Movement mechanism and robot with same

Abstract

The invention provides a movement mechanism and a robot with the same. The movement mechanism comprises a movable platform; a static platform; the first branch chain assembly comprises at least two first translational motion output mechanisms, a first parallelogram connecting rod mechanism, a second parallelogram connecting rod mechanism and a first connecting rod; at least one first translational motion output mechanism is fixedly connected with a second connecting rod of the first parallelogram connecting rod mechanism, and at least another first translational motion output mechanism is rotationally connected with the second connecting end through a first connecting rod; and the second branch chain assembly comprises a second translational motion output mechanism and a fourth connecting rod, the second translational motion output mechanism is rotationally connected with the movable platform through the fourth connecting rod, and the movable platform moves along the spherical surface under the common driving of the first translational motion output mechanism and the second translational motion output mechanism. The three-translation parallel mechanism effectively solves the problem that in the prior art, the fitting process is too complex when the three-translation parallel mechanism outputs spherical motion.

Description

Technical Field

[0001] The present invention relates to the technical field of mechanical mechanisms, and in particular to a motion mechanism and a robot having the same. Background Art

[0002] At present, devices with simple structure and spherical translation output function are increasingly widely used in rehabilitation training machines, camera positioning systems, etc., and accordingly, their demand is also increasing.

[0003] In the prior art, the parallel mechanism that can achieve spherical translation output is usually a three-plane parallel translation mechanism, and the translation form of a single plane is a straight movement. When the moving platform needs to translate along a curved trajectory, the processing module needs to linearly fit the straight motion in different directions to finally obtain a translation motion that approximates the curved trajectory.

[0004] However, the above fitting process is extremely complicated. Each driving pair needs to adopt a complex control algorithm to control its own motion trajectory. The actual fitting process is prone to errors, and the motion trajectory of the moving platform is often not a perfect sphere. Summary of the invention

[0005] The main purpose of the present invention is to provide a motion mechanism and a robot having the same, so as to solve the problem in the prior art that the fitting process of the three-translation parallel mechanism when outputting spherical motion is too complicated.

[0006] In order to achieve the above-mentioned purpose, according to one aspect of the present invention, a motion mechanism is provided, which comprises: a moving platform; a static platform; a first branch chain assembly, comprising at least two first translational motion output mechanisms, a first parallelogram linkage mechanism, a second parallelogram linkage mechanism and a first link, wherein the first translational motion output mechanism is arranged on the static platform; a second link of the first parallelogram linkage mechanism is a transition link, the transition link has a first connecting end located between its two ends, the first connecting end is used for rotationally connecting with the second link, so that one end of the transition link forms the second connecting end; a second link located at the first parallelogram linkage mechanism is a transition link, and the transition link has a first connecting end located between its two ends, and .... The transition link between the second connection end and the first connection end is fixedly connected to the second parallelogram linkage mechanism, and the moving platform is fixedly connected to the second parallelogram linkage mechanism; at least one first translational motion output mechanism is fixedly connected to the second connection end, and at least another first translational motion output mechanism is rotationally connected to the second connection end through the first connection rod; the second branch chain assembly includes a second translational motion output mechanism and a fourth connection rod, the second translational motion output mechanism is rotationally connected to the moving platform through the fourth connection rod, and the moving platform moves along the spherical surface under the joint drive of the first translational motion output mechanism and the second translational motion output mechanism.

[0007] Furthermore, the first translational motion output mechanism is slidably disposed on the static platform, and the motion trajectories of at least two first translational motion output mechanisms are collinear.

[0008] Furthermore, the first translational motion output mechanism is a parallelogram mechanism, which includes four fifth links that are rotatably connected to each other, a fifth link is arranged on the static platform, and the fifth link arranged opposite to the fifth link is an output link for outputting translational motion, and the motion trajectories of at least two output links of the first translational motion output mechanisms are collinear.

[0009] Further, the first translational motion output mechanism has a translational motion output direction S1, and the second translational motion output mechanism has a translational motion output direction S2, and the translational motion output direction S1 is perpendicular to the translational motion output direction S2.

[0010] Further, the second translational motion output mechanism is slidably arranged on the static platform, there are at least three fourth connecting rods, and one end of the fourth connecting rod used to be connected to the second translational motion output mechanism is fixed on the second translational motion output mechanism; or, the second translational motion output mechanism is rotatably and slidably arranged on the static platform, there are at least two fourth connecting rods, one end of the fourth connecting rod used to be connected to the second translational motion output mechanism is fixed on the second translational motion output mechanism, and the rotation axis of the second translational motion output mechanism is coaxially arranged with the translational motion output direction S2 of the second translational motion output mechanism.

[0011] Furthermore, the plane where the first parallelogram linkage mechanism is located is the first plane, and the plane where the second parallelogram linkage mechanism is located is the second plane; wherein, during the movement of the moving platform, the first plane and the second plane are arranged perpendicular to each other.

[0012] Furthermore, there is a rotation axis R22 between the first connecting rod and the first translational motion output mechanism. In the first parallelogram connecting rod mechanism, the second connecting rod arranged opposite to the transition connecting rod is fixedly connected to the first translational motion output mechanism. The two ends of the second connecting rod have a rotation axis Ra1 and a rotation axis Ra4. The rotation axis R22, the rotation axis Ra1 and the rotation axis Ra4 are arranged parallel to each other.

