Six-degree-of-freedom motion mechanism

Abstract

A kind of six-degree-of-freedom motion mechanism of convenient drive, including platform (10) and three branch chains (20), each branch chain (20) includes base (20a), first movable element (21), second movable element (22) and third movable element (23), first movable element (21) includes first movable element (211) and second movable element (212), second movable element (22) includes second movable element (221) and second movable element (222) between each other fixed position, second movable element (221) provides the guide for second movable element (22) relative to first movable element (211) reciprocating movement along first guide direction (D1), second movable element (222) provides the guide for second movable element (22) relative to second movable element (212) reciprocating movement along second guide direction (D2), platform (10) has three translational degrees of freedom and three rotational degrees of freedom relative to base (20a).

Description

Technical Field

[0001] This invention relates to the field of motion mechanisms, and particularly to a conveniently actuated six-degree-of-freedom motion mechanism. Background Technology

[0002] In some motion mechanisms used to perform complex tasks, the motion mechanism needs to have many degrees of freedom, large stroke, rigidity, speed, and high precision, and these requirements are usually difficult to meet simultaneously. Summary of the Invention

[0003] The purpose of this invention is to overcome or at least mitigate the shortcomings of the prior art and provide a conveniently driven six-degree-of-freedom motion mechanism.

[0004] A conveniently actuated six-degree-of-freedom motion mechanism is provided, comprising a platform and three branches, wherein,

[0005] Each of the aforementioned branches includes a base, a primary moving part, a secondary moving part, and a tertiary moving part.

[0006] The primary moving part includes a primary first moving part and a primary second moving part.

[0007] The first-stage movable member connects the base and the second-stage movable member, and the first-stage movable member is capable of translational movement relative to the base in a first direction.

[0008] The first-stage second movable member connects the base and the second-stage movable member, and the first-stage second movable member is capable of translational movement relative to the base in a first direction.

[0009] The secondary movable component includes a secondary first guide component and a secondary second guide component that are fixed in position to each other. The secondary first guide component provides guidance for the secondary movable component to reciprocate relative to the primary first movable component along a first guiding direction, and the secondary second guide component provides guidance for the secondary movable component to reciprocate relative to the primary second movable component along a second guiding direction.

[0010] The secondary movable component can be displaced relative to the base in the first direction and the second direction;

[0011] The first guiding direction and the second guiding direction are not parallel to each other, nor are they parallel to the first direction.

[0012] The third-level movable component is capable of displacement in a third direction relative to the second-level movable component, and at least one of the first-level movable component, the second-level movable component, and the third-level movable component is an active component.

[0013] The third-level movable component is connected to the platform via a rotational connection structure, which allows the platform to have three rotational degrees of freedom relative to the third-level movable component, about the first direction, the second direction, and the third direction.

[0014] The platform has three translational degrees of freedom and three rotational degrees of freedom relative to the base.

[0015] In at least one embodiment, the first directions of at least two of the branches are parallel.

[0016] In at least one embodiment, the first directions of the three branches are not parallel.

[0017] In at least one embodiment, the base provides a first guide for the translation of the primary moving parts, and at least two primary moving parts share one first guide.

[0018] In at least one embodiment, the first direction is an arc direction.

[0019] In at least one embodiment, in each of the branches, at least one of the first-stage moving member and the second-stage moving member includes a first sub-component and a second sub-component capable of relative rotation about an axis parallel to the third direction, and at most one pair of the first sub-component and the second sub-component are followers.

[0020] In at least one embodiment, the third-level moving member is capable of translation relative to the second-level moving member.

[0021] In at least one embodiment, the first direction and the second direction are both parallel to the first plane, and the third direction is perpendicular to the first plane.

[0022] In at least one embodiment, the secondary movable component includes a ramp surface, the ramp surface being disposed at an angle relative to the first plane, and the tertiary movable component is capable of reciprocating along the ramp surface, or

[0023] The third-level moving part can move vertically relative to the second-level moving part.

