Parallel movement mechanism

Abstract

The utility model provides a parallel type movement mechanism which comprises a cross-shaped supporting frame and at least two driving mechanisms, the two ends of the supporting frame in the first direction are connected with a first object in a rotating mode respectively, and the two ends of the supporting frame in the second direction are connected with a second object opposite to the first object in a rotating mode respectively. And the control modules are located at different positions, connected with the first object and the second object and used for controlling the relative position between the first object and the second object. The device is high in flexibility and stability, low in cost, easy and convenient to operate and capable of being applied to various devices.

Description

Technical Field

[0001] The present disclosure relates to the technical field of motion mechanisms, and particularly to a parallel motion mechanism. Background Art

[0002] In existing motion mechanisms, the weight of the equipped motors is relatively high, which easily causes the center of gravity of the robot or other equipment equipped with the motion mechanism to be too high. As a result, the robot or other equipment is unstable during movement, leading to the robot or equipment falling or shaking, causing damage to the robot or equipment, and increasing the difficulty of vision algorithms.

[0003] In addition, there are also certain problems with the flexibility of the motion mechanism. Common motion mechanisms have poor flexibility and can only achieve the up-and-down tilting and left-and-right shaking of an object; however, for motion mechanisms with a higher degree of freedom, their structures are relatively precise, the manufacturing cost is extremely high, the cost performance is relatively low, and the limitations are relatively high. Summary of the Utility Model

[0004] To solve the above-mentioned technical problems, the present utility model provides a parallel motion mechanism, which has high flexibility and stability, low cost, simple operation, and can be applied to various devices.

[0005] The present disclosure provides a parallel motion mechanism, including a support frame in a cross shape, wherein the two ends in the first direction are respectively rotatably connected to a first object, and the two ends in the second direction are respectively rotatably connected to a second object opposite to the first object, and a driving mechanism, at least two, located at different positions and both connected to the first object and the second object to control the relative position between the first object and the second object.

[0006] Further, it further includes a first connecting member and a second connecting member. One end of the first connecting member is rotatably connected to one end of the support frame in the first direction, and the other end is fixedly connected to the first object. One end of the second connecting member is rotatably connected to the other end of the support frame in the first direction, and the other end is fixedly connected to the first object. The first and second connecting members are oppositely arranged on the first object along the first direction of the support frame.

[0007] Further, it further includes a third connecting member and a fourth connecting member. One end of the third connecting member is rotatably connected to one end of the support frame in the second direction, and the other end is fixedly connected to the second object. One end of the fourth connecting member is rotatably connected to the other end of the support frame in the second direction, and the other end is fixedly connected to the second object. The third and fourth connecting members are oppositely arranged on the second object along the second direction of the support frame.

[0008] Further, the driving mechanism includes a motor fixedly supported on the first object and located between the first object and the second object; a crank, one end of which is connected to the output end of the motor; and a connecting rod, one end of which is connected to the other end of the crank by a spherical pair and the other end is connected to the second object by a spherical pair.

[0009] Furthermore, multiple driving mechanisms can be controlled separately.

[0010] The beneficial effects of the present utility model are as follows:

[0011] Through the cooperation of the mechanical lever principle and the motor, the pitching and rolling motions of the moving mechanism are flexibly realized, with high stability, low cost, and simple operation.

[0012] It should be understood that the content described in the utility model content part is not intended to limit the key or important features of the embodiments of the present disclosure, nor to limit the scope of the present disclosure. Other features of the present disclosure will become easily understood through the following description. BRIEF DESCRIPTION OF THE DRAWINGS

[0013] In combination with the accompanying drawings and with reference to the following detailed description, the above and other features, advantages, and aspects of the embodiments of the present disclosure will become more apparent. In the drawings, the same or similar reference numerals represent the same or similar elements, where:

[0014] Figure 1 The structural schematic diagram of the parallel motion mechanism provided by the embodiment of the present utility model is shown.