[0013] Furthermore, there is a rotation axis R23 between the first connecting rod and the second connecting end, the end of the transition connecting rod rotatably connected to the second connecting rod has a rotation axis Ra3, and the first connecting end has a rotation axis Ra2. The rotation axis R23, the rotation axis Ra3 and the rotation axis Ra2 are arranged parallel to each other.

[0014] Furthermore, the second translational motion output mechanism is slidably disposed on the static platform, there are three fourth connecting rods, a rotation axis R32 and a rotation axis R33 are provided between two adjacent fourth connecting rods, and a rotation axis R34 is provided between the fourth connecting rod and the moving platform; wherein the rotation axis R32, the rotation axis R33, the rotation axis R34 and the translational motion output direction S2 are provided in parallel with each other.

[0015] Furthermore, the first branch chain assembly also includes multiple connecting rods, at least two first translational motion output mechanisms include a first sub-translational motion output mechanism and a second sub-translational motion output mechanism, the first sub-translational motion output mechanism is fixedly connected to the second connecting rod through the connecting rod, and the second connecting rod is arranged opposite to the transition connecting rod; the second sub-translational motion output mechanism is rotationally connected to the first connecting rod through the connecting rod, and the connecting rod is fixed on the second sub-translational motion output mechanism; the transition connecting rod located between the second connecting end and the first connecting end is fixedly connected to the third connecting rod of the second parallelogram linkage mechanism through the connecting rod, and the third connecting rod arranged opposite to the third connecting rod is fixedly connected to the moving platform through the connecting rod.

[0016] According to another aspect of the present invention, a robot is provided, wherein at least a part of the motion structure of the robot moves in the motion form of the above-mentioned motion mechanism.

[0017] Applying the technical solution of the present invention, the first branch chain assembly of the motion mechanism includes at least two first translational motion output mechanisms, a first parallelogram linkage mechanism, a second parallelogram linkage mechanism and a first link, the first translational motion output mechanism is arranged on the static platform, a second link of the first parallelogram linkage mechanism is a transition link, the transition link has a first connecting end located between its two ends, the first connecting end is used to be rotatably connected to the second link so that one end of the transition link forms a second connecting end, the transition link located between the second connecting end and the first connecting end is fixedly connected to the second parallelogram linkage mechanism, the moving platform is fixedly connected to the second parallelogram linkage mechanism, at least one first translational motion output mechanism is fixedly connected to the second link, at least another first translational motion output mechanism is rotatably connected to the second connecting end through the first link, the second branch chain assembly includes a second translational motion output mechanism and a fourth link, the second translational motion output mechanism is rotatably connected to the moving platform through the fourth link, and the moving platform moves along the spherical surface under the joint drive of the first translational motion output mechanism and the second translational motion output mechanism. In this way, when the motion mechanism of the present application performs linear fitting on the motion trajectory of each structure through the processing module to control the motion of the moving platform along the spherical trajectory, the motion mechanism as a whole has partial motion decoupling, and the processing module is more likely to obtain the symbol position positive solution during the linear fitting process, thereby making the kinematics, motion control and trajectory planning, dynamic analysis and other fitting processes of the motion mechanism simpler, thereby solving the problem of the overly complicated fitting process of the three-translation parallel mechanism in the prior art when outputting spherical motion. At the same time, the motion mechanism in the present application is only composed of low pairs, with a simpler structure, lower processing difficulty and processing cost, and an easier installation process. BRIEF DESCRIPTION OF THE DRAWINGS

[0018] The drawings constituting a part of the present application are used to provide a further understanding of the present invention. The exemplary embodiments of the present invention and their descriptions are used to explain the present invention and do not constitute an improper limitation of the present invention. In the drawings:

[0019] Figure 1 A schematic diagram of the three-dimensional structure of an embodiment of a motion mechanism according to the present invention is shown;

[0020] Figure 2 Shows Figure 1 Schematic diagram of the overall motion model of the motion mechanism in the embodiment;

[0021] Figure 3 Shows Figure 2 A front view of the first independent loop P1 of the motion mechanism;

[0022] Figure 4 Shows Figure 2 A side view of a second independent loop P2 of the kinematic mechanism in FIG.

[0023] Figure 5 Shows Figure 1 A first process diagram of the simulation process of the kinematic mechanism in FIG.

[0024] Figure 6 Shows Figure 1 A second process diagram of the simulation process of the kinematic mechanism in FIG.

[0025] Figure 7 Shows Figure 1 The third process diagram of the simulation process of the motion mechanism in;

[0026] Figure 8 Shows Figure 1 The fourth process diagram of the simulation process of the motion mechanism in FIG.

[0027] Fig. 9 Shows Figure 1 The fifth process diagram in the simulation process of the motion mechanism.