[0024] In at least one embodiment, the third-level moving member is rotatable relative to the second-level moving member about an axis perpendicular to the third direction.

[0025] In at least one embodiment, the rotating connection structure includes a first part and a second part that are rotatable relative to each other, one of the first part and the second part being connected to the platform and the other being connected to the third-level movable component.

[0026] The first portion includes a first spherical protrusion, and the second portion includes a plurality of second spherical protrusions.

[0027] The plurality of second spherical protrusions surround and contact the first spherical protrusion, and the contact surfaces of the first spherical protrusion and the second spherical protrusions are both spherical surfaces.

[0028] In at least one embodiment, one of the first ball bumps is in contact with three of the second ball bumps.

[0029] In at least one embodiment, the first part and the second part have a mutual attractive force due to the magnetic field.

[0030] In at least one embodiment, the second portion includes a magnet, the first spherical protrusion is made of a ferromagnetic material, and the magnet is not in contact with the first portion.

[0031] In at least one embodiment, for each branch, the first and second primary moving parts of the primary moving parts are driving parts, and the second and third primary moving parts are driven parts. The driving part can be a motor lead screw guide module, a linear motor guide module, or a piezoelectric ceramic motor guide module, etc., and position feedback is provided by sensors such as encoders or grating rulers. The driven part can also selectively be equipped with sensors such as grating rulers to provide position feedback for enhanced accuracy, position compensation, and calibration.

[0032] The six-degree-of-freedom motion mechanism according to the present invention has a simple structure and is easy to control. Attached Figure Description

[0033] Figure 1 This is a schematic diagram of a six-degree-of-freedom motion mechanism according to the first embodiment of the present invention.

[0034] Figure 2 and Figure 3 This is a schematic diagram of the differential motion mode of the moving parts of the branch of a six-degree-of-freedom motion mechanism according to the first embodiment of the present invention.

[0035] Figure 4 This is a schematic diagram of the rotational connection structure of the six-degree-of-freedom motion mechanism according to the first embodiment of the present invention, cut along a third direction.

[0036] Figure 5 yes Figure 4 The diagram shows a cross-section of the first and second spherical protrusions of the rotating connection structure at three contact points.

[0037] Figures 6 to 8 These are schematic diagrams of three variations of a six-degree-of-freedom motion mechanism according to a second embodiment of the present invention.

[0038] Figure 9 This is a schematic diagram of a six-degree-of-freedom motion mechanism according to a third embodiment of the present invention.

[0039] Figure 10 This is a schematic diagram of a six-degree-of-freedom motion mechanism according to the fourth embodiment of the present invention.

[0040] Explanation of reference numerals in the attached figures:

[0041] 10 Platform; 20 Branch Chain; 20a Base; 21 Primary Moving Component; 211 Primary First Moving Component; 212 Primary Second Moving Component; 211g Primary First Guide Component; 212g Primary Second Guide Component; 211a First Sub-component of First Moving Component; 211b Second Sub-component of First Moving Component; 212a First Sub-component of Second Moving Component; 212b Second Sub-component of Second Moving Component;

[0042] 22 Secondary moving part; 221 Secondary first guide part; 222 Secondary second guide part; 22s Inclined surface; 23 Tertiary moving part;

[0043] J is a rotating connection structure; J1 is the first part; J10 is the first spherical protrusion; J2 is the second part; J20 is the second spherical protrusion; J21 is the magnet;

[0044] x is the first direction; y is the second direction; z is the third direction. Detailed Implementation

[0045] Exemplary embodiments of the present invention are described below with reference to the accompanying drawings. It should be understood that these specific descriptions are for teaching those skilled in the art how to implement the present invention, and are not intended to exhaustively describe all possible ways of the invention, nor to limit the scope of the invention.

[0046] Unless otherwise specified, this invention is based on Figure 1 The three-dimensional coordinate system shown illustrates the positional relationships of the components. It should be understood that the positional relationships defined according to the x, y, and z axes in this invention are relative, and the coordinate axes may be rotated in space depending on the actual application of the device.

