WO2019196421A1

WO2019196421A1 - Multi-degree-of-freedom parallel mechanism

Info

Publication number: WO2019196421A1
Application number: PCT/CN2018/117670
Authority: WO
Inventors: 周啸波; 蓝青
Original assignee: 苏州迈澜医疗科技有限公司
Priority date: 2018-04-10
Filing date: 2018-11-27
Publication date: 2019-10-17
Also published as: CN110573306A; CN110545963B; CN110355737B; WO2019196422A1; CN110355737A; CN110545963A; CN110573306B

Abstract

A multi-degree-of-freedom parallel mechanism, comprising a bridge assembly (2), a main support assembly (3) and a secondary support assembly (4); the main support assembly (3) comprises at least one parallelogram mechanism; the bridge assembly (2) is rotatably connected to a main support block (30), so that the bridge assembly (2) can rotate, with respect to the main support block (30), around two axes which are not parallel to each other, and the bridge assembly (2) is also rotatably connected to a secondary support block (40), so that the bridge assembly (2) can rotate, with respect to the secondary support block (40), around two axes which are not parallel to each other; the bridge assembly (2) has at least two degrees of freedom in translation and two degrees of freedom in rotation. This multi-degree-of-freedom parallel mechanism has high control accuracy, a simple structure, and a high space utilization rate.

Description

Multi-degree of freedom parallel mechanism

Reference to related application

The present invention claims the priority of the invention patent application entitled "translation mechanism and multi-degree-of-freedom guiding mechanism having the translation mechanism", which is filed in China on April 10, 2018, the application number of which is incorporated herein by reference. The references are incorporated herein.

Technical field

The invention relates to the field of robots, in particular to a multi-degree-of-freedom parallel mechanism of a parallel robot.

Background technique

From the perspective of mechanism, robots can be divided into two types: tandem robots and parallel robots. Compared with tandem robots, parallel robots have the advantages of high rigidity, strong carrying capacity, high precision and small inertia of end parts.

The existing parallel robots mostly adopt a completely symmetrical design, resulting in a large overall volume of the robot, which can not be well adapted to a small operation space, or multiple robots can be arranged simultaneously in a limited space.

The most common parallel robots are mostly six degrees of freedom. For example, patent US3295224A discloses a parallel robot for motion simulation. However, the cost of a parallel robot with a complete six degrees of freedom is often that the motion space for each degree of freedom is roughly equally divided, and that some of the demands for more motion in a particular direction are not well met. Therefore, people limit the degree of freedom in some directions according to specific needs, in exchange for more movement space in other directions. The most widely used one is the parallel robot for picking operation, and most of them provide the freedom of three translations and one rotation. For example, the patent CN105729450B discloses a four-degree-of-freedom parallel mechanism that can realize the freedom of three translations and one rotation of the movable platform, and cannot realize the rotation of the movable platform about the y-axis or the x-axis. For example, the patent publication WO2009053506A1 discloses a four-degree-of-freedom parallel robot whose support portion uses a plurality of four-bar linkage mechanisms that are not coplanar, and the movements of these non-coplanar four-bar linkage mechanisms mutually restrict each other, so that the terminal The moving platform cannot realize the freedom of two translations and two rotations.

However, in applications such as surgical robots or machine tools, it is necessary to control the degree of freedom of at least two translations of the tool. The above-described parallel mechanism for providing three translations and one rotation is not applicable.

Summary of the invention

SUMMARY OF THE INVENTION It is an object of the present invention to overcome or at least alleviate the deficiencies of the prior art described above and to provide a multi-degree of freedom parallel mechanism having at least two translational two rotational degrees of freedom that enable a relatively large range of motion in a limited space.

According to a first aspect of the present invention, a multi-degree of freedom parallel mechanism is provided, comprising a bridge assembly, a main support assembly and a secondary support assembly;

The main support assembly includes a main support block, a main first movable member, a main second movable member, a main first rod, a main second rod, a main third rod and a main guide member, and the main first movable member and the seat The main second movable member is guided to be guided by the main guide member, and two ends of the main third rod are respectively rotatably connected with the main support block and the main second movable member; the main first rod One end of the main support block is rotatably connected to the first point, and the other end is rotatably connected to the main first movable member to the second point, and one end of the main second rod is rotatably connected to the main support block. The third point and the other end are rotatably connected to the main first movable member to the fourth point, and the lines connecting the first point, the second point, the third point and the fourth point form a parallelogram. The plane where the parallelogram is located is the main base plane;

The secondary support assembly includes a secondary support block, a secondary first movable member, a second second movable member, a second first rod, a second second rod, a second third rod, and a secondary guide, and the second first movable member and the second movable member The second movable member is guided to be guided by the secondary guiding member, and the two ends of the secondary third rod are respectively rotatably connected with the secondary supporting block and the second second movable member; One end of the second support rod is rotatably connected to the second first point, and the other end is rotatably connected to the second second point, and one end of the second second rod is rotatably connected to the secondary support block. The third point, the other end and the second first movable member are rotatably connected to the fourth fourth point, and the second first point, the second second point, the second third point, and the second fourth point are connected Forming a parallelogram that moves in a sub-base plane;

The bridge assembly is rotatably coupled to the main support block such that the bridge assembly is rotatable relative to the main support block about two mutually non-parallel axes, the bridge assembly also being rotatably coupled to the secondary support block, Enabling the bridge assembly to be rotatable relative to the secondary support block about two axes that are not parallel to each other;

The bridge assembly has at least two translational degrees of freedom and two degrees of rotational freedom.

According to a second aspect of the present invention, there is provided a multi-degree of freedom parallel mechanism comprising a bridge assembly, a main support assembly and a secondary support assembly;

The secondary support assembly includes a secondary support block, a secondary first rod, a second secondary rod and a secondary guide, one end of the secondary first rod is rotatably coupled to the secondary support block, and the other end is rotationally coupled to the secondary guide One end of the second second rod is rotatably connected to the secondary support block, and the other end is rotatably connected to the secondary guide, and the secondary support block is located at the second first pole and the second second pole Sub-base in-plane motion;

In at least one embodiment, the secondary support assembly further includes a second first movable member and a second second movable member, the secondary first movable member and the second second movable member being guided by the secondary guide activity,

One end of the second first rod and one end of the second second rod are rotatably connected to the sub-support block at the same point, and the other end of the second first rod is rotatably connected with the second movable member. The other end of the second rod is rotatably connected to the second movable member.

