WO2021109074A1

WO2021109074A1 - Multi-degree-of-freedom parallel mechanism

Info

Publication number: WO2021109074A1
Application number: PCT/CN2019/123304
Authority: WO
Inventors: 周啸波
Original assignee: 苏州迈澜医疗科技有限公司
Priority date: 2019-12-05
Filing date: 2019-12-05
Publication date: 2021-06-10
Also published as: CN114786883A

Abstract

Disclosed is a multi-degree-of-freedom parallel mechanism, comprising a bridge assembly (2) and two supporting assemblies (30/31/32). The supporting assembly (30/31/32) comprises a supporting block (300), a first rod (301/311/321), a second rod (302/312/322) and a supporting base body (305), wherein the first rod (301/311/321) and the second rod (302/312/322) are respectively rotatably connected to the supporting block (300) at a first axis and a second axis, with the first axis and the second axis being parallel to a first direction (z); and the positions of the first rod (301/311/321) and the second rod (302/312/322) relative to the supporting base body (305) can be changed in a controlled manner, such that the positions of the supporting block (300) in a second direction (x) and a third direction (y) are determined. The bridge assembly (2) is rotatably connected to the two supporting blocks (300) such that the bridge assembly (2) can rotate relative to each supporting block (300) around two mutually non-parallel axes of rotation. The multi-degree-of-freedom parallel mechanism can achieve at least two translational movements and three rotational movements in a limited space, and the controllable precision of the movements is high.

Description

Multi-degree-of-freedom parallel mechanism

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 categories: series robots and parallel robots. Compared with series robots, parallel robots have the advantages of greater rigidity, strong carrying capacity, high precision, and low end piece inertia.

Most of the existing parallel robots adopt a completely symmetrical design, which results in a larger overall size of the robot, which cannot be well adapted to a small operating space, or multiple robots cannot be arranged in a limited space at the same time.

The most common parallel robots are mostly six degrees of freedom. For example, the patent publication US3295224A discloses a parallel robot for motion simulation. However, the cost of a parallel robot with full six degrees of freedom is often that the motion space of each degree of freedom is roughly equally divided, and the demand for greater motion space in certain directions cannot be well satisfied. Therefore, people limit the degree of freedom in certain directions according to specific needs, in exchange for greater movement space in other directions. The most widely used in this regard is the parallel robot used for picking operations, most of which provide three degrees of freedom for translation and one rotation. For example, the patent CN105729450B discloses a four-degree-of-freedom parallel mechanism, which can realize the freedom of three translational movement and one rotation of the movable platform, but cannot realize the rotation of the movable platform around the y-axis or the x-axis. For another example, Patent Publication WO2009053506A1 discloses a four-degree-of-freedom parallel robot. Its support part uses multiple non-coplanar four-bar linkage mechanisms. The motions of these non-coplanar four-bar linkage mechanisms restrict each other, making the terminal The moving platform cannot realize the freedom of two translational and two rotations.

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

Summary of the invention

The purpose of the present invention is to overcome or at least alleviate the above-mentioned shortcomings of the prior art and provide a multi-degree-of-freedom parallel mechanism.

The present invention provides a multi-degree-of-freedom parallel mechanism, which includes a bridge assembly and two supporting assemblies, wherein:

The support assembly includes a support block, a first rod, a second rod, and a support base. The first rod and the support block are rotatably connected to a first axis, and the second rod and the support block are rotatably connected to the first axis. Two axes, the first axis and the second axis do not coincide, the first axis and the second axis are parallel to the first direction,

The positions of the first rod and the second rod relative to the support base can be changed in a controlled manner, so as to determine the position of the support block in the second direction and the third direction. The second direction and the third direction are perpendicular to each other,

The bridge assembly is rotatably connected with the two support blocks, so that the bridge assembly can rotate relative to each of the support blocks about two non-parallel rotation axes, and the rotation axis is not in the first direction. Parallel, preferably, the bridge assembly can rotate about two mutually perpendicular rotation axes relative to each of the support blocks,

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

In at least one embodiment, the support assembly further includes a third rod and a fourth rod,

The first rod and the support block are rotatably connected to a first point, the second rod and the support block are rotatably connected to a second point, and the second rod and the fourth rod are rotatably connected to a third point. Point, the fourth rod and the support base are rotatably connected to the fourth point, the support base and the third rod are rotatably connected to the fifth point, and the third rod and the first rod are rotatably connected to The sixth point, the line connecting the first point, the second point, the third point, the fourth point, the fifth point, and the sixth point forms a hexagon,

The third rod and the fourth rod can be controlled to rotate relative to the support base in the first direction, and

The first lever can be controlled to rotate relative to the third lever in the first direction, or the second lever can be controlled relative to the fourth lever to rotate in the first direction.

