rotational connection with the fourth link member 503 through the fifth shaft structure 524, and the second end (here, the upper end) of the fifth link member 504 passes through the sixth shaft structure 525 and the sixth
  • the link member 505 forms a rotational connection
  • the second end (here, the distal end) of the sixth link member 505 passes through the seventh pivot structure 526 and the second end of the seventh link member 506 (here The upper end) forms a rotational connection
  • the first end (here, the proximal end) of the sixth link member 505 passes through the eighth shaft structure 527 and the second end of the first link member 500 (here, the upper end) Form a rotational connection.
  • the transmission component includes: a first runner structure 530, a second runner structure 531, a third runner structure 532, a fourth runner structure 533, and a flexible member S5, wherein the first runner structure 530 and the The third link member 502 is synchronously rotated about the third rotating shaft structure 522, the second rotating wheel structure 531 is sleeved on the fifth rotating shaft structure 524, and the third rotating wheel structure 532 is sleeved in the same a sixth rotating shaft structure 525, the fourth rotating wheel structure 533 and the seventh connecting rod member 506 are synchronously rotated about the seventh rotating shaft structure 526, and the flexible member S5 and the first rotating wheel structure respectively
  • the 530 and the fourth runner structure 533 are fixedly coupled and bypassed from the side of the second runner structure 531 and the third runner structure 532 away from the seventh link member to form a transmission closed loop while the first turn
  • the wheel structure 530 is equal in diameter to the fourth wheel structure 533, and the third wheel structure
  • the winding path of the flexible member S5 can form a complementary wrap angle similar to a parallelogram. That is, the flexible member S5 passes from the side of the third reel structure 532 and the second reel structure 531 away from the seventh link member 506, and forms with the third reel structure 532. Forming a first wrap angle, and forming a second wrap angle with the second reel structure 531, and acting on the first link member 500 or the slider device 510 with a driving torque, or driving torque In the fourth link member 503 or the sixth link member 505, the variation value of the first wrap angle and the variation value of the second wrap angle are numerically equal.
  • the outward path and the loop of the flexible member S5 are formed on the same side of the third rotating wheel structure 532 and the second rotating wheel structure 531 away from the seventh connecting member, that is, the flexibility
  • the outward path and the loop of the member S5 use the same set of runner structures (ie, the third runner structure 532 and the second runner structure 531), the third runner structure 532 and the second runner structure 531 is equal in diameter.
  • the outward path and the loop of the flexible member S5 may also use different sets of runner structures, that is, at both the third runner structure 532 and the second runner structure 531.
  • the structure of the runner is equivalent to having two sets of runner structures, that is, the third runner structure 532 in FIG. 7 is replaced by the third runner structure A and the third runner structure B, and the second runner structure in FIG. 531 is replaced by a second revolving structure A and a second revolving structure B, the third revolving structure A and the second revolving structure A constitute a set of revolving structure, and the third revolving structure B and the second revolving
  • the wheel structure B constitutes another set of runner structures, wherein the outward path of the flexible member S5 may be formed on a side of the third runner structure A and the second runner structure A away from the seventh link member, A loop of the flexible member S5 may be formed on a side of the third runner structure B and the second runner structure B away from the seventh link member, the third runner structure A and the second runner structure A being equal in diameter
  • the third revolving structure B and the second revolving structure B are
  • the second rotating wheel structure 531 and the fifth rotating shaft structure 524 may be a fixed connection or a rotational connection, that is, between the second rotating wheel structure 531 and the fifth rotating shaft structure 524. Can be rotated relative to each other.
  • the third runner structure 532 is also coupled to the sixth spindle structure 525 in a similar manner.
  • first runner structure 530 and the third link member 502 can be fixedly coupled to achieve synchronous rotation about the third spindle structure 522.
  • first runner structure 530 and the third link member 502 are both fixedly coupled to the third spindle structure 522 for synchronous rotation about the third spindle structure 522.
  • the line connecting the axes of the fourth rotating shaft structure 523, the fifth rotating shaft structure 524, the sixth rotating shaft structure 525 and the eighth rotating shaft structure 527 forms a parallelogram structure.
  • the axial distance between the first rotating shaft structure 520 and the fourth rotating shaft structure 523 and the axial distance between the first rotating shaft structure 520 and the eighth rotating shaft structure 527 have a first proportional value
  • the third rotating shaft There is a second ratio value between the axial distance of the structure 522 and the fourth rotating shaft structure 523 and the axial distance between the eighth rotating shaft structure 527 and the seventh rotating shaft structure 526, the first proportional value and the first
  • the two scale values are configured to be equal.
  • the first ratio value and the second ratio value are equal to ensure the variation of the angle formed by the third link member 502 and the fourth link member 503 in the fixed point mechanism 5 during the movement.
  • the angle formed by the sixth link member 505 and the seventh link member 506 is changed by an equal amount.
  • the preferred range of the first ratio value and the second ratio value is 1/12 to 1/2. In this embodiment, the first ratio value and the second ratio value are 1/6.
  • a shaft connection of the fifth shaft structure 524 and the fourth shaft structure 523 forms a first line
  • the shaft connection of the fourth shaft structure 523 and the third shaft structure 522 forms a second line.
  • a first line a1 forming a first angle a1 (having a first angle value)
  • the third link member 502 and the seventh link member 506 forming a second angle (having a second angle)
  • the first rotating shaft structure 520 and the fourth rotating shaft structure 523 form a fourth connecting line
  • the first rotating shaft structure 520 and the eighth rotating shaft structure 527 form a fifth connecting line
  • the fourth connecting line is
  • the fifth line forms a third angle a3 (having a third angle value).
  • the first angle a1, the second angle, and the third angle a3 are configured to be equal.
  • the first angle a1, the second angle, and the third angle a3 are positively and negatively agreed as follows: if the first line is rotated counterclockwise around the axis of the fourth shaft structure 523 After the angle value coincides with the second line, the corresponding first angle a1 is a positive value. If the first line rotates clockwise around the axis of the fourth shaft structure 523, the first angle value is coincident with the second line. The corresponding first angle a3 is a negative value; if the fourth line is rotated clockwise around the axis of the first shaft structure 520 and then coincides with the fifth line, the corresponding third angle a3 is positive. The value is counterclockwise and is negative.
  • the first angle, the second angle, and the third angle preferably range from -30° to 30°.
  • the first angle a1, the second angle, and the third angle a3 are both 0°. That is, the third rotating shaft structure 522, the fourth rotating shaft structure 523 and the fifth rotating shaft structure 524 are located on the same straight line, that is, the fourth connecting rod member 503 is a straight rod; the first rotating shaft structure 520 The fourth rotating shaft structure 523 and the eighth rotating shaft structure 527 are located on the same straight line, that is, the first connecting rod member 500 is a straight rod.
  • the third link member 502 is a folding rod passing through the axis of the second rotating shaft structure 521 and the third rotating shaft structure 522; the seventh connecting rod member 506 is also a folding rod .
  • the third link member 502 includes a fifth member portion coupled to the third pivot structure 522, a sixth member portion slidably coupled to the slider device 510, and the sixth member portion is a straight rod And the sixth member portion passes through the second shaft structure 521, and the fifth member portion is fixed to the sixth member portion.
  • the vertical line segment between the axis of the third shaft structure 522 and the sixth member portion forms a first line segment.
  • the seventh link member 506 includes a seventh member portion and an eighth member portion coupled to the seventh pivot structure 526, the eighth member portion being a straight rod, the seventh member portion and the eighth member The components are partially attached.
  • a vertical line segment between the axis of the seventh shaft structure 526 and the eighth member portion forms a second line segment.
  • the length of the first line segment and the second line segment form a third ratio value
  • the third ratio value is configured to be equal to the first ratio value, that is, the third ratio value preferably ranges from 1/1 12 to 1/2, preferably 1/6.
  • the second angle is agreed as follows, an angle between the parallel line passing through the seventh shaft structure 526 and parallel to the first line segment and the second line segment.
  • the positive and negative values of the second angle are: if the parallel line rotates clockwise around the axis of the seventh rotating shaft structure 526 and then overlaps with the second line segment, the corresponding second angle is positive. , counterclockwise around is negative.
  • the position and direction of the line in which the eighth member portion is located can be configured by the configuration of the length and direction of the second line segment. That is, the straight line where the eighth member portion is located needs to pass through the end point of the second line segment, and the direction is perpendicular to the direction of the second line segment.
  • the length of the specific eighth member portion is not particularly limited and can be set according to specific needs.
  • the shape of the fifth member portion and the seventh member portion is not particularly limited, and may be a straight rod, a curved rod, a folding rod, or other shapes.
  • the position at which the seventh member portion and the eighth member portion are connected in the present embodiment is also not particularly limited.
  • the fifth member portion is a straight rod, and the fifth member portion forms a fourth angle (having a fourth angle value) with the sixth member portion, and the counterclockwise portion is surrounded by the fifth member portion.
  • An angle formed by the intersection of the fifth member portion and the sixth member portion after rotating the fourth angle value and overlapping with the sixth member portion is a positive value of the fourth angle;
  • the seventh member portion is also a straight rod, and the The seventh member portion and the eighth member portion form a fifth angle (having a fifth angle value), and the fifth member is rotated counterclockwise around the intersection of the seventh member portion and the eighth member portion by the seventh member portion and the eighth member
  • the angle formed by the partial overlap is a positive value of the fifth angle.
  • the fourth angle and the fifth angle are configured to be equal.
  • the preferred range of the fourth angle and the fifth angle is 0 to 180°, and more preferably the fourth angle and the fifth angle are 90°.
  • the third angle is 0°, that is, the axis of the fifth member portion is parallel to the axis of the seventh member portion, and the axis of the sixth member portion is parallel to the axis of the eighth member portion.
  • the fourth angle is equal to the fifth angle.
  • the intersection of the axis connection of the first shaft structure 520 and the second shaft structure 521 and the seventh link member 506 is a fixed point D5.
  • the first proportional value or the second proportional value is also during the movement of the entire fixed point mechanism 5, wherein the first end (here, the lower end) of the third link member 502 of the driving member is compared to the first The distance between the moving distance of the two-axis structure 521 and the moving distance of the first end (here, the lower end) of the seventh link member 506 in the driven member compared to the fixed point D5.
  • the fixed point mechanism 5 when a driving torque acts on the first link member 500 or the slider device 510, the fixed point mechanism 5 can achieve the fixed point D5. Rotational motion; when a driving torque acts on the fourth link member 503 or the sixth link member 505, the fixed point mechanism 5 can realize the telescopic movement of the relative fixed point D5; when a driving torque acts on the When a link member 500 or the slider device 510 and another driving torque acts on the fourth link member 503 or the sixth link member 505, the fixed point mechanism 5 can realize a rotational motion about the fixed point D5 And the telescopic movement of the relative fixed point D5. That is, the fixed point mechanism 5 has a double degree of freedom of the rotational motion about the fixed point D5 and the telescopic movement of the relative fixed point D5.
  • the fixed point mechanism 6 includes an active member, a driven member, and a transmission member.
  • the active component includes: a first link member 600, a second link member 601, a third link member 602, a fourth link member 603, and a slider device 610, wherein the first link
  • the first end (here, the lower end) of the member 600 forms a rotational connection with the first end (here, the proximal end) of the second link member 601 through the first shaft structure 620, the second link member 601
  • the second end (here, the distal end) is in rotational connection with the slider device 610 via a second pivot structure 621
  • the third link member 602 is in sliding connection with the slider device 610
  • the third The link member 602 passes through the axis of the second shaft structure 621, and the second end (here, the upper end) of the third link
  • the driven member includes: a fifth link member 604, a sixth link member 605, and a seventh link member 606 that are sequentially connected, wherein the second end of the fifth link member 604 (here The upper end) forms a rotational connection with the sixth link member 605 through the sixth shaft structure 625, and the second end (here, the distal end) of the sixth link member 605 passes through the seventh shaft structure 626 and the first The second end (here, the upper end) of the seven-link member 606 forms a rotational connection.
  • first end (here, the lower end) of the fifth link member 604 forms a rotational connection with the fourth link member 603 through the fifth shaft structure 624
  • first of the sixth link member 605 The end (here, the proximal end) forms a rotational connection with the second end (here the upper end) of the first link member 600 via the eighth shaft structure 627.
  • the transmission component includes: a first runner structure 630, a second runner structure 631, a third runner structure 632, a fourth runner structure 633, and a flexible member S6, wherein the first runner structure 630 and the The third link member 602 is synchronously rotated about the third rotating shaft structure 622, the second rotating wheel structure 631 is sleeved on the fifth rotating shaft structure 624, and the third rotating wheel structure 632 is sleeved in the same
  • the sixth rotating shaft structure 625, the fourth rotating wheel structure 633 and the seventh connecting rod member 606 are synchronously rotated about the seventh rotating shaft structure 626, and the flexible member S6 and the first rotating wheel structure respectively
  • the 630 and the fourth runner structure 633 are fixedly coupled and bypassed from the side of the second runner structure 631 and the third runner structure 632 away from the seventh link member to form a transmission closed loop while the first turn
  • the wheel structure 630 is equal in diameter to the fourth wheel structure 633, and the third wheel
  • the winding path of the flexible member S6 can form a complementary wrap angle similar to a parallelogram. That is, the flexible member S6 passes from the side of the third reel structure 632 and the second reel structure 631 away from the seventh link member 606, and forms with the third reel structure 632. Forming a first wrap angle, and forming a second wrap angle with the second reel structure 631, and acting on the first link member 600 or the slider device 610 with a driving torque, or driving torque In the fourth link member 603 or the sixth link member 605, the variation value of the first wrap angle and the variation value of the second wrap angle are numerically equal.
  • the outward path and the loop of the flexible member S6 are formed on the same side of the third rotating wheel structure 632 and the second rotating wheel structure 631 away from the seventh connecting member, that is, the flexibility
  • the outward path and the loop of the member S6 use the same set of runner structures (ie, the third runner structure 632 and the second runner structure 631), the third runner structure 632 and the second runner structure 631 is equal in diameter.
  • the outward path and the loop of the flexible member S6 may also use different sets of runner structures, that is, at both the third runner structure 632 and the second runner structure 631.
  • the structure of the runner is equivalent to having two sets of runner structures, that is, the third runner structure 632 in FIG. 8 is replaced by the third runner structure A and the third runner structure B, and the second runner structure in FIG. 631 is replaced by a second revolving structure A and a second revolving structure B, and the third revolving structure A and the second revolving structure A constitute a set of revolving structure, and the third revolving structure B and the second revolving
  • the wheel structure B constitutes another set of runner structures, wherein the outward path of the flexible member S6 can be formed on a side of the third runner structure A and the second runner structure A away from the seventh link member, A loop of the flexible member S6 may be formed on a side of the third runner structure B and the second runner structure B away from the seventh link member, the third runner structure A and the second runner structure A being equal in diameter
  • the third revolving structure B and the second revolving structure B
  • the second rotating wheel structure 631 and the fifth rotating shaft structure 624 may be a fixed connection or a rotational connection, that is, between the second rotating wheel structure 631 and the fifth rotating shaft structure 624. Can be rotated relative to each other.
  • the third runner structure 632 is also coupled to the sixth spindle structure 625 in a similar manner.
  • first runner structure 630 and the third link member 602 may be fixedly coupled to achieve synchronous rotation about the third spindle structure 622.
  • first revolver structure 630 and the third link member 602 are both fixedly coupled to the third reel structure 622 for synchronous rotation about the third reel structure 622.
  • the line connecting the axes of the fourth rotating shaft structure 623, the fifth rotating shaft structure 624, the sixth rotating shaft structure 625 and the eighth rotating shaft structure 627 forms a parallelogram structure.
  • the axial distance between the first rotating shaft structure 620 and the fourth rotating shaft structure 623 and the axial distance between the first rotating shaft structure 620 and the eighth rotating shaft structure 627 have a first proportional value
  • the third rotating shaft There is a second ratio value between the axial distance of the structure 622 and the fourth rotating shaft structure 623 and the axial distance between the eighth rotating shaft structure 627 and the seventh rotating shaft structure 626, the first proportional value and the first
  • the two scale values are configured to be equal.
  • the first ratio value and the second ratio value are equal to ensure the variation of the angle formed by the third link member 602 and the fourth link member 603 in the fixed point mechanism 6 during the movement.
  • the angle formed by the sixth link member 605 and the seventh link member 606 is changed by an equal amount.
  • the preferred range of the first ratio value and the second ratio value is 1/12 to 1/2. In this embodiment, the first ratio value and the second ratio value are 1/6.
  • the axis connection of the fifth shaft structure 624 and the fourth shaft structure 623 forms a first line
  • the shaft connection of the fourth shaft structure 623 and the third shaft structure 622 forms a second line.
  • a first line a1 forming a first angle a1 (having a first angle value)
  • the third link member 602 and the seventh link member 606 forming a second angle (having a second angle)
  • the first rotating shaft structure 620 and the fourth rotating shaft structure 623 form a fourth connecting line
  • the first rotating shaft structure 620 and the eighth rotating shaft structure 627 form a fifth connecting line
  • the fourth connecting line is
  • the fifth line forms a third angle a3 (having a third angle value).