In at least one embodiment, one end of the second first rod and one end of the second second rod are rotationally coupled to the secondary support block at the same point, the other end of the secondary first rod and the second The other end of the two rods is rotatably connected to the secondary guide at two different points.

The secondary first rod and the second secondary rod can be controlled to elongate or shorten, respectively.

In at least one embodiment, the main first movable member includes a sliding member and a rotating member, the sliding member being translated by the guiding member, the rotating member being rotatably coupled with respect to the sliding member To the sliding member, a rotational connection point of the main first rod and the main second rod with the main first movable member is located at the rotating member.

In at least one embodiment, the bridge assembly includes a first extension and a second extension, the first extension and the second extension being connectable to each other in a translational or rotational manner,

The main support block and the first extension member are rotatably coupled about two mutually perpendicular axes, and the secondary support block and the second extension member are rotatably coupled about two mutually perpendicular axes. During the movement of the main support block and/or the secondary support block, the first extension and the second extension are close to or away from each other.

In at least one embodiment, the main guide and the secondary guide can be translated synchronously or independently of each other, or

The main guide and the secondary guide are rotatable synchronously or independently of one another.

In at least one embodiment, the primary base plane is always parallel to the secondary base plane.

In at least one embodiment, the secondary first rod includes a second first rod first portion and a second first rod second portion that are rotatable relative to each other, and the second second rod includes a second second rod that can rotate relative to each other a second portion of the second and second rods, wherein the first portion of the first rod is rotatably coupled to the second movable member by an adapter capable of providing two mutually perpendicular rotational axes, the first a second portion of the rod is rotatably coupled to the secondary support assembly, and the second portion of the second second rod is rotatably coupled to the second movable member by an adapter capable of providing two mutually perpendicular rotational axes, the second a second portion of the second rod is rotatably coupled to the secondary support assembly,

The position of the secondary base plane changes as the first movable member and/or the second movable member move.

In at least one embodiment, the secondary first rod and the second secondary rod are each rotatably coupled to the secondary guide by an adapter that provides three degrees of freedom, preferably a ball hinge.

The position of the secondary base plane changes as the secondary first rod and/or the second second rod expands and contracts.

The invention constructs a multi-degree-of-freedom parallel mechanism with a structure that does not have to be symmetrical, and the terminal can realize at least two translational two-rotation degrees of freedom. The multi-degree-of-freedom parallel mechanism has high control precision, simple structure and high space utilization.

DRAWINGS

1 is a schematic view of a multi-degree of freedom parallel mechanism in accordance with a first embodiment of the present invention.

2 is a schematic view of the support assembly of FIG. 1.

3 is a schematic diagram of a variation of a bridge assembly of a multi-degree of freedom parallel mechanism in accordance with a first embodiment of the present invention.

4 is a schematic diagram of a variation of a support assembly of a multi-degree of freedom parallel mechanism in accordance with a first embodiment of the present invention.

Figure 5 is a schematic illustration of a variation of the support assembly of the multi-degree of freedom parallel mechanism in accordance with the first embodiment of the present invention.

Figure 6 is a schematic illustration of a multi-degree of freedom parallel mechanism in accordance with a second embodiment of the present invention.

Figure 7 is a schematic illustration of a partial configuration of the main support assembly of Figure 6.

Figure 8 is a side elevational view of a multi-degree of freedom parallel mechanism in accordance with a second embodiment of the present invention.

9 is a schematic illustration of a variation of a bridge assembly of a multi-degree of freedom parallel mechanism in accordance with a second embodiment of the present invention.

Figure 10 is a schematic illustration of a multi-degree of freedom parallel mechanism in accordance with a third embodiment of the present invention.

Figure 11 is a schematic illustration of a variation of the main support assembly of the multi-degree of freedom parallel mechanism in accordance with a third embodiment of the present invention.

Figure 12 is a schematic illustration of a variation of a secondary support assembly of a multi-degree of freedom parallel mechanism in accordance with a third embodiment of the present invention.

Figure 13 is a schematic illustration of a variation of the secondary support assembly of the multi-degree of freedom parallel mechanism in accordance with the present invention.

14 to 16 are schematic views of three implementations of a multi-degree of freedom parallel mechanism in accordance with a fourth embodiment of the present invention.

17 and 18 are schematic views of two implementations of a multi-degree of freedom parallel mechanism in accordance with a fifth embodiment of the present invention.

19 to 21 are schematic views of three implementations of a multi-degree of freedom parallel mechanism in accordance with a sixth embodiment of the present invention.

Description of the reference signs:

1 support assembly; 10 support block; 11 first rod; 12 second rod; 13 third rod; 14 fourth rod; 15 first movable member; 16 second movable member; 17 guide member; 171 first guide member; 172 second guide member; 1721 first section; 1722 second section; 18 third movable member;

2 bridge assembly; 21 first adapter; 22 second adapter; 23 first extension; 231 guide; 232 extension guide; 24 second extension; 25 end piece;

3 main support assembly; 30 main support block; 31 main first rod; 32 main second rod; 33 main third rod; 34 main first movable member; 341 rotating member; 342 sliding member; 35 main second movable member; 36 main guide; 361 main first guide; 362 main second guide; 37 main fourth;

4 support assemblies; 40 support blocks; 41 first rods; 42 second rods; second first rod first portion 411; second first rod second portion 412; second second rod first portion 421; Second rod second portion 422; 43 times first movable member; 44 times second movable member; 45 times guide member; 451 times first guide member; 452 times second guide member;

5 traction belt; 6 guide connector; 7 counterweight.

detailed description

Exemplary embodiments of the present invention are described below with reference to the accompanying drawings. It is to be understood that the specifics of the invention are not intended to limit the scope of the invention.

Unless otherwise stated, the present invention describes the positional relationship of each component by the three-dimensional coordinate system shown in FIG. It should be understood that the positional relationship defined by the x, y, and z axes in the present invention is relative, and the coordinate axes may be rotated in space according to the practical application of the device.