[0028] The above drawings include the following reference numerals:

[0029] 10. Moving platform; 20. Static platform;

[0030] 30. first branch chain assembly; 31. first translational motion output mechanism; 311. first sub-translational motion output mechanism; 312. second sub-translational motion output mechanism; 32. first parallelogram linkage mechanism; 321. second linkage; 322. transition linkage; 322a. first connecting end; 322b. second connecting end; 33. second parallelogram linkage; 331. third linkage; 34. first linkage; 35. connecting rod;

[0031] 40. second branch chain assembly; 41. second translation motion output mechanism; 42. fourth connecting rod;

[0032] 50. The motion trajectory of the moving platform at point o′. DETAILED DESCRIPTION

[0033] It should be noted that, in the absence of conflict, the embodiments and features in the embodiments of the present application can be combined with each other. The present invention will be described in detail below with reference to the accompanying drawings and in combination with the embodiments.

[0034] It should be noted that, unless otherwise specified, all technical and scientific terms used in this application have the same meanings as commonly understood by ordinary technicians in the technical field to which this application belongs.

[0035] In order to solve the problem in the prior art that the fitting process of the three-translation parallel mechanism is too complicated when outputting spherical motion, the present application provides a motion mechanism and a robot having the same.

[0036] like Figure 1 As shown, the motion mechanism includes a moving platform 10, a stationary platform 20, a first branch chain assembly 30 and a second branch chain assembly 40. The first branch chain assembly 30 includes at least two first translation motion output mechanisms 31, a first parallelogram linkage mechanism 32, a second parallelogram linkage mechanism 33 and a first link 34. The first translation motion output mechanism 31 is arranged on the stationary platform 20. A second link 321 of the first parallelogram linkage mechanism 32 is a transition link 322. The transition link 322 has a first connecting end 322a located between its two ends. The first connecting end 322a is used to be rotatably connected with the second link 321, so that one end of the transition link 322 forms a second connecting end 322b; the transition link 322 located between the second connecting end 322b and the first connecting end 322a is fixedly connected to the second parallelogram linkage mechanism 33, and the moving platform 10 is fixedly connected to the second parallelogram linkage mechanism 33. At least one first translational motion output mechanism 31 is fixedly connected to the second connecting rod 321, and at least another first translational motion output mechanism 31 is rotationally connected to the second connecting end 322b via the first connecting rod 34. The second branch chain assembly 40 includes a second translational motion output mechanism 41 and a fourth connecting rod 42. The second translational motion output mechanism 41 is rotationally connected to the moving platform 10 via the fourth connecting rod 42. The moving platform 10 moves along the spherical surface under the common drive of the first translational motion output mechanism 31 and the second translational motion output mechanism 41.

[0037] Applying the technical solution of this embodiment, the first branch chain assembly 30 of the motion mechanism includes at least two first translational motion output mechanisms 31, a first parallelogram linkage mechanism 32, a second parallelogram linkage mechanism 33 and a first link 34. The first translational motion output mechanism 31 is arranged on the static platform 20. A second link 321 of the first parallelogram linkage mechanism 32 is a transition link 322. The transition link 322 has a first connecting end 322a located between its two ends. The first connecting end 322a is used to be rotatably connected to the second link 321, so that one end of the transition link 322 forms a second connecting end 322b, and the second connecting end 322b and the first connecting end 322 are located between the second connecting end 322b and the first connecting end 322. a, is fixedly connected to the second parallelogram linkage mechanism 33, the moving platform 10 is fixedly connected to the second parallelogram linkage mechanism 33, at least one first translational motion output mechanism 31 is fixedly connected to the second linkage 321, at least another first translational motion output mechanism 31 is rotationally connected to the second connection end 332b through the first linkage 34, the second branch chain assembly 40 includes a second translational motion output mechanism 41 and a fourth linkage 42, the second translational motion output mechanism 41 is rotationally connected to the moving platform 10 through the fourth linkage 42, and the moving platform 10 moves along the spherical surface under the joint drive of the first translational motion output mechanism 31 and the second translational motion output mechanism 41. In this way, when the motion mechanism of this embodiment performs linear fitting on the motion trajectory of each structure through the processing module to control the motion platform 10 to move along the spherical trajectory, the motion mechanism as a whole has partial motion decoupling, and the processing module is more likely to obtain the symbol position positive solution during the linear fitting process, thereby making the kinematics, motion control and trajectory planning, dynamic analysis and other fitting processes of the motion mechanism simpler, thereby solving the problem of the overly complicated fitting process of the three-translation parallel mechanism when outputting spherical motion in the prior art. At the same time, the motion mechanism in this embodiment is only composed of low pairs, with a simpler structure, lower processing difficulty and processing cost, and easier installation process.

[0038] Specifically, compared with the three-translation parallel mechanism in the prior art, the moving platform 10 of the motion mechanism in this embodiment has a larger range of motion, is more versatile and can adapt to more types of motion requirements.

[0039] like Figure 1 As shown, the first translational motion output mechanism 31 is slidably arranged on the static platform 20, and the motion trajectories of at least two first translational motion output mechanisms 31 are collinear. Thus, the above arrangement, on the one hand, makes the translational motion output directions of the multiple first translational motion output mechanisms 31 in the first branch chain assembly 30 on the same straight line, so as to further reduce the fitting difficulty in the linear fitting process; on the other hand, makes the motion output mode of the first translational motion output mechanism 31 simpler, easier to process and realize.