  • the first angle a1, the second angle, and the third angle a3 are configured to be equal.
  • the first angle a1, the second angle, and the third angle a3 are positively and negatively agreed as follows: if the first line is rotated counterclockwise around the axis of the fourth shaft structure 623 After the angle value coincides with the second line, the corresponding first angle a1 is a positive value. If the first line rotates clockwise around the axis of the fourth shaft structure 623, the first angle value is coincident with the second line. The corresponding first angle a3 is a negative value; if the fourth line is rotated clockwise around the axis of the first shaft structure 620 and then coincides with the fifth line, the corresponding third angle a3 is positive. The value is counterclockwise and is negative.
  • the seventh link member 606 and the third link member 602 are both folded rods. That is, the third link member 602 includes a fifth member portion coupled to the third pivot structure 622 and a sixth member portion slidably coupled to the slider device 610, the sixth member portion being a straight rod, and The sixth member portion passes through the axis of the second shaft structure 621, and the fifth member portion is fixed to the sixth member portion. The vertical line segment between the axis of the third shaft structure 622 and the sixth member portion forms a first line segment.
  • the seventh link member 606 includes a seventh member portion and an eighth member portion coupled to the seventh pivot structure 626, the eighth member portion being a straight rod, the seventh member portion and the eighth member The components are partially attached.
  • a vertical line segment between the axis of the seventh shaft structure 626 and the eighth member portion forms a second line segment.
  • the length of the first line segment and the second line segment form a third ratio value
  • the third ratio value is configured to be equal to the first ratio value, that is, the third ratio value preferably ranges from 1/1 12 to 1/2, preferably 1/6.
  • the second angle is agreed as follows: an angle between the parallel line passing through the seventh shaft structure 626 and parallel to the first line segment and the second line segment.
  • the positive and negative values of the second angle are: if the parallel line rotates clockwise around the axis of the seventh rotating shaft structure 626 and then overlaps with the second line segment, the corresponding angle is positive, and the inverse The hour hand surrounds a negative value.
  • the position and direction of the line in which the eighth member portion is located can be configured by the configuration of the length and direction of the second line segment. That is, the straight line where the eighth member portion is located needs to pass through the end point of the second line segment, and the direction is perpendicular to the direction of the second line segment.
  • the length of the specific eighth member portion is not particularly limited and can be set according to specific needs.
  • the shape of the fifth member portion and the seventh member portion is not particularly limited, and may be a straight rod, a curved rod, a folding rod, or other shapes.
  • the position at which the seventh member portion and the eighth member portion are connected in the present embodiment is also not particularly limited.
  • the fifth member portion is a straight rod, and the fifth member portion forms a fourth angle (having a fourth angle value) with the sixth member portion, and the counterclockwise portion is surrounded by the fifth member portion.
  • An angle formed by the intersection of the fifth member portion and the sixth member portion after rotating the fourth angle value and overlapping with the sixth member portion is a positive value of the fourth angle;
  • the seventh member portion is also a straight rod, and the The seventh member portion and the eighth member portion form a fifth angle (having a fifth angle value), and the fifth member is rotated counterclockwise around the intersection of the seventh member portion and the eighth member portion by the seventh member portion and the eighth member
  • the angle formed by the partial overlap is a positive value of the fifth angle.
  • the fourth angle and the fifth angle are configured to be equal.
  • the fourth angle and the fifth angle preferably range from 0 to 180 degrees, and preferably the fourth angle and the fifth angle are 90 degrees.
  • the mechanism can be realized as a fixed point mechanism. Those skilled in the art should understand that if the angle value of an angle in the mechanism is a negative value, but the angle value is equivalent to a positive value (such as 360 ° minus the absolute value of the angle value of an angle) and other angles of view If the values are equal, then the mechanism is also within the scope of the present invention.
  • the mechanism is also within the scope of the invention.
  • the first angle, the second angle, and the third angle preferably range from -30° to 30°.
  • the first angle a1, the second angle, and the third angle a3 are all positive values, specifically 15°.
  • the fourth link member 603 is a folding rod, and specifically the fourth link member 603 includes a first member between the fourth rotating shaft structure 623 and the fifth rotating shaft structure 624. And a second member portion between the third pivot structure 622 and the fifth pivot structure 624, and the first member portion and the second member portion are fixed at a bend angle.
  • the first member portion and the second member portion are all straight rods, and the fifth shaft structure 624 is located below the axial connection of the third shaft structure 622 and the fourth shaft structure 623 (ie, the first The angle a1 is formed by rotating the first angle counterclockwise around the axis of the fifth shaft structure 624 counterclockwise and then overlapping the second line.
  • the first link member 600 is a folding rod, and specifically the first link member 600 includes a third member portion between the first shaft structure 620 and the fourth shaft structure 623, and is located at the A fourth member portion between the four-axis structure 623 and the eighth shaft structure 627, and the third straight portion and the fourth straight portion are fixed at a bending angle.
  • the third member portion and the fourth member portion are both straight rods, and the fourth shaft structure 623 is located on the left side of the axial connection of the first shaft structure 620 and the eighth shaft structure 627 (ie, The three angles a3 are formed by rotating the third angle clockwise around the axis of the fourth shaft structure 623 by a fourth line and then overlapping the fifth line.
  • the sixth connecting line formed by the axial connection of the first rotating shaft structure 620 and the second rotating shaft structure 621 rotates the first angle a1 clockwise around the axis of the first rotating shaft structure 620.
  • the seventh link member 606 intersects with the axis, and the intersection of the intersections is the fixed point D6.
  • the first proportional value or the second proportional value is also the entire fixed point mechanism 6 during the movement, and the first end (here, the lower end) of the third link member 602 in the driving member is compared with the first The distance between the moving distance of the two-axis structure 621 and the moving distance of the first end (here, the lower end) of the seventh link member 606 in the driven member compared to the fixed point D6.
  • the sixth line rotates counterclockwise about the axis of the first shaft structure 620 by a first angle a1
  • the seventh link member 606 intersects with the axis, and the intersection of the intersections is the fixed point D6.