In at least one embodiment, the support assembly further includes a first driving part, a second driving part, and a third driving part,

The first driving member is installed on the support base, and the first driving member is used to drive the third rod to rotate relative to the support base,

The second driving member is installed on the support base, and the second driving member is used to drive the fourth rod to rotate relative to the support base,

The third driving member connects the first rod and the third rod, and the third driving member is used to drive the first rod to rotate relative to the third rod, or

The third driving member connects the second rod and the fourth rod, and the third driving member is used to drive the second rod to rotate relative to the fourth rod.

In at least one embodiment, the support assembly further includes a third rod and a slider,

The second rod is also rotatably connected to the slider, and the slider is slidably connected to the support base, so that the slider can be displaced in the second direction with respect to the support base in a controlled manner ,

One end of the third rod is rotatably connected to the first rod, the other end of the third rod is rotatably connected to the support base, and the third rod is controlled relative to the support base around the first rod. Turn in one direction,

The first lever rotates in the first direction relative to the third lever in a controlled manner.

The first driving member is mounted on the support base, and the first driving member is used to drive the third rod to rotate relative to the support base,

The second driving part is installed on the sliding block or the supporting base, and the second driving part is used to drive the sliding block to move relative to the supporting base,

The third driving member connects the first rod and the third rod, and the third driving member is used to drive the first rod to rotate relative to the third rod.

The second lever rotates in the first direction relative to the slider in a controlled manner.

The third driving member is installed on the slider, and the third driving member is used to drive the second rod to rotate relative to the slider.

In at least one embodiment, the support assembly further includes a third rod, a fourth rod, a fifth rod and a slider,

The first rod and the third rod are rotationally connected to a first point, the first rod and the fourth rod are rotationally connected to a second point, and the fourth rod is also rotationally connected to the fifth rod At the third point, the third rod, the fifth rod, and the support base are connected to a fourth point in rotation, and the first point, the second point, the third point, and the first point The connection of four points forms a quadrilateral,

The third rod and the fifth rod can respectively be controlled to rotate relative to the support base in the first direction.

The second driving member is installed on the support base, and the second driving member is used to drive the fifth rod to rotate relative to the support base,

The third driving part is installed on the sliding block or the supporting base, and the third driving part is used to drive the sliding block to move relative to the supporting base.

In at least one embodiment, the parallel mechanism further includes a guide member having a component extending in the first direction, and the support assembly can move along the guide member.

In at least one embodiment, the distance between the two supporting components in the first direction can be adjusted.

In at least one embodiment, the bridge assembly includes a bridge first part and a bridge second part,

One of the two supporting blocks is connected to the first part of the bridge, and the other is connected to the second part of the bridge,

The first part of the bridge and the second part of the bridge can move relative to each other so as to change the distance between the connection points of the two supporting blocks and the bridge assembly.

In at least one embodiment, the first part of the bridge includes an extension guide, and the second part of the bridge can be guided by the extension guide to slide relative to the first part of the bridge.

In at least one embodiment, the first part of the bridge is rotatably connected to the second part of the bridge.

In at least one embodiment, the two supporting bases are rigidly connected together or integrally formed.

According to the multi-degree-of-freedom parallel mechanism of the present invention, at least two translational and three rotational movements can be realized in a limited space, and the controllable precision of the movement is high.

Description of the drawings

Fig. 1 shows a multi-degree-of-freedom parallel mechanism according to the first embodiment of the present invention.

Figures 2 and 3 show two variants of the multi-degree-of-freedom parallel mechanism according to the first embodiment of the present invention.

