WO2022151223A1 - Mécanisme ayant un centre de rotation éloigné et dispositif de travail - Google Patents

Mécanisme ayant un centre de rotation éloigné et dispositif de travail Download PDF

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Publication number
WO2022151223A1
WO2022151223A1 PCT/CN2021/071873 CN2021071873W WO2022151223A1 WO 2022151223 A1 WO2022151223 A1 WO 2022151223A1 CN 2021071873 W CN2021071873 W CN 2021071873W WO 2022151223 A1 WO2022151223 A1 WO 2022151223A1
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WO
WIPO (PCT)
Prior art keywords
point
platform
rotation
connecting piece
distance
Prior art date
Application number
PCT/CN2021/071873
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English (en)
Chinese (zh)
Inventor
周啸波
Original Assignee
苏州迈澜医疗科技有限公司
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by 苏州迈澜医疗科技有限公司 filed Critical 苏州迈澜医疗科技有限公司
Priority to PCT/CN2021/071873 priority Critical patent/WO2022151223A1/fr
Priority to CN202180089808.XA priority patent/CN116829095A/zh
Publication of WO2022151223A1 publication Critical patent/WO2022151223A1/fr

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    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
    • A61B34/30—Surgical robots
    • A61B34/35—Surgical robots for telesurgery
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Programme-controlled manipulators
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
    • F16H—GEARING
    • F16H21/00—Gearings comprising primarily only links or levers, with or without slides
    • F16H21/46—Gearings comprising primarily only links or levers, with or without slides with movements in three dimensions
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
    • F16M—FRAMES, CASINGS OR BEDS OF ENGINES, MACHINES OR APPARATUS, NOT SPECIFIC TO ENGINES, MACHINES OR APPARATUS PROVIDED FOR ELSEWHERE; STANDS; SUPPORTS
    • F16M11/00—Stands or trestles as supports for apparatus or articles placed thereon ; Stands for scientific apparatus such as gravitational force meters

Definitions

  • the present invention relates to the field of motion mechanisms, and in particular, to a mechanism with a remote center of rotation and a working device including the same.
  • Such a center of rotation is also called a remote center (RCM, Remote Center of Motion) or a remote center of rotation.
  • a mechanism with a remote center of rotation can be applied to, for example, a surgical robot or other manipulators, and these applications usually require high working accuracy and a small volume, which is a challenge to the setting of the mechanism.
  • a mechanism having a remote center of rotation comprising a first platform, a second platform, and a guide connecting the first platform and the second platform , by driving the part of the guide member connected with the second platform, the first platform can be controlled to rotate relative to the second platform,
  • the guide member includes a first connecting member, a second connecting member and an intermediate connecting member,
  • the intermediate connecting piece is rotatably connected to the second platform, the first connecting piece and the second connecting piece at the first point, the second point and the third point, respectively,
  • the first connecting piece has a fourth point
  • the second platform has a fifth point
  • the fourth point can move in a circle around the fifth point
  • the second connecting piece has a sixth point
  • the second platform has a seventh point
  • the sixth point can make a circular motion around the seventh point
  • the first connector is rotatably connected to the first platform at the eighth point
  • the second connector is rotatably connected to the first platform at the ninth point
  • Connecting the first point, the third point, the sixth point and the seventh point in sequence forms a parallelogram.
  • the guide further includes a first strut and a second strut
  • the first connecting piece and the first support rod are rotatably connected to the fourth point, and the first support rod and the second platform are rotatably connected to the fifth point,
  • the second connecting piece and the second support rod are rotatably connected to the sixth point, and the second support rod and the second platform are rotatably connected to the seventh point.
  • the second platform is formed with a first guide
  • the fourth point can reciprocate along the first guide on an arc centered on the fifth point
  • the second platform is formed with a second guide member, and the sixth point can reciprocate along the second guide member on an arc centered on the seventh point.
  • connecting the first point, the second point and the third point forms a triangle.
  • connecting the second point, the fourth point and the eighth point forms a triangle
  • the first link and the second link are deformable such that the distance between the eighth point and the second point and the distance between the ninth point and the first point The distance between the three points can be adjusted.