  • the fixed point mechanism 6 when a driving torque acts on the first link member 600 or the slider device 610, the fixed point mechanism 6 can achieve a fixed point D6. Rotational motion; when a driving torque acts on the fourth link member 603 or the sixth link member 605, the fixed point mechanism 6 can realize the telescopic movement of the relative fixed point D6; when a driving torque acts on the When a link member 600 or a slider device 610 and another driving torque acts on the fourth link member 603 or the sixth link member 605, the fixed point mechanism 6 can realize a rotational motion about the fixed point D6 And the telescopic movement of the relative fixed point D6. That is, the fixed point mechanism 6 has a double degree of freedom of the rotational motion about the fixed point D6 and the telescopic movement of the relative fixed point D6.
  • the second end of the second link member is rotatably coupled to the slider device by a second pivot structure, and the third link member is in sliding connection with the slider device, and The third link member passes through an axis of the second shaft structure.
  • the second end of the second link member 701 is rotatably connected to the third link member 702 through the second rotating shaft structure 721.
  • the second end of the fourth link member 703 is rotatably connected to the slider device 710 through the third pivot structure 722, and the third link member 702 is in sliding connection with the slider device 710.
  • the third link member 702 passes through the axis of the third shaft structure 722, and the slider device 710 and the first wheel structure 730 rotate synchronously around the third shaft structure 722.
  • the second angle is defined as follows: the axial connection of the second shaft structure 721 and the third shaft structure 722 forms a third line, the third line and the seventh link member
  • the axis of 706 forms a second angle.
  • the positive and negative values of the second angle are such that the first parallel line is a line parallel to the axis of the seventh link member 706 and passes through the axis of the second shaft structure 721, if the third line is clockwise around the second line
  • the corresponding second angle is a positive value
  • the counterclockwise surround is a negative value.
  • the first angle, the second angle, and the third angle are both 0°.
  • the second end of the second link member 801 is rotated by the second shaft structure 821 and the third link member 802.
  • the second end of the fourth link member 803 is rotatably connected to the slider device 810 through the third pivot structure 822
  • the third link member 802 is a straight rod and the slider device 810 is slid Connected, and the third link member 802 does not pass through the axis of the third hinge structure 822.
  • the first line segment is formed by a vertical line segment of the third shaft structure 822 to the third link member 802, and the second line segment is the seventh shaft structure 826 to the A vertical line segment of the seventh link member 806 is formed.
  • the third link member 802 forms a second angle with the seventh link member 806.
  • the second angle is defined as an angle between the parallel line passing through the axis of the seventh rotating shaft structure 826 and parallel to the first line segment and the second line segment.
  • the positive and negative values of the second angle are: if the parallel line rotates clockwise around the axis of the seventh rotating shaft structure 826 and then coincides with the second line segment, the corresponding angle is positive, and the counterclockwise surround Then it is a negative value.

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Abstract

一种不动点机构，在该不动点机构中，当一个驱动力矩作用在第一连杆构件（100）或者滑块装置（110）时，不动点机构能够实现绕不动点的转动运动；当一个驱动力矩作用在第四连杆构件（103）或者第六连杆构件（105）时，不动点机构能够实现相对不动点的伸缩运动；当一个驱动力矩作用在第一连杆构件（100）或者滑块装置（110），且另一个驱动力矩作用在第四连杆构件（103）或者第六连杆构件（105）时，不动点机构能够实现绕不动点的转动运动以及相对不动点的伸缩运动。即不动点机构具有绕不动点的转动运动和相对不动点的伸缩运动的双自由度。

Description

不动点机构 技术领域
本发明涉及机械结构技术领域，特别涉及一种不动点机构，更具体的，涉及一种具有两个自由度的不动点机构，该机构可以应用到微创伤手术机器人领域，并尤其可以应用到手术机器人的工具臂结构领域。
背景技术
微创伤手术是指通过腹腔镜、胸腔镜等内窥镜在人体内实行手术的一种新技术，其具有创伤小、疼痛轻、出血少等优越性，从而能够有效减少病人的恢复时间、不适及避免传统手术的一些有害副作用。早期的微创伤手术由于体表小孔的限制，致使医生手术工具的自由度相对减少，且操作方向也存在与期望的方向相反等缺陷，增加了医生进行手术的困难程度，因此医生只有经过长期的相关训练才能比较顺利地实施手术操作。
随着科学技术的发展，特别是机器人技术的发展，为早期微创伤手术中存在的问题找到了更好的解决方法，微创伤手术机器人也由此被研究、开发。微创伤手术机器人能够使医生在主操控台处通过二维或三维的显示设备观察病人体内的组织特征，并通过操控设备，以遥控方式操纵机器人上的机械臂及手术工具器械来完成手术的操作。使医生能够以与传统手术相同的方式及感觉来完成微创伤手术的操作，大大减轻了医生进行微创伤手术时的困难程度，同时也提高了手术的效率和安全性，并使得远程手术的实现发生了突破性的进展。鉴于手术机器人的优越性，世界各国都在积极地做着相关方面的研究，并产生了一些产品及样机。
对于手术机器人来说，其中一个亟需解决的关键技术问题是机器人病人端在运动的过程中，其上安装的手术工具器械与病人身体接触的孔洞部分应是一个不动的点。换言之，病人端机器人的机械臂上应具有一个不动点机构。
不动点机构的研究一直是手术机器人的一个重点研究方向。现有的不动点 机构的基本原理模型基本都是双平行四边形不动点原理，该种原理能够通过杆件搭建出两个相互耦合的平行四边形，从而在特定的位置形成一个不动点，如中国专利CN101919739A和CN102813553A，均采用的是这样的原理搭建的不动点机构。但是就双平行四边形不动点机构本身而言，其形成的不动点机构只具有一个自由度，即绕该不动点的转动自由度。为了满足使用需要，微创伤手术机器人在机构平面内还需要具有一个移动自由度，即伸缩自由度。就双平行四边形不动点原理形成的不动点机构而言，为能够实现伸缩自由度，需要增加伸缩自由度所需的机构，这样就会造成整个机构的机械体积及设计复杂度的提高，并且在多条臂协同使用的情况下，对各个臂的空间摆放位置等因素都需要进行考虑，也增加了机器人的局限性及医生操作的复杂度及困难度。
发明内容
本发明的目的在于提供一种不动点机构，以解决现有技术中双平行四边形不动点机构形成的不动点只具有一个自由度的问题。
为解决上述技术问题，本发明提供一种不动点机构，所述不动点机构包括：主动部件、从动部件及传动部件，其中，
所述主动部件包括：第一连杆构件、第二连杆构件、第三连杆构件、第四连杆构件及滑块装置，其中，所述第一连杆构件的第一端通过第一转轴结构与所述第二连杆构件的第一端形成转动连接，所述第二连杆构件的第二端通过第二转轴结构与所述滑块装置转动连接，所述第三连杆构件与所述滑块装置形成滑动连接，且所述第三连杆构件通过所述第二转轴结构的轴心，所述第三连杆构件的第二端通过第三转轴结构与所述第四连杆构件的第二端形成转动连接，所述第四连杆构件的第一端通过第四转轴结构与所述第一连杆构件形成转动连接；
所述从动部件包括：顺次连接的第五连杆构件、第六连杆构件及第七连杆构件，其中，所述第五连杆构件的第一端通过第五转轴结构与所述第四连杆构件形成转动连接，所述第五连杆构件的第二端通过第六转轴结构与所述第六连 杆构件形成转动连接，所述第六连杆构件的第二端通过第七转轴结构与所述第七连杆构件的第二端形成转动连接，所述第六连杆构件的第一端通过第八转轴结构与所述第一连杆构件的第二端形成转动连接；
所述传动部件包括：第一转轮结构、第二转轮结构、第三转轮结构、第四转轮结构及柔性构件，其中，
所述第一转轮结构和所述第三连杆构件绕所述第三转轴结构进行同步转动，所述第四转轮结构和所述第七连杆构件绕所述第七转轴结构进行同步转动，所述第一转轮结构与所述第四转轮结构直径相等，
所述第二转轮结构套接于所述第五转轴结构，所述第三转轮结构套接于所述第六转轴结构，所述第二转轮结构与所述第三转轮结构直径相等，所述柔性构件分别与所述第一转轮结构和第四转轮结构固定连接，并从所述第二转轮结构和第三转轮结构远离第七连杆的一侧绕过，形成传动闭环；
或者，
所述第一转轮结构和所述第三连杆构件绕所述第三转轴结构进行同步转动，所述第四转轮结构和所述第七连杆构件绕所述第七转轴结构进行同步转动，所述第一转轮结构与所述第四转轮结构直径相等，
所述第二转轮结构套接于所述第四转轴结构，所述第三转轮结构套接于所述第八转轴结构，所述第二转轮结构与所述第三转轮结构直径相等，所述柔性构件分别与所述第一转轮结构和第四转轮结构固定连接，并从所述第二转轮结构和第三转轮结构远离第七连杆的一侧绕过，形成传动闭环；
其中，所述第四转轴结构、第五转轴结构、第六转轴结构和第八转轴结构的轴心的连线形成平行四边形结构；
所述第三连杆构件和所述第七连杆构件均为直杆；
所述第一转轴结构和所述第四转轴结构的轴心距离与所述第一转轴结构和第八转轴结构之间的轴心距离存在第一比例值，所述第三转轴结构和所述第四转轴结构的轴心距离与所述第八转轴结构和第七转轴结构之间的轴心距离存在第二比例值，所述第一比例值和所述第二比例值被配置为相等；
所述第五转轴结构和所述第四转轴结构的轴心连线形成第一连线，所述第四转轴结构和所述第三转轴结构的轴心连线形成第二连线，所述第一连线和所述第二连线形成第一角度；所述第二转轴结构和第三转轴结构的轴心连线形成第三连线，所述第三连线和所述第七连杆构件形成第二角度；所述第一转轴结构和所述第四转轴结构的轴心连线形成第四连线，所述第一转轴结构和所述第八转轴结构的轴心连线形成第五连线，所述第四连线和所述第五连线形成第三角度；所述第一角度、所述第二角度和所述第三角度三者被配置为相等。
可选的，在所述的不动点机构中，所述第一角度为-30～30°。
可选的，在所述的不动点机构中，所述第一角度为0°、-15°或15°。
可选的，在所述的不动点机构中，所述第一比例值为1/12～1/2。
可选的，在所述的不动点机构中，所述第二转轮结构和所述第三转轮结构均为一个单轮，或所述第二转轮结构和所述第三转轮结构均为一组单轮。
本发明还提供一种不动点机构，所述不动点机构包括：主动部件、从动部件及传动部件，其中，
所述主动部件包括：第一连杆构件、第二连杆构件、第三连杆构件、第四连杆构件及滑块装置，其中，所述第一连杆构件的第一端通过第一转轴结构与所述第二连杆构件的第一端形成转动连接，所述第二连杆构件的第二端通过第二转轴结构与所述滑块装置转动连接，所述第三连杆构件与所述滑块装置形成滑动连接，且所述第三连杆构件通过所述第二转轴结构的轴心，所述第三连杆构件的第二端通过第三转轴结构与所述第四连杆构件的第二端形成转动连接，所述第四连杆构件的第一端通过第四转轴结构与所述第一连杆构件形成转动连接；
所述从动部件包括：顺次连接的第五连杆构件、第六连杆构件及第七连杆构件，其中，所述第五连杆构件的第一端通过第五转轴结构与所述第四连杆构件形成转动连接，所述第五连杆构件的第二端通过第六转轴结构与所述第六连杆构件形成转动连接，所述第六连杆构件的第二端通过第七转轴结构与所述第七连杆构件的第二端形成转动连接，所述第六连杆构件的第一端通过第八转轴 结构与所述第一连杆构件的第二端形成转动连接；
所述传动部件包括：第一转轮结构、第二转轮结构、第三转轮结构、第四转轮结构及柔性构件，其中，
所述第一转轮结构和所述第三连杆构件绕所述第三转轴结构进行同步转动，所述第四转轮结构和所述第七连杆构件绕所述第七转轴结构进行同步转动，所述第一转轮结构与所述第四转轮结构直径相等，
所述第二转轮结构套接于所述第五转轴结构，所述第三转轮结构套接于所述第六转轴结构，所述第二转轮结构与所述第三转轮结构直径相等，所述柔性构件分别与所述第一转轮结构和第四转轮结构固定连接，并从所述第二转轮结构和第三转轮结构远离第七连杆的一侧绕过，形成传动闭环；
或者，
所述第一转轮结构和所述第三连杆构件绕所述第三转轴结构进行同步转动，所述第四转轮结构和所述第七连杆构件绕所述第七转轴结构进行同步转动，所述第一转轮结构与所述第四转轮结构直径相等，
所述第二转轮结构套接于所述第四转轴结构，所述第三转轮结构套接于所述第八转轴结构，所述第二转轮结构与所述第三转轮结构直径相等，所述柔性构件分别与所述第一转轮结构和第四转轮结构固定连接，并从所述第二转轮结构和第三转轮结构远离第七连杆的一侧绕过，形成传动闭环；
其中，所述第四转轴结构、第五转轴结构、第六转轴结构和第八转轴结构的轴心的连线形成平行四边形结构；
所述第三连杆构件包括与所述第三转轴结构连接的第五构件部分和与所述滑块装置滑动连接的第六构件部分，所述第六构件部分为一直杆，所述第五构件部分与所述第六构件部分固连，所述第三转轴结构到所述第六构件部分之间的距离形成一第一线段；所述第七连杆构件包括与所述第七转轴结构连接的第七构件部分和第八构件部分，所述第八构件部分为一直杆，所述第七构件部分与所述第八构件部分固连，所述第七转轴结构到所述第八构件部分之间的距离形成一第二线段；
所述第一转轴结构和所述第四转轴结构的轴心距离与所述第一转轴结构和第八转轴结构之间的轴心距离存在第一比例值，所述第三转轴结构和所述第四转轴结构的轴心距离与所述第八转轴结构和第七转轴结构之间的轴心距离存在第二比例值，所述第一线段与所述第二线段之间存在第三比例值，所述第一比例值、所述第二比例值和所述第三比例值被配置为相等；