Fig. 4 shows a multi-degree-of-freedom parallel mechanism according to the second embodiment of the present invention.

Fig. 5 shows a modification of the multi-degree-of-freedom parallel mechanism according to the second embodiment of the present invention.

Fig. 6 shows a multi-degree-of-freedom parallel mechanism according to the third embodiment of the present invention.

Description of Reference Signs

1 guide; 2 bridge components;

30, 31, 32 support components; 300 support block; 301, 311, 321 first rod; 302, 312, 322 second rod; 303, 313, 323 third rod; 304, 314 fourth rod; 315 fifth rod ; 316, 324 slider; 305 support base; 305g slide rail.

Detailed ways

Hereinafter, exemplary embodiments of the present invention will be described with reference to the drawings. It should be understood that these specific descriptions are only used to teach those skilled in the art how to implement the present invention, and are not used to exhaust all possible ways of the present invention, nor are they used to limit the scope of the present invention.

Unless otherwise specified, the present invention uses the three-dimensional coordinate system shown in FIG. 1 to illustrate the positional relationship of the components. It should be understood that the position relationship defined according to the x, y, and z axes in the present invention is relative, and the coordinate axis can be rotated in space according to the actual application of the device.

(First embodiment)

First, the first embodiment of the multi-degree-of-freedom parallel mechanism of the present invention and its related modifications will be described with reference to FIGS.

1, the parallel mechanism according to the first embodiment of the present invention includes two support assemblies 30, a bridge assembly 2 connecting the two support assemblies 30, and a guide 1.

The support assembly 30 includes a support block 300, four rods (a first rod 301, a second rod 302, a third rod 303, and a fourth rod 304), a support base 305 and three driving parts (not shown).

Both ends of the first rod 301 are rotatably connected to the support block 300 at the first point, and the third rod 303 is rotatably connected to the sixth point, and the two ends of the second rod 302 are rotatably connected to the support block 300 at the second point, The fourth rod 304 is rotatably connected to the third point, the fourth rod 304 is also rotatably connected to the support base 305 at the fourth point, and the third rod 303 is rotatably connected to the support base 305 at the fifth point. The axis of rotation of the above-mentioned rotating connector is parallel to the z direction (also called the first direction), and the connection line of the first point, the second point, the third point, the fourth point, the fifth point and the sixth point forms a six Polygonal.

The support blocks 300 from the two support assemblies 30 are rotatably connected with the bridge assembly 2, so that the bridge assembly 2 can rotate relative to each support block 300 about two non-parallel axes a1 and a2, and the axis a1 and the axis a2 are both Not parallel to the z direction. These two non-parallel rotation axes enable the bridge assembly 2 to have a degree of freedom of rotation about the x direction and a degree of freedom of rotation about the y direction. Preferably, the axis a1 is perpendicular to the axis a2. .

Two support bases 305 are installed on the guide 1, and the support bases 305 can slide along the extending direction of the guide 1. Preferably, the guide 1 extends in the z direction.

The first drive member is used to drive the third rod 303 to rotate relative to the support base 305, the second drive member is used to drive the fourth rod 304 to rotate relative to the support base 305, and the third drive member is used to drive the first rod 301 relative to the support base 305. The three rods 303 rotate (or the third driving member is used to drive the second rod 302 to rotate relative to the fourth rod 304, and the arrangement of the driving members of the two support assemblies 30 may not be symmetrical or different).

Preferably, the first driving member and the second driving member are installed on the support base 305 to reduce the moment of inertia of the third rod 303 and the fourth rod 304.

Through the rotation of the third rod 303 and the fourth rod 304, the positions of the first rod 301 and the second rod 302 relative to the support base 305 can be changed in a controlled manner.

When the third rod 303, the fourth rod 304, and the first rod 301 are respectively rotated and driven, the displacement of the support block 300 in the x direction (also called the second direction), in the y direction (also called the third direction) The displacement on and the angle of rotation around the z-direction can be determined. In addition, because the bridge assembly 2 is rotatably connected with the two supporting blocks 300, the bridge assembly 2 has translational freedom in the x-direction, y-direction, and z-direction, and rotational freedom around the x-direction and the y-direction.