[0047] (First Implementation)

[0048] Reference Figures 1 to 3 This paper introduces a six-degree-of-freedom motion mechanism (hereinafter referred to as the mechanism) according to a first embodiment of the present invention.

[0049] The mechanism includes a platform 10 and three branches 20 that support and control the movement of the platform 10. The platform 10 and the branches 20 are connected by a rotational connection structure J, which allows each branch 20 to have rotational degrees of freedom in three directions (about the x-axis, y-axis, and z-axis) relative to the platform. By coordinating the driving of the three branches 20 (e.g., by calculating and determining the position of the driving element of each branch 20), six-degree-of-freedom motion of the platform 10 can be achieved.

[0050] Each branch 20 includes a base 20a, a primary moving part 21, a secondary moving part 22, and a tertiary moving part 23 connected in sequence. Optionally, each branch 20 may have an independent base 20a, or multiple branches 20 may share a single base 20a.

[0051] The primary movable component 21 is stacked on the base 20a, the secondary movable component 22 is stacked on the primary movable component 21, and the tertiary movable component 23 is stacked on the secondary movable component 22.

[0052] The primary movable member 21 can reciprocate (translate) relative to the base 20a along the first direction x; the secondary movable member 22 can be displaced relative to the primary movable member 21 in the second direction y; the tertiary movable member 23 can reciprocate (translate) relative to the secondary movable member 22 along the ramp surface 22s, which forms a drop in the third direction z, thereby allowing the tertiary movable member 23 to be displaced relative to the secondary movable member 22 in both the third direction z and the first direction x. It should be understood that translation here refers to relative rotation. Although in this embodiment, translation is along a straight line, this is not mandatory; translation can also be along a curve.

[0053] The primary moving part 21 includes a primary first moving part 211 and a primary second moving part 212 that can be controlled independently. The base 20a provides a first guide (not shown, such as a guide rail or guide groove) for the movement of the primary first moving part 211 and the primary second moving part 212 in the x-direction. Optionally, the primary first moving part 211 and the primary second moving part 212 belonging to the same branch 20 share the same or the same set of first guides.

[0054] The first moving part 211 of the first stage includes the first guiding part 211g, and the second moving part 212 of the first stage includes the second guiding part 212g.

[0055] The secondary movable component 22 includes a secondary first guide component 221 and a secondary second guide component 222. The positions and orientations of the secondary first guide component 221 and the secondary second guide component 222 are relatively fixed. More specifically, the secondary first guide component 221 and the secondary second guide component 222 can be disposed on, particularly fixedly disposed on, the substrate of the secondary movable component 22, for example, a plate-shaped substrate.

[0056] Simultaneously refer to Figure 2 and Figure 3 The first-stage first guide member 211g cooperates with the second-stage first guide member 221, and the first-stage second guide member 212g cooperates with the second-stage second guide member 222. The first-stage first guide member 211g and the second-stage first guide member 221 can only reciprocate along the first guiding direction D1, and the first-stage second guide member 212g and the second-stage second guide member 222 can only reciprocate along the second guiding direction D2.

[0057] Both the first guidance direction D1 and the second guidance direction D2 are not parallel to the first direction x.

[0058] Therefore, when either the first movable member 211 or the second movable member 212 of the first stage is displaced relative to the base 20a in the first direction x, the second movable member 22 can be displaced relative to the base 20a in the second direction y. Furthermore, by reasonably controlling the displacements of the first movable member 211 and the second movable member 212 of the first stage, the second movable member 22 can also be displaced relative to the base 20a in the first direction x simultaneously.

[0059] By using this differential method, the displacement of the first-stage moving part 211 and the second-stage moving part 212 relative to the base 20a in the first direction x can be controlled, thereby achieving control of the displacement of the second-stage moving part 22 in the first direction x and the second direction y.