所述第五转轴结构和所述第四转轴结构的轴心连线形成第一连线，所述第四转轴结构和所述第三转轴结构的轴心连线形成第二连线，所述第一连线和所述第二连线形成第一角度；所述第三连杆构件与所述第七连杆构件之间形成第二角度；所述第一转轴结构和所述第四转轴结构的轴心连线形成第四连线，所述第一转轴结构和所述第八转轴结构的轴心连线形成第五连线，所述第四连线和所述第五连线形成第三角度；所述第一角度、所述第二角度和所述第三角度三者被配置为相等。
可选的，在所述的不动点机构中，所述第一角度为-30°～30°。
可选的，在所述的不动点机构中，所述第一角度为0°、-15°或15°。
可选的，在所述的不动点机构中，所述第一比例值为1/12～1/2。
可选的，在所述的不动点机构中，所述第五构件部分为一直杆，且所述第五构件部分与第六构件部分形成第四角度，所述第七构件部分也为一直杆，且所述第七构件部分与第八构件部分形成第五角度，所述第四角度与第五角度被配置为相等。
可选的，在所述的不动点机构中，所述第四角度为0～180°。
本发明还提供一种不动点机构，所述不动点机构包括：主动部件、从动部件及传动部件，其中，
所述主动部件包括：第一连杆构件、第二连杆构件、第三连杆构件、第四连杆构件及滑块装置，其中，所述第一连杆构件的第一端通过第一转轴结构与所述第二连杆构件的第一端形成转动连接，所述第二连杆构件的第二端通过第二转轴结构与所述第三连杆构件转动连接，所述第四连杆构件的第二端通过第三转轴结构与所述滑块装置转动连接，所述第三连杆构件与所述滑块装置形成 滑动连接，所述第三连杆构件通过所述第三转轴结构的轴心，所述第四连杆构件的第一端通过第四转轴结构与所述第一连杆构件形成转动连接；
所述从动部件包括：顺次连接的第五连杆构件、第六连杆构件及第七连杆构件，其中，所述第五连杆构件的第一端通过第五转轴结构与所述第四连杆构件形成转动连接，所述第五连杆构件的第二端通过第六转轴结构与所述第六连杆构件形成转动连接，所述第六连杆构件的第二端通过第七转轴结构与所述第七连杆构件的第二端形成转动连接，所述第六连杆构件的第一端通过第八转轴结构与所述第一连杆构件的第二端形成转动连接；
所述传动部件包括：第一转轮结构、第二转轮结构、第三转轮结构、第四转轮结构及柔性构件，其中，
所述第一转轮结构和所述第三连杆构件绕所述第三转轴结构进行同步转动，所述第四转轮结构和所述第七连杆构件绕所述第七转轴结构进行同步转动，所述第一转轮结构与所述第四转轮结构直径相等，
所述第二转轮结构套接于所述第五转轴结构，所述第三转轮结构套接于所述第六转轴结构，所述第二转轮结构与所述第三转轮结构直径相等，所述柔性构件分别与所述第一转轮结构和第四转轮结构固定连接，并从所述第二转轮结构和第三转轮结构远离第七连杆的一侧绕过，形成传动闭环；
或者，
所述第一转轮结构和所述第三连杆构件绕所述第三转轴结构进行同步转动，所述第四转轮结构和所述第七连杆构件绕所述第七转轴结构进行同步转动，所述第一转轮结构与所述第四转轮结构直径相等，
所述第二转轮结构套接于所述第四转轴结构，所述第三转轮结构套接于所述第八转轴结构，所述第二转轮结构与所述第三转轮结构直径相等，所述柔性构件分别与所述第一转轮结构和第四转轮结构固定连接，并从所述第二转轮结构和第三转轮结构远离第七连杆的一侧绕过，形成传动闭环；
其中，所述第四转轴结构、第五转轴结构、第六转轴结构和第八转轴结构的轴心的连线形成平行四边形结构；
所述第三连杆构件和所述第七连杆构件均为直杆；
所述第一转轴结构和所述第四转轴结构的轴心距离与所述第一转轴结构和第八转轴结构之间的轴心距离存在第一比例值，所述第三转轴结构和所述第四转轴结构的轴心距离与所述第八转轴结构和第七转轴结构之间的轴心距离存在第二比例值，所述第一比例值和所述第二比例值被配置为相等；
所述第五转轴结构和所述第四转轴结构的轴心连线形成第一连线，所述第四转轴结构和所述第三转轴结构的轴心连线形成第二连线，所述第一连线和所述第二连线形成第一角度；所述第二转轴结构和第三转轴结构的轴心连线形成第三连线，所述第三连线和所述第七连杆构件形成第二角度；所述第一转轴结构和所述第四转轴结构的轴心连线形成第四连线，所述第一转轴结构和所述第八转轴结构的轴心连线形成第五连线，所述第四连线和所述第五连线形成第三角度；所述第一角度、所述第二角度和所述第三角度三者被配置为相等。
本发明还提供一种不动点机构，所述不动点机构包括：主动部件、从动部件及传动部件，其中，
所述主动部件包括：第一连杆构件、第二连杆构件、第三连杆构件、第四连杆构件及滑块装置，其中，所述第一连杆构件的第一端通过第一转轴结构与所述第二连杆构件的第一端形成转动连接，所述第二连杆构件的第二端通过第二转轴结构与所述第三连杆构件转动连接，所述第四连杆构件的第二端通过第三转轴结构与所述滑块装置转动连接，所述第三连杆构件与所述滑块装置形成滑动连接，所述第三连杆构件不通过所述第三转轴结构的轴心，所述第四连杆构件的第一端通过第四转轴结构与所述第一连杆构件形成转动连接；
所述从动部件包括：顺次连接的第五连杆构件、第六连杆构件及第七连杆构件，其中，所述第五连杆构件的第一端通过第五转轴结构与所述第四连杆构件形成转动连接，所述第五连杆构件的第二端通过第六转轴结构与所述第六连杆构件形成转动连接，所述第六连杆构件的第二端通过第七转轴结构与所述第七连杆构件的第二端形成转动连接，所述第六连杆构件的第一端通过第八转轴结构与所述第一连杆构件的第二端形成转动连接；
所述传动部件包括：第一转轮结构、第二转轮结构、第三转轮结构、第四转轮结构及柔性构件，其中，
所述第一转轮结构和所述第三连杆构件绕所述第三转轴结构进行同步转动，所述第四转轮结构和所述第七连杆构件绕所述第七转轴结构进行同步转动，所述第一转轮结构与所述第四转轮结构直径相等，
所述第二转轮结构套接于所述第五转轴结构，所述第三转轮结构套接于所述第六转轴结构，所述第二转轮结构与所述第三转轮结构直径相等，所述柔性构件分别与所述第一转轮结构和第四转轮结构固定连接，并从所述第二转轮结构和第三转轮结构远离第七连杆的一侧绕过，形成传动闭环；
或者，
所述第一转轮结构和所述第三连杆构件绕所述第三转轴结构进行同步转动，所述第四转轮结构和所述第七连杆构件绕所述第七转轴结构进行同步转动，所述第一转轮结构与所述第四转轮结构直径相等，
所述第二转轮结构套接于所述第四转轴结构，所述第三转轮结构套接于所述第八转轴结构，所述第二转轮结构与所述第三转轮结构直径相等，所述柔性构件分别与所述第一转轮结构和第四转轮结构固定连接，并从所述第二转轮结构和第三转轮结构远离第七连杆的一侧绕过，形成传动闭环；
其中，所述第四转轴结构、第五转轴结构、第六转轴结构和第八转轴结构的轴心的连线形成平行四边形结构；
所述第三连杆构件为一直杆，第三转轴结构到第三连杆构件之间的距离形成一第一线段；所述第七连杆构件包括与所述第七转轴结构连接的第七构件部分和第八构件部分，所述第七构件部分与所述第八构件部分固连，所述第八构件部分为一直杆，所述第七转轴结构到所述第八构件部分之间的距离形成一第二线段；
所述第一转轴结构和所述第四转轴结构的轴心距离与所述第一转轴结构和第八转轴结构之间的轴心距离存在第一比例值，所述第三转轴结构和所述第四转轴结构的轴心距离与所述第八转轴结构和第七转轴结构之间的轴心距离存在 第二比例值，所述第一线段与所述第二线段之间存在第三比例值，所述第一比例值、所述第二比例值和所述第三比例值被配置为相等；
所述第五转轴结构和所述第四转轴结构的轴心连线形成第一连线，所述第四转轴结构和所述第三转轴结构的轴心连线形成第二连线，所述第一连线和所述第二连线形成第一角度；所述第三连杆构件与所述第七连杆构件之间形成第二角度；所述第一转轴结构和所述第四转轴结构的轴心连线形成第四连线，所述第一转轴结构和所述第八转轴结构的轴心连线形成第五连线，所述第四连线和所述第五连线形成第三角度；所述第一角度、所述第二角度和所述第三角度三者被配置为相等。
在本发明提供的不动点机构中，当一个驱动力矩作用在第一连杆构件或者滑块装置时，所述不动点机构能够实现绕不动点的转动运动；当一个驱动力矩作用在第四连杆构件或者第六连杆构件时，所述不动点机构能够实现相对不动点的伸缩运动；当一个驱动力矩作用在第一连杆构件或者滑块装置，且另一个驱动力矩作用在第四连杆构件或者第六连杆构件时，所述不动点机构能够实现绕不动点的转动运动以及相对不动点的伸缩运动。即，所述不动点机构具有绕不动点的转动运动和相对不动点的伸缩运动的双自由度。
附图说明
图1是本发明实施例一的不动点机构的原理示意图；
图2是图1所示的不动点机构发生运动后的示意图；
图3是本发明实施例二的不动点机构的原理示意图；
图4是图3所示的不动点机构发生运动后的示意图；
图5是本发明实施例三的不动点机构的原理示意图；
图6是本发明实施例四的不动点机构的原理示意图；
图7是本发明实施例五的不动点机构的原理示意图；
图8是本发明实施例六的不动点机构的原理示意图；
图9是本发明实施例七的不动点机构的原理示意图；
图10是本发明实施例八的不动点机构的原理示意图；
附图中，
第一连杆构件：100、200、300、400、500、600、700、800；
第二连杆构件：101、201、301、401、501、601、701、801；
第三连杆构件：102、202、302、402、502、602、702、802；
第四连杆构件：103、203、303、403、503、603、703、803；
第五连杆构件：104、204、304、404、504、604、704、804；
第六连杆构件：105、205、305、405、505、605、705、805；
第七连杆构件：106、206、306、406、506、606、706、806；
滑块装置：110、210、310、410、510、610、710、810；
第一转轴结构：120、220、320、420、520、620、720、820；
第二转轴结构：121、221、321、421、521、621、721、821；
第三转轴结构：122、222、322、422、522、622、722、822；
第四转轴结构：123、223、323、423、523、623、723、823；
第五转轴结构：124、224、324、424、524、624、724、824；
第六转轴结构：125、225、325、425、525、625、725、825；
第七转轴结构：126、226、326、426、526、626、726、826；
第八转轴结构：127、227、327、427、527、627、727、827；
第一转轮结构：130、230、330、430、530、630、730、830；
第二转轮结构：131、231、331、431、531、631、731、831；
第三转轮结构：132、232、332、432、532、632、732、832；
第四转轮结构：133、233、333、433、533、633、733、833；
柔性构件：S1、S2、S3、S4、S5、S6、S7、S8；
不动点：D1、D2、D3、D4、D5、D6、D7、D8。
具体实施方式
以下结合附图和具体实施例对本发明提出的不动点机构作进一步详细说 明。根据下面说明和权利要求书，本发明的优点和特征将更清楚。需说明的是，附图均采用非常简化的形式且均使用非精准的比例，仅用以方便、明晰地辅助说明本发明实施例的目的。特别的，由于各附图所要突出的内容不同，往往采用了不同的比例。
在本申请的用语中，为了表达的统一与清楚，均将图示连杆构件(包括第一连杆构件、第二连杆构件、第三连杆构件、第四连杆构件、第五连杆构件、第六连杆构件和第七连杆构件)的下端称为第一端、上端称为第二端，或者近端称为第一端、远端称为第二端。
【实施例一】
请参考图1，其为本发明实施例一的不动点机构的原理示意图。如图1所示，所述不动点机构1包括：主动部件、从动部件及传动部件。具体的，所述主动部件包括：第一连杆构件100、第二连杆构件101、第三连杆构件102、第四连杆构件103及滑块装置110，其中，所述第一连杆构件100的第一端(在此为下端)通过第一转轴结构120与所述第二连杆构件101的第一端(在此为近端)形成转动连接，所述第二连杆构件101的第二端(在此为远端)通过第二转轴结构121与所述滑块装置110转动连接，所述第三连杆构件102与所述滑块装置110形成滑动连接，且所述第三连杆构件102通过所述第二转轴结构121的轴心，所述第三连杆构件102的第二端(在此为上端)通过第三转轴结构122与所述第四连杆构件103的第二端(在此为远端)形成转动连接，所述第四连杆构件103的第一端(在此为近端)通过第四转轴结构123与所述第一连杆构件100形成转动连接。这里“滑动连接”，是指所述第三连杆构件102与所述滑块装置110组成导轨滑块结构，即所述第三连杆构件102只能沿滑块装置110约束的方向移动。下同。
所述从动部件包括：顺次连接的第五连杆构件104、第六连杆构件105及第七连杆构件106，其中，所述第五连杆构件104的第一端(在此为下端)通过第五转轴结构124与所述第四连杆构件103形成转动连接，所述第五连杆构件104的第二端(在此为上端)通过所述第六转轴结构125与所述第六连杆构件105 形成转动连接，所述第六连杆构件105的第二端(在此为远端)通过第七转轴结构126与所述第七连杆构件106的第二端(在此为上端)形成转动连接，所述第六连杆构件105的第一端(在此为近端)通过第八转轴结构127与所述第一连杆构件100的第二端(在此为上端)形成转动连接。
所述传动部件包括：第一转轮结构130、第二转轮结构131、第三转轮结构132、第四转轮结构133及柔性构件S1，其中，所述第一转轮结构130和所述第三连杆构件102绕所述第三转轴结构122进行同步转动，所述第二转轮结构131套接于所述第五转轴结构124，所述第三转轮结构132套接于所述第六转轴结构125，所述第四转轮结构133和所述第七连杆构件106绕所述第七转轴结构126进行同步转动，所述柔性构件S1分别与所述第一转轮结构130和第四转轮结构133固定连接，并从所述第二转轮结构131和第三转轮结构132远离第七连杆构件106的一侧绕过，形成传动闭环，同时所述第一转轮结构130与所述第四转轮结构133直径相等，所述第三转轮结构132和所述第二转轮结构131直径相等。此处，所述柔性构件S1与转轮结构“固定连接”，应理解为柔性构件S1至少部分围绕转轮结构的外围，并且柔性构件S1与转轮结构之间有足够的摩擦力，以至于柔性构件S1与转轮结构之间不会发生相对移动，即不会产生所谓“打滑”现象。下同。
进一步，所述柔性构件S1的缠绕路径能够形成类似平行四边形的互补包角。也就是说，所述柔性构件S1从所述第三转轮结构132和所述第二转轮结构131远离第七连杆构件106的一侧通过，并与所述第三转轮结构132形成有第一包角θ1、以及与所述第二转轮结构131形成有第二包角θ2，且随着驱动力矩作用在所述第一连杆构件100或者所述滑块装置110，或者驱动力矩作用在所述第四连杆构件103或者所述第六连杆构件105时，所述第一包角θ1的变动值与第二包角θ2的变动值数值上相等。
在本申请实施例中，所述柔性构件S1的去路和回路均在所述第三转轮结构132和所述第二转轮结构131的同一侧形成，即所述柔性构件S1的去路和回路用了同一套转轮结构(即所述第三转轮结构132和所述第二转轮结构131)，所 述第三转轮结构132和所述第二转轮结构131直径相等。在本申请的其他实施例中，所述柔性构件S1的去路和回路也可以使用不同套转轮结构，即在所述第三转轮结构132和所述第二转轮结构131处均有两个转轮结构，相当于有两套转轮结构，即图1中的第三转轮结构132替换为第三转轮结构A和第三转轮结构B，图1中的第二转轮结构131替换为第二转轮结构A及第二转轮结构B，由第三转轮结构A和第二转轮结构A构成一套转轮结构，以及由第三转轮结构B和第二转轮结构B构成另一套转轮结构，其中，所述柔性构件S1的去路可在所述第三转轮结构A和第二转轮结构A的一侧形成，所述柔性构件S1的回路可在所述第三转轮结构B和第二转轮结构B的一侧形成，所述第三转轮结构A和第二转轮结构A直径相等，所述第三转轮结构B和第二转轮结构B直径相等，所述第三转轮结构A和所述第三转轮结构B的直径可以相等也可以不相等。另一方面，所述第二转轮结构131与所述第五转轴结构124之间可以是固定连接，也可以是转动连接，即第二转轮结构131与所述第五转轴结构124之间可以相对转动。所述第三转轮结构132与所述第六转轴结构125连接也是类似方式布置。
在本实施例中，第一转轮结构130和所述第三连杆构件102可以固定连接，以实现绕所述第三转轴结构122进行同步转动。又或者，第一转轮结构130和所述第三连杆构件102均与所述第三转轴结构122固定连接，以实现绕所述第三转轴结构122进行同步转动。
其中，所述第四转轴结构123、第五转轴结构124、第六转轴结构125和第八转轴结构127的轴心的连线形成平行四边形结构。
所述第一转轴结构120和所述第四转轴结构123的轴心距离与所述第一转轴结构120和第八转轴结构127之间的轴心距离存在第一比例值，所述第三转轴结构122和所述第四转轴结构123的轴心距离与所述第八转轴结构127和第七转轴结构126之间的轴心距离存在第二比例值，所述第一比例值和所述第二比例值被配置为相等。上述第一比例值、第二比例值相等才能够保证该不动点机构1中所述第三连杆构件102与所述第四连杆构件103形成的夹角在运动过 程中的变化量与所述第六连杆构件105和所述第七连杆构件106形成的夹角的变化量相等。本发明中，所述第一比例值、第二比例值的优选范围为1/12～1/2。在本实施例中，所述第一比例值、第二比例值为1/6。
所述第五转轴结构124和所述第四转轴结构123的轴心连线形成第一连线，所述第四转轴结构123和所述第三转轴结构122的轴心连线形成第二连线，所述第一连线和所述第二连线形成第一角度(具有第一角度值)；所述第二转轴结构121和第三转轴结构122的轴心连线形成第三连线，所述第三连线和所述第七连杆构件106形成第二角度(具有第二角度值)；所述第一转轴结构120和所述第四转轴结构123的轴心连线形成第四连线，所述第一转轴结构120和所述第八转轴结构127的轴心连线形成第五连线，所述第四连线和所述第五连线形成第三角度(具有第三角度值)；所述第一角度、所述第二角度和所述第三角度被配置为三者相等。