It should be understood that, since in this embodiment, the two connection points between the bridge assembly 2 and the two support blocks 300 are determined, when the position of the two support blocks 300 on the xoy plane changes, the two support blocks 300 The distance in the z-direction will change. At this time, by determining the position of one support base 305 (hereinafter also referred to as the reference support base) in the guide 1, the other support base 305 can adjust its position in the guide 1 accordingly. .

The reference support base 305 can also slide along the guide 1 in a controlled manner, so that the bridge assembly 2 also has a degree of freedom of translation in the z direction.

FIG. 2 shows a modification of the first embodiment, and the change mainly lies in the arrangement of the bridge assembly 2.

In the embodiment shown in FIG. 2, the bridge assembly 2 includes a bridge first part 21 and a bridge second part 22. One of the two support blocks 300 is rotatably connected to the bridge first part 21, and the other is connected to the bridge second part. 22 Rotate the connection. The first part 21 of the bridge includes an extension guide 211 in the form of a rail, for example, and the second part 22 can slide along the extension guide 211.

Since the bridge first part 21 and the bridge second part 22 can slide relatively to change the distance between the connection points of the two support blocks 300 and the bridge assembly 2, in this embodiment, the distance between the two support bases 305 is z The distance in the direction may be determined (that is, the distance may be constant), and the two supporting bases 305 may be connected together by rigid parts or integrally formed, for example, so as to increase the structural strength of the supporting base 305.

FIG. 3 shows another modification of the bridge assembly 2 of the first embodiment.

In the embodiment shown in FIG. 3, the bridge assembly 2 includes a first bridge part 21 and a second bridge part 22 that can rotate relatively.

One of the two supporting blocks 300 is rotatably connected with the bridge first part 21, and the other is rotatably connected with the bridge second part 22. When the position of the two support blocks 300 in the xoy plane changes, the distance between the two connection points of the two support blocks 300 and the bridge assembly 2 changes, and the bridge first part 21 and the bridge second part 22 can pass through Rotate dynamically to adapt to this change in distance.

(Second embodiment)

The second embodiment of the multi-degree-of-freedom parallel mechanism of the present invention and its modifications will be described with reference to FIGS. 4 to 5. The second embodiment is a modification of the first embodiment.

Referring to FIG. 4, in this embodiment, three rods (the first rod 321, the second rod 322, and the third rod 323) and a slider 324 are provided to support the support block 300 of the support assembly 32.

The connection manner of the support block 300, the first rod 321, the third rod 323, and the support base 305 is the same as that of the first embodiment, and the connection manner of the support block 300 and the second rod 322 is the same as that of the first embodiment. The fourth rod 304 in the first embodiment is replaced by a slider 324.

The support base 305 includes a sliding rail 305g extending in the x direction, and the slider 324 can be driven to slide along the sliding rail 305g. It should be understood that the sliding rail 305g may not extend in the x direction, but may have an extension component in the x direction.

The sliding block 324 is also rotatably connected with the second rod 322, so that the position of the second rod 322 relative to the supporting base 305 can be controlled to be changed during the sliding process of the sliding block 324 along the sliding rail 305g.

Since the two branches supporting the support block 300 are asymmetric in the y direction, the space in the y direction can be reasonably used as required. For example, two multi-degree-of-freedom parallel mechanisms according to this embodiment can be arranged in parallel, so that the slide rails 305g of the two parallel mechanisms are arranged oppositely and located on the inner side, while the first rod 321 and the third rod of the two parallel mechanisms 323 is located on the outside.

The first driving member is used to drive the third rod 323 to rotate relative to the support base 305, the second driving member is used to drive the sliding block 324 to slide along the sliding rail 305g, and the third driving member is used to drive the first rod 321 relative to the third rod. 323 turns. The first driving member is preferably installed on the supporting base 305; the second driving member is preferably installed on the sliding block 324 or the supporting base 305, more preferably installed on the supporting base 305.

Fig. 5 is a modification of the embodiment shown in Fig. 4, and the difference lies in the arrangement of the driving member.

In this embodiment, the third driving member is not used to drive the first rod 321 but to drive the second rod 322 to rotate relative to the slider 324. In this arrangement, the third driving member can be installed on the sliding block 324 to obtain a more stable support.