  • both the first platform and the intermediate connecting piece can be deformed, so that the distance between the eighth point and the ninth point can be adjusted, the second point and the The distance between the third points can be adjusted.
  • the distance between the rotation center and the eighth point is unchanged, and the rotation center The distance from the ninth point remains unchanged.
  • the distance between the eighth point and the ninth point is equal to the distance between the second point and the third point.
  • the first strut, the second strut and the intermediate link are all deformable such that the distance between the fourth point and the fifth point and the The distance between one point and the second point can be adjusted synchronously, the distance between the sixth point and the seventh point and the distance between the first point and the third point can be are adjusted synchronously.
  • drive means for effecting movement of the guide are mounted on the second platform.
  • the mechanism further includes a third platform, the second platform is rotatably mounted on the third platform relative to the third platform about an axis, the axis and the first platform the axis of rotation relative to the center of rotation intersects and the axis passes through the center of rotation,
  • the axis is perpendicular to the axis of rotation of the first platform relative to the center of rotation.
  • the first connecting piece and the second connecting piece are symmetrically arranged and formed parallel by the first point, the second point, the fourth point and the fifth point
  • the quadrilateral is symmetrically arranged with the parallelogram formed by the first point, the third point, the sixth point and the seventh point.
  • a work apparatus including a work implement and a mechanism having a remote center of rotation according to the present invention, the work implement being mounted on a first platform of the mechanism.
  • the work tool is a surgical medical device.
  • the mechanism with the remote rotation center according to the present invention is simple and compact in structure, and can stably realize the remote control of the first platform.
  • the acting device according to the invention has the same advantages.
  • Figure 1 is a schematic diagram of a mechanism according to a first embodiment of the present invention.
  • FIG. 2 is a perspective view of a partial structure of the mechanism according to the first embodiment of the present invention.
  • 3 to 5 are schematic diagrams of a mechanism according to a second embodiment of the present invention.
  • Figure 6 is a schematic diagram of a mechanism according to a third embodiment of the present invention.
  • Figure 7 is a schematic diagram of a mechanism according to a fourth embodiment of the present invention.
  • Figure 8 is a schematic diagram of a mechanism according to a fifth embodiment of the present invention.
  • Figure 9 is a schematic diagram of a mechanism according to a sixth embodiment of the present invention.
  • Figure 10 is a schematic diagram of a mechanism according to a seventh embodiment of the present invention.
  • Figure 11 is a schematic diagram of a mechanism according to an eighth embodiment of the present invention.
  • G guide 31 first connector; 32 second connector; 41 first pole; 42 second pole; 43 intermediate connector; O rotation center; L limit guide.
  • FIGS. 1 to 10 Taking a mechanism applied to a surgical robot as an example, a mechanism having a remote rotation center and a working device including the mechanism according to the present invention will be described with reference to FIGS. 1 to 10 .
  • a mechanism having a remote center of rotation (hereinafter referred to as a mechanism) according to a first embodiment of the present invention will be described.
  • the mechanism includes a first platform 10 , a second platform 20 and a guide G.
  • the first platform 10 is used for installing the working implement K, and can drive the working implement K to rotate around the rotation center O.
  • a driving device (such as a motor, not shown) for driving the first platform 10 to rotate is installed on the second platform 20 .
  • the first platform 10 is connected with the second platform 20 through the guide member G.
  • the driving device drives the guide member G to move, and the guide member G transmits the motion to the first platform 10 , thereby realizing the effect of driving the second platform 20 away from the first platform 10 and making the first platform 10 achieve the effect of remote rotation .
  • the location near the first platform 10 will be referred to as the distal end, and the location near the second platform 20 will be referred to as the proximal end.
  • the guide member G includes a first connecting member 31 , a second connecting member 32 , a first support rod 41 , a second support rod 42 and an intermediate connecting member 43 .
  • Both the first connecting member 31 and the second connecting member 32 are rotatably connected to the first platform 10 , and the first support rod 41 , the second support rod 42 and the intermediate connecting member 43 are all rotatably connected to the second platform 20 .
  • the first connecting piece 31 and the second connecting piece 32 serve as the distal guide
  • the first strut 41, the second strut 42 and the intermediate connecting piece 43 serve as the proximal guide
  • the distal guide and the proximal guide The lead is connected in rotation to transmit the driving force.