具体而言，在本发明中所述第一角度、所述第二角度和所述第三角度正负约定如下：若第一连线逆时针围绕第四转轴结构123的轴心旋转第一角度值后与第二连线重合，则对应的第一角度为正值，若第一连线顺时针围绕第四转轴结构123的轴心旋转第一角度值后与第二连线重合，则对应的第一角度为负值；令第一平行线为与所述第七连杆构件106轴线平行且经过所述第二转轴结构121轴心的直线，若第三连线顺时针围绕第二转轴结构121的轴心旋转第二角度值后与第一平行线重合，则对应的第二角度为正值，逆时针围绕则为负值；若第四连线顺时针围绕第一转轴结构120的轴心旋转第三角度值后与第五连线重合，则对应的第三角度为正值，逆时针围绕则为负值。本发明中，不仅需要所述第一角度、所述第二角度和所述第三角度的绝对值相等，而且需要所述第一角度、所述第二角度和所述第三角度均为正值或均为负值时，才能实现所述的机构为不动点机构。本领域技术人员应理解，如果机构中某一角度的角度值为负值，但是该角度值等价的正值(即360°减去某一角度的角度值的绝对值)与其他两个角度的角度值相等，那么该机构也在本发明的保护范围内。例如第一角度为-345°，第二角度为+15°，第三角度为+15°，应视为这三个角度相等，示范 性的技术方案也在本发明的保护范围内。同样，如果机构中某一角度的角度值为正值，但是该角度值等价的负值(即某一角度的角度值的绝对值减去360°)与其他两个角度的角度值相等，那么该机构也在本发明的保护范围内。下同。例如第一角度为+15°，第二角度为-345°，第三角度为-345°，应视为这三个角度相等，示范性的技术方案也在本发明的保护范围内。
本发明中，所述第一角度、所述第二角度和所述第三角度优选的范围为-30°～30°。在本申请实施例中，所述第一角度、所述第二角度和所述第三角度均设为0°。即所述第三转轴结构122、所述第四转轴结构123及所述第五转轴结构124位于同一直线上，也即所述第四连杆构件103为一直杆；所述第一转轴结构120、所述第四转轴结构123及所述第八转轴结构127位于同一直线上，也即所述第一连杆构件100为一直杆。所述第三连杆构件102也为一直杆，所述第七连杆构件106与所述第三连杆构件102平行，即所述第七连杆构件106与所述第二转轴结构121和第三转轴结构122的轴心连线平行。
在本申请实施例中，所述第一转轴结构120和所述第二转轴结构121的轴心连线的延长线与所述第七连杆构件106的交点为不动点D1。所述第一比例值或第二比例值也就是整个不动点机构1在运动过程中，所述主动部件中第三连杆构件102的第一端(在此为下端)相较于所述第二转轴结构121的运动距离与所述从动部件中所述第七连杆构件106的第一端(在此为下端)相较于不动点D1的运动距离之间的比例值。
请同时参考图1和图2，以第二连杆构件101作为基准线(第二连杆构件101的延长线始终经过不动点D1)，当一个驱动力矩作用在第一连杆构件100或者滑块装置110时，所述不动点机构1能够实现绕不动点D1的转动运动，例如可表现为所述第三连杆构件102或第七连杆构件106与所述基准线之间夹角的变化；当一个驱动力矩作用在第四连杆构件103或者第六连杆构件105时，所述不动点机构1能够实现相对不动点D1的伸缩运动，例如可表现为所述第四连杆构件103或第六连杆构件105朝远离(伸)或靠近(缩)不动点D1的方向运动；当一个驱动力矩作用在第一连杆构件100或者滑块装置110，且另一个驱动 力矩作用在第四连杆构件103或者第六连杆构件105时，所述不动点机构1能够实现绕不动点D1的转动运动以及相对不动点D1的伸缩运动。即，所述不动点机构1具有绕不动点D1的转动运动和相对不动点D1的伸缩运动的双自由度。
【实施例二】
请参考图3，其为本发明实施例二的不动点机构的原理示意图。如图3所示，所述不动点机构2包括：主动部件、从动部件及传动部件。具体的，所述主动部件包括：第一连杆构件200、第二连杆构件201、第三连杆构件202、第四连杆构件203及滑块装置210，其中，所述第一连杆构件200的第一端(在此为下端)通过第一转轴结构220与所述第二连杆构件201的第一端(在此为近端)形成转动连接，所述第二连杆构件201的第二端(在此为远端)通过第二转轴结构221与所述滑块装置210形成转动连接，所述第三连杆构件202与滑块装置210形成滑动连接，且所述第三连杆构件202通过所述第二转轴结构221的轴心，所述第三连杆构件202的第二端(在此为上端)通过第三转轴结构222与所述第四连杆构件203的第二端(在此为远端)形成转动连接，所述第四连杆构件203的第一端(在此为近端)通过第四转轴结构223与所述第一连杆构件200形成转动连接。
所述从动部件包括：顺次连接的第五连杆构件204、第六连杆构件205及第七连杆构件206，其中，所述第五连杆构件204的第一端(在此为下端)通过第五转轴结构224与所述第四连杆构件203形成转动连接，所述第五连杆构件204的第二端(在此为上端)通过所述第六转轴结构225与所述第六连杆构件205形成转动连接，所述第六连杆构件205的第二端(在此为远端)通过第七转轴结构226与所述第七连杆构件206的第二端(在此为上端)形成转动连接，所述第六连杆构件205的第一端(在此为近端)通过第八转轴结构227与所述第一连杆构件200的第二端(在此为上端)形成转动连接。
所述传动部件包括：第一转轮结构230、第二转轮结构231、第三转轮结构232、第四转轮结构233及柔性构件S2，其中，所述第一转轮结构230和所述第 三连杆构件202绕所述第三转轴结构222进行同步转动，所述第二转轮结构231套接于所述第四转轴结构223，所述第三转轮结构232套接于所述第八转轴结构227，所述第四转轮结构233和所述第七连杆构件206绕所述第七转轴结构226进行同步转动，所述柔性构件S2分别与所述第一转轮结构230和第四转轮结构233固定连接，并从所述第二转轮结构231和第三转轮结构232远离第七连杆构件206的一侧绕过，形成传动闭环，同时所述第一转轮结构230与所述第四转轮结构233直径相等，所述第三转轮结构232和所述第二转轮结构231直径相等。
即，所述柔性构件S2的缠绕路径能够形成类似平行四边形的互补包角。也就是说，所述柔性构件S2从所述第三转轮结构232和所述第二转轮结构231远离第七连杆构件206的一侧通过，并与所述第三转轮结构232形成有第一包角、以及与所述第二转轮结构231形成有第二包角，且随着驱动力矩作用在所述第一连杆构件200或者所述滑块装置210，或者驱动力矩作用在所述第四连杆构件203或者所述第六连杆构件205时，所述第一包角的变动值与第二包角的变动值数值上相等。
在本申请实施例中，所述柔性构件S2的去路和回路均在所述第三转轮结构232和所述第二转轮结构231的同一侧形成，即所述柔性构件S2的去路和回路用了同一套转轮结构(即所述第三转轮结构232和所述第二转轮结构231)，所述第三转轮结构232和所述第二转轮结构231直径相等。在本申请的其他实施例中，所述柔性构件S2的去路和回路也可以使用不同套转轮结构，即在所述第三转轮结构232和所述第二转轮结构231处均有两个转轮结构，相当于有两套转轮结构，即图3中的第三转轮结构232替换为第三转轮结构A和第三转轮结构B，图3中的第二转轮结构231替换为第二转轮结构A及第二转轮结构B，由第三转轮结构A和第二转轮结构A构成一套转轮结构，以及由第三转轮结构B和第二转轮结构B构成另一套转轮结构，其中，所述柔性构件S2的去路可在所述第三转轮结构A和第二转轮结构A的一侧形成，所述柔性构件S2的回路可在所述第三转轮结构B和第二转轮结构B的一侧形成，所述第三转轮结构A 和第二转轮结构A直径相等，所述第三转轮结构B和第二转轮结构B直径相等，所述第三转轮结构A和所述第三转轮结构B的直径可以相等也可以不相等。另一方面，所述第二转轮结构231与所述第四转轴结构223之间可以是固定连接，也可以是转动连接，即第二转轮结构231与所述第四转轴结构223之间可以相对转动。所述第三转轮结构232与所述第八转轴结构227连接也是类似方式布置。
在本实施例中，第一转轮结构230和所述第三连杆构件202可以固定连接，以实现绕所述第三转轴结构222进行同步转动。又或者，第一转轮结构230和所述第三连杆构件202均与所述第三转轴结构222固定连接，以实现绕所述第三转轴结构222进行同步转动。
其中，所述第四转轴结构223、第五转轴结构224、第六转轴结构225和第八转轴结构227的轴心的连线形成平行四边形结构。
所述第一转轴结构220和所述第四转轴结构223的轴心距离与所述第一转轴结构220和第八转轴结构227之间的轴心距离存在第一比例值，所述第三转轴结构222和所述第四转轴结构223的轴心距离与所述第八转轴结构227和第七转轴结构226之间的轴心距离存在第二比例值，所述第一比例值和所述第二比例值被配置为相等。上述第一比例值、第二比例值相等才能够保证该不动点机构2中所述第三连杆构件202与所述第四连杆构件203形成的夹角在运动过程中的变化量与所述第六连杆构件205和所述第七连杆构件206形成的夹角的变化量相等。本发明中，所述第一比例值、第二比例值的优选范围为1/12～1/2。在本实施例中，所述第一比例值、第二比例值为1/6。
所述第五转轴结构224和所述第四转轴结构223的轴心连线形成第一连线，所述第四转轴结构223和所述第三转轴结构222的轴心连线形成第二连线，所述第一连线和所述第二连线形成第一角度(具有第一角度值)；所述第二转轴结构221和第三转轴结构222的轴心连线形成第三连线，所述第三连线和所述第七连杆构件206形成第二角度(具有第二角度值)；所述第一转轴结构220和所述第四转轴结构223的轴心连线形成第四连线，所述第一转轴结构220和所述 第八转轴结构227的轴心连线形成第五连线，所述第四连线和所述第五连线形成第三角度(具有第三角度值)；所述第一角度、所述第二角度和所述第三角度被配置为三者相等。
本发明中，所述第一角度、所述第二角度和所述第三角度优选的范围为-30°～30°。在本申请实施例中，所述第一角度、所述第二角度和所述第三角度均设为0°。即所述第三转轴结构222、所述第四转轴结构223及所述第五转轴结构224位于同一直线上，也即所述第四连杆构件203为一直杆；所述第一转轴结构220、所述第四转轴结构223及所述第八转轴结构227位于同一直线上，也即所述第一连杆构件200为一直杆。所述第三连杆构件202也为一直杆，所述第七连杆构件206与所述第三连杆构件202平行。即所述第七连杆构件206与所述第二转轴结构221和第三转轴结构222的轴心连线平行。
在本申请实施例中，所述第一转轴结构220和所述第二转轴结构221的轴心连线的延长线与所述第七连杆构件206的交点为不动点D2。所述第一比例值或第二比例值也就是整个不动点机构2在运动过程中，所述主动部件中第三连杆构件202的第一端(在此为下端)相较于所述第二转轴结构221的运动距离与所述从动部件中所述第七连杆构件206的第一端(在此为下端)相较于不动点D2的运动距离之间的比例值。
请同时参考图3和图4，以第二连杆构件201作为基准线，当一个驱动力矩作用在第一连杆构件200或者滑块装置210时，所述不动点机构1能够实现绕不动点D2的转动运动；当一个驱动力矩作用在第四连杆构件203或者第六连杆构件205时，所述不动点机构2能够实现相对不动点D2的伸缩运动；当一个驱动力矩作用在第一连杆构件200或者滑块装置210，且另一个驱动力矩作用在第四连杆构件203或者第六连杆构件205时，所述不动点机构2能够实现绕不动点D2的转动运动以及相对不动点D2的伸缩运动。即，所述不动点机构2具有绕不动点D2的转动运动和相对不动点D2的伸缩运动的双自由度。
【实施例三】
请参考图5，其为本发明实施例三的不动点机构的原理示意图。如图5所示，所述不动点机构3包括：主动部件、从动部件及传动部件。具体的，所述主动部件包括：第一连杆构件300、第二连杆构件301、第三连杆构件302、第四连杆构件303及滑块装置310，其中，所述第一连杆构件300的第一端(在此为下端)通过第一转轴结构320与所述第二连杆构件301的第一端(在此为近端)形成转动连接，所述第二连杆构件301的第二端(在此为远端)通过第二转轴结构321与所述滑块装置310形成转动连接，所述第三连杆构件302与所述滑块装置310形成滑动连接，且所述第三连杆构件302通过所述第二转轴结构321的轴心，所述第三连杆构件302的第二端(在此为上端)通过第三转轴结构322与所述第四连杆构件303的第二端(在此为远端)形成转动连接，所述第四连杆构件303的第一端(在此为近端)通过第四转轴结构323与所述第一连杆构件300形成转动连接。
所述从动部件包括：顺次连接的第五连杆构件304、第六连杆构件305及第七连杆构件306，其中，所述第五连杆构件304的第二端(在此为上端)通过第六转轴结构325与所述第六连杆构件305形成转动连接，所述第六连杆构件305的第二端(在此为远端)通过第七转轴结构326与所述第七连杆构件306的第二端(在此为上端)形成转动连接。此外，所述第五连杆构件304的第一端(在此为下端)通过第五转轴结构324与所述第四连杆构件303形成转动连接，所述第六连杆构件305的第一端(在此为近端)通过第八转轴结构327与所述第一连杆构件300的第二端(在此为上端)形成转动连接。
所述传动部件包括：第一转轮结构330、第二转轮结构331、第三转轮结构332、第四转轮结构333及柔性构件S3，其中，所述第一转轮结构330和所述第三连杆构件302绕所述第三转轴结构322进行同步转动，所述第二转轮结构331套接于所述第五转轴结构324，所述第三转轮结构332套接于所述第六转轴结构325，所述第四转轮结构333和所述第七连杆构件306绕所述第七转轴结构326进行同步转动，所述柔性构件S3分别与所述第一转轮结构330和第四转轮结构333固定连接，并从所述第二转轮结构331和第三转轮结构332远离第七连杆构 件306的一侧绕过，形成传动闭环，同时所述第一转轮结构330与所述第四转轮结构333直径相等，所述第三转轮结构332和所述第二转轮结构331直径相等。
即，所述柔性构件S3的缠绕路径能够形成类似平行四边形的互补包角。也就是说，所述柔性构件S3从所述第三转轮结构332和所述第二转轮结构331远离第七连杆构件306的一侧通过，并与所述第三转轮结构332形成有第一包角、以及与所述第二转轮结构331形成有第二包角，且随着驱动力矩作用在所述第一连杆构件300或者所述滑块装置310，或者驱动力矩作用在所述第四连杆构件303或者所述第六连杆构件305时，所述第一包角的变动值与第二包角的变动值数值上相等。
在本申请实施例中，所述柔性构件S3的去路和回路均在所述第三转轮结构332和所述第二转轮结构331的同一侧形成，即所述柔性构件S3的去路和回路用了同一套转轮结构(即所述第三转轮结构332和所述第二转轮结构331)，所述第三转轮结构332和所述第二转轮结构331直径相等。在本申请的其他实施例中，所述柔性构件S3的去路和回路也可以使用不同套转轮结构，即在所述第三转轮结构332和所述第二转轮结构331处均有两个转轮结构，相当于有两套转轮结构，即图5中的第三转轮结构332替换为第三转轮结构A和第三转轮结构B，图5中的第二转轮结构331替换为第二转轮结构A及第二转轮结构B，由第三转轮结构A和第二转轮结构A构成一套转轮结构，以及由第三转轮结构B和第二转轮结构B构成另一套转轮结构，其中，所述柔性构件S3的去路可在所述第三转轮结构A和第二转轮结构A的一侧形成，所述柔性构件S3的回路可在所述第三转轮结构B和第二转轮结构B的一侧形成，所述第三转轮结构A和第二转轮结构A直径相等，所述第三转轮结构B和第二转轮结构B直径相等，所述第三转轮结构A和所述第三转轮结构B的直径可以相等也可以不相等。另一方面，所述第二转轮结构331与所述第五转轴结构324之间可以是固定连接，也可以是转动连接，即第二转轮结构331与所述第五转轴结构324之间可以相对转动。所述第三转轮结构332与所述第六转轴结构325连接也是类似方式布 置。
在本实施例中，第一转轮结构330和所述第三连杆构件302可以固定连接，以实现绕所述第三转轴结构322进行同步转动。又或者，第一转轮结构330和所述第三连杆构件302均与所述第三转轴结构322固定连接，以实现绕所述第三转轴结构322进行同步转动。
其中，所述第四转轴结构323、第五转轴结构324、第六转轴结构325和第八转轴结构327的轴心的连线形成平行四边形结构。
所述第一转轴结构320和所述第四转轴结构323的轴心距离与所述第一转轴结构320和第八转轴结构327之间的轴心距离存在第一比例值，所述第三转轴结构322和所述第四转轴结构323的轴心距离与所述第八转轴结构327和第七转轴结构326之间的轴心距离存在第二比例值，所述第一比例值和所述第二比例值被配置为相等。上述第一比例值、第二比例值相等才能够保证该不动点机构3中所述第三连杆构件302与所述第四连杆构件303形成的夹角在运动过程中的变化量与所述第六连杆构件305和所述第七连杆构件306形成的夹角的变化量相等。本发明中，所述第一比例值、第二比例值的优选范围为1/12～1/2。在本实施例中，所述第一比例值、第二比例值为1/6。
所述第五转轴结构324和所述第四转轴结构323的轴心连线形成第一连线，所述第四转轴结构323和所述第三转轴结构322的轴心连线形成第二连线，第一连线与第二连线形成第一角度a1(具有第一角度值)；所述第二转轴结构321和第三转轴结构322的轴心连线形成第三连线，所述第三连线与所述第七连杆构件306的轴线形成第二角度(具有第二角度值)；所述第一转轴结构320和所述第四转轴结构323形成第四连线，所述第一转轴结构320与所述第八转轴结构327形成第五连线，第四连线与第五连线形成第三角度a3(具有第三角度值)。所述第一角度a1、所述第二角度和所述第三角度a3被配置为相等。
具体而言，在本发明中所述第一角度a1、所述第二角度和所述第三角度a3正负约定如下：若第一连线逆时针围绕第四转轴结构323的轴心旋转第一角度值后与第二连线重合，则对应的第一角度a1为正值，若第一连线顺时针围绕第 四转轴结构323的轴心旋转第一角度值后与第二连线重合，则对应的第一角度a1为负值；令第一平行线为与所述第七连杆构件306轴线平行且经过所述第二转轴结构321轴心的直线，若第三连线顺时针围绕第二转轴结构321的轴心旋转第二角度值后与第一平行线重合，则对应的第二角度为正值，逆时针围绕则为负值；若第四连线顺时针围绕第一转轴结构320的轴心旋转第三角度值后与第五连线重合，则对应的第三角度a3为正值，逆时针围绕则为负值。本发明中，不仅需要所述第一角度a1、所述第二角度和所述第三角度a3的绝对值相等，而且需要所述第一角度a1、所述第二角度和所述第三角度a3均为正值或均为负值时，才能实现所述的机构为不动点机构。本领域技术人员应理解，如果机构中某一角度的角度值为负值，但是该角度值等价的正值(即360°减去某一角度的角度值的绝对值)与其他角度的角度值相等，那么该机构也在本发明的保护范围内。同样，如果机构中某一角度的角度值为正值，但是该角度值等价的负值(即某一角度的角度值的绝对值减去360°)与其他角度的角度值相等，那么该机构也在本发明的保护范围内。