[0015] Wherein, Figure 1 The corresponding relationship between the reference numerals in and the component names is as follows:

[0016] 1, the first object; 2, the second object; 3, the support frame; 4, the motor; 41, the first motor; 42, the second motor; 5, the crank; 6, the connecting rod; 7, the support seat; 8, the first connecting member; 9, the second connecting member; 10, the third connecting member; 11, the fourth connecting member. DETAILED DESCRIPTION OF THE EMBODIMENTS

[0017] To make the objectives, technical solutions, and advantages of the embodiments of the present disclosure clearer, the technical solutions in the embodiments of the present disclosure will be clearly and completely described below with reference to the accompanying drawings in the embodiments of the present disclosure. Apparently, the described embodiments are some, but not all, of the embodiments of the present disclosure. All other embodiments obtained by those of ordinary skill in the art based on the embodiments of the present disclosure without creative efforts shall fall within the scope of the present disclosure.

[0018] In addition, the term "and / or" in this article is merely a description of the associated relationship of the associated objects, indicating that there can be three relationships. For example, A and / or B can represent: A exists alone, A and B exist simultaneously, and B exists alone. In addition, the character " / " in this article generally represents an "or" relationship between the associated objects before and after.

[0019] The following refers toFigure 1 A parallel motion mechanism provided by an embodiment of the present utility model will be described. It includes a cross-shaped support frame 3 and a driving mechanism. Among them, both ends of the cross in the first direction are respectively rotatably connected to the first object 1, and both ends of the second direction are respectively rotatably connected to the second object 2 opposite to the first object 1; there are at least two driving mechanisms, which are respectively located at different positions and are both connected to the first object 1 and the second object 2 to control the relative position between the first object 1 and the second object 2.

[0020] In this embodiment, the support frame 3 is placed horizontally, the first object 1 is fixed below the support frame 3, the second object 2 is supported above the support frame 3, and the support frame 3, the first object 1, and the second object 2 are collinear in the vertical direction.

[0021] In some other embodiments, the support frame 3 can also be set to an X shape according to actual needs, as long as it is ensured that the first direction intersects the second direction. In this way, the included angle between the two directions of the support frame 3 can be adjusted according to the actual situation and requirements of the first object 1 and the second object 2, increasing the adaptability of the parallel motion mechanism.

[0022] In this embodiment, two separately controllable driving mechanisms are provided, both located at one end of the second direction of the support frame 3 and respectively on both sides of the first object 1 and the second object 2. Each driving mechanism includes a motor 4, a crank 5, and a connecting rod 6. Among them, the motor 4 includes a first motor 41 on one side and a second motor 42 on the other side. Both motors are horizontally fixed and supported on the first object 1 along their axes, and the output ends of the first motor 41 and the second motor 42 are opposite to each other; one end of the crank 5 is connected to the output end of the motor 4, and the motor 4 provides power for the rotation of the crank 5; one end of the connecting rod 6 is connected to the other end of the crank 5 by a spherical pair, and the other end of the connecting rod 6 is connected to the second object 2 by a spherical pair.

[0023] Among them, the spherical pair connection method leaves a rotational margin for the relative movement between the first object 1 and the second object 2, improving the flexibility of the movement.

[0024] Specifically, the motor 4 is fixedly supported on the first object 1 through a support seat 7.

[0025] In some other embodiments, the number of driving mechanisms can be increased according to actual needs, and their positions can also be adjusted according to actual needs.

[0026] In this embodiment, the parallel motion mechanism further includes a first connecting member 8 and a second connecting member 9 which are vertically installed. One end of the first connecting member 8 is rotatably connected to one end of the support frame 3 in the first direction, and the other end is fixedly connected to the first object 1. One end of the second connecting member 9 is rotatably connected to the other end of the support frame 3 in the first direction, and the other end is fixedly connected to the first object 1. The first connecting member 8 and the second connecting member 9 are oppositely arranged on the first object 1 along the first direction of the support frame 3.