(First embodiment)

A first embodiment of the multi-degree-of-freedom parallel mechanism of the present invention and related variants will first be described with reference to Figs.

Referring to Figure 1, a parallel mechanism according to a first embodiment of the present invention includes two sets of support assemblies 1 (one of the two sets of support assemblies 1 is also referred to as a main support assembly, the other is referred to as a secondary support assembly) and The bridge assembly 2 of the two sets of support assemblies 1 is connected.

Each set of support assemblies 1 is moved by the two movable members (the first movable member 15 and the second movable member 16) as active members in a xoy plane (hereinafter also referred to as a base plane), so that the end of the support assembly 1 The support block 10 can have two degrees of translational freedom in the base plane. The bridge assembly 2 is guided by two movable members such that the bridge assembly 2 has two degrees of translational two degrees of freedom. The terminal member 25 has a translational freedom in the third direction with respect to the bridge assembly 2, so that the terminal member 25 can have three degrees of freedom of translation.

Next, the specific structure and the manner of movement of the support assembly 1 will be described with reference to FIG.

The support assembly 1 includes a guide member 17, a first movable member 15, a second movable member 16, four links (a first rod 11, a second rod 12, a third rod 13, and a fourth rod 14) and a support block 10.

The guide member 17 is located in the plane of the base plane xoy. The guide member 17 may be a device such as a slide rail, a chute or a slide bar that can provide a guiding path for the movement of the first movable member 15 and the second movable member 16. The present invention does not limit the specific form of the guide member 17.

In the present embodiment, the guiding member 17 includes a first guiding member 171 and a second guiding member 172. The first guiding member 171 and the second guiding member 172 are linear sliding grooves, and the first guiding member 171 and the second guiding member 172 is not parallel. The first movable member 15 reciprocates along the first guide member 171, and the second movable member 16 reciprocates along the second guide member 172.

One end of the first rod 11 and one end of the second rod 12 are respectively rotatably connected (rotatably connected) to the first movable member 15, and the other end of the first rod 11 and the other end of the second rod 12 are respectively supported by the support block 10. Rotating connection; one end of the third rod 13 and one end of the fourth rod 14 are respectively rotatably connected with the second movable member 16, and the other end of the third rod 13 and the other end of the fourth rod 14 are respectively rotatably connected with the support block 10. The first rod 11, the second rod 12, the first movable member 15 and the support block 10 constitute a planar four-bar mechanism, and the four rotational joint points of the planar four-bar mechanism form four vertices of the parallelogram, and the plane four The rod mechanism is simply referred to as a "parallelogram mechanism", or simply the above-mentioned planar four-bar mechanism is a parallelogram. The third rod 13, the fourth rod 14, the second movable member 16 and the support block 10 constitute a planar four-bar mechanism, and the four rotational joint points of the planar four-bar mechanism form four end points of the parallelogram, the above-mentioned plane four rods The mechanism is a parallelogram mechanism / a parallelogram.

The above-mentioned planar four-bar mechanism has the function of a parallelogram: during the movement of the planar four-bar mechanism, the posture of the support block 10 relative to the first movable member 15 / the second movable member 16 is determined, that is, the support block 10 does not The rotation of the first movable member 15 / the second movable member 16 occurs, in particular, the rotation in the z direction does not occur. As long as the first movable member 15 / the second movable member 16 are only translated, the support block 10 is only flattened. move.

In the present embodiment, the first movable member 15 and the second movable member 16 are independently reciprocated along the first guide member 171 and the second guide member 172, respectively, so that the support block 10 has two translations in the xoy plane ( Degree of freedom in the x direction and translation in the y direction.

In fact, as long as there is a parallelogram mechanism in the support assembly 1, it is ensured that the support block 10 has a certain posture during translation. Therefore, any of the first rod 11, the second rod 12, the third rod 13, and the fourth rod 14 can be omitted in the present embodiment.

It should be noted that the arrangement in which the first guiding member 171 and the second guiding member 172 are not parallel improves the space utilization. As shown in FIG. 2, when the guide member 17 is disposed on the base, for the same size base, the first guide member 171 and the second guide member 172 are formed at an angle such that the range of movement of the support block 10 is larger, and The plurality of sets of guides 17 are arranged in an array form (for example, in the form of a centrally symmetrical array) in the base plane in which the guides 17 are located to construct a plurality of sets of support assemblies 1, thereby improving space utilization.

It should be understood that the first guiding member 171 and the second guiding member 172 may not communicate with each other or may penetrate each other. When the first guiding member 171 and the second guiding member 172 are mutually penetrated, preferably the first guiding member 171 and the second guiding member The guide 172 can be an integrally formed curved (eg, arcuate curve) track.

Further, in the case where there is no special requirement for space utilization, the first guide member 171 and the second guide member 172 may be parallel to each other or even penetrate into a straight track. For example, the first guide member 171 and the second guide member 172 are parallel to each other. For example, the guide member 36 in the second embodiment shown in FIG. 6 can be referred to.

Next, the specific structure of the bridge assembly 2 will be described with reference to Fig. 1, and how the two support blocks 10 at the two ends of the bridge assembly 2 achieve positioning of the bridge assembly 2 to cause translation and rotation of the bridge assembly 2.

The bridge assembly 2 includes a first adapter 21, a second adapter 22, a first extension 23, a second extension 24, and a termination member 25.

The first extension member 23 and the second extension member 24 are sleeved to each other such that the extension assembly formed by the two can be expanded and contracted in the sleeve direction of the two. For example, the first extension member 23 has a receiving cavity extending in its own length direction, and the second extension member 24 has a guide bar that can extend into or out of the receiving cavity of the first extension member 23. The present invention does not limit the specific implementation manner in which the first extension member 23 and the second extension member 24 are sleeved to each other to achieve stretching or stowage.

The second extension member 22 and the first adapter member 21 are rotatably coupled to the distal ends of the first extension member 23 and the second extension member 24, respectively. The first adapter 21 and the second adapter 22 are also rotatably coupled to the two support blocks 10, respectively. The first adapter 21 is perpendicular to the rotation axis of the support block 10 and the rotation axes of the first adapter 21 and the second extension member 24, the second adapter 22 and the rotation axis of the support block 10 and the second adapter 22 is perpendicular to the axis of rotation of the first extension 23. The bridge assembly 2 has a degree of freedom of rotation about the x direction and a degree of freedom of rotation about the y direction by the two rotation axes provided by the first adapter 21 and the second adapter 22, respectively. In addition to the degree of freedom of the bridge assembly 2 following the translation of the support block 10, the bridge assembly 2 also has a degree of freedom of translation in the x direction and a degree of freedom of translation in the y direction.