[0060] Comparison Figure 2 , Figure 3 The diagram illustrates the situation where the secondary movable member 22 is displaced relative to the base 20a in the first direction x and the second direction y by moving the first primary movable member 211 and the second primary movable member 212 along the first direction x. For example, optionally, if the first guide direction D1 and the second guide direction D2 form a 90-degree angle and each forms a 45-degree angle with the first direction x, then the differential displacement of the first primary movable member 211 and the second primary movable member 212 in the first direction x is exactly equal to the displacement of the secondary movable member 22 in the second direction y. In other possible embodiments, for example, the first guide direction D1 may be parallel to the second direction y, and the second guide direction D2 may form an acute angle with the first direction x (hereinafter referred to as the angle theta). In this case, the first primary movable member 211 can serve as the reference for the secondary movable member 22 in the first direction x, and the displacement of the secondary movable member 22 in the second direction y is determined by the displacement of the second primary movable member 212 relative to the first primary movable member 211 in the first direction x and the angle theta. Of course, the first guidance direction D1 and the second guidance direction D2 can also take other angle values ​​relative to the first direction x to adapt to different applications.

[0061] In this embodiment, the primary first guide member 211g is a guide rail, and the secondary first guide member 221 is a slider. It should be understood that in other possible embodiments, the primary first guide member 211g can also be a slider, and the secondary first guide member 221 can be a guide rail, guide groove, or guide rod, etc. Similarly, one of the primary second guide member 212g and the secondary second guide member 222 can be a guide rail, guide groove, or guide rod, and the other can be a structure similar to a slider. Alternatively, both can be guide rails, such as a pair of crossed roller guide rails. Furthermore, it should be understood that although... Figure 2 and Figure 3 The secondary first guide 221 and secondary second guide 222 are relatively small in size in the first guide direction D1 and the second guide direction D2, respectively. In contrast, the primary first guide 211g and primary second guide 212g are relatively large in size in the first guide direction D1 and the second guide direction D2, respectively, but this is not mandatory. For example, in the first guide direction D1, the size of the secondary first guide 221 can be equal to or greater than the size of the primary first guide 211g.

[0062] The surface of the secondary movable member 22 that contacts the tertiary movable member 23 is a ramp surface 22s. The secondary movable member 22 provides the tertiary movable member 23 with a third guide member that moves along the inclined lifting direction of the ramp surface 22s, so that the tertiary movable member 23 can be displaced relative to the base 20a in the third direction z and the first direction x and / or the second direction y.

[0063] One of the first-level active component 21, the second-level active component 22, and the third-level active component 23 is the active component, and the other two are the passive components.

[0064] For example, the primary moving part 21 (primary first moving part 211 and primary second moving part 212) is the driving part, and the secondary moving part 22 and tertiary moving part 23 are the driven parts. By driving the primary first moving part 211 and the primary second moving part 212 in the first direction x respectively, the secondary moving part 22 will be displaced relative to the primary moving part 21 in the first direction x and the second direction y, and the tertiary moving part 23 will be displaced relative to the secondary moving part 22 in the third direction z and the second direction y. This realizes the three translational degrees of freedom of the tertiary moving part 23 of each branch 20 in the first direction x, the second direction y, and the third direction z.

[0065] Optionally, the secondary moving part 22 or the tertiary moving part 23 can also be configured as the driving part. The driving part can be a motor lead screw guide module, a linear motor guide module, or a piezoelectric ceramic motor guide module, etc., and the position feedback is provided by sensors such as encoders or grating rulers. The driven part can also selectively be equipped with sensors such as grating rulers to provide position feedback for improving control accuracy and calibration. Preferably, when the primary moving part 21 is used as the driving part, for example, a linear motor module, the primary first moving part 211 and the primary second moving part 212 are respectively equipped with a mover and a grating reading head, and the primary first moving part 211 and the primary second moving part 212 share the same set of stators and grating rulers mounted on the base 20a, which can make the structure more compact, more accurate and lower in cost.