  • the intermediate connecting piece 43 has a substantially triangular plate shape.
  • the intermediate connecting piece 43 is rotatably connected to the first point D1 with the second platform 20 at one corner, and the intermediate connecting piece 43 is rotatably connected to the second point D1 with the first connecting piece 31 and the second connecting piece 32 at the other two corners respectively. D2 and the third point D3.
  • the intermediate connecting member 43 may not be formed in a triangular shape, but may be formed in a T-shape or a Y-shape, for example.
  • Both ends of the first support rod 41 are rotatably connected to the first connecting member 31 and the second platform 20 respectively.
  • the first support rod 41 and the first connecting member 31 are rotatably connected to the fourth point D4, and the first support rod 41 and the second platform 20 are rotatably connected to the fifth point D5.
  • the first point D1, the second point D2, the fourth point D4 and the fifth point D5 are sequentially connected to form a parallelogram.
  • the first connecting member 31 extends from the proximal end to the distal end, the second point D2 and the fourth point D4 are located at the proximal end, and the first connecting member 31 is rotatably connected with the first platform 10 at the eighth point D8 at the distal end.
  • Both ends of the second support rod 42 are rotatably connected to the second connecting member 32 and the second platform 20 respectively.
  • the second support rod 42 and the second connecting member 32 are rotatably connected to the sixth point D6, and the second support rod 42 and the second platform 20 are rotatably connected to the seventh point D7.
  • the first point D1, the third point D3, the sixth point D6 and the seventh point D7 are sequentially connected to form a parallelogram.
  • the second connecting member 32 extends from the proximal end to the distal end, the third point D3 and the sixth point D6 are located at the proximal end, and the second connecting member 32 is rotatably connected with the first platform 10 at the ninth point D9 at the distal end.
  • the distance between the first point D1 and the second point D2 is equal to the distance between the first point D1 and the third point D3, and the distance between the second point D2 and the fourth point D4 is the same as the distance between the third point D1 and the third point D4.
  • the distance between the point D3 and the sixth point D6 is equal, or in other words, the two sets of connectors on both sides of the intermediate connector 43 (the first set of connectors formed by the first connector 31 and the first support rod 41, and the second The second set of connectors formed by the connector 32 and the second strut 42) is symmetrical.
  • remote rotation is that the rotation of the first platform 10 about the rotation center O is indirectly driven by using the driving device to drive other components to rotate.
  • the intermediate connecting member 43 is used as an active member, that is, the intermediate connecting member 43 is driven to rotate around the first point D1, so that the first support rod 41 and the second support rod 42 follow the rotation.
  • the distance between the rotation center O and the eighth point D8 is equal to the distance between the rotation center O and the ninth point D9, which is equal to the virtual circle C where the trajectory of the eighth point D8 or the ninth point D9 moving around the rotation center O is located radius.
  • the radius of the circle C is equal to the distance between the first point D1 and the second point D2, and is also equal to the distance between the first point D1 and the third point D3.
  • the motion trajectory of the eighth point D8 or the ninth point D9 may not form a complete circle, but the eighth point D8 and the ninth point D9 The trajectory of the motion will not deviate from the circle C.
  • a working implement K can be arranged on the first platform 10 to form a working device according to the invention.
  • the working end (belonging to the distal end) of the working implement K is located at the rotation center O, and the position of the moving driving device (or the operating end, which belongs to the proximal end) is far from the working end.
  • the work implement K is, for example, a surgical medical instrument, more specifically, a scalpel.
  • the mechanism according to the present invention is used to operate the working tool K as a scalpel, and the operating end is far away from the working tool K, so that more space can be left around the working tool K so as not to block the operator, for example
  • the line of sight is easy for the operator to observe.
  • the two parallelogram structures are stable.
  • the parallelogram structure rotates to a critical position, for example, when the first point D1, the second point D2, the fourth point D4 and the fifth point D5 are close to collinear, the parallelogram structure is not easily destroyed, that is, it is not easy to be damaged.
  • a phenomenon occurs in which the intermediate connecting piece 43 rotates clockwise and the first support rod 41 rotates counterclockwise.