Above, by controlling the movement of the first movable member 15 and/or the second movable member 16 of the two sets of support assemblies, at least one of the two support blocks 10 is moved in the base plane, so that the first extension member 23 and the second The extension assembly formed by the extension 24 occurs in the x-direction and/or in the y-direction and/or in the x-direction and/or in the y-direction, and the extension assembly is adapted to stretch or Collapse to change the length of the stretch component.

Further, in order to make the parallel mechanism have a degree of freedom of translation in the z direction, the first extension member 23 has a guiding portion 231 extending along the length thereof, and the terminal member 25 can reciprocate along the guiding portion 231 to have The degree of freedom of translation in the z direction. The terminal member 25 is, for example, a robot or a drill bit or other execution terminal. It should be understood that the end piece may have more degrees of freedom when the end piece 25 includes other moving mechanisms, for example, when the end piece 25 has a rotating shaft, the output end of the end piece 25 may also have a degree of freedom of rotation about the z direction.

It should be understood that the guiding portion 231 for guiding the reciprocating end member 25 may also be disposed on the second extending member 24. In addition, instead of attaching an additional end piece that is translated relative to the extension assembly to the extension assembly, the translational freedom of the parallel mechanism in the z direction can be transferred to other parts, for example, the base of the mounting guide 17. The table has a degree of freedom of translation in the z direction, or the guide 17 has a degree of freedom of translation in the z direction (see, for example, the second embodiment below).

Next, an implementation of a variation of the extension assembly consisting of the first extension member 23 and the second extension member 24 will be described with reference to FIG.

In this implementation, the first extension member 23 and the second extension member 24 are rotatably coupled such that during the rotation of the extension member, the first extension member 23 and the second extension member 24 are not close to or away from each other in a translational manner. Instead, it moves closer to or away from each other and changes the attitude of the extension assembly.

Next, an implementation of a variation of the support assembly 1 will be described with reference to FIG.

In this implementation, the links of the two sets of parallelogram mechanisms formed by the four links have portions of overlap in the xox plane. In other words, the four links and the four rotational axes of the support block 10 are arranged in a more compact manner in the y direction, so that the size of the support block 10 in the y direction can be further reduced.

Next, an implementation of still another modification of the support assembly 1 will be described with reference to FIG.

In this implementation, the support assembly 1 has only one parallelogram mechanism, namely a parallelogram mechanism consisting of the first rod 11, the second rod 12, the support block 10 and the first movable member 15. The first movable member 15 reciprocates along the first guiding member 171.

One ends of the third rod 13 and the fourth rod 14 are rotatably connected to the support block 10 at the same point. The other end of the third rod 13 is rotatably coupled to the second movable member 16, and the other end of the fourth rod 14 is rotatably coupled to the third movable member 18. The second movable member 16 and the third movable member 18 reciprocate along the second guide member 172.

Preferably, the second guiding member 172 is divided into two linear guiding sections (the first section 1721 and the second section 1722), and the second movable member 16 reciprocates along the first section 1721, the third movable member 18 Reciprocating along the second section 1722. The first section 1721 and the second section 1722 form a certain angle which increases the space utilization such that the support block 10 has a greater range of motion at the same abutment size. However, the arrangement of such second guiding members 172 is not essential, and the first section 1721 and the second section 1722 may also be curved guiding regions; the first section 1721 and the second section 1722 may also penetrate each other. A linear guiding portion; the second guiding member 172 may also have no two guiding portions, so that both the second movable member 16 and the third movable member 18 can reciprocate over the entire guiding portion of the second guiding member 172.

Preferably, the translation of the support block 10 is achieved by means of the second movable member 16 and the third movable member 18, and the first movable member 15 is a follower which functions to ensure that the support block 10 does not rotate. The second movable member 16 and the third movable member 18 are driven separately, and the support block 10 can be translated in the base plane.

It should be understood that the first movable member 15 can also be used as an active member to drive the one of the second movable member 16 and the third movable member 18 and the first movable member 15 to achieve the flatness of the support block 10 in the base plane. In this driving mode, the other of the second movable member 16 and the third movable member 18 can be omitted.

It should be understood that although the first guide member 171 and the second guide member 172 are shown as being spaced apart in the z direction in FIG. 5, this is not essential, and the present embodiment is directed to the first guide member 171 and the second guide member. The positional relationship of the piece 172 is not limited.

In the above, various implementations of the support assembly 1 and various implementations of the bridge assembly 2 can be combined as needed to form a parallel mechanism in accordance with the first embodiment of the present invention.

(Second embodiment)

Next, a second embodiment of the present invention will be described with reference to Figs. In the second embodiment, the guide has a translational freedom in the z-direction; furthermore, the support assembly is further simplified, the bridge assembly 2 is only limited to rotate in the z-direction at one end, ie two sets of supports that are rotationally coupled to the bridge assembly Only one of the components has a parallelogram mechanism.

A support assembly having a parallelogram mechanism is referred to as a primary support assembly and another group is referred to as a secondary support assembly.

The main support assembly 3 includes a main guide 36, two main movable members (a main first movable member 34 and a main second movable member 35) that reciprocate along the main guide member 36, a main support block 30, and a main support block 30 and Three main links of the two main movable members (the main first rod 31, the main second rod 32, and the main third rod 33).

Specifically, the main guide member 36 includes two main first guide members 361 and a main second guide member 362 extending in a base plane (xoy plane), and the main first movable member 34 is along the main first guide member 361. In the reciprocating motion, the main second movable member 35 reciprocates along the main second guide member 362. Both ends of the main first rod 31 and the main second rod 32 are rotatably coupled to the main first movable member 34 and the main support block 30, respectively, so that the main first rod 31, the main second rod 32, the main first movable member 34, and The main support block 30 constitutes a parallelogram mechanism (refer to Fig. 7). The main support block 30 is also rotatably coupled to the main third rod 33, and the other end of the main third rod 33 is rotatably coupled to the main second movable member 35.