[0066] The description of the moving parts in each branch 20 uses the coordinate system of the branch 20 itself. Therefore, in this embodiment, the coordinate systems of each branch 20 are different. Specifically, the first direction x and the second direction y of each branch 20 are different (or not parallel; the same / parallel directions mentioned in this application include parallel but not collinear, as well as collinear cases). In this embodiment, preferably, the three branches 20 are arranged at equal intervals.

[0067] Because the third-stage movable component 23 and the platform 10 use a omnidirectional rotatable connection structure J, as the three branches 20 are driven respectively, the positions of the three third-stage movable components 23 change. Therefore, the platform 10 not only has three translational degrees of freedom, but also three rotational degrees of freedom about the first direction x, the second direction y, and the third direction z. Thus, the platform 10 has six degrees of freedom.

[0068] Next, refer to Figure 4 and Figure 5 The rotating connection structure J according to the present invention is described.

[0069] The rotating connection structure J includes a first part J1 and a second part J2. The first part J1 is fixedly connected to the platform 10 (or the first part J1 is part of the platform 10), and the second part J2 is fixedly connected to the third-level movable member 23 (or the second part J2 is part of the third-level movable member 23).

[0070] The first part J1 includes a first spherical protrusion J10. The second part J2 includes three second spherical protrusions J20. Preferably, the first spherical protrusion J10 is fixedly connected to the body J1m of the first part J1, or in other words, the first spherical protrusion J10 and the body J1m are formed as one piece; the second spherical protrusions J20 are fixedly connected to the body J2m of the second part J2, or in other words, the second spherical protrusions J20 and the body J2m are formed as one piece.

[0071] Three second spherical protrusions J20 are arranged around the first spherical protrusion J10, and the second spherical protrusions J20 are in contact with the first spherical protrusion J10.

[0072] The surfaces of the first spherical convex J10 and the second spherical convex J20 that come into contact with each other are both spherical surfaces. Therefore, the first spherical convex J10 and each of the second spherical convex J20 are externally tangent and form point contact. The three second spherical convex J20s and one first spherical convex J10 form three contact points, thereby uniquely determining the position of the first spherical convex J10.

[0073] The connection method between the first part J1 and the second part J2 has higher transmission accuracy compared to the rotational connection structure formed by the ball and the socket in the prior art.

[0074] Since the first spherical protrusion J10 and the second spherical protrusion J20 form point contact, and the first part J1 is placed directly above the second part J2, in order to prevent the first part J1 from detaching from the second part J2 during movement, for example due to inertia, the first part J1 and the second part J2 are preferably configured to attract each other by a magnetic field.

[0075] For example, the second part J2 also includes a magnet J21, and the first spherical protrusion J10 is made of a ferromagnetic material. The magnet J21 and the first spherical protrusion J10 do not contact each other, but rely solely on the constraint force of the magnetic field to keep the first part J1 in contact with the second part J2, and the friction between the two is small, resulting in accurate positioning.

[0076] It should be understood that, in other possible cases, the mutually attractive portions of the first part J1 and the second part J2 (e.g., the magnetic portion of the second part J2 and the first spherical protrusion J10) may also be in contact to increase the magnetic attraction.

[0077] It should be understood that, apart from the binding force of the magnetic field, the first part J1 is placed above the second part J2 solely by gravity.

[0078] Optionally, to further improve the control accuracy of the platform 10's motion position, position sensors can be installed for the driven components in the primary moving part 21, secondary moving part 22, and tertiary moving part 23. For example, when the secondary moving part 22 and tertiary moving part 23 are driven components, grating rulers can be installed near the secondary moving part 22 and tertiary moving part 23 respectively to measure their real-time positions. Based on the real-time positions of the driven components, a feedback adjustment mechanism is established to adjust the motion of the active component in a timely manner to improve the accuracy of the final synthesized motion; redundant position sensor information is also beneficial for platform calibration.