本发明中，所述第一角度、所述第二角度和所述第三角度优选的范围为-30°～30°。在本申请实施例中，所述第一角度a1、所述第二角度和所述第三角度a3均为正值，具体为15°。即所述第四连杆构件303为一折杆，具体而言所述第四连杆构件303包括位于第四转轴结构323和第五转轴结构324之间的第一构件部分，以及位于第三转轴结构322和第五转轴结构324之间的第二构件部分，且所述第一构件部分和所述第二构件部分以一弯折角度固连。图5中，第一构件部分、第二构件部分均为直杆，且所述第五转轴结构324位于所述第三转轴结构322和第四转轴结构323的轴心连线的下方(即第一角度a1通过第一连线逆时针围绕第四转轴结构423的轴心旋转第一角度值后与第二连线重合的方式形成)。同样，所述第一连杆构件300为一折杆，具体而言所述第一连杆构件300包括位于第一转轴结构320和第四转轴结构323之间的第三构件部分，以及位于第四转轴结构323和第八转轴结构327之间的第四构件部分，且所述第三构件部分和所述第四构件部分以一弯折角度固连。图5中，第三构件部分、第四 构件部分均为直杆，且所述第四转轴结构323位于所述第一转轴结构320和第八转轴结构327的轴心连线的左侧或近端(即第三角度a3通过第四连线顺时针围绕第三转轴结构322的轴心旋转第三角度值后与第五连线重合的方式形成)。类似，图5中，令第一平行线为与所述第七连杆构件306轴线平行且经过所述第二转轴结构321轴心的直线，则所述第三转轴结构322的轴心位于第一平行线左侧(即第二角度通过第三连线顺时针围绕第二转轴结构321的轴心旋转第二角度值后与第一平行线重合的方式形成)。在本实施例中，所述第一转轴结构320和所述第二转轴结构321的轴心连线形成的第六连线，以所述第一转轴结构320的轴心为端点，顺时针转动第一角度a1后，与所述第七连杆构件306轴线相交，相交的交点为不动点D3。
在本申请的其他实施例中，所述第五转轴结构324也可以位于所述第三转轴结构322和第四转轴结构323的轴心连线的上方(即第一角度a1通过第一连线顺时针围绕第四转轴结构323的轴心旋转第一角度值后与第二连线重合的方式形成)。相应的，所述第四转轴结构323位于所述第一转轴结构320和第八转轴结构327的轴心连线的右侧或远端(即第三角度a3通过第四连线逆时针围绕第一转轴结构320的轴心旋转第三角度值后与第五连线重合的方式形成)，所述第三转轴结构322的轴心位于第一平行线右侧(即第二角度通过第三连线逆时针围绕第二转轴结构321的轴心旋转第二角度值后与第一平行线重合的方式形成)。此时，所述第一转轴结构320和所述第二转轴结构321的轴心连线形成的第六连线，以所述第一转轴结构320的轴心为端点，逆时针转动第一角度a1后，与所述第七连杆构件306轴线相交，相交的交点为不动点D3。
所述第一比例值或第二比例值也是整个不动点机构3在运动过程中，所述主动部件中第三连杆构件302的第一端(在此为下端)相较于所述第二转轴结构321的运动距离与所述从动部件中所述第七连杆构件306的第一端(在此为下端)相较于不动点D3的运动距离之间的比例值。
请继续参考图5，操作时将第二连杆构件301视为基准线，当一个驱动力矩作用在第一连杆构件300或者滑块装置310时，所述不动点机构3能够实现绕 不动点D3的转动运动；当一个驱动力矩作用在第四连杆构件303或者第六连杆构件305时，所述不动点机构3能够实现相对不动点D3的伸缩运动；当一个驱动力矩作用在第一连杆构件300或者滑块装置310，且另一个驱动力矩作用在第四连杆构件303或者第六连杆构件305时，所述不动点机构3能够实现绕不动点D3的转动运动以及相对不动点D3的伸缩运动。即，所述不动点机构3具有绕不动点D3的转动运动和相对不动点D3的伸缩运动的双自由度。
【实施例四】
请参考图6，其为本发明实施例四的不动点机构的原理示意图。如图6所示，所述不动点机构4包括：主动部件、从动部件及传动部件。具体的，所述主动部件包括：第一连杆构件400、第二连杆构件401、第三连杆构件402、第四连杆构件403及滑块装置410，其中，所述第一连杆构件400的第一端(在此为下端)通过第一转轴结构420与所述第二连杆构件401的第一端(在此为近端)形成转动连接，所述第二连杆构件401的第二端(在此为远端)通过第二转轴结构421与所述滑块装置410形成转动连接，所述第三连杆构件402与所述滑块装置410形成滑动连接，且所述第三连杆构件402通过所述第二转轴结构421的轴心，所述第三连杆构件402的第二端(在此为上端)通过第三转轴结构422与所述第四连杆构件403的第二端(在此为远端)形成转动连接，所述第四连杆构件403的第一端(在此为近端)通过第四转轴结构423与所述第一连杆构件400形成转动连接。
所述从动部件包括：顺次连接的第五连杆构件404、第六连杆构件405及第七连杆构件406，其中，所述第五连杆构件404的第一端(在此为下端)通过第五转轴结构424与所述第四连杆构件403形成转动连接，所述第五连杆构件404的第二端(在此为上端)通过第六转轴结构425与所述第六连杆构件405形成转动连接，所述第六连杆构件405的第二端(在此为远端)通过第七转轴结构426与所述第七连杆构件406的第二端(在此为上端)形成转动连接，所述第六连杆构件405的第一端(在此为近端)通过第八转轴结构427与所述第一连杆 构件400的第二端(在此为上端)形成转动连接。
所述传动部件包括：第一转轮结构430、第二转轮结构431、第三转轮结构432、第四转轮结构433及柔性构件S4，其中，所述第一转轮结构430和所述第三连杆构件402绕所述第三转轴结构422进行同步转动，所述第二转轮结构431套接于所述第四转轴结构423，所述第三转轮结构432套接于所述第八转轴结构427，所述第四转轮结构433和所述第七连杆构件406绕所述第七转轴结构426进行同步转动，所述柔性构件S4分别与所述第一转轮结构430和第四转轮结构433固定连接，并从所述第二转轮结构431和第三转轮结构432远离第七连杆构件406的一侧绕过，形成传动闭环，同时所述第一转轮结构430与所述第四转轮结构433直径相等，所述第三转轮结构432和所述第二转轮结构431直径相等。
即，所述柔性构件S4的缠绕路径能够形成类似平行四边形的互补包角。也就是说，所述柔性构件S4从所述第三转轮结构432和所述第二转轮结构431远离第七连杆构件406的一侧通过，并与所述第三转轮结构432形成有第一包角、以及与所述第二转轮结构431形成有第二包角，且随着驱动力矩作用在所述第一连杆构件400或者所述滑块装置410，或者驱动力矩作用在所述第四连杆构件403或者所述第六连杆构件405时，所述第一包角的变动值与第二包角的变动值数值上相等。
在本申请实施例中，所述柔性构件S4的去路和回路均在所述第三转轮结构432和所述第二转轮结构431远离第七连杆构件的同一侧形成，即所述柔性构件S4的去路和回路用了同一套转轮结构(即所述第三转轮结构432和所述第二转轮结构431)，所述第三转轮结构432和所述第二转轮结构431直径相等。在本申请的其他实施例中，所述柔性构件S4的去路和回路也可以使用不同套转轮结构，即在所述第三转轮结构432和所述第二转轮结构431处均有两个转轮结构，相当于有两套转轮结构，即图6中的第三转轮结构432替换为第三转轮结构A和第三转轮结构B，图6中的第二转轮结构431替换为第二转轮结构A及第二转轮结构B，由第三转轮结构A和第二转轮结构A构成一套转轮结构，以及由 第三转轮结构B和第二转轮结构B构成另一套转轮结构，其中，所述柔性构件S4的去路可在所述第三转轮结构A和第二转轮结构A的一侧形成，所述柔性构件S4的回路可在所述第三转轮结构B和第二转轮结构B的一侧形成，所述第三转轮结构A和第二转轮结构A直径相等，所述第三转轮结构B和第二转轮结构B直径相等，所述第三转轮结构A和所述第三转轮结构B的直径可以相等也可以不相等。另一方面，所述第二转轮结构431与所述第四转轴结构423之间可以是固定连接，也可以是转动连接，即第二转轮结构431与所述第四转轴结构423之间可以相对转动。所述第三转轮结构432与所述第八转轴结构427连接也是类似方式布置。
在本实施例中，第一转轮结构430和所述第三连杆构件402可以固定连接，以实现绕所述第三转轴结构422进行同步转动。又或者，第一转轮结构430和所述第三连杆构件402均与所述第三转轴结构422固定连接，以实现绕所述第三转轴结构422进行同步转动。
其中，所述第四转轴结构423、第五转轴结构424、第六转轴结构425和第八转轴结构427的轴心的连线形成平行四边形结构。
所述第一转轴结构420和所述第四转轴结构423的轴心距离与所述第一转轴结构420和第八转轴结构427之间的轴心距离存在第一比例值，所述第三转轴结构422和所述第四转轴结构423的轴心距离与所述第八转轴结构427和第七转轴结构426之间的轴心距离存在第二比例值，所述第一比例值和所述第二比例值被配置为相等。上述第一比例值、第二比例值相等才能够保证该不动点机构4中所述第三连杆构件402与所述第四连杆构件403形成的夹角在运动过程中的变化量与所述第六连杆构件405和所述第七连杆构件406形成的夹角的变化量相等。本发明中，所述第一比例值、第二比例值的优选范围为1/12～1/2。在本实施例中，所述第一比例值、第二比例值为1/6。
所述第五转轴结构424和所述第四转轴结构423的轴心连线形成第一连线，所述第四转轴结构423和所述第三转轴结构422的轴心连线形成第二连线，第一连线与第二连线形成第一角度a1(具有第一角度值)；所述第二转轴结构421 和第三转轴结构422的轴心连线形成第三连线，所述第三连线与所述第七连杆构件406的轴线形成第二角度(具有第二角度值)；所述第一转轴结构420和所述第四转轴结构423形成第四连线，所述第一转轴结构420与所述第八转轴结构427形成第五连线，第四连线与第五连线形成第三角度a3(具有第三角度值)。所述第一角度a1、所述第二角度和所述第三角度a3被配置为相等。所述第三连杆构件402通过所述第二转轴结构421的轴心，所述第七连杆构件406与所述第二转轴结构421和第三转轴结构422的轴心连线形成的第二角度也即所述第七连杆构件406与所述第三连杆构件402之间所形成的角度。在本申请实施例中，所述第三连杆构件402为一直杆。
具体而言，在本发明中所述第一角度a1、所述第二角度和所述第三角度a3正负约定如下：若第一连线逆时针围绕第四转轴结构423的轴心旋转第一角度值后与第二连线重合，则对应的第一角度a1为正值，若第一连线顺时针围绕第四转轴结构423的轴心旋转第一角度值后与第二连线重合，则对应的第一角度a1为负值；令第一平行线为与所述第七连杆构件406轴线平行且经过所述第二转轴结构421轴心的直线，若第三连线顺时针围绕第二转轴结构421的轴心旋转第二角度值后与第一平行线重合，则对应的第二角度为正值，逆时针围绕则为负值；若第四连线顺时针围绕第一转轴结构420的轴心旋转第三角度值后与第五连线重合，则对应的第三角度a3为正值，逆时针围绕则为负值。本发明中，不仅需要所述第一角度a1、所述第二角度和所述第三角度a3的绝对值相等，而且需要所述第一角度a1、所述第二角度和所述第三角度a3均为正值或均为负值时，才能实现所述的机构为不动点机构。本领域技术人员应理解，如果机构中某一角度的角度值为负值，但是该角度值等价的正值(即360°减去某一角度的角度值的绝对值)与其他角度的角度值相等，那么该机构也在本发明的保护范围内。同样，如果机构中某一角度的角度值为正值，但是该角度值等价的负值(即某一角度的角度值的绝对值减去360°)与其他角度的角度值相等，那么该机构也在本发明的保护范围内。
本发明中，所述第一角度、所述第二角度和所述第三角度优选的范围为 -30°～30°。在本申请实施例中，所述第一角度a1、所述第二角度和所述第三角度a3均为正值，具体为15°。即所述第四连杆构件403为一折杆，具体而言所述第四连杆构件403包括位于第四转轴结构423和第五转轴结构424之间的第一构件部分，以及位于第三转轴结构422和第五转轴结构424之间的第二构件部分，且所述第一构件部分和所述第二构件部分以一弯折角度固连。图6中，第一构件部分、第二构件部分均为直杆，且所述第五转轴结构424位于所述第三转轴结构422和第四转轴结构423的轴心连线的下方(即第一角度a1通过第一连线逆时针围绕第四转轴结构423的轴心旋转第一角度值后与第二连线重合的方式形成)。同样，所述第一连杆构件400为一折杆，具体而言所述第一连杆构件400包括位于第一转轴结构420和第四转轴结构423之间的第三构件部分，以及位于第四转轴结构423和第八转轴结构427之间的第四构件部分，且所述第三构件部分和所述第四构件部分以一弯折角度固连。图6中，第三构件部分、第四构件部分均为直杆，且所述第四转轴结构423位于所述第一转轴结构420和第八转轴结构427的轴心连线的左侧或近端(即第三角度a3通过第四连线顺时针围绕第三转轴结构422的轴心旋转第三角度值后与第五连线重合的方式形成)。类似，图6中，令第一平行线为与所述第七连杆构件406轴线平行且经过所述第二转轴结构421轴心的直线，则所述第三转轴结构422的轴心位于第一平行线左侧(即第二角度通过第三连线顺时针围绕第二转轴结构421的轴心旋转第二角度值后与第一平行线重合的方式形成)。在本实施例中，所述第一转轴结构420和所述第二转轴结构421的轴心连线形成的第六连线，以所述第一转轴结构420的轴心为端点，顺时针转动第一角度a1后，与所述第七连杆构件406轴线相交，相交的交点为不动点D4。
在本申请的其他实施例中，所述第五转轴结构424也可以位于所述第三转轴结构422和第四转轴结构423的轴心连线的上方(即第一角度a1通过第一连线顺时针围绕第四转轴结构423的轴心旋转第一角度值后与第二连线重合的方式形成)。相应的，所述第四转轴结构423位于所述第一转轴结构220和第八转轴结构227的轴心连线的右侧或远端(即第三角度a3通过第四连线逆时针围绕 第一转轴结构420的轴心旋转第三角度值后与第五连线重合的方式形成)，所述第三转轴结构422的轴心位于第一平行线右侧(即第二角度通过第三连线逆时针围绕第二转轴结构421的轴心旋转第二角度值后与第一平行线重合的方式形成)。此时，所述第一转轴结构420和所述第二转轴结构421的轴心连线形成的第六连线，以所述第一转轴结构420的轴心为端点，逆时针转动第一角度a1后，与所述第七连杆构件406轴线相交，相交的交点为不动点D4。
所述第一比例值或第二比例值也是整个不动点机构4在运动过程中，所述主动部件中第三连杆构件402的第一端(在此为下端)相较于所述第二转轴结构421的运动距离与所述从动部件中所述第七连杆构件406的第一端(在此为下端)相较于不动点D4的运动距离之间的比例值。
请继续参考图6，操作时将第二连杆构件401视为基准线，当一个驱动力矩作用在第一连杆构件400或者滑块装置410时，所述不动点机构4能够实现绕不动点D4的转动运动；当一个驱动力矩作用在第四连杆构件403或者第六连杆构件405时，所述不动点机构4能够实现相对不动点D4的伸缩运动；当一个驱动力矩作用在第一连杆构件400或者滑块装置410，且另一个驱动力矩作用在第四连杆构件403或者第六连杆构件405时，所述不动点机构4能够实现绕不动点D4的转动运动以及相对不动点D4的伸缩运动。即，所述不动点机构4具有绕不动点D4的转动运动和相对不动点D4的伸缩运动的双自由度。
【实施例五】
请参考图7，其为本发明实施例五的不动点机构的原理示意图。如图7所示，所述不动点机构5包括：主动部件、从动部件及传动部件。具体的，所述主动部件包括：第一连杆构件500、第二连杆构件501、第三连杆构件502、第四连杆构件503及滑块装置510，其中，所述第一连杆构件500的第一端(在此为下端)通过第一转轴结构520与所述第二连杆构件501的第一端(在此为近端)形成转动连接，所述第二连杆构件501的第二端(在此为远端)通过第二转轴结构521与所述滑块装置510转动连接，所述第三连杆构件502与所述滑块装 置510形成滑动连接，且所述第三连杆构件502通过所述第二转轴结构521的轴心，所述第三连杆构件502的第二端(在此为上端)通过第三转轴结构522与所述第四连杆构件503的第二端(在此为远端)形成转动连接，所述第四连杆构件503的第一端(在此为近端)通过第四转轴结构523与所述第一连杆构件500形成转动连接。所述第三连杆构件502通过所述第二转轴结构521的轴心。
所述从动部件包括：顺次连接的第五连杆构件504、第六连杆构件505及第七连杆构件506，其中，所述第五连杆构件504的第一端(在此为下端)通过第五转轴结构524与所述第四连杆构件503形成转动连接，所述第五连杆构件504的第二端(在此为上端)通过第六转轴结构525与所述第六连杆构件505形成转动连接，所述第六连杆构件505的第二端(在此为远端)通过第七转轴结构526与所述第七连杆构件506的第二端(在此为上端)形成转动连接，所述第六连杆构件505的第一端(在此为近端)通过第八转轴结构527与所述第一连杆构件500的第二端(在此为上端)形成转动连接。
所述传动部件包括：第一转轮结构530、第二转轮结构531、第三转轮结构532、第四转轮结构533及柔性构件S5，其中，所述第一转轮结构530和所述第三连杆构件502绕所述第三转轴结构522进行同步转动，所述第二转轮结构531套接于所述第五转轴结构524，所述第三转轮结构532套接于所述第六转轴结构525，所述第四转轮结构533和所述第七连杆构件506绕所述第七转轴结构526进行同步转动，所述柔性构件S5分别与所述第一转轮结构530和第四转轮结构533固定连接，并从所述第二转轮结构531和第三转轮结构532远离第七连杆构件的一侧绕过，形成传动闭环，同时所述第一转轮结构530与所述第四转轮结构533直径相等，所述第三转轮结构532和所述第二转轮结构531直径相等。
即，所述柔性构件S5的缠绕路径能够形成类似平行四边形的互补包角。也就是说，所述柔性构件S5从所述第三转轮结构532和所述第二转轮结构531远离第七连杆构件506的一侧通过，并与所述第三转轮结构532形成有第一包角、以及与所述第二转轮结构531形成有第二包角，且随着驱动力矩作用在所述第 一连杆构件500或者所述滑块装置510，或者驱动力矩作用在所述第四连杆构件503或者所述第六连杆构件505时，所述第一包角的变动值与第二包角的变动值数值上相等。
在本申请实施例中，所述柔性构件S5的去路和回路均在所述第三转轮结构532和所述第二转轮结构531远离第七连杆构件的同一侧形成，即所述柔性构件S5的去路和回路用了同一套转轮结构(即所述第三转轮结构532和所述第二转轮结构531)，所述第三转轮结构532和所述第二转轮结构531直径相等。在本申请的其他实施例中，所述柔性构件S5的去路和回路也可以使用不同套转轮结构，即在所述第三转轮结构532和所述第二转轮结构531处均有两个转轮结构，相当于有两套转轮结构，即图7中的第三转轮结构532替换为第三转轮结构A和第三转轮结构B，图7中的第二转轮结构531替换为第二转轮结构A及第二转轮结构B，由第三转轮结构A和第二转轮结构A构成一套转轮结构，以及由第三转轮结构B和第二转轮结构B构成另一套转轮结构，其中，所述柔性构件S5的去路可在所述第三转轮结构A和第二转轮结构A远离第七连杆构件的一侧形成，所述柔性构件S5的回路可在所述第三转轮结构B和第二转轮结构B远离第七连杆构件的一侧形成，所述第三转轮结构A和第二转轮结构A直径相等，所述第三转轮结构B和第二转轮结构B直径相等，所述第三转轮结构A和所述第三转轮结构B的直径可以相等也可以不相等。另一方面，所述第二转轮结构531与所述第五转轴结构524之间可以是固定连接，也可以是转动连接，即第二转轮结构531与所述第五转轴结构524之间可以相对转动。所述第三转轮结构532与所述第六转轴结构525连接也是类似方式布置。