[0040] In other embodiments not shown in the drawings, the first translational motion output mechanism is a parallelogram mechanism, and the first translational motion output mechanism includes four fifth connecting rods that are rotatably connected to each other, one fifth connecting rod is set on the static platform, and the fifth connecting rod set opposite to the fifth connecting rod is an output connecting rod for outputting translational motion, and the motion trajectories of the output connecting rods of at least two first translational motion output mechanisms are collinear. In this way, on the one hand, the output connecting rods for outputting translational motion in the multiple first translational motion output mechanisms in the first branch chain assembly move on the same straight line to further reduce the difficulty of fitting in the linear fitting process; on the other hand, the structure of the first translational motion output mechanism is more flexible and diverse to adapt to different working conditions and usage requirements, and also improve the processing flexibility of the staff.

[0041] In this embodiment, the first translational motion output mechanism 31 has a translational motion output direction S1, and the second translational motion output mechanism 41 has a translational motion output direction S2, and the translational motion output direction S1 is perpendicular to the translational motion output direction S2. In this way, by the cooperation between the first translational motion output mechanism 31 and the second translational motion output mechanism 41, it can be ensured that the moving platform 10 can move along the spherical surface.

[0042] In this embodiment, the second translational motion output mechanism 41 is slidably disposed on the static platform 20, and there are at least three fourth connecting rods 42, and one end of the fourth connecting rod 42 used for connecting with the second translational motion output mechanism 41 is fixed on the second translational motion output mechanism 41. In this way, the above arrangement, on the one hand, makes the translational motion output mode of the second translational motion output mechanism 41 simpler; on the other hand, the number of the fourth connecting rods 42 can ensure that the dynamic platform 10 performs translational motion on a spherical surface.

[0043] In other embodiments not shown in the accompanying drawings, the second translational motion output mechanism is rotatably and slidably arranged on the static platform, there are at least two fourth connecting rods, one end of the fourth connecting rod used to be connected to the second translational motion output mechanism is fixed on the second translational motion output mechanism, and the rotation axis of the second translational motion output mechanism is coaxially arranged with the translational motion output direction S2 of the second translational motion output mechanism. In this way, the above arrangement makes the second translational motion output mechanism a cylindrical pair (i.e., having two degrees of freedom of rotation and translational motion), so as to reduce the number of fourth connecting rods, and make the linear fitting process of the motion mechanism simpler. At the same time, the above arrangement also makes the structure of the second translational motion output mechanism more flexible and diverse, so as to adapt to different working conditions and usage requirements.

[0044] In this embodiment, the plane where the first parallelogram linkage mechanism 32 is located is the first plane, and the plane where the second parallelogram linkage mechanism 33 is located is the second plane; wherein, during the movement of the moving platform 10, the first plane and the second plane are arranged perpendicular to each other. Thus, during the movement of the motion mechanism, the above arrangement ensures that the first branch chain assembly 30 can output translational motion in multiple degrees of freedom to the moving platform 10, so as to ensure that the moving platform 10 can perform translational motion along the spherical surface, while making the motion relationship between the first parallelogram linkage mechanism 32 and the second parallelogram linkage mechanism 33 simpler, further reducing the difficulty of linear fitting of the motion mechanism.

[0045] In this embodiment, there are four rotation connection points between the four third links 331 of the second parallelogram linkage 33, and the rotation axes R of the four rotation connection points are b1 , R b2 , R b3 and R b4 Set parallel to each other.

[0046] In this embodiment, there is a rotation axis R22 between the first connecting rod 34 and the first translational motion output mechanism 31. In the first parallelogram connecting rod mechanism 32, a second connecting rod 321 arranged opposite to the transition connecting rod 322 is fixedly connected to the first translational motion output mechanism 31. Both ends of the second connecting rod 321 have a rotation axis R a1 and the axis of rotation R a4 , the axis of rotation R 22 , rotation axis R a1 and the rotation axis R a4 There is a rotation axis R between the first connecting rod 34 and the second connecting end 322b. 23 The transition link 322 has a rotation axis R at one end thereof which is rotatably connected to the second link 321. a3 The first connection end 322a has a rotation axis R a2 , the axis of rotation R 23 , rotation axis R a3 and the rotation axis R a2 In this way, the above arrangement ensures that the rotation axis of the first parallelogram linkage 32 is in a corresponding parallel relationship with the corresponding rotation axis of the first connecting rod 34, so as to ensure that the motion trajectory of the first parallelogram linkage 32 can produce a simpler follow-up relationship with the motion trajectory of the first connecting rod 34, further reducing the difficulty of linear fitting of the motion mechanism.

[0047] In this embodiment, the second translational motion output mechanism 41 is slidably disposed on the static platform 20, and there are three fourth connecting rods 42, with a rotation axis R between two adjacent fourth connecting rods 42. 32and the axis of rotation R 33 There is a rotation axis R between the fourth connecting rod 42 and the moving platform 10 34 The rotation axis R 32 , rotation axis R 33 , rotation axis R 34 In this way, the above arrangement makes the motion relationship between the second translational motion output mechanism 41 and the three fourth connecting rods 42 simpler, thereby reducing the difficulty of linear fitting of the motion mechanism.

[0048] Specifically, the arrangement of the three fourth connecting rods 42 can reduce the number of revolute pairs in the second branch chain assembly 40 and reduce the difficulty of linear fitting of the motion mechanism while ensuring that the moving platform 10 can translate along a spherical trajectory.