[0079] Alternatively, a position sensor can also be provided for the active component. Or, a position sensor can be provided only for the third-level active component 23 located at the terminal (connected to platform 10).

[0080] Alternatively, in other possible implementations, the secondary active element 22 may also provide the tertiary active element 23 with a third guide parallel to the third direction z, that is, to cause the tertiary active element 23 to translate along the third direction z. In this case, the tertiary active element 23 is preferably the active element.

[0081] In summary, by independently driving the three branches 20, control over the six degrees of freedom of platform 10 can be achieved.

[0082] (Second Implementation)

[0083] The following reference Figures 6 to 8 The second embodiment of the present invention will be described below. The second embodiment is a variation of the first embodiment. Components with the same or similar structure or function as those in the first embodiment will be labeled with the same reference numerals, and specific descriptions of these components will be omitted.

[0084] In this embodiment, the first direction x and the second direction y of each of the three branches 20 are the same. Furthermore, this embodiment includes three variations.

[0085] Reference Figure 6 In the first variation, the three first guide members that guide the three primary moving parts 21 are parallel to each other, and each primary moving part 21 can reciprocate along one of the first guide members (i.e., along the same first direction x). The three primary moving parts 21 reciprocate along the same first direction x. The positions of two branches 20 and another branch 20 are staggered in the first direction x. The positions of the three branches 20 are staggered in the second direction y. The positions of the three branches 20 are the same in the third direction z.

[0086] Reference Figure 7 In the second variation, two branches 20 share a first guide, while the other branch 20 uses a different first guide. That is, the mechanism has only two first guides. Both first guides extend along the same first direction x and are offset in the second direction y. Alternatively, the first guide shared by the two branches 20 can also be represented as two independent first guides separated or spaced apart in the first direction x.

[0087] Reference Figure 8 In the third variation, the three branches 20 share a single first guide member. That is, the mechanism has only one first guide member.

[0088] According to this embodiment, the first guide member can have a large length in the first direction x, thereby giving the platform 10 a large range of motion in the first direction x.

[0089] For a mechanism in which multiple branches 20 share a single first guide member, the structure is more compact, adaptable to operational needs, and occupies less space.

[0090] like Figure 6 and Figure 7 As shown, the extension direction of the slope surface 22s may not be parallel.

[0091] (Third Implementation)

[0092] The following reference Figure 9 The following describes a third embodiment of the present invention. The third embodiment is a variation of the first embodiment. Components with the same or similar structure or function as those in the first embodiment are labeled with the same reference numerals, and specific descriptions of these components are omitted.

[0093] In this embodiment, the first direction x is an arc direction, and the first-level moving parts 21 of the three branches 20 share a first guide member with a ring (preferably a circular ring).

[0094] In this configuration, platform 10 can rotate around an axis parallel to the third direction z without angular limitations, which is especially suitable for situations where platform 10 needs to perform a lot of rotational operations.

[0095] Reference Figure 9 The second direction y is perpendicular to the first direction x. The first direction x can be the direction of an arc (circumferential direction), in which case the second direction y is the radial direction along the arc. The three branches 20 can be equally spaced in the circumferential direction (first direction x), that is, set at 120-degree intervals.

[0096] In this embodiment, at least one of the first movable member 211 and the second movable member 212 includes two parts that can rotate relative to each other. Taking the first movable member 211 as an example, the first movable member 211 includes a first movable member first sub-component 211a and a first movable member second sub-component 211b. The first movable member first sub-component 211a and the first movable member second sub-component 211b can rotate relative to each other about an axis parallel to a third direction z. This rotation is a follow-up motion of the first movable member 211 during its movement along the arc-shaped first guide member.

[0097] In the above configuration, the first-level second movable member 212 can be a single unit, or it can include a rotationally controlled first sub-component 212a and a second sub-component 212b of the second movable member. That is, the rotation between the first sub-component 212a and the second sub-component 212b of the second movable member is not voluntary, but controlled.