Controlling the position of the main first movable member 34 and the main second movable member 35 on the main guide member 36, the position of the main support block 30 in the base plane can be adjusted; and, since the main support block 30 is a part of the parallelogram mechanism, Therefore, it does not rotate in the z direction.

The secondary support assembly 4 includes a secondary guide 45, two secondary movable members (a second first movable member 43 and a second second movable member 44) that reciprocate along the secondary guide 45, a secondary support block 40, and a secondary support block 40 and Two secondary links of the secondary moving member (second primary rod 41 and second secondary rod 42).

Specifically, the secondary guide 45 includes two secondary first guide members 451 and a second second guide member 452 extending in parallel in the base plane, and the secondary first movable member 43 reciprocates along the secondary first guide member 451. The second movable member 44 reciprocates along the second second guide 452. The two ends of the first first rod 41 are respectively rotatably connected with the second first movable member 43 and the secondary support member 40, and the two ends of the second second rod 42 are respectively rotatably connected with the second second movable member 44 and the secondary support member 40, respectively. The pivotal connection points of the one rod 41 and the second second rod 42 and the secondary support block 40 are the same point.

Controlling the position of the second movable member 43 and the second movable member 44 on the secondary guide 45 can adjust the position of the secondary support block 40 in the base plane; meanwhile, since both the primary support block 30 and the secondary support block 40 are connected To the bridge assembly 2, the bridge assembly 2 is limited by the main support block 30 to the rotational freedom about the z-direction, on the basis of which the secondary support block 40 is also adaptively limited in rotation about the z-direction.

It should be understood that, as introduced in the first embodiment, the main first guide member 361 and the main second guide member 362 may also have other positional relationships in the base plane, the secondary first guide member 451 and the second second guide member 452. Other positional relationships may also be present in the base plane, which is not limited by the present invention. For example, FIG. 13 shows how the secondary first guide 451 and the second secondary guide 452 are arranged in a curved track.

The bridge assembly 2 includes a first extension 23 and a second extension 24. The first extension 23 has an extension guide 232 that is engageable with the second extension 24 to reciprocate the second extension 24 along the extension guide 232. The extension guide 232 may be in the form of a guide rail, a guide groove or a guide rod, and the like, which is not limited in the present invention.

The first extension member 23 is rotatably coupled to the main support block 30, the first extension member 23 and the main support block 30 are rotatable about two perpendicular axes of rotation; the second extension member 24 is rotatably coupled to the secondary support block 40, the second extension The piece 24 and the secondary support block 40 are rotatable about each other about two perpendicular axes of rotation. When the position of the main support block 30 and/or the secondary support block 40 is changed, the bridge assembly 2 can have rotational freedom about the y direction and rotational freedom about the x direction.

It should be understood that the rotational joint between the first extension member 23 and the main support block 30 and the rotary joint between the second extension member 24 and the secondary support block 40 may use a universal hinge having two mutually perpendicular rotational axes. , for example, Hook hinges.

The main guide 36 and the secondary guide 45 themselves have translational freedom in the z direction. For example, the main guide 36 and the secondary guide 45 can reciprocate along a guide mechanism that is disposed in the z-direction disposed on the base platform. Preferably, the main guide member 36 and the secondary guide member 45 are coupled together by the guide connecting members 6 to move in the z direction; however, this is not essential, and according to different control modes, the main guide member 36 and the secondary guide member 45 are also It can be controlled independently to move in the z direction.

Preferably, the main guide 36 and the secondary guide 45 are connected to the counterweight 7 via the traction belt 5. Specifically, the traction belt 5 bypasses the pulley device, the main guide member 36/secondary guide member 45 and the weight 7 are respectively located on both sides in the radial direction of the pulley, and the weight 7 serves to balance the bridge assembly 2 and the main support in the z direction. The role of the assembly 3 and the secondary support assembly 4.

Referring to FIG. 9, in the present embodiment, the first extension member 23 and the second extension member 24 of the bridge assembly 2 may also be rotatably connected. When the connection is rotatably, they are not in a translational manner with each other, but Approaching or moving away from each other in a rotating manner.

(Third embodiment)

Next, a third embodiment of the present invention will be described with reference to Figs. The third embodiment is a modification of the second embodiment, in which the parallel mechanism has two sets of secondary support assemblies 4 and a set of modified main support assemblies 3. The main guide 36 and the secondary guide 45 can be independently translated in the z direction, so that the position of the main support block 30 and the secondary support block 40 in the z direction can be changed; this not only makes the bridge assembly 2 have a flattening along the z direction The degree of freedom of movement, and since the distance between the main support block 30 and the secondary support block 40 in the z direction is changed, the distance between the main support block 30 and the secondary support block 40 in the z direction can be changed, so that it is not required The bridge assembly 2 is provided with an extension that extends or retracts.

The arrangement of the secondary support assembly 4 in this embodiment is similar to that in the second embodiment. The manner in which the main support assembly 3 is disposed will be described below with reference to FIG.

The main support assembly 3 includes a main guide member 36 and a parallelogram mechanism. The parallelogram mechanism includes a main support block 30, a main first movable member 34 (for convenience of description, the name in the second embodiment is used, in fact, in the present embodiment, there is no main second movable member) and the two ends are respectively rotatably connected The main support block 30 and the two links of the main first movable member 34 (the main first rod 31 and the main second rod 32). The main first movable member 34 is reciprocable along the guide groove on the main guide member 36.

In the actual driving process, the main first movable member 34 is generally used as a follower rather than an active member. The main support block 30 is rotatably coupled to the first extension member 23 (they are rotatable about two mutually perpendicular axes of rotation), and the main support assembly 3 functions to limit the movement of the first extension member 23 in the z-direction during the movement. Uncontrolled rotation.

The two sets of secondary support assemblies 4 control the translation of the first extension 23 of the bridge assembly in both directions in the base plane and the rotation about the x direction and the rotation about the y direction. Specifically, the secondary support blocks 40 of the two sets of secondary support assemblies 4 are rotationally coupled to the bridge assembly 2 (the secondary support blocks 40 and the bridge assemblies 2 are rotatable about two mutually perpendicular axes of rotation).