[0049] Optionally, the first branch chain assembly 30 further includes a plurality of connecting rods 35, and at least two first translational motion output mechanisms 31 include a first sub-translational motion output mechanism 311 and a second sub-translational motion output mechanism 312. The first sub-translational motion output mechanism 311 is fixedly connected to the second link 321 through the connecting rod 35, and the second link 321 is arranged opposite to the transition link 322. The second sub-translational motion output mechanism 312 is rotationally connected to the first link 34 through the connecting rod 35, and the connecting rod 35 is fixed to the second sub-translational motion output mechanism 312. The transition link 322 located between the second connecting end 322b and the first connecting end 322a is fixedly connected to the third link 331 of the second parallelogram linkage mechanism 33 through the connecting rod 35, and the third link 331 arranged opposite to the third link 331 is fixedly connected to the moving platform 10 through the connecting rod 35. In this way, the above-mentioned setting of the connecting rod 35 can reserve corresponding activity space between the first sub-translational motion output mechanism 311, the second sub-translational motion output mechanism 312, the first parallelogram linkage mechanism 32, the second parallelogram linkage mechanism 33 and the moving platform 10, so as to avoid mutual interference among the mechanisms during the movement process, thereby improving the movement stability of the motion mechanism.

[0050] This embodiment further provides a robot (not shown), at least part of the motion structure of the robot moves in the motion form of the above-mentioned motion mechanism.

[0051] The motion principle of the motion mechanism in this embodiment is as follows:

[0052] In order to facilitate the explanation of the kinematic derivation process of the motion mechanism, the three-dimensional structure of the motion mechanism is simplified into the overall kinematic model of the mechanism, and the specific structural kinematic pairs are simplified into kinematic nodes (the kinematic characteristics of the nodes are maintained consistent with the kinematic characteristics of the original three-dimensional structural kinematic pairs).

[0053] like Figures 1 to 4As shown, the static platform 20 is assumed to be a rectangle, and its length and width are 2a1 and 2b1 respectively; the dynamic platform 10 is assumed to be a rectangle, and its length and width are 2a2 and 2b2 respectively. A Cartesian static coordinate system oxyz is established on the static platform 20, and a Cartesian dynamic coordinate system o′x′y′z′ is established on the dynamic platform 10. The origin o of the static coordinate system is located at the geometric center point of the rectangular static platform 20, and the x-axis and y-axis are respectively perpendicular and parallel to the line connecting A1 (the first sub-translational motion output mechanism 311 is actually a moving pair in the coordinate system, simplified to point A1) and A2 (the second sub-translational motion output mechanism 312 is actually a moving pair in the coordinate system, simplified to point A2). The origin o′ of the dynamic coordinate system is located at the geometric center point on the dynamic platform 10, and the x′ axis is parallel to the rotation axis R 34 , the y′ axis is perpendicular to the rotation axis R 34 The z axis and the z′ axis are determined by the right-hand rule. The connecting rod 35 fixedly connected to the first sub-translational motion output mechanism 311 , the connecting rod 35 fixedly connected to the second sub-translational motion output mechanism 312 , and the fourth connecting rod 42 fixedly connected to the second sub-translational motion output mechanism 41 are perpendicular to the static platform 20 .

[0054] In the first branch chain assembly 30, the length of the connecting rod 35 fixedly connected to the first sub-translational motion output mechanism 311 and the length of the connecting rod 35 fixedly connected to the second sub-translational motion output mechanism 312 are both l1; in the first parallelogram linkage mechanism 32, the length of the two second links 321 and the first link 34 rotatably connected to the transition link 322 are both l2; the length from the end of the transition link 322 away from the second connecting end 322b to the first connecting end 322a is 2l3, the length of the second link 321 arranged opposite to the transition link 322 is 2l3, and the length of the third link 331 fixedly connected to the moving platform 10 is 2l3; the length of the first parallelogram linkage mechanism 32 is 2l3. The fixed connection point p of the rod mechanism 32 and the second parallelogram linkage mechanism 33 is located at the midpoint of the line connecting point C2 (in the actual coordinate system, the first connection end 322a is point C2) and point C3 (in the actual coordinate system, the second connection end 322b is point C3), and the length of the portion of the transition link 322 between point C2 and point p is l4; the length of the connecting rod 35 between the second parallelogram linkage mechanism 33 and the first parallelogram linkage mechanism 32 is l5; and the length of the third connecting rod 331 adjacent to the third connecting rod 331 for fixed connection with the moving platform 10 is l6; the length of the connecting rod 35 between the second parallelogram linkage mechanism 33 and the moving platform 10 is l7;

[0055] In the second branch chain assembly 40, there are three fourth connecting rods 42, which are respectively the fourth connecting rod 42 rotatably connected to the moving platform 10, the fourth connecting rod 42 fixedly connected to the second translational motion output mechanism 41, and the fourth connecting rod 42 rotatably connected to the fourth connecting rod 42 at both ends. The length of the fourth connecting rod 42 fixedly connected to the second translational motion output mechanism 41 is 18; the length of the fourth connecting rod 42 rotatably connected to the fourth connecting rod 42 at both ends is 19; the length of the fourth connecting rod 42 rotatably connected to the moving platform 10 is l 10 ;