[0098] Optionally, the two sub-components of the first movable member 211 (first movable member first sub-component 211a and first movable member second sub-component 211b) and the two sub-components of the second movable member 212 (second movable member first sub-component 212a and second movable member second sub-component 212b) can both be controlled to rotate.

[0099] (Fourth Implementation)

[0100] The following reference Figure 10 The fourth embodiment of the present invention will be described below. The fourth embodiment is a variation of the second embodiment. Components that have the same or similar structure or function as those in the second embodiment will be labeled with the same reference numerals, and specific descriptions of these components will be omitted.

[0101] In this embodiment, the tertiary movable member 23 is configured to be rotatably connected to the secondary movable member 22. During the rotation of the tertiary movable member 23 relative to the secondary movable member 22, the tertiary movable member 23 is displaced relative to the secondary movable member 22 in the third direction z.

[0102] The rotation axis of the third-stage moving part 23 relative to the second-stage moving part 22 is perpendicular to the third direction z (or parallel to the first plane). The rotation direction of the third-stage moving part 23 is shown by arrow ω in the figure.

[0103] It should be understood that the axis of rotation of the third-level moving part 23 does not necessarily have to be parallel to the first direction x. Nor do the branches 20 necessarily have to be symmetrical.

[0104] Level 3 active component 23 can be used as either an active component or a passive component.

[0105] In this embodiment, the position sensor provided for the three-stage moving member 23, which is a rotating member, can be, for example, a rotary encoder.

[0106] It should be understood that, in order to prevent the third-stage moving part 23 from rotating to an undesirable angle during rotation, a limit stop can be provided for the third-stage moving part 23.

[0107] It should be understood that the above-described embodiments and some aspects or features thereof can be appropriately combined.

[0108] The following is a brief description of some of the beneficial effects of the above-described embodiments of the present invention.

[0109] (i) According to the present invention, the mechanism has a simple structure. By driving any one of the moving parts in each branch 20 individually, the six degrees of freedom of the platform 10 can be controlled. The driving method is simple and the operation is convenient.

[0110] (ii) The rotating connection structure J of the present invention has high transmission accuracy and utilizes magnetic field energy to enhance the connection strength between the first part J1 and the second part J2.

[0111] It should be understood that the above embodiments are merely exemplary and not intended to limit the present invention. Those skilled in the art can make various modifications and changes to the above embodiments under the guidance of the present invention without departing from the scope of the invention. For example,

[0112] (i) The rotating connection structure J can also be configured such that the second part J2 is fixedly connected to the platform 10 (or the second part J2 is part of the platform 10), and the first part J1 is fixedly connected to the third-level moving part 23 (or the first part J1 is part of the third-level moving part 23).

[0113] (ii) Magnet J21 can be a permanent magnet or an electromagnet.

[0114] (iii) The second part J2 may also have more than three second spherical protrusions J20. This arrangement is more suitable for situations where the platform 10 needs to withstand a large load.

[0115] (iv) The first spherical protrusion J10 and the body J1m of the first part J1 can also be rotatably connected, and the second spherical protrusion J20 and the body J2m of the second part J2 can also be rotatably connected.

[0116] (v) The rotational connection structure J of the three branches can be asymmetrical. For example, the angle formed by each first part J1 and the platform 10 can be different.

[0117] (vi) Platform 10 may be a component for mounting a terminal operating mechanism (e.g., a robotic arm or surgical instrument), or it may be part of the terminal operating mechanism, or integrated with the terminal operating mechanism.

[0118] (vii) Although for each branch 20, only one of the primary moving part 21, the secondary moving part 22 and the tertiary moving part 23 needs to be the active part and the other two need to be the driven parts, the number of active parts can be increased for various reasons, such as to improve control accuracy, so as to provide redundant control.