When the second first movable member 43 and the second second movable member 44 of the two sets of secondary support assemblies 4 are respectively driven, the two secondary support blocks 40 are translated in the base plane (the secondary support block 40 is restricted by the bridge assembly 2) A rotation around the z direction will occur).

Above, the bridge assembly 2 is guided by the two secondary support blocks 40 and controlled by the main support block 30 such that the bridge assembly 2 has two degrees of translational two degrees of freedom.

It should be understood that the main guide member 36 and the secondary guide member 45 may also be configured to be fixed, in which case the bridge assembly 2 needs to be configured to include an extension member that allows it to be extended or stowed.

Referring to Figure 11, an implementation of a variation of the main support assembly 3 is next described.

A variation of this implementation is embodied in that it provides another implementation of the movement of the main first movable member 34 relative to the main guide member 36. In this implementation, a main third rod 33 and a main fourth rod 37 are rotatably coupled between the main first movable member 34 and the main guide member 36, and the main first movable member 34, the main guide member 36, and the main third rod 33 and the main fourth rod 37 constitute a parallelogram mechanism. The parallelogram mechanism enables the main first movable member 34 to approach or move away from the main guide member 36 in a manner that does not rotate in the z direction; the first parallelogram mechanism including the main first rod 31 and the main second rod 32 includes the main The second parallelogram mechanism of the third rod 33 and the main fourth rod 37 is connected in series, and finally the main support block 30 is brought closer to or away from the main guide member 36 in such a manner as not to rotate in the z direction.

Referring to Fig. 12, on the basis that the main support assembly 3 ensures that the bridge assembly 2 does not rotate in the z direction, the links and the movable members of the two sets of sub-support assemblies 4 can also be replaced by the rods having the telescopic function.

In an implementation of the variant of the secondary support assembly 4, the secondary first rod 41 and the secondary second rod 42 can be independently telescoped to vary length. One end of the second first rod 41 and the second second rod 42 are rotatably connected to the same point on the secondary support block 40, and the other ends of the secondary first rod 41 and the second second rod 42 are rotatably connected to the secondary guide 45, respectively. As the length of the secondary first rod 41 and/or the secondary second rod 42 changes, the secondary support block 40 translates in the base plane.

(Fourth embodiment)

Next, a fourth embodiment of the present invention will be described with reference to Figs. The fourth embodiment is a modification of the second embodiment and the third embodiment. In the present embodiment, the parallelogram mechanism adds a degree of rotational freedom, which in turn increases the rotational freedom of the bridge assembly 2.

Referring to FIG. 14, the main first movable member 34 includes a rotating member 341 and a sliding member 342 that is rotatably mounted to the sliding member 342 about the z-axis with respect to the sliding member 342, and the sliding member 342 can be along the main first guiding member 361 Reciprocating motion. The main first rod 31 and the main second rod 32 of the main support assembly 3 are rotatably coupled to the rotating member 341, and the main first rod 31, the main second rod 32, the main support block 30, and the rotating member 341 constitute a parallelogram mechanism. The rotating member 341 is controlled to rotate, and the rotation of the rotating member 341 will rotate the main supporting block 30 in the same phase, and the rotation of the main supporting block 30 in the z direction drives the winding of the bridge assembly 2 positioned by the main supporting block 30. The rotation of the direction; thus, by controlling the rotation of the rotating member 341, the rotation of the bridge assembly 2 in the z direction can be controlled.

15 and FIG. 16 are respectively a modification of the embodiment shown in FIGS. 10 and 11 in the third embodiment described above, in which the rotating member 341 is rotatable relative to the sliding member 342 in the z direction, in FIG. The rotating member 341 is rotatable relative to the main guide 36 in the z direction. In the arrangement shown in Figures 15 and 16, the bridge assembly 2 can be realized by controlling the sliding of the secondary first movable member 43 and the second second movable member 44 of the two sets of secondary support members 4 and the movement of the secondary guide member 45. The translation in the x direction, the translation in the y direction, the rotation about the x-axis, and the rotation about the y-axis can control the rotation of the bridge assembly 2 in the z-direction by controlling the rotation of the rotating member 341.

(Fifth Embodiment)

Next, a fifth embodiment of the present invention will be described with reference to Figs. The fifth embodiment is a modification of the second embodiment and the third embodiment. In the present embodiment, the adjustment of the posture of the bridge assembly 2 with the change of the positions of the main support block 30 and the secondary support block 40 is not achieved by the mutual extension of the portions of the bridge assembly 2, nor by the main guide member 36 and the secondary guide member 45. The translation in the z direction is achieved by the rotation of the main guide 36 and the secondary guide 45.

Specifically, referring to Fig. 17, the main guide 36 and the secondary guide 45 are rotatable in the x direction. In this case, the primary support block 30 and the secondary support block 40 are no longer limited to translation within the base plane (xoy plane), but rather by the primary first movable member 34, the primary second movable member 35, and the primary support member, respectively. 30. The determined primary datum plane and the sub-reference in-plane translation determined by the second first movable member 43, the second second movable member 44, and the secondary support block 40.

The distance and/or position between the primary support block 30 and the secondary support block 40 can be varied by varying the angle between the primary and secondary reference planes. The rotation angle of the main guide member 36 and the secondary guide member 45 in the x direction is controlled according to a preset control manner, and cooperates with the main first movable member 34, the main second movable member 35, the second first movable member 43, and the second second activity. The position of the member 44 at the main guide member 36 and the secondary guide member 45 enables the two degrees of translational freedom of the bridge assembly 2 to be achieved.

Further, the rotation of the main guide 36 and the secondary guide 45 is not limited to the rotation about the x direction. For example, referring to Fig. 18, the main guide member 36 and the secondary guide member 45 can also be rotated in the y direction according to a preset control manner.

The present embodiment does not limit the rotational axes of the main guide member 36 and the secondary guide member 45, and the respective rotational axes of the main guide member 36 and the secondary guide member 45 are not necessarily parallel to each other.

It should be understood that the manner of changing the positional relationship between the main support block 30 and the secondary support block 40 by rotating the main guide member 36 and/or the sub-guide member 45 can also be applied to, for example, the above three groups in the third embodiment. The mechanism that supports the assembly.