在本实施例中，第一转轮结构530和所述第三连杆构件502可以固定连接，以实现绕所述第三转轴结构522进行同步转动。又或者，第一转轮结构530和所述第三连杆构件502均与所述第三转轴结构522固定连接，以实现绕所述第三转轴结构522进行同步转动。
其中，所述第四转轴结构523、第五转轴结构524、第六转轴结构525和第八转轴结构527的轴心的连线形成平行四边形结构。
所述第一转轴结构520和所述第四转轴结构523的轴心距离与所述第一转轴结构520和第八转轴结构527之间的轴心距离存在第一比例值，所述第三转轴结构522和所述第四转轴结构523的轴心距离与所述第八转轴结构527和第七转轴结构526之间的轴心距离存在第二比例值，所述第一比例值和所述第二比例值被配置为相等。上述第一比例值、第二比例值相等才能够保证该不动点机构5中所述第三连杆构件502与所述第四连杆构件503形成的夹角在运动过程中的变化量与所述第六连杆构件505和所述第七连杆构件506形成的夹角的变化量相等。本发明中，所述第一比例值、第二比例值的优选范围为1/12～1/2。在本实施例中，所述第一比例值、第二比例值为1/6。
所述第五转轴结构524和所述第四转轴结构523的轴心连线形成第一连线，所述第四转轴结构523和所述第三转轴结构522的轴心连线形成第二连线，第一连线与第二连线形成第一角度a1(具有第一角度值)；所述第三连杆构件502与所述第七连杆构件506形成第二角度(具有第二角度值)；所述第一转轴结构520和所述第四转轴结构523形成第四连线，所述第一转轴结构520与所述第八转轴结构527形成第五连线，第四连线与第五连线形成第三角度a3(具有第三角度值)。所述第一角度a1、所述第二角度和第三角度a3被配置为相等。
具体而言，在本发明中所述第一角度a1、所述第二角度和所述第三角度a3正负约定如下：若第一连线逆时针围绕第四转轴结构523的轴心旋转第一角度值后与第二连线重合，则对应的第一角度a1为正值，若第一连线顺时针围绕第四转轴结构523的轴心旋转第一角度值后与第二连线重合，则对应的第一角度a1为负值；若第四连线顺时针围绕第一转轴结构520的轴心旋转第三角度值后与第五连线重合，则对应的第三角度a3为正值，逆时针围绕则为负值。
本发明中，所述第一角度、所述第二角度和所述第三角度优选的范围为-30°～30°。在本申请实施例中，所述第一角度a1、所述第二角度和第三角度a3均为0°。即所述第三转轴结构522、所述第四转轴结构523及所述第五转轴结构524位于同一直线上，也即所述第四连杆构件503为一直杆；所述第一转轴结构520、所述第四转轴结构523及所述第八转轴结构527位于同一直线上，也即所 述第一连杆构件500为一直杆。
在本实施例中，所述第三连杆构件502为一折杆，通过所述第二转轴结构521和第三转轴结构522的轴心；所述第七连杆构件506也为一折杆。具体而言，所述第三连杆构件502包括与第三转轴结构522连接的第五构件部分，与所述滑块装置510滑动连接的第六构件部分，所述第六构件部分为一直杆，并且所述第六构件部分经过所述第二转轴结构521轴心，所述第五构件部分与所述第六构件部分固连。第三转轴结构522轴心到第六构件部分之间的垂线段形成一第一线段。所述第七连杆构件506包括与所述第七转轴结构526连接的第七构件部分和第八构件部分，所述第八构件部分为一直杆，所述第七构件部分与所述第八构件部分固连。所述第七转轴结构526轴心到所述第八构件部分之间的垂线段形成一第二线段。在本实施例中，第一线段与第二线段的长度形成第三比例值，所述第三比例值被配置成与第一比例值相等，即所述第三比例值优选范围为1/12～1/2，优选为1/6。相应地，所述第二角度约定如下，一经过第七转轴结构526轴心且平行于第一线段的平行线与第二线段之间的夹角。进一步，所述第二角度的正负值为：若所述平行线顺时针围绕第七转轴结构526的轴心旋转第二角度值后与第二线段重合，则对应的第二角度为正值，逆时针围绕则为负值。本实施例中只是对所述第二角度具体计算方法的一个举例，还有其他方式来约定第二角度计算方法及其正负取值。通过对第二线段的长度和方向的配置，可以配置所述第八构件部分所在的直线位置和方向。即所述第八构件部分所在的直线需要经过第二线段的端点，且方向与第二线段的方向相垂直。具体第八构件部分的长度不做特别的限定，可以根据具体需求而设定。本实施例中，所述第五构件部分、第七构件部分的形状没有特别的限制，可以为一直杆，可以为一曲杆，也可以为一折杆，又或者其他形状。本实施例对所述第七构件部分与所述第八构件部分连接的位置也没有特别的限制。
在一个优选例中，所述第五构件部分为一直杆，且所述第五构件部分与第六构件部分形成第四角度(具有第四角度值)，且通过第五构件部分逆时针围绕第五构件部分和第六构件部分的交点旋转第四角度值后与第六构件部分重合的 方式形成的角度为第四角度的正值；所述第七构件部分也为一直杆，且所述第七构件部分与第八构件部分形成第五角度(具有第五角度值)，且通过第七构件部分逆时针围绕第七构件部分和第八构件部分的交点旋转第五角度值后与第八构件部分重合的方式形成的角度为第五角度的正值。所述第四角度、第五角度被配置为相等。所述第四角度、第五角度的优选范围为0～180°，更优选所述第四角度与第五角度为90°。进一步，在本实施例中，第三角度为0°，即所述第五构件部分的轴线与第七构件部分的轴线平行，所述第六构件部分的轴线与第八构件部分的轴线平行，并且第四角度与第五角度相等。
在本申请实施例中，所述第一转轴结构520和所述第二转轴结构521的轴心连线与所述第七连杆构件506的交点为不动点D5。所述第一比例值或第二比例值也是整个不动点机构5在运动过程中，所述驱动部件中第三连杆构件502的第一端(在此为下端)相较于所述第二转轴结构521的运动距离与所述从动部件中所述第七连杆构件506的第一端(在此为下端)相较于不动点D5的运动距离之间的比例值。
请继续参考图7，以第二连杆构件501作为基准线，当一个驱动力矩作用在第一连杆构件500或者滑块装置510时，所述不动点机构5能够实现绕不动点D5的转动运动；当一个驱动力矩作用在第四连杆构件503或者第六连杆构件505时，所述不动点机构5能够实现相对不动点D5的伸缩运动；当一个驱动力矩作用在第一连杆构件500或者滑块装置510，且另一个驱动力矩作用在第四连杆构件503或者第六连杆构件505时，所述不动点机构5能够实现绕不动点D5的转动运动以及相对不动点D5的伸缩运动。即，所述不动点机构5具有绕不动点D5的转动运动和相对不动点D5的伸缩运动的双自由度。
【实施例六】
请参考图8，其为本发明实施例六的不动点机构的原理示意图。如图8所示，所述不动点机构6包括：主动部件、从动部件及传动部件。具体的，所述主动部件包括：第一连杆构件600、第二连杆构件601、第三连杆构件602、第四连 杆构件603及滑块装置610，其中，所述第一连杆构件600的第一端(在此为下端)通过第一转轴结构620与所述第二连杆构件601的第一端(在此为近端)形成转动连接，所述第二连杆构件601的第二端(在此为远端)通过第二转轴结构621与所述滑块装置610形成转动连接，所述第三连杆构件602与滑块装置610形成滑动连接，且所述第三连杆构件602通过所述第二转轴结构621的轴心，所述第三连杆构件602的第二端(在此为上端)通过第三转轴结构622与所述第四连杆构件603的第二端(在此为远端)形成转动连接，所述第四连杆构件603的第一端(在此为近端)通过第四转轴结构623与所述第一连杆构件600形成转动连接。所述第三连杆构件602通过所述第二转轴结构621的轴心。
所述从动部件包括：顺次连接的第五连杆构件604、第六连杆构件605及第七连杆构件606，其中，所述第五连杆构件604的第二端(在此为上端)通过第六转轴结构625与所述第六连杆构件605形成转动连接，所述第六连杆构件605的第二端(在此为远端)通过第七转轴结构626与所述第七连杆构件606的第二端(在此为上端)形成转动连接。此外，所述第五连杆构件604的第一端(在此为下端)通过第五转轴结构624与所述第四连杆构件603形成转动连接，所述第六连杆构件605的第一端(在此为近端)通过第八转轴结构627与所述第一连杆构件600的第二端(在此为上端)形成转动连接。
所述传动部件包括：第一转轮结构630、第二转轮结构631、第三转轮结构632、第四转轮结构633及柔性构件S6，其中，所述第一转轮结构630和所述第三连杆构件602绕所述第三转轴结构622进行同步转动，所述第二转轮结构631套接于所述第五转轴结构624，所述第三转轮结构632套接于所述第六转轴结构625，所述第四转轮结构633和所述第七连杆构件606绕所述第七转轴结构626进行同步转动，所述柔性构件S6分别与所述第一转轮结构630和第四转轮结构633固定连接，并从所述第二转轮结构631和第三转轮结构632远离第七连杆构件的一侧绕过，形成传动闭环，同时所述第一转轮结构630与所述第四转轮结构633直径相等，所述第三转轮结构632和所述第二转轮结构631直径相等。
即，所述柔性构件S6的缠绕路径能够形成类似平行四边形的互补包角。也就是说，所述柔性构件S6从所述第三转轮结构632和所述第二转轮结构631远离第七连杆构件606的一侧通过，并与所述第三转轮结构632形成有第一包角、以及与所述第二转轮结构631形成有第二包角，且随着驱动力矩作用在所述第一连杆构件600或者所述滑块装置610，或者驱动力矩作用在所述第四连杆构件603或者所述第六连杆构件605时，所述第一包角的变动值与第二包角的变动值数值上相等。
在本申请实施例中，所述柔性构件S6的去路和回路均在所述第三转轮结构632和所述第二转轮结构631远离第七连杆构件的同一侧形成，即所述柔性构件S6的去路和回路用了同一套转轮结构(即所述第三转轮结构632和所述第二转轮结构631)，所述第三转轮结构632和所述第二转轮结构631直径相等。在本申请的其他实施例中，所述柔性构件S6的去路和回路也可以使用不同套转轮结构，即在所述第三转轮结构632和所述第二转轮结构631处均有两个转轮结构，相当于有两套转轮结构，即图8中的第三转轮结构632替换为第三转轮结构A和第三转轮结构B，图8中的第二转轮结构631替换为第二转轮结构A及第二转轮结构B，由第三转轮结构A和第二转轮结构A构成一套转轮结构，以及由第三转轮结构B和第二转轮结构B构成另一套转轮结构，其中，所述柔性构件S6的去路可在所述第三转轮结构A和第二转轮结构A远离第七连杆构件的一侧形成，所述柔性构件S6的回路可在所述第三转轮结构B和第二转轮结构B远离第七连杆构件的一侧形成，所述第三转轮结构A和第二转轮结构A直径相等，所述第三转轮结构B和第二转轮结构B直径相等，所述第三转轮结构A和所述第三转轮结构B的直径可以相等也可以不相等。另一方面，所述第二转轮结构631与所述第五转轴结构624之间可以是固定连接，也可以是转动连接，即第二转轮结构631与所述第五转轴结构624之间可以相对转动。所述第三转轮结构632与所述第六转轴结构625连接也是类似方式布置。
在本实施例中，第一转轮结构630和所述第三连杆构件602可以固定连接，以实现绕所述第三转轴结构622进行同步转动。又或者，第一转轮结构630和 所述第三连杆构件602均与所述第三转轴结构622固定连接，以实现绕所述第三转轴结构622进行同步转动。
其中，所述第四转轴结构623、第五转轴结构624、第六转轴结构625和第八转轴结构627的轴心的连线形成平行四边形结构。
所述第一转轴结构620和所述第四转轴结构623的轴心距离与所述第一转轴结构620和第八转轴结构627之间的轴心距离存在第一比例值，所述第三转轴结构622和所述第四转轴结构623的轴心距离与所述第八转轴结构627和第七转轴结构626之间的轴心距离存在第二比例值，所述第一比例值和所述第二比例值被配置为相等。上述第一比例值、第二比例值相等才能够保证该不动点机构6中所述第三连杆构件602与所述第四连杆构件603形成的夹角在运动过程中的变化量与所述第六连杆构件605和所述第七连杆构件606形成的夹角的变化量相等。本发明中，所述第一比例值、第二比例值的优选范围为1/12～1/2。在本实施例中，所述第一比例值、第二比例值为1/6。
所述第五转轴结构624和所述第四转轴结构623的轴心连线形成第一连线，所述第四转轴结构623和所述第三转轴结构622的轴心连线形成第二连线，第一连线与第二连线形成第一角度a1(具有第一角度值)；所述第三连杆构件602与所述第七连杆构件606形成第二角度(具有第二角度值)；所述第一转轴结构620和所述第四转轴结构623形成第四连线，所述第一转轴结构620与所述第八转轴结构627形成第五连线，第四连线与第五连线形成第三角度a3(具有第三角度值)。所述第一角度a1、所述第二角度和所述第三角度a3被配置为相等。
具体而言，在本发明中所述第一角度a1、所述第二角度和所述第三角度a3正负约定如下：若第一连线逆时针围绕第四转轴结构623的轴心旋转第一角度值后与第二连线重合，则对应的第一角度a1为正值，若第一连线顺时针围绕第四转轴结构623的轴心旋转第一角度值后与第二连线重合，则对应的第一角度a1为负值；若第四连线顺时针围绕第一转轴结构620的轴心旋转第三角度值后与第五连线重合，则对应的第三角度a3为正值，逆时针围绕则为负值。
在本申请实施例中，所述第七连杆构件606和所述第三连杆构件602均为 折杆。即所述第三连杆构件602包括与第三转轴结构622连接的第五构件部分和与所述滑块装置610滑动连接的第六构件部分，所述第六构件部分为一直杆，并且所述第六构件部分经过所述第二转轴结构621轴心，所述第五构件部分与所述第六构件部分固连。第三转轴结构622轴心到第六构件部分之间的垂线段形成一第一线段。所述第七连杆构件606包括与所述第七转轴结构626连接的第七构件部分和第八构件部分，所述第八构件部分为一直杆，所述第七构件部分与所述第八构件部分固连。所述第七转轴结构626轴心到所述第八构件部分之间的垂线段形成一第二线段。在本实施例中，第一线段与第二线段的长度形成第三比例值，所述第三比例值被配置成与第一比例值相等，即所述第三比例值优选范围为1/12～1/2，优选为1/6。相应地，所述第二角度约定如下，一经过第七转轴结构626轴心且平行于第一线段的平行线与第二线段之间的夹角。进一步，所述第二角度的正负值为：若所述平行线顺时针围绕第七转轴结构626的轴心旋转第二角度值后与第二线段重合，则对应的角度为正值，逆时针围绕则为负值。通过对第二线段的长度和方向的配置，可以配置所述第八构件部分所在的直线位置和方向。即所述第八构件部分所在的直线需要经过第二线段的端点，且方向与第二线段的方向相垂直。具体第八构件部分的长度不做特别的限定，可以根据具体需求而设定。本实施例中，所述第五构件部分、第七构件部分的形状没有特别的限制，可以为一直杆，可以为一曲杆，也可以为一折杆，又或者其他形状。本实施例对所述第七构件部分与所述第八构件部分连接的位置也没有特别的限制。
在一个优选例中，所述第五构件部分为一直杆，且所述第五构件部分与第六构件部分形成第四角度(具有第四角度值)，且通过第五构件部分逆时针围绕第五构件部分和第六构件部分的交点旋转第四角度值后与第六构件部分重合的方式形成的角度为第四角度的正值；所述第七构件部分也为一直杆，且所述第七构件部分与第八构件部分形成第五角度(具有第五角度值)，且通过第七构件部分逆时针围绕第七构件部分和第八构件部分的交点旋转第五角度值后与第八构件部分重合的方式形成的角度为第五角度的正值。其中，所述第四角度与第 五角度被配置为相等。本实施例中，所述第四角度与第五角度优选范围为0～180°，优选所述第四角度与第五角度为90°。
本发明中，不仅需要所述第一角度a1、所述第二角度和所述第三角度a3的绝对值相等，而且需要所述第一角度a1、所述第二角度和所述第三角度a3均为正值或均为负值时，才能实现所述的机构为不动点机构。本领域技术人员应理解，如果机构中某一角度的角度值为负值，但是该角度值等价的正值(如360°减去某一角度的角度值的绝对值)与其他角度的角度值相等，那么该机构也在本发明的保护范围内。同样，如果机构中某一角度的角度值为正值，但是该角度值等价的负值(如某一角度的角度值的绝对值减去360°)与其他角度的角度值相等，那么该机构也在本发明的保护范围内。
本发明中，所述第一角度、所述第二角度和所述第三角度优选的范围为-30°～30°。在本实施例中，所述第一角度a1、所述第二角度和所述第三角度a3均为正值，具体为15°。如图8所示，即所述第四连杆构件603为一折杆，具体而言所述第四连杆构件603包括位于第四转轴结构623和第五转轴结构624之间的第一构件部分，以及位于第三转轴结构622和第五转轴结构624之间的第二构件部分，且所述第一构件部分和所述第二构件部分以一弯折角度固连。更优选，第一构件部分、第二构件部分均为直杆，且所述第五转轴结构624位于所述第三转轴结构622和第四转轴结构623的轴心连线的下方(即第一角度a1通过第一连线逆时针围绕第五转轴结构624的轴心旋转第一角度值后与第二连线重合的方式形成)。同样，所述第一连杆构件600为一折杆，具体而言所述第一连杆构件600包括位于第一转轴结构620和第四转轴结构623之间的第三构件部分，以及位于第四转轴结构623和第八转轴结构627之间的第四构件部分，且所述第三直杆部分和所述第四直杆部分以一弯折角度固连。更优选，第三构件部分、第四构件部分均为直杆，且所述第四转轴结构623位于所述第一转轴结构620和第八转轴结构627的轴心连线的左侧(即第三角度a3通过第四连线顺时针围绕第四转轴结构623的轴心旋转第三角度值后与第五连线重合的方式形成)。
如此，所述第一转轴结构620和所述第二转轴结构621的轴心连线形成的第六连线，围绕所述第一转轴结构620的轴心顺时针转动第一角度a1后与所述第七连杆构件606轴线相交，相交的交点为不动点D6。所述第一比例值或第二比例值也是整个不动点机构6在运动过程中，所述驱动部件中第三连杆构件602的第一端(在此为下端)相较于所述第二转轴结构621的运动距离与所述从动部件中所述第七连杆构件606的第一端(在此为下端)相较于不动点D6的运动距离之间的比例值。
同样的，当所述第一角度、第二角度和第三角度均为负值时，所述第六连线围绕所述第一转轴结构620的轴心逆时针转动第一角度a1后与所述第七连杆构件606轴线相交，相交的交点为不动点D6。