  • the intermediate connecting piece 43 of the present invention connects two sets of connecting pieces simultaneously to form two parallelogram structures. Less space, less space occupied by the mechanism, and each component is not easy to interfere during the rotation process.
  • a mechanism with a remote center of rotation according to a second embodiment of the present invention is introduced.
  • the second embodiment is a modification of the first embodiment, and for the same or similar features as the first embodiment, the same reference numerals are used in this embodiment, and detailed descriptions of these features are omitted.
  • connection mode of each part of the mechanism in this embodiment is the same as that of the first embodiment, but in order to make the first platform 10 have a larger rotation range, the first connecting member 31 , the second connecting member 32 , the first support rod 41 and the The shape of the second support rod 42 is adjusted to reduce the possible interference of various components during the rotation process.
  • both the first connector 31 and the second connector 32 are formed in a substantially Y-shape.
  • the first connector 31 includes a first connector part 311 and a first connector second part 312 connected to each other
  • the second connector 32 includes a second connector first part 321 and a second connector second part connected to each other 322.
  • the first part 311 of the first connecting piece is rotatably connected with the first platform 10 at the eighth point D8, and the second part 312 of the first connecting piece is rotatably connected with the first support rod 41 and the intermediate connecting piece 43 at the fourth point D4 and the second point D4 respectively.
  • Point D2 the first part 321 of the second connecting piece is rotatably connected to the first platform 10 at the ninth point D9, and the second part 322 of the second connecting piece is rotatably connected to the sixth point D6 with the second strut 42 and the intermediate connecting piece 43 respectively and the third point D3.
  • the sides facing each other of the first portion 311 of the first connector and the first portion 321 of the second connector are recessed (or bent) in a direction away from each other.
  • the part of the second part 312 of the first connecting member located between the second point D2 and the fourth point D4 is recessed inward, and the part of the second part 322 of the second connecting member located between the third point D3 and the sixth point D6 Parts are recessed inwards. Therefore, the first connecting member 31 and the second connecting member 32 are not likely to interfere with each other during the rotation.
  • first support rod 41 and the second support rod 42 are recessed (or bent) in the direction away from each other, so that the first connecting member 31 and the second connecting member 32 are not easy to rotate during the rotation interfere with each other.
  • the third embodiment is a modification of the first embodiment, and for the same or similar features as the first embodiment, the same reference numerals are used in this embodiment, and detailed descriptions of these features are omitted.
  • the first connecting member 31 and the second connecting member 32 are configured to be variable in shape or size to change the distance between the first platform 10 and the second platform 20 . Since the dimensional structure of other components does not change, other reference points can also be used as reference during the process of adjusting the dimensions of the first connecting piece 31 and the second connecting piece 32 . For example, the distance between the eighth point D8 and the second point D2 is changed to deform the first connecting member 31 , and the distance between the ninth point D9 and the third point D3 is changed to deform the second connecting member 32 .
  • the dimensions of the two parallelogram structures in this embodiment are the same, the dimensions of the first connecting member 31 and the second connecting member 32 are adjusted synchronously. For example, during the adjustment process, it is ensured that the eighth point D8 is The distance between the two points D2 is equal to the distance between the ninth point D9 and the third point D3.
  • the first connecting member 31 includes two parts that can move relatively, so that the first connecting member 31 can be telescopically deformed;
  • the second connecting member 32 includes The two parts that can move relative to each other enable the second connecting piece 32 to be telescopically deformed.
  • Such a telescopic structure belongs to the prior art and will not be described in detail in the present invention.
  • the distance of the rotation center O relative to the second platform 20 can be changed, however, the distance of the rotation center O relative to the first platform 10 will not change, and the rotation radius (ie the radius of the virtual circle C) will not change.
  • This adjustment is particularly useful for, for example, in-feed operations (to move the knife into an incision) and out operations (to bring the knife out of an incision) during minimally invasive surgery, for example.
  • the fourth embodiment is a modification of the first embodiment, and for the same or similar features as the first embodiment, the same reference numerals are used in this embodiment, and detailed descriptions of these features are omitted.
  • the first platform 10 is configured to be variable in shape or size, so that the distance between the eighth point D8 and the ninth point D9 can be adjusted.