(Sixth embodiment)

Next, a sixth embodiment of the present invention will be described with reference to Figs. The sixth embodiment is a modification of the second embodiment and the third embodiment.

The present embodiment provides yet another way of moving the primary support block 30 and the secondary support block 40 in non-parallel planes, thereby adjusting the distance between the primary support block 30 and the secondary support block 40 to accommodate the need for an extended structure. Bridge component 2.

Specifically, referring to FIG. 19, the second first rod 41 is rotatably coupled to the second first movable member 43 through the adapter, and the second second rod 42 is rotatably coupled to the second second movable member 44 through the adapter, the two adapters. The pieces each provide two mutually perpendicular axes of rotation. The second first rod 41 includes a second first rod first portion 411 and a second first rod second portion 412 that are rotatable relative to each other, and the second second rod 42 includes a second second rod first portion 421 and a second relative to each other Second rod second portion 422. The two adapters are respectively connected to the first first rod first portion 411 and the second second rod first portion 421, so that the second first rod second portion 412 has three rotational degrees of freedom with respect to the second first movable member 43 The second second rod second portion 422 has three rotational degrees of freedom with respect to the second second movable member 44. During the rotation of the second first rod 41 and the second second rod 42, the plane determined by the secondary first movable member 43, the second second movable member 44 and the secondary support block 40 is not parallel to the base plane. In this arrangement, by controlling the position of the main first movable member 34 and the main second movable member 35 on the main guide member 36, and the secondary first movable member 43 and the second second movable member 44 on the secondary guide 45 The position can realize the two degrees of translational freedom of the bridge assembly 2.

Referring to Figure 20, the adapter providing two vertical axes of rotation can be further replaced with a universal ball joint 8. One rotating end of the spherical hinge 8 is fixed to the secondary guiding member 45, and the other rotating end is fixed to the secondary first rod 41/secondary second rod 42. The secondary first rod 41 and the second second rod 42 are capable of changing the length, that is, capable of Telescopic connecting rod. In this solution, the bridge assembly 2 can be realized by controlling the positions of the main first movable member 34 and the main second movable member 35 on the main guide member 36, and controlling the telescopic length of the secondary first rod 41 and the second second rod 42. The two translations have two degrees of freedom of rotation.

Further, referring to FIG. 21, the parallel mechanism has three sets of support assemblies, and wherein the two sets of secondary support assemblies 4 use a link capable of changing the length (the second first rod 41 and the second second rod 42) and use a universal spherical shape. The hinge 8 rotatably connects the link to the secondary guide 45. In this solution, by controlling the telescopic lengths of the secondary first rod 41 and the second second rod 42 of the two sets of secondary support assemblies 4, the degree of freedom of the two translational two rotations of the bridge assembly 2 can be achieved.

In summary, the parallel mechanism according to the present invention has at least two sets of support assemblies (the support assembly 1 or the main support assembly 3 plus the secondary support assembly 4) such that the bridge assembly 2 rotatably coupled to the support assembly has at least two translational and two rotation freedoms. At least one set of support assemblies is a main support assembly having at least one set of parallelogram mechanisms such that rotation of the bridge assembly 2 about the z-direction is controllably defined. On the basis of satisfying these conditions, the specific implementation of the bridge assembly 2 and the specific implementation of the support assembly can select suitable components in the six main embodiments provided by the present invention and the implementations of the variants of the six embodiments. Make a combination.

When the guide members (guide member 17 / main guide member 36 / secondary guide member 45) of all the support members are fixed, the bridge assembly 2 has two degrees of translational two degrees of freedom. When the guides of all of the support assemblies are translated together in the z-direction, the bridge assembly 2 adds a translational freedom in the z-direction. In both cases, the bridge assembly 2 needs to be arranged to include a first extension 23 and a second extension 24 that can be extended or stowed, the first extension 23 and the second extension 24 being extended in close proximity to each other. Or away, or turn to each other.

When the guides of the at least one support assembly can be independently translated or rotated relative to the guides of the other support assemblies, the bridge assembly 2 need not be configured to include an extension that can be extended or stowed.

In addition, the bridge assembly 2 may not be set by causing the secondary first rod 41 and the second second rod 42 of the secondary support assembly 4 to be rotationally coupled to the secondary first movable member 43 and the second second movable member 44, respectively, by a universal hinge. The extension includes an extension that can be stretched or stowed.

The present invention has at least one of the following advantages:

(i) The present invention realizes at least two translational two-rotation degrees of the bridge assembly 2 connecting the translation components by a minimum of two sets of support members that realize the translation function, and the parallel mechanism has a simple structure and does not need to be symmetrical. Strong spatial adaptability.

(ii) The support assembly and the bridge assembly of the parallel mechanism according to the present invention have various alternative implementation structures, in particular, the arrangement of the guide members is flexible and can adapt to different installation environments.

(iii) The rotational connection of each of the rotary joints of the parallel mechanism according to the present invention is simple, and the spherical hinge can be omitted, and the reliability is high.

Of course, the present invention is not limited to the above-described embodiments, and various modifications of the above-described embodiments of the present invention can be made by those skilled in the art without departing from the scope of the invention.

E.g,

(i) The parallel mechanism according to the invention is preferably used as part of a surgical robot, in which the z-direction preferably represents a vertical direction and may be applied to the first extension 23 or the second extension 24 of the bridge assembly 2. Surgical instruments are provided; however, the invention is not limited thereto, and the parallel mechanism according to the present invention may also provide guidance for other instruments.

(ii) Although the adapter assembly 2 and the adapter of the support assembly 1 / main support assembly 3 / secondary support assembly 4 of the various embodiments of the present invention have two mutually perpendicular axes of rotation, it should be understood that the above transfer The two axes of rotation provided by the piece may also not be vertical, and only the adapter can provide two axes of rotation that are not parallel to each other such that the bridge assembly has relative to the support assembly 1 / main support assembly 3 / secondary support assembly 4 Two degrees of freedom of rotation.