[0056] Assume that the angle between the line between point B1 (the fixed connection point between the connecting rod 35 connected to the first sub-translational motion output mechanism 311 and the first parallelogram linkage mechanism 32) and point C1 (the midpoint between the end of the transition link 322 away from the second connection end 322b and the first connection end 322a) and the positive direction of the y-axis is α; Assume that the angle between B2 (the rotation connection point between the connecting rod 35 connected to the second sub-translational motion output mechanism 312 and the first connection rod 34) and point C3 (the second connection end 322b) is α. The angle between the connecting line B2C3 and the positive direction of the y-axis is β; let the angle between the connecting line D1E1 between D1 (the fixed connection point between the transition link 322 and the first parallelogram linkage mechanism 32 and the second parallelogram linkage mechanism 33, which is point D1 in the actual coordinate system) and E1 (the fixed connection point between the connecting rod 35 and the second parallelogram linkage mechanism 33 and the moving platform 10, which is point E1 in the actual coordinate system) and the positive direction of the x-axis be γ. Point s and point D2 are both located at the midpoint of the boundary of the moving platform 10.

[0057] In this embodiment, the forward solution formula of the motion mechanism position is derived as follows:

[0058] Specifically, in the static coordinate system, the coordinates of points A1, A2, and A3 on the static platform 20 are respectively It is known that the first sub-translational motion output mechanism 311, the second sub-translational motion output mechanism 312 and the second translational motion output mechanism 41 respectively input Displacement parameters, find the position of o' on the moving platform 10 (xo ′ ,yo ′ ,zo ′ ).

[0059] Solving on the first independent loop P1, it is easy to know that in the static coordinate system:

[0060] Due to the constrained nature of the structure, During the whole movement process, it is always parallel to the static platform 20, that is, So we have:

[0061]

[0062] Therefore, the coordinates of points C1 and C3 are:

[0063]

[0064] like Figure 3 As shown, it is easy to know that the quadrilateral B1C1C2B2 is an isosceles trapezoid. According to Ptolemy's theorem, we can know that:

[0065]

[0066] In ΔB1C1B2, the cosine theorem gives:

[0067]

[0068] Simultaneous formula 1 and formula 2 are eliminated You can get:

[0069]

[0070] From formula 3, we can see that when When , the mechanism is in a singular position and the value of α cannot be calculated; From formula 3, we can see that when When , the value of α can be obtained, then:

[0071]

[0072] Specifically, in the first independent loop P1, the coordinates of point p can be calculated by formula 4 as follows:

[0073]

[0074] So the coordinates of point D1 can be obtained as:

[0075]

[0076] Specifically, in the second loop P2, the solution is as follows: Figure 3 As shown, there is the following relationship:

[0077]

[0078] From the positional relationship of the motion mechanism, the coordinates of point E1 can be obtained as:

[0079]

[0080] Finally, the coordinates of the point o′ on the moving platform 10 can be obtained as:

[0081]

[0082] Right now:

[0083]

[0084] From Equation 5, we can know that the motion mechanism in this embodiment has a symbolic position positive solution, x o′ The value of Related o′ The value of This means that the motion mechanism in this embodiment has partial motion input and output decoupling, which is beneficial to the kinematic analysis and dynamic analysis of the motion mechanism, thereby reducing the control difficulty of the mechanism.

[0085] Specifically, the process of verifying the translation characteristics of the motion mechanism is as follows:

[0086] In order to prove that the motion mechanism in this embodiment has different translation characteristics, a simulation experiment is carried out by using MATLAB software to verify the motion trajectory 50 at the point o′ of the moving platform under different trajectories of the driving pair.

[0087] The motion trajectory of the driving pair: Figure 1 As shown, the first sub-translation motion output mechanism 311 is a moving pair and is set as a driving pair P 11 The second translational motion output mechanism 312 is a moving pair and is set as a driving pair P 21 The second translational motion output mechanism 41 is a moving pair and is set as a driving pair P 31 , P 11 Vice and P 21 The movement speed of the pair remains the same. Assume that the three driving pairs P on the static platform 20 11 Vice, P 21 Vice, P 31 The change relationship of the driving trajectory of the pair at time t1∈[0,4s] is:

[0088]

[0089] According to the driving form of the symbolic position positive solution, the position change of the o' point of the moving platform 10 is calculated and analyzed, and the position change diagram of the o' point of the moving platform 10 is obtained as shown in Figure 5 shown.

[0090] from Figure 5 The drive pair P can be obtained 11 Vice, P 21 When the secondary velocities are the same, the position change of the moving platform 10 only has a numerical change in the y-axis direction, and the motion trajectory 50 at the point o′ of the moving platform is a straight line in space, and the motion trajectory conforms to the rigid body straight motion.

[0091] Motion trajectory of driving pair 2: Assume driving pair P11 Vice, P 21 The movement speeds of the pairs are different. The three driving pairs P on the static platform 20 11 Vice, P 21 Vice, P 31 The change relationship of the driving trajectory of the pair at time t2∈[0,4s] is:

[0092]

[0093] According to the driving form of the symbolic position forward solution, the position change of the point o' of the moving platform 10 is calculated and analyzed, and the motion trajectory 50 at the point o' of the moving platform is obtained as follows: Figure 6 As shown, the motion trajectory 50 of the moving platform at point o' is as follows in the o-xyz space: Figure 7 shown.