  • the intermediate connecting piece 43 is configured to be variable in shape or size, so that the distance between the second point D2 and the third point D3 can be adjusted. Moreover, during the adjustment process, it is ensured that the distance between the eighth point D8 and the ninth point D9 is equal to the distance between the second point D2 and the third point D3.
  • the first platform 10 includes two parts that can move relatively, so that the first platform 10 can be telescopically deformed;
  • the intermediate connecting piece 43 includes two parts that can move relatively, so that the intermediate connecting piece 43 can be telescopically deformed.
  • the lengths of the first support rod 41 and the second support rod 42 in this embodiment are constant, therefore, the deformation of the first platform 10 satisfies that the distance from the rotation center O to the eighth point D8 or the ninth point D9 is constant. Therefore, the above-mentioned expansion and contraction of the first platform 10 shows that the eighth point D8 and the ninth point D9 move on the virtual circle C.
  • the distance of the rotation center O relative to the first platform 10 can be changed, however, the distance of the rotation center O relative to the second platform 30 does not change, and the rotation radius does not change.
  • This adjustment is especially applicable when the work implement K installed on the first platform 10 needs to be replaced (different work implements K have different sizes).
  • the fifth embodiment is a modification of the first embodiment, and for the same or similar features as the first embodiment, the same reference numerals are used in this embodiment, and detailed descriptions of these features are omitted.
  • the dimensions of the first support rod 41 , the second support rod 42 and the intermediate connecting piece 43 can be adjusted synchronously. Specifically, the dimensions of the first support rod 41 , the second support rod 42 and the intermediate connecting piece 43 are adjusted at the same time, so that the distance between the fourth point D4 and the fifth point D5 and the distance between the first point D1 and the second point D2 The distance of , the distance between the first point D1 and the third point D3 and the distance between the sixth point D6 and the seventh point D7 keep changing equally.
  • the position of the rotation center O relative to the second platform 20 does not change, and the position of the rotation center O relative to the first platform 10 does not change.
  • a mechanism with a remote center of rotation according to a sixth embodiment of the present invention is introduced.
  • the sixth embodiment is a modification of the first embodiment and the second embodiment, and for the same or similar features as the above-described embodiments, the same reference numerals are used in this embodiment, and detailed descriptions of these features are omitted.
  • the main improvement of this embodiment over the second embodiment is that a third platform 50 is added to the mechanism, and the second platform 20 can rotate relative to the third platform 50 around the axis A0.
  • the axis A0 is perpendicular to the rotation axis of the first platform 10 with respect to the rotation center O (the axis perpendicular to the paper surface in FIG. 9 ), and the axis A0 passes through the rotation center O.
  • the first platform 10 can be centered on the rotation center O. movement on the sphere.
  • the work implement K when the work implement K is mounted on the first platform 10 , the work implement K can be rotated around the rotation center O in all directions.
  • a mechanism with a remote center of rotation according to a seventh embodiment of the present invention is introduced.
  • the seventh embodiment is a modification of the first embodiment, and for the same or similar features as the first embodiment, the same reference numerals are used in this embodiment, and detailed descriptions of these features are omitted.
  • the main difference between this embodiment and the first embodiment is that the two parallelogram structures in this embodiment are asymmetrical, or have different sizes.
  • the distance between the first point D1 and the second point D2 is not equal to the distance between the first point D1 and the third point D3. Accordingly, the distance between the rotation center O and the eighth point D8 is not equal to the distance between the rotation center O and the ninth point D9.
  • the size of the second strut 42 and the intermediate connecting piece 43 ie, the side length of the parallelogram is adjusted
  • the size of each component will be adjusted in equal proportions according to the ratio of the side lengths of the two parallelograms.
  • a mechanism with a remote center of rotation according to an eighth embodiment of the present invention is introduced.
  • the eighth embodiment is a modification of the first embodiment, and for the same or similar features as the first embodiment, the same reference numerals are used in this embodiment, and detailed descriptions of these features are omitted.
  • one side of the parallelogram structure in the guide member G is omitted (in this embodiment, the first support rod 41 in the first embodiment is omitted), and a groove or guide rail is used to play the
  • the limiting guide member L for guiding function is used to limit the movement of the first connecting member 31 .