(Third embodiment)

The third embodiment of the multi-degree-of-freedom parallel mechanism of the present invention will be described with reference to FIG. 6. The third embodiment is a modification of the second embodiment.

In this embodiment, the change of the position of the first rod 311 of the support assembly 31 relative to the support base 305 is controlled by a quadrilateral linkage mechanism. The connection manner between the support block 300 and the first rod 311 is the same as that of the second embodiment, and the connection manner between the support block 300, the second rod 312, the slider 316 and the support base 305 is the same as the second embodiment.

The aforementioned quadrilateral link mechanism is composed of a first rod 311, a third rod 313, a fourth rod 314, and a fifth rod 315. The first rod 311 and the third rod 313 are rotatably connected to the first point, the first rod 311 and the fourth rod 314 are rotatably connected to the second point, the fourth rod 314 and the fifth rod 315 are also rotatably connected to the third point. The three rods 313, the fifth rod 315, and the support base 305 are jointly connected to the fourth point in rotation, and the line connecting the first point, the second point, the third point, and the fourth point forms a quadrilateral, and more preferably forms a parallelogram.

When the third rod 313 and the fifth rod 315 are respectively driven to rotate relative to the support base 305, the position of the first rod 311 relative to the support base 305 is changed in a controlled manner.

The first drive member is used to drive the third rod 313 to rotate relative to the support base 305, the second drive member is used to drive the fifth rod 315 to rotate relative to the support base 305, and the third drive member is used to drive the slider 316 along the sliding rail 305g. slide.

The first driving member and the second driving member are preferably installed on the support base 305; the third driving member is preferably installed on the slider 316 or the support base 305, and more preferably is installed on the support base 305.

It should be understood that the above-mentioned embodiments and part of their aspects or features can be combined as appropriate.

The following briefly describes some of the beneficial effects of the above-mentioned embodiments of the present invention.

(i) The present invention realizes the degree of freedom of at least two translational motions and three rotations of the bridge assembly 2 connected with the translational assembly through two support assemblies that realize the translational function. When the two support assemblies can also slide along the guide 1, the bridge The assembly 2 has three degrees of freedom of translation and three rotations. The structure of the parallel mechanism is simple, does not need to be symmetrical, and has strong space adaptability.

(ii) A moving driving member, especially a driving member that drives the third rod 303 and the fourth rod 304 in the first embodiment to rotate, and a driving member that drives the third rod 323 in the second embodiment to rotate and the sliding block 324 to slide The driving member that drives the rotation of the third rod 313 and the fifth rod 315 in the third embodiment and the sliding of the slider 316 may not be fixed to the rod that realizes complex movement, but is fixed to the support base 305, which reduces the mechanism The movement inertia of the moving parts helps to improve the control of the movement accuracy of the bridge assembly 2.

(iii) The structure of the kinematic branches of the parallel mechanism in the second and third embodiments of the present invention is asymmetrical, so that the parallel mechanism occupies a large space on one side and a small space on the other side, especially Facilitate the parallel installation of two parallel mechanisms.

(iv) The support assembly and the bridge assembly 2 of the parallel mechanism according to the present invention have multiple alternative implementation structures, which can adapt to different installation environments.

It should be understood that the above-mentioned embodiments are only exemplary and are not used to limit the present invention. Those skilled in the art can make various modifications and changes to the above-mentioned embodiments under the teaching of the present invention without departing from the scope of the present invention. E.g,

(i) The parallel mechanism according to the present invention is preferably used as a part of a surgical robot. In this application, the z direction preferably represents the vertical direction, and surgical instruments can be added to the bridge assembly 2; however, the present invention is not limited to this, according to The parallel mechanism of the present invention can also provide guidance for other instruments.

When a terminal piece such as a surgical instrument is added to the bridge assembly 2, the terminal piece can also be displaced in the z direction relative to the bridge assembly 2. At this time, the translational freedom of the terminal piece in the z direction does not need to pass The sliding of the support base 305 relative to the guide 1 is obtained.

(ii) The extension guides of the guide 1 and the bridge assembly 2 of the present invention are not limited to the form of the guide rail as shown in the figure, and may also be other forms of guides such as guide grooves or guide rods.