请继续参考图8，以第二连杆构件601作为基准线，当一个驱动力矩作用在第一连杆构件600或者滑块装置610时，所述不动点机构6能够实现绕不动点D6的转动运动；当一个驱动力矩作用在第四连杆构件603或者第六连杆构件605时，所述不动点机构6能够实现相对不动点D6的伸缩运动；当一个驱动力矩作用在第一连杆构件600或者滑块装置610，且另一个驱动力矩作用在第四连杆构件603或者第六连杆构件605时，所述不动点机构6能够实现绕不动点D6的转动运动以及相对不动点D6的伸缩运动。即，所述不动点机构6具有绕不动点D6的转动运动和相对不动点D6的伸缩运动的双自由度。
【实施例七】
上述实施例的一些变型也在本发明的保护范围内。例如，上述实施例中，所述第二连杆构件的第二端通过第二转轴结构与所述滑块装置转动连接，所述第三连杆构件与所述滑块装置形成滑动连接，且所述第三连杆构件通过所述第二转轴结构的轴心。
与实施例一至四相区别的是，在图9所示的实施例七中，所述第二连杆构件701的第二端通过第二转轴结构721与所述第三连杆构件702转动连接，所述第四连杆构件703的第二端过第三转轴结构722与所述滑块装置710转动连接，所述第三连杆构件702与所述滑块装置710形成滑动连接，且所述第三连 杆构件702通过所述第三转轴结构722的轴心，所述滑块装置710与第一转轮结构730绕所述第三转轴结构722同步转动。在此实施例中，第二角度定义如下：所述第二转轴结构721和第三转轴结构722的轴心连线形成第三连线，所述第三连线与所述第七连杆构件706的轴线形成第二角度。第二角度正负取值为：令第一平行线为与所述第七连杆构件706轴线平行且经过所述第二转轴结构721轴心的直线，若第三连线顺时针围绕第二转轴结构721的轴心旋转第二角度值后与第一平行线重合，则对应的第二角度为正值，逆时针围绕则为负值。进一步，本实施例中，第一角度、第二角度以及第三角度均为0°。
【实施例八】
与实施例五至六相区别的是，在图10所示的实施例八中，所述第二连杆构件801的第二端通过第二转轴结构821与所述第三连杆构件802转动连接，所述第四连杆构件803的第二端过第三转轴结构822与所述滑块装置810转动连接，所述第三连杆构件802为一直杆与所述滑块装置810形成滑动连接，且所述第三连杆构件802不通过所述第三转轴结构822的轴心。在此实施例中，所述第一线段为所述第三转轴结构822至所述第三连杆构件802的垂线段形成，所述第二线段为所述第七转轴结构826到所述第七连杆构件806的垂线段形成。所述第三连杆构件802与所述第七连杆构件806形成第二角度。进一步，第二角度定义为一经过第七转轴结构826轴心且平行于第一线段的平行线与第二线段之间的夹角。所述第二角度的正负值为：若所述平行线顺时针围绕第七转轴结构826的轴心旋转第二角度值后与第二线段重合，则对应的角度为正值，逆时针围绕则为负值。
上述描述仅是对本发明较佳实施例的描述，并非对本发明范围的任何限定，本发明领域的普通技术人员根据上述揭示内容做的任何变更、修饰，均属于权利要求书的保护范围。

Claims (13)

  1. 一种不动点机构，其特征在于，所述不动点机构包括：主动部件、从动部件及传动部件，其中，
    所述主动部件包括：第一连杆构件、第二连杆构件、第三连杆构件、第四连杆构件及滑块装置，其中，所述第一连杆构件的第一端通过第一转轴结构与所述第二连杆构件的第一端形成转动连接，所述第二连杆构件的第二端通过第二转轴结构与所述滑块装置转动连接，所述第三连杆构件与所述滑块装置形成滑动连接，且所述第三连杆构件通过所述第二转轴结构的轴心，所述第三连杆构件的第二端通过第三转轴结构与所述第四连杆构件的第二端形成转动连接，所述第四连杆构件的第一端通过第四转轴结构与所述第一连杆构件形成转动连接；
    所述从动部件包括：顺次连接的第五连杆构件、第六连杆构件及第七连杆构件，其中，所述第五连杆构件的第一端通过第五转轴结构与所述第四连杆构件形成转动连接，所述第五连杆构件的第二端通过第六转轴结构与所述第六连杆构件形成转动连接，所述第六连杆构件的第二端通过第七转轴结构与所述第七连杆构件的第二端形成转动连接，所述第六连杆构件的第一端通过第八转轴结构与所述第一连杆构件的第二端形成转动连接；
    所述传动部件包括：第一转轮结构、第二转轮结构、第三转轮结构、第四转轮结构及柔性构件，其中，
    所述第一转轮结构和所述第三连杆构件绕所述第三转轴结构进行同步转动，所述第四转轮结构和所述第七连杆构件绕所述第七转轴结构进行同步转动，所述第一转轮结构与所述第四转轮结构直径相等，
    所述第二转轮结构套接于所述第五转轴结构，所述第三转轮结构套接于所述第六转轴结构，所述第二转轮结构与所述第三转轮结构直径相等，所述柔性构件分别与所述第一转轮结构和第四转轮结构固定连接，并从所述第二转轮结构和第三转轮结构远离第七连杆的一侧绕过，形成传动闭环；
    或者，
    所述第一转轮结构和所述第三连杆构件绕所述第三转轴结构进行同步转动，所述第四转轮结构和所述第七连杆构件绕所述第七转轴结构进行同步转动，所述第一转轮结构与所述第四转轮结构直径相等，
    所述第二转轮结构套接于所述第四转轴结构，所述第三转轮结构套接于所述第八转轴结构，所述第二转轮结构与所述第三转轮结构直径相等，所述柔性构件分别与所述第一转轮结构和第四转轮结构固定连接，并从所述第二转轮结构和第三转轮结构远离第七连杆的一侧绕过，形成传动闭环；
    其中，所述第四转轴结构、第五转轴结构、第六转轴结构和第八转轴结构的轴心的连线形成平行四边形结构；
    所述第三连杆构件和所述第七连杆构件均为直杆；
    所述第一转轴结构和所述第四转轴结构的轴心距离与所述第一转轴结构和第八转轴结构之间的轴心距离存在第一比例值，所述第三转轴结构和所述第四转轴结构的轴心距离与所述第八转轴结构和第七转轴结构之间的轴心距离存在第二比例值，所述第一比例值和所述第二比例值被配置为相等；
    所述第五转轴结构和所述第四转轴结构的轴心连线形成第一连线，所述第四转轴结构和所述第三转轴结构的轴心连线形成第二连线，所述第一连线和所述第二连线形成第一角度；所述第二转轴结构和第三转轴结构的轴心连线形成第三连线，所述第三连线和所述第七连杆构件形成第二角度；所述第一转轴结构和所述第四转轴结构的轴心连线形成第四连线，所述第一转轴结构和所述第八转轴结构的轴心连线形成第五连线，所述第四连线和所述第五连线形成第三角度；所述第一角度、所述第二角度和所述第三角度三者被配置为相等。
  2. 如权利要求1所述的不动点机构，其特征在于，所述第一角度为-30°～30°。
  3. 如权利要求2所述的不动点机构，其特征在于，所述第一角度为0°、-15°或15°。
  4. 如权利要求1所述的不动点机构，其特征在于，所述第一比例值为1/12～1/2。
  5. 如权利要求1所述的不动点机构，其特征在于，所述第二转轮结构和所述第三转轮结构均为一个单轮，或所述第二转轮结构和所述第三转轮结构均为 一组单轮。
  6. 一种不动点机构，其特征在于，所述不动点机构包括：主动部件、从动部件及传动部件，其中，
    所述主动部件包括：第一连杆构件、第二连杆构件、第三连杆构件、第四连杆构件及滑块装置，其中，所述第一连杆构件的第一端通过第一转轴结构与所述第二连杆构件的第一端形成转动连接，所述第二连杆构件的第二端通过第二转轴结构与所述滑块装置转动连接，所述第三连杆构件与所述滑块装置形成滑动连接，且所述第三连杆构件通过所述第二转轴结构的轴心，所述第三连杆构件的第二端通过第三转轴结构与所述第四连杆构件的第二端形成转动连接，所述第四连杆构件的第一端通过第四转轴结构与所述第一连杆构件形成转动连接；
    所述从动部件包括：顺次连接的第五连杆构件、第六连杆构件及第七连杆构件，其中，所述第五连杆构件的第一端通过第五转轴结构与所述第四连杆构件形成转动连接，所述第五连杆构件的第二端通过第六转轴结构与所述第六连杆构件形成转动连接，所述第六连杆构件的第二端通过第七转轴结构与所述第七连杆构件的第二端形成转动连接，所述第六连杆构件的第一端通过第八转轴结构与所述第一连杆构件的第二端形成转动连接；
    所述传动部件包括：第一转轮结构、第二转轮结构、第三转轮结构、第四转轮结构及柔性构件，其中，
    所述第一转轮结构和所述第三连杆构件绕所述第三转轴结构进行同步转动，所述第四转轮结构和所述第七连杆构件绕所述第七转轴结构进行同步转动，所述第一转轮结构与所述第四转轮结构直径相等，
    所述第二转轮结构套接于所述第五转轴结构，所述第三转轮结构套接于所述第六转轴结构，所述第二转轮结构与所述第三转轮结构直径相等，所述柔性构件分别与所述第一转轮结构和第四转轮结构固定连接，并从所述第二转轮结构和第三转轮结构远离第七连杆的一侧绕过，形成传动闭环；
    或者，
    所述第一转轮结构和所述第三连杆构件绕所述第三转轴结构进行同步 转动，所述第四转轮结构和所述第七连杆构件绕所述第七转轴结构进行同步转动，所述第一转轮结构与所述第四转轮结构直径相等，
    所述第二转轮结构套接于所述第四转轴结构，所述第三转轮结构套接于所述第八转轴结构，所述第二转轮结构与所述第三转轮结构直径相等，所述柔性构件分别与所述第一转轮结构和第四转轮结构固定连接，并从所述第二转轮结构和第三转轮结构远离第七连杆的一侧绕过，形成传动闭环；
    其中，所述第四转轴结构、第五转轴结构、第六转轴结构和第八转轴结构的轴心的连线形成平行四边形结构；
    所述第三连杆构件包括与所述第三转轴结构连接的第五构件部分和与所述滑块装置滑动连接的第六构件部分，所述第六构件部分为一直杆，所述第五构件部分与所述第六构件部分固连，所述第三转轴结构到所述第六构件部分之间的距离形成一第一线段；所述第七连杆构件包括与所述第七转轴结构连接的第七构件部分和第八构件部分，所述第八构件部分为一直杆，所述第七构件部分与所述第八构件部分固连，所述第七转轴结构到所述第八构件部分之间的距离形成一第二线段；
    所述第一转轴结构和所述第四转轴结构的轴心距离与所述第一转轴结构和第八转轴结构之间的轴心距离存在第一比例值，所述第三转轴结构和所述第四转轴结构的轴心距离与所述第八转轴结构和第七转轴结构之间的轴心距离存在第二比例值，所述第一线段与所述第二线段之间存在第三比例值，所述第一比例值、所述第二比例值和所述第三比例值被配置为相等；
    所述第五转轴结构和所述第四转轴结构的轴心连线形成第一连线，所述第四转轴结构和所述第三转轴结构的轴心连线形成第二连线，所述第一连线和所述第二连线形成第一角度；所述第三连杆构件与所述第七连杆构件之间形成第二角度；所述第一转轴结构和所述第四转轴结构的轴心连线形成第四连线，所述第一转轴结构和所述第八转轴结构的轴心连线形成第五连线，所述第四连线和所述第五连线形成第三角度；所述第一角度、所述第二角度和所述第三角度三者被配置为相等。
  7. 如权利要求6所述的不动点机构，其特征在于，所述第一角度为-30°～30°。
  8. 如权利要求7所述的不动点机构，其特征在于，所述第一角度为0°、-15°或15°。
  9. 如权利要求6所述的不动点机构，其特征在于，所述第一比例值为1/12～1/2。
  10. 如权利要求6所述的不动点机构，其特征在于，所述第五构件部分为一直杆，且所述第五构件部分与第六构件部分形成第四角度，所述第七构件部分也为一直杆，且所述第七构件部分与第八构件部分形成第五角度，所述第四角度与第五角度被配置为相等。
  11. 如权利要求6所述的不动点机构，其特征在于，所述第四角度为0～180°。
  12. 一种不动点机构，其特征在于，所述不动点机构包括：主动部件、从动部件及传动部件，其中，
    所述主动部件包括：第一连杆构件、第二连杆构件、第三连杆构件、第四连杆构件及滑块装置，其中，所述第一连杆构件的第一端通过第一转轴结构与所述第二连杆构件的第一端形成转动连接，所述第二连杆构件的第二端通过第二转轴结构与所述第三连杆构件转动连接，所述第四连杆构件的第二端通过第三转轴结构与所述滑块装置转动连接，所述第三连杆构件与所述滑块装置形成滑动连接，所述第三连杆构件通过所述第三转轴结构的轴心，所述第四连杆构件的第一端通过第四转轴结构与所述第一连杆构件形成转动连接；
    所述从动部件包括：顺次连接的第五连杆构件、第六连杆构件及第七连杆构件，其中，所述第五连杆构件的第一端通过第五转轴结构与所述第四连杆构件形成转动连接，所述第五连杆构件的第二端通过第六转轴结构与所述第六连杆构件形成转动连接，所述第六连杆构件的第二端通过第七转轴结构与所述第七连杆构件的第二端形成转动连接，所述第六连杆构件的第一端通过第八转轴结构与所述第一连杆构件的第二端形成转动连接；
    所述传动部件包括：第一转轮结构、第二转轮结构、第三转轮结构、第四转轮结构及柔性构件，其中，
    所述第一转轮结构和所述第三连杆构件绕所述第三转轴结构进行同步转动，所述第四转轮结构和所述第七连杆构件绕所述第七转轴结构进行同步转 动，所述第一转轮结构与所述第四转轮结构直径相等，
    所述第二转轮结构套接于所述第五转轴结构，所述第三转轮结构套接于所述第六转轴结构，所述第二转轮结构与所述第三转轮结构直径相等，所述柔性构件分别与所述第一转轮结构和第四转轮结构固定连接，并从所述第二转轮结构和第三转轮结构远离第七连杆的一侧绕过，形成传动闭环；
    或者，
    所述第一转轮结构和所述第三连杆构件绕所述第三转轴结构进行同步转动，所述第四转轮结构和所述第七连杆构件绕所述第七转轴结构进行同步转动，所述第一转轮结构与所述第四转轮结构直径相等，
    所述第二转轮结构套接于所述第四转轴结构，所述第三转轮结构套接于所述第八转轴结构，所述第二转轮结构与所述第三转轮结构直径相等，所述柔性构件分别与所述第一转轮结构和第四转轮结构固定连接，并从所述第二转轮结构和第三转轮结构远离第七连杆的一侧绕过，形成传动闭环；
    其中，所述第四转轴结构、第五转轴结构、第六转轴结构和第八转轴结构的轴心的连线形成平行四边形结构；
    所述第三连杆构件和所述第七连杆构件均为直杆；
    所述第一转轴结构和所述第四转轴结构的轴心距离与所述第一转轴结构和第八转轴结构之间的轴心距离存在第一比例值，所述第三转轴结构和所述第四转轴结构的轴心距离与所述第八转轴结构和第七转轴结构之间的轴心距离存在第二比例值，所述第一比例值和所述第二比例值被配置为相等；
    所述第五转轴结构和所述第四转轴结构的轴心连线形成第一连线，所述第四转轴结构和所述第三转轴结构的轴心连线形成第二连线，所述第一连线和所述第二连线形成第一角度；所述第二转轴结构和第三转轴结构的轴心连线形成第三连线，所述第三连线和所述第七连杆构件形成第二角度；所述第一转轴结构和所述第四转轴结构的轴心连线形成第四连线，所述第一转轴结构和所述第八转轴结构的轴心连线形成第五连线，所述第四连线和所述第五连线形成第三角度；所述第一角度、所述第二角度和所述第三角度三者被配置为相等。
  13. 一种不动点机构，其特征在于，所述不动点机构包括：主动部件、从 动部件及传动部件，其中，
    所述主动部件包括：第一连杆构件、第二连杆构件、第三连杆构件、第四连杆构件及滑块装置，其中，所述第一连杆构件的第一端通过第一转轴结构与所述第二连杆构件的第一端形成转动连接，所述第二连杆构件的第二端通过第二转轴结构与所述第三连杆构件转动连接，所述第四连杆构件的第二端通过第三转轴结构与所述滑块装置转动连接，所述第三连杆构件与所述滑块装置形成滑动连接，所述第三连杆构件不通过所述第三转轴结构的轴心，所述第四连杆构件的第一端通过第四转轴结构与所述第一连杆构件形成转动连接；
    所述从动部件包括：顺次连接的第五连杆构件、第六连杆构件及第七连杆构件，其中，所述第五连杆构件的第一端通过第五转轴结构与所述第四连杆构件形成转动连接，所述第五连杆构件的第二端通过第六转轴结构与所述第六连杆构件形成转动连接，所述第六连杆构件的第二端通过第七转轴结构与所述第七连杆构件的第二端形成转动连接，所述第六连杆构件的第一端通过第八转轴结构与所述第一连杆构件的第二端形成转动连接；
    所述传动部件包括：第一转轮结构、第二转轮结构、第三转轮结构、第四转轮结构及柔性构件，其中，
    所述第一转轮结构和所述第三连杆构件绕所述第三转轴结构进行同步转动，所述第四转轮结构和所述第七连杆构件绕所述第七转轴结构进行同步转动，所述第一转轮结构与所述第四转轮结构直径相等，
    所述第二转轮结构套接于所述第五转轴结构，所述第三转轮结构套接于所述第六转轴结构，所述第二转轮结构与所述第三转轮结构直径相等，所述柔性构件分别与所述第一转轮结构和第四转轮结构固定连接，并从所述第二转轮结构和第三转轮结构远离第七连杆的一侧绕过，形成传动闭环；
    或者，
    所述第一转轮结构和所述第三连杆构件绕所述第三转轴结构进行同步转动，所述第四转轮结构和所述第七连杆构件绕所述第七转轴结构进行同步转动，所述第一转轮结构与所述第四转轮结构直径相等，
    所述第二转轮结构套接于所述第四转轴结构，所述第三转轮结构套接 于所述第八转轴结构，所述第二转轮结构与所述第三转轮结构直径相等，所述柔性构件分别与所述第一转轮结构和第四转轮结构固定连接，并从所述第二转轮结构和第三转轮结构远离第七连杆的一侧绕过，形成传动闭环；
    其中，所述第四转轴结构、第五转轴结构、第六转轴结构和第八转轴结构的轴心的连线形成平行四边形结构；
    所述第三连杆构件为一直杆，第三转轴结构到第三连杆构件之间的距离形成一第一线段；所述第七连杆构件包括与所述第七转轴结构连接的第七构件部分和第八构件部分，所述第七构件部分与所述第八构件部分固连，所述第八构件部分为一直杆，所述第七转轴结构到所述第八构件部分之间的距离形成一第二线段；
    所述第一转轴结构和所述第四转轴结构的轴心距离与所述第一转轴结构和第八转轴结构之间的轴心距离存在第一比例值，所述第三转轴结构和所述第四转轴结构的轴心距离与所述第八转轴结构和第七转轴结构之间的轴心距离存在第二比例值，所述第一线段与所述第二线段之间存在第三比例值，所述第一比例值、所述第二比例值和所述第三比例值被配置为相等；
    所述第五转轴结构和所述第四转轴结构的轴心连线形成第一连线，所述第四转轴结构和所述第三转轴结构的轴心连线形成第二连线，所述第一连线和所述第二连线形成第一角度；所述第三连杆构件与所述第七连杆构件之间形成第二角度；所述第一转轴结构和所述第四转轴结构的轴心连线形成第四连线，所述第一转轴结构和所述第八转轴结构的轴心连线形成第五连线，所述第四连线和所述第五连线形成第三角度；所述第一角度、所述第二角度和所述第三角度三者被配置为相等。
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CN106584445A (zh) 2017-04-26
US20200009748A1 (en) 2020-01-09
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