Claims

1. A six-degree-of-freedom motion mechanism, comprising a platform (10) and three branches (20), wherein, Each of the said branches (20) includes a base (20a), a primary moving part (21), a secondary moving part (22), and a tertiary moving part (23). The primary moving part (21) includes a primary first moving part (211) and a primary second moving part (212). The first-stage movable member (211) connects the base (20a) and the second-stage movable member (22), and the first-stage movable member (211) is capable of translational movement relative to the base (20a) in a first direction (x). The first-stage second movable member (212) connects the base (20a) and the second-stage movable member (22), and the first-stage second movable member (212) is capable of translational movement relative to the base (20a) in a first direction (x). The secondary movable component (22) includes a secondary first guide component (221) and a secondary second guide component (222) fixed in position to each other. The secondary first guide component (221) provides guidance for the secondary movable component (22) to reciprocate relative to the primary first movable component (211) along a first guiding direction (D1). The secondary second guide component (222) provides guidance for the secondary movable component (22) to reciprocate relative to the primary second movable component (212) along a second guiding direction (D2). The secondary movable component (22) can be displaced relative to the base (20a) in the first direction (x) and the second direction (y); The first guiding direction (D1) and the second guiding direction (D2) are not parallel to each other and are also not parallel to the first direction (x). The third-level movable component (23) is capable of displacement in a third direction (z) relative to the second-level movable component (22), and at least one of the first-level movable component (21), the second-level movable component (22), and the third-level movable component (23) is an active component. The third-level movable component (23) is connected to the platform (10) via a rotational connection structure (J), which allows the platform (10) to have three rotational degrees of freedom relative to the third-level movable component (23) about the first direction (x), the second direction (y), and the third direction (z). The platform (10) has three translational degrees of freedom and three rotational degrees of freedom relative to the base (20a); The base (20a) provides a first guide for the translation of the primary moving part (21), and the three primary moving parts (21) share one first guide; The first direction (x) is the direction of the arc; In each of the branches (20), at least one of the first primary moving part (211) and the second primary moving part (212) includes a pair of first sub-components and second sub-components that can rotate relative to each other about an axis parallel to the third direction (z), and at most one pair of first sub-components and second sub-components are followers.

2. The six-degree-of-freedom motion mechanism according to claim 1, characterized in that, The first direction (x) of at least two of the branches (20) is parallel.

3. The six-degree-of-freedom motion mechanism according to claim 1, characterized in that, The third-level moving part (23) can translate relative to the second-level moving part (22).

4. The six-degree-of-freedom motion mechanism according to claim 1, characterized in that, The third-level movable component (23) can rotate relative to the second-level movable component (22) about an axis perpendicular to the third direction (z).

5. The six-degree-of-freedom motion mechanism according to claim 1, characterized in that, The rotating connection structure (J) includes a first part (J1) and a second part (J2) that can rotate relative to each other. One of the first part (J1) and the second part (J2) is connected to the platform (10), and the other is connected to the third-level movable component (23). The first portion (J1) includes a first spherical protrusion (J10), and the second portion (J2) includes a plurality of second spherical protrusions (J20). The plurality of second spherical protrusions (J20) surround and contact the first spherical protrusion (J10), and the contact surfaces of the first spherical protrusion (J10) and the second spherical protrusions (J20) are both spherical.

6. The six-degree-of-freedom motion mechanism according to claim 5, characterized in that, There are three second spherical protrusions (J20), with one first spherical protrusion (J10) in contact with the three second spherical protrusions (J20).

7. The six-degree-of-freedom motion mechanism according to claim 5, characterized in that, The first part (J1) and the second part (J2) are attracted to each other by the magnetic field.

8. The six-degree-of-freedom motion mechanism according to claim 7, characterized in that, The second part (J2) includes a magnet (J21), and the first spherical protrusion (J10) is made of a ferromagnetic material. The magnet (J21) is not in contact with the first part (J1).

9. The six-degree-of-freedom motion mechanism according to any one of claims 1 to 8, characterized in that, For each of the branches (20), the first primary moving part (211) and the second primary moving part (212) of the primary moving part (21) are active parts, and the second secondary moving part (22) and the third tertiary moving part (23) are driven parts.

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