[0094] from Figure 6 It can be seen that in the drive pair P 11 Vice, P 21 The auxiliary speed is different, P 31 When the secondary rotation angle remains unchanged, the positions of the moving platform 10 in the y direction and the z direction change simultaneously, and it can be known that the moving platform 10 can achieve bending translation in the yoz plane.

[0095] Motion trajectory of driving pair 3: Assume three driving pairs P on the static platform 20 11 Vice, P 21 Vice, P 31 The change relationship of the driving trajectory of the pair at time t3∈[0,4s] is:

[0096]

[0097] According to the driving form of the symbolic position forward solution, the position change of the point o' of the moving platform 10 is calculated and analyzed, and the motion trajectory 50 at the point o' of the moving platform is obtained as follows: Figure 8 As shown, the motion trajectory 50 of the moving platform at point o' is as follows in the o-xyz space: Fig. 9 shown.

[0098] from Figure 8 It can be seen that the positions of the moving platform 10 in the x direction and the z direction change simultaneously, and it can be known that the moving platform 10 can realize bending translation in the xoz plane.

[0099] To sum up, the motion mechanism in the present embodiment can realize straight motion and curved translational motion of the moving platform 10 only by changing the driving speed of the driving pair, and the motion mechanism in the present embodiment can realize curved translation in both the xoz plane and the yoz plane, that is, realize spherical motion in space. It can be seen that the motion mechanism in the present embodiment has partial motion decoupling, a simpler structure and can realize perfect spherical motion in space.

[0100] From the above description, it can be seen that the above embodiments of the present invention achieve the following technical effects:

[0101] The first branch chain assembly of the motion mechanism includes at least two first translational motion output mechanisms, a first parallelogram linkage mechanism, a second parallelogram linkage mechanism and a first link. The first translational motion output mechanism is arranged on the static platform. A second link of the first parallelogram linkage mechanism is a transition link. The transition link has a first connecting end located between its two ends. The first connecting end is used to be rotatably connected to the second link so that one end of the transition link forms a second connecting end. The transition link located between the second connecting end and the first connecting end is fixedly connected to the second parallelogram linkage mechanism. The moving platform is fixedly connected to the second parallelogram linkage mechanism. At least one first translational motion output mechanism is fixedly connected to the second link. At least another first translational motion output mechanism is rotatably connected to the second connecting end through the first link. The second branch chain assembly includes a second translational motion output mechanism and a fourth link. The second translational motion output mechanism is rotatably connected to the moving platform through the fourth link. The moving platform moves along the spherical surface under the joint drive of the first translational motion output mechanism and the second translational motion output mechanism. In this way, when the motion mechanism of the present application performs linear fitting on the motion trajectory of each structure through the processing module to control the motion of the moving platform along the spherical trajectory, the motion mechanism as a whole has partial motion decoupling, and the processing module is more likely to obtain the symbol position positive solution during the linear fitting process, thereby making the kinematics, motion control and trajectory planning, dynamic analysis and other fitting processes of the motion mechanism simpler, thereby solving the problem of the overly complicated fitting process of the three-translation parallel mechanism in the prior art when outputting spherical motion. At the same time, the motion mechanism in the present application is only composed of low pairs, with a simpler structure, lower processing difficulty and processing cost, and an easier installation process.

[0102] Obviously, the above-described embodiments are only a part of the embodiments of the present invention, rather than all the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work should fall within the scope of protection of the present invention.

[0103] It should be noted that the terms used herein are only for describing specific embodiments and are not intended to limit the exemplary embodiments according to the present application. As used herein, unless the context clearly indicates otherwise, the singular form is also intended to include the plural form. In addition, it should be understood that when the terms "comprise" and / or "include" are used in this specification, it indicates the presence of features, steps, operations, devices, components and / or combinations thereof.

[0104] It should be noted that the terms "first", "second", etc. in the specification and claims of the present application and the above-mentioned drawings are used to distinguish similar objects, and are not necessarily used to describe a specific order or sequence. It should be understood that the numbers used in this way can be interchanged where appropriate, so that the embodiments of the present application described herein can be implemented in an order other than those illustrated or described herein.

[0105] The above description is only a preferred embodiment of the present invention and is not intended to limit the present invention. For those skilled in the art, the present invention may have various modifications and variations. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present invention shall be included in the protection scope of the present invention.