Claims

A multi-degree-of-freedom parallel mechanism, which includes a bridge assembly (2) and two support assemblies (30/31/32), wherein,

The support assembly (30/31/32) includes a support block (300), a first rod (301/311/321), a second rod (302/312/322) and a support base (305), the first The rod (301/311/321) and the support block (300) are rotatably connected to a first axis, and the second rod (302/312/322) and the support block (300) are rotatably connected to a second axis, The first axis and the second axis do not coincide, and the first axis and the second axis are parallel to the first direction (z),

The position of the first rod (301/311/321) and the second rod (302/312/322) relative to the support base (305) can be controlled to change, thereby determining the support block (300 ) The position in the second direction (x) and the third direction (y), the first direction (z), the second direction (x) and the third direction (y) are perpendicular to each other,

The bridge assembly (2) is rotatably connected with the two support blocks (300), so that the bridge assembly (2) can rotate about two non-parallel rotation axes ( a1/a2) rotate, the axis of rotation (a1/a2) is not parallel to the first direction (z), preferably, the bridge assembly (2) can rotate relative to each of the support blocks (300) Two mutually perpendicular rotation axes (a1/a2) rotate,

The bridge assembly (2) has at least two translational degrees of freedom and three rotational degrees of freedom.
The multi-degree-of-freedom parallel mechanism according to claim 1, wherein the support assembly (30) further comprises a third rod (303) and a fourth rod (304),

The first rod (301) and the support block (300) are rotatably connected to a first point, the second rod (302) and the support block (300) are rotatably connected to a second point, and the second The rod (302) and the fourth rod (304) are rotatably connected to the third point, the fourth rod (304) and the support base (305) are rotatably connected to the fourth point, the support base (305) The third rod (303) is rotatably connected to the fifth point, the third rod (303) and the first rod (301) are rotatably connected to the sixth point, the first point, the second The line connecting the point, the third point, the fourth point, the fifth point, and the sixth point forms a hexagon,

The third rod (303) and the fourth rod (304) can be controlled to rotate relative to the support base (305) around the first direction (z), and

The first lever (301) can be controlled relative to the third lever (303) to rotate around the first direction (z), or the second lever (302) can be controlled relative to the The fourth rod (304) rotates around the first direction (z).
The multi-degree-of-freedom parallel mechanism according to claim 2, wherein the supporting assembly (30) further comprises a first driving part, a second driving part and a third driving part,

The first driving member is installed on the supporting base (305), and the first driving member is used to drive the third rod (303) to rotate relative to the supporting base (305),

The second driving member is installed on the supporting base (305), and the second driving member is used to drive the fourth rod (304) to rotate relative to the supporting base (305),

The third driving member connects the first rod (301) and the third rod (303), and the third driving member is used to drive the first rod (301) relative to the third rod ( 303) rotate, or

The third driving member connects the second rod (302) and the fourth rod (304), and the third driving member is used to drive the second rod (302) relative to the fourth rod (304). 304) Rotate.
The multi-degree-of-freedom parallel mechanism according to claim 1, wherein the supporting assembly (32) further comprises a third rod (323) and a sliding block (324),

The second rod (322) is also rotatably connected to the slider (324), and the slider (324) is slidably connected to the support base (305), so that the slider (324) can be controlled in a controlled manner. Is displaced in the second direction (x) relative to the support base (305),

One end of the third rod (323) is rotatably connected to the first rod (321), the other end of the third rod (323) is rotatably connected to the support base (305), and the third rod ( 323) controlled rotation relative to the support base (305) around the first direction (z),

The first rod (321) is controlled to rotate relative to the third rod (323) around the first direction (z).
The multi-degree-of-freedom parallel mechanism according to claim 4, wherein the supporting assembly (30) further comprises a first driving part, a second driving part and a third driving part,

The first driving member is installed on the supporting base (305), and the first driving member is used to drive the third rod (323) to rotate relative to the supporting base (305),

The second driving member is installed on the slider (324) or the support base (305), and the second driving member is used to drive the slider (324) to move relative to the support base (305) ,