  • the guide member G includes a first connecting member 31 , a second connecting member 32 , a second supporting rod 42 and an intermediate connecting member 43 .
  • the first connecting member 31 and the intermediate connecting member 43 are rotatably connected to the second point D2, the movement of the first connecting member 31 at the fourth point D4 is limited by the restriction of the guide member L, and the extension trajectory of the limiting guide member L It is a part of the circle with the fifth point D5 as the center, so that the fourth point D4 can only make a circular motion around the fifth point D5.
  • the limiting guide L is an arc-shaped groove, and an insert extending into the groove of the limiting guide L is provided at the fourth point D4.
  • the first point D1, the second point D2, the fourth point D4 and the fifth point D5 are sequentially connected to form a parallelogram.
  • the second strut 42 forming the parallelogram D1D3D6D7 can also be omitted at the same time, and a circular arc guide is used to limit the movement of the sixth point D6 on the second connecting piece 32 , so that the sixth point D6 reciprocates on the circular arc with the seventh point D7 as the center.
  • the mechanism according to the present invention has a simple and compact structure, and can remotely control the rotation of the first platform 10 at the distal end, so that the working end located at the distal end is not blocked by the driving device.
  • the present invention uses the intermediate connecting piece 43 to connect two sets of connecting pieces with parallelogram structure, to ensure that the parallelogram structure is constantly controlled during the rotation process, and to reduce the number of parts of the mechanism, the structure of the mechanism is compact, and the components of each part are Interference is not easy to occur during rotation.
  • the present invention provides to adjust the position of the rotation center O relative to the second platform 20 (or to adjust the position of the rotation center O globally), and to adjust the position of the rotation center O relative to the first platform 10 (or to adjust the position locally).
  • the position of the rotation center O) and the method of adjusting the rotation radius so that the mechanism can be adapted to different sizes of work implements K or to different operation requirements.

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  • Engineering & Computer Science (AREA)
  • General Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Health & Medical Sciences (AREA)
  • Life Sciences & Earth Sciences (AREA)
  • Robotics (AREA)
  • Surgery (AREA)
  • Biomedical Technology (AREA)
  • Nuclear Medicine, Radiotherapy & Molecular Imaging (AREA)
  • Heart & Thoracic Surgery (AREA)
  • Medical Informatics (AREA)
  • Molecular Biology (AREA)
  • Animal Behavior & Ethology (AREA)
  • General Health & Medical Sciences (AREA)
  • Public Health (AREA)
  • Veterinary Medicine (AREA)
  • Manipulator (AREA)

Abstract

Un mécanisme ayant un centre de rotation éloigné, comprenant une première plateforme (10), une seconde plateforme (20) et un élément de guidage (G). L'élément de guidage (G) comprend un premier élément de liaison (31), un second élément de liaison (32), et un élément de liaison intermédiaire (43) ; l'élément de liaison intermédiaire (43) est relié rotatif à la seconde plate-forme (20), le premier élément de liaison (31), et le second élément de liaison (32) en un premier point (D1), en un deuxième point (D2), et en un troisième point (D3), respectivement ; un quatrième point (D4) sur le premier élément de liaison (31) peut effectuer un mouvement circulaire autour d'un cinquième point (D5) sur la seconde plateforme (20) ; un sixième point (D6) sur le second élément de liaison (32) peut effectuer un mouvement circulaire autour d'un septième point (D7) sur la seconde plateforme (20) ; un parallélogramme est formé par liaison du premier point (D1), du deuxième point (D2), du quatrième point (D4) et du cinquième point (D5) ; et un parallélogramme est formé par liaison du premier point (D1), du troisième point (D3), du sixième point (D6) et du septième point (D7). L'invention concerne également un dispositif fonctionnel.
PCT/CN2021/071873 2021-01-14 2021-01-14 Mécanisme ayant un centre de rotation éloigné et dispositif de travail WO2022151223A1 (fr)

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PCT/CN2021/071873 WO2022151223A1 (fr) 2021-01-14 2021-01-14 Mécanisme ayant un centre de rotation éloigné et dispositif de travail
CN202180089808.XA CN116829095A (zh) 2021-01-14 2021-01-14 具有远程旋转中心的机构和作业装置

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