Claims

1. A motion mechanism, characterized in that: include: Moving platform (10); static platform (20); A first branch chain assembly (30) comprising at least two first translational motion output mechanisms (31), a first parallelogram linkage mechanism (32), a second parallelogram linkage mechanism (33) and a first connecting rod (34), wherein the first translational motion output mechanism (31) is arranged on the static platform (20); A second link (321) of the first parallelogram linkage mechanism (32) is a transition link (322), and the transition link (322) has a first connecting end (322a) located between its two ends, and the first connecting end (322a) is used to be rotatably connected to the second link (321) so that one end of the transition link (322) forms a second connecting end (322b); the transition link (322) located between the second connecting end (322b) and the first connecting end (322a) is fixedly connected to the second parallelogram linkage mechanism (33), and the movable platform (10) is fixedly connected to the second parallelogram linkage mechanism (33); At least one of the first translational motion output mechanisms (31) is fixedly connected to the second connecting rod (321), and at least another of the first translational motion output mechanisms (31) is rotationally connected to the second connecting end (322b) via the first connecting rod (34); The second branch chain assembly (40) comprises a second translational motion output mechanism (41) and a fourth connecting rod (42); the second translational motion output mechanism (41) is rotationally connected to the moving platform (10) via the fourth connecting rod (42); the moving platform (10) moves along a spherical surface under the joint drive of the first translational motion output mechanism (31) and the second translational motion output mechanism (41).

2. The motion mechanism according to claim 1, characterized in that: The first translational motion output mechanism (31) is slidably arranged on the static platform (20), and the motion trajectories of at least two of the first translational motion output mechanisms (31) are collinear.

3. The motion mechanism according to claim 1, characterized in that: The first translational motion output mechanism (31) is a parallelogram mechanism, comprising four fifth connecting rods rotatably connected to each other, one of the fifth connecting rods being arranged on the static platform (20), and the fifth connecting rod arranged opposite to the fifth connecting rod being an output connecting rod for outputting translational motion, and the motion trajectories of at least two output connecting rods of the first translational motion output mechanism (31) being collinear.

4. The motion mechanism according to claim 1, characterized in that: The first translational motion output mechanism (31) has a translational motion output direction S1, and the second translational motion output mechanism (41) has a translational motion output direction S2, and the translational motion output direction S1 is perpendicular to the translational motion output direction S2.

5. The motion mechanism according to claim 1, characterized in that: The second translational motion output mechanism (41) is slidably arranged on the static platform (20), the fourth connecting rods (42) are at least three, and one end of the fourth connecting rod (42) used for connecting with the second translational motion output mechanism (41) is fixed on the second translational motion output mechanism (41); or, The second translational motion output mechanism (41) is rotatably and slidably arranged on the static platform (20), and there are at least two fourth connecting rods (42). One end of the fourth connecting rod (42) is used to be connected to the second translational motion output mechanism (41), and is fixed on the second translational motion output mechanism (41). The rotation axis of the second translational motion output mechanism (41) is coaxially arranged with the translational motion output direction S2 of the second translational motion output mechanism (41).

6. The motion mechanism according to claim 1, characterized in that: The plane where the first parallelogram linkage mechanism (32) is located is a first plane, and the plane where the second parallelogram linkage mechanism (33) is located is a second plane; wherein, during the movement of the moving platform (10), the first plane and the second plane are arranged perpendicular to each other.

7. The motion mechanism according to claim 1, characterized in that: There is a rotation axis R between the first connecting rod (34) and the first translational motion output mechanism (31) 22 In the first parallelogram linkage mechanism (32), a second link (321) disposed opposite to the transition link (322) is fixedly connected to the first translational motion output mechanism (31), and both ends of the second link (321) have a rotation axis R a1 and the axis of rotation R a4 , the rotation axis R 22 , the rotation axis R a1 and the rotation axis R a4 Set parallel to each other.

8. The motion mechanism according to claim 1, characterized in that: There is a rotation axis R between the first connecting rod (34) and the second connecting end (322b) 23 The transition link (322) has a rotation axis R at one end thereof which is rotatably connected to the second link (321). a3 The first connection end (322a) has a rotation axis R a2 , the rotation axis R 23 , the rotation axis R a3 and the rotation axis R a2 Set parallel to each other.

9. The motion mechanism according to claim 5, characterized in that: The second translational motion output mechanism (41) is slidably arranged on the static platform (20), and there are three fourth connecting rods (42). A rotation axis R32 and a rotation axis R33 are provided between two adjacent fourth connecting rods (42), and a rotation axis R34 is provided between the fourth connecting rod (42) and the moving platform (10); wherein the rotation axis R32, the rotation axis R33, the rotation axis R34 and the translational motion output direction S2 are arranged parallel to each other.

10. The motion mechanism according to claim 1, characterized in that: The first branch chain assembly (30) further comprises a plurality of connecting rods (35), at least two of the first translational motion output mechanisms (31) comprise a first sub-translational motion output mechanism (311) and a second sub-translational motion output mechanism (312), The first sub-translational motion output mechanism (311) is fixedly connected to the second connecting rod (321) via the connecting rod (35), and the second connecting rod (321) and the transition connecting rod (322) are arranged opposite to each other; The second sub-translational motion output mechanism (312) is rotatably connected to the first connecting rod (34) via the connecting rod (35), and the connecting rod (35) is fixed on the second sub-translational motion output mechanism (312); The transition link (322) located between the second connection end (322b) and the first connection end (322a) is fixedly connected to the third link (331) of the second parallelogram linkage (33) via the connection rod (35), and the third link (331) arranged opposite to the third link (331) is fixedly connected to the moving platform (10) via the connection rod (35).

11. A robot, characterized in that: At least part of the motion structure of the robot moves in the motion form of the motion mechanism according to any one of claims 1 to 10.

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