Claims

A multi-degree-of-freedom parallel mechanism comprising a bridge assembly, a main support assembly and a secondary support assembly;

The main support assembly includes a main support block, a main first movable member, a main second movable member, a main first rod, a main second rod, a main third rod and a main guide member, and the main first movable member and the seat The main second movable member is guided to be guided by the main guide member, and two ends of the main third rod are respectively rotatably connected with the main support block and the main second movable member; the main first rod One end of the main support block is rotatably connected to the first point, and the other end is rotatably connected to the main first movable member to the second point, and one end of the main second rod is rotatably connected to the main support block. The third point and the other end are rotatably connected to the main first movable member to the fourth point, and the lines connecting the first point, the second point, the third point and the fourth point form a parallelogram. The plane where the parallelogram is located is the main base plane;

The secondary support assembly includes a secondary support block, a secondary first movable member, a second second movable member, a second first rod, a second second rod, a second third rod, and a secondary guide, and the second first movable member and the second movable member The second movable member is guided to be guided by the secondary guiding member, and the two ends of the secondary third rod are respectively rotatably connected with the secondary supporting block and the second second movable member; One end of the second support rod is rotatably connected to the second first point, and the other end is rotatably connected to the second second point, and one end of the second second rod is rotatably connected to the secondary support block. The third point, the other end and the second first movable member are rotatably connected to the fourth fourth point, and the second first point, the second second point, the second third point, and the second fourth point are connected Forming a parallelogram that moves in a sub-base plane;

The bridge assembly is rotatably coupled to the main support block such that the bridge assembly is rotatable relative to the main support block about two mutually non-parallel axes, the bridge assembly also being rotatably coupled to the secondary support block, Enabling the bridge assembly to be rotatable relative to the secondary support block about two axes that are not parallel to each other;

The bridge assembly has at least two translational degrees of freedom and two degrees of rotational freedom.
A multi-degree-of-freedom parallel mechanism comprising a bridge assembly, a main support assembly and a secondary support assembly;

The main support assembly includes a main support block, a main first movable member, a main second movable member, a main first rod, a main second rod, a main third rod and a main guide member, and the main first movable member and the seat The main second movable member is guided to be guided by the main guide member, and two ends of the main third rod are respectively rotatably connected with the main support block and the main second movable member; the main first rod One end of the main support block is rotatably connected to the first point, and the other end is rotatably connected to the main first movable member to the second point, and one end of the main second rod is rotatably connected to the main support block. The third point and the other end are rotatably connected to the main first movable member to the fourth point, and the lines connecting the first point, the second point, the third point and the fourth point form a parallelogram. The plane where the parallelogram is located is the main base plane;

The secondary support assembly includes a secondary support block, a secondary first rod, a second secondary rod and a secondary guide, one end of the secondary first rod is rotatably coupled to the secondary support block, and the other end is rotationally coupled to the secondary guide One end of the second second rod is rotatably connected to the secondary support block, and the other end is rotatably connected to the secondary guide, and the secondary support block is located at the second first pole and the second second pole Sub-base in-plane motion;

The bridge assembly is rotatably coupled to the main support block such that the bridge assembly is rotatable relative to the main support block about two mutually non-parallel axes, the bridge assembly also being rotatably coupled to the secondary support block, Enabling the bridge assembly to be rotatable relative to the secondary support block about two axes that are not parallel to each other;

The bridge assembly has at least two translational degrees of freedom and two degrees of rotational freedom.
The multi-degree-of-freedom parallel mechanism according to claim 2, wherein the secondary support assembly further comprises a second first movable member and a second second movable member, the second first movable member and the second second active member The piece is guided by the secondary guide,

One end of the second first rod and one end of the second second rod are rotatably connected to the sub-support block at the same point, and the other end of the second first rod is rotatably connected with the second movable member. The other end of the second rod is rotatably connected to the second movable member.
The multi-degree-of-freedom parallel mechanism according to claim 2, wherein one end of the second first rod and one end of the second second rod are rotatably connected to the secondary support block at the same point, the second The other end of one rod and the other end of the second rod are rotatably connected to the secondary guide at two different points.

The secondary first rod and the second secondary rod can be controlled to elongate or shorten, respectively.
The multi-degree-of-freedom parallel mechanism according to any one of claims 1 to 4, wherein the main first movable member includes a sliding member and a rotating member, the sliding member being guided by the leading member The rotating member is rotatably coupled to the sliding member with respect to the sliding member, and the rotational connection point of the main first rod and the main second rod with the main first movable member is located at Rotate the member.
The multi-degree-of-freedom parallel mechanism according to any one of claims 1 to 4, wherein the bridge assembly comprises a first extension and a second extension, the first extension and the second extension The pieces can be connected to each other in a translational or rotational manner.

The main support block and the first extension member are rotatably coupled about two mutually perpendicular axes, and the secondary support block and the second extension member are rotatably coupled about two mutually perpendicular axes. During the movement of the main support block and/or the secondary support block, the first extension and the second extension are close to or away from each other.
The multi-degree-of-freedom parallel mechanism according to any one of claims 1 to 4, characterized in that

The main guide and the secondary guide can be translated synchronously or independently of each other, or

The main guide and the secondary guide are rotatable synchronously or independently of one another.
The multi-degree-of-freedom parallel mechanism according to any one of claims 1 to 4, characterized in that the primary base plane and the secondary base plane are always parallel.
The multi-degree-of-freedom parallel mechanism according to claim 3, wherein said secondary first rod comprises a second first rod first portion and a second first rod second portion rotatable with each other, said second second rod The second second rod first portion and the second second rod second portion are rotatable with each other, and the second first rod first portion passes through an adapter capable of providing two mutually perpendicular rotating shafts and the second first portion The movable member is rotatably connected, the second portion of the second rod is rotatably coupled to the secondary support assembly, and the second portion of the second rod is passed through an adapter capable of providing two mutually perpendicular axes of rotation The second movable member is rotatably connected, and the second second rod second portion is rotatably connected to the secondary support assembly,

The position of the secondary base plane changes as the first movable member and/or the second movable member move.
The multi-degree-of-freedom parallel mechanism according to claim 4, wherein the secondary first rod and the second second rod each pass an adapter capable of providing three degrees of freedom, preferably a spherical hinge, and Said guide member is rotatably connected,

The position of the secondary base plane changes as the secondary first rod and/or the second second rod expands and contracts.