The third driving member connects the first rod (321) and the third rod (323), and the third driving member is used to drive the first rod (321) relative to the third rod ( 323) Rotate.
The multi-degree-of-freedom parallel mechanism according to claim 1, wherein the supporting assembly (32) further comprises a third rod (323) and a sliding block (324),

The second rod (322) is also rotatably connected to the slider (324), and the slider (324) is slidably connected to the support base (305), so that the slider (324) can be controlled in a controlled manner. Is displaced in the second direction (x) relative to the support base (305),

One end of the third rod (323) is rotatably connected to the first rod (321), the other end of the third rod (323) is rotatably connected to the support base (305), and the third rod ( 323) controlled rotation relative to the support base (305) around the first direction (z),

The second rod (322) is controlled to rotate relative to the slider (324) around the first direction (z).
The multi-degree-of-freedom parallel mechanism according to claim 6, characterized in that the supporting assembly (30) further comprises a first driving part, a second driving part and a third driving part,

The first driving member is installed on the supporting base (305), and the first driving member is used to drive the third rod (323) to rotate relative to the supporting base (305),

The second driving member is installed on the slider (324) or the support base (305), and the second driving member is used to drive the slider (324) to move relative to the support base (305) ,

The third driving part is installed on the sliding block (324), and the third driving part is used to drive the second rod (322) to rotate relative to the sliding block (324).
The multi-degree-of-freedom parallel mechanism according to claim 1, wherein the supporting assembly (30) further comprises a third rod (313), a fourth rod (314), a fifth rod (315) and a slider ( 316),

The second rod (312) is also rotatably connected to the slider (316), and the slider (316) is slidably connected to the support base (305), so that the slider (316) can be controlled in a controlled manner. Is displaced in the second direction (x) relative to the support base (305),

The first rod (311) and the third rod (313) are rotatably connected to a first point, the first rod (311) and the fourth rod (314) are rotatably connected to a second point, the The fourth rod (314) is also rotatably connected to the third point with the fifth rod (315), and the third rod (313), the fifth rod (315) and the support base (305) rotate together Connected to the fourth point, and the line connecting the first point, the second point, the third point, and the fourth point forms a quadrilateral,

The third rod (313) and the fifth rod (315) can respectively be controlled to rotate relative to the support base (305) around the first direction (z).
The multi-degree-of-freedom parallel mechanism according to claim 8, wherein the supporting assembly (30) further comprises a first driving part, a second driving part and a third driving part,

The first driving member is installed on the supporting base (305), and the first driving member is used to drive the third rod (313) to rotate relative to the supporting base (305),

The second driving member is installed on the supporting base (305), and the second driving member is used to drive the fifth rod (315) to rotate relative to the supporting base (305),

The third driving member is installed on the slider (316) or the support base (305), and the third driving member is used to drive the slider (316) to move relative to the support base (305) .
The multi-degree-of-freedom parallel mechanism according to claim 1, wherein the parallel mechanism further comprises a guide (1), and the guide (1) has a component extending in the first direction (z) , The support assembly (30/31/32) can move along the guide (1).
The multi-degree-of-freedom parallel mechanism according to claim 10, characterized in that the distance in the first direction (z) between the two supporting components (30) can be adjusted.
The multi-degree-of-freedom parallel mechanism according to any one of claims 1 to 10, wherein the bridge assembly (2) comprises a bridge first part (21) and a bridge second part (22),

One of the two support blocks (300) is connected to the first part (21) of the bridge, and the other is connected to the second part (22) of the bridge,

The first bridge part (21) and the second bridge part (22) can move relative to each other so as to change the distance between the connection points of the two support blocks (300) and the bridge assembly (2).
The multi-degree-of-freedom parallel mechanism according to claim 12, wherein the first bridge part (21) includes an extension guide (211), and the second bridge part (22) can be subjected to the extension guide The guide piece (211) slides relative to the bridge first part (21) in a guiding manner.
The multi-degree-of-freedom parallel mechanism according to claim 12, characterized in that the first bridge part (21) is rotatably connected with the second bridge part (22).
The multi-degree-of-freedom parallel mechanism according to claim 12, characterized in that the two supporting bases (305) are rigidly connected together or integrally formed.