[0027] Specifically, one end of the first connecting member 8 is rotatably connected to one end of the support frame 3 in the first direction, and the other end extends downward along the vertical direction and is fixedly connected to the first object 1; one end of the second connecting member 9 is rotatably connected to the other end of the support frame 3 in the first direction, and the other end extends downward along the vertical direction and is fixedly connected to the first object 1.

[0028] In this way, when the first object 1 is fixed, the support frame 3 and the second object 2 supported on the support frame 3 can rotate around the intersection point of the first direction and the second direction in the first plane formed by the straight line in the second direction and the perpendicular line.

[0029] In this embodiment, the parallel motion mechanism further includes a third connecting member 10 and a fourth connecting member 11 which are vertically installed. One end of the third connecting member 10 is rotatably connected to one end of the support frame 3 in the second direction, and the other end is fixedly connected to the second object 2. One end of the fourth connecting member 11 is rotatably connected to the other end of the support frame 3 in the second direction, and the other end is fixedly connected to the second object 2. The third connecting member 10 and the fourth connecting member 11 are oppositely arranged on the second object 2 along the second direction of the support frame 3.

[0030] Specifically, one end of the third connecting member 10 is rotatably connected to one end of the support frame 3 in the second direction, and the other end extends upward along the vertical direction and is fixedly connected to the second object 2; one end of the fourth connecting member 11 is rotatably connected to the other end of the support frame 3 in the second direction, and the other end extends upward along the vertical direction and is fixedly connected to the second object 2.

[0031] In this way, when the first object 1 is fixed, the second object 2 can rotate around the intersection point of the first direction and the second direction in the second plane formed by the straight line in the first direction and the perpendicular line.

[0032] In this embodiment, the first, second, third, and fourth connecting members 8, 9, 10, and 11 can be selected as plate-shaped, L-shaped, or T-shaped connecting members, as long as one end can be rotatably connected to the support frame 3 at a right angle and the other end can be stably fixed to the first object 1 or the second object 2.

[0033] In this embodiment, since the first object 1 is fixed to a plane, the relative position between the first object 1 and the second object 2 can be controlled by separately controlling the rotation directions of the first motor 41 and the second motor 42. Specifically, when the first motor 41 and the second motor 42 rotate clockwise simultaneously, the second object 2 rotates forward;

[0034] when the first motor 41 and the second motor 42 rotate counterclockwise simultaneously, the second object 2 rotates backward;

[0035] when the first motor 41 rotates clockwise and the second motor 42 rotates counterclockwise, the second object 2 rotates to the left;

[0036] when the first motor 41 rotates counterclockwise and the second motor 42 rotates clockwise, the second object 2 rotates to the right.

[0037] In this embodiment, the speed of the second object 2 relative to the first object 1 can be controlled by controlling the rotation speeds of the first motor 41 and the second motor 42.

[0038] According to the embodiments of the present disclosure, the following technical effects are achieved:

[0039] By providing the cross-shaped support frame 3, the first object 1, the support frame 3 or the second object 2 can all rotate flexibly in different planes, improving the flexibility of the motion mechanism; by providing a parallel-link type drive mechanism, the relative position between the first object 1 and the second object 2 can be flexibly changed, including not only the pitching motion of the second object 2 relative to the first object 1, but also the rolling motion of the second object 2 relative to the first object 1, further improving the flexibility of the motion mechanism; moreover, based on the principle of mechanical leverage and in cooperation with the motor 4, the motion between the first object 1 and the second object 2 is achieved, reducing the cost; by fixing the motor 4 to the first object 1 at the bottom, the center of gravity of the entire motion mechanism is reduced, increasing its stability.

[0040] In the description of this specification, terms such as "connection", "installation", "fixation", etc. should all be understood in a broad sense. For example, "connection" can be a fixed connection, a detachable connection, or an integral connection; it can be directly connected or indirectly connected through an intermediate medium. For those of ordinary skill in the art, the specific meanings of the above terms in this application can be understood according to specific circumstances.

[0041] In the description of this specification, the descriptions of the terms "one embodiment", "some embodiments", etc. mean that the specific features, structures, materials, or characteristics described in connection with the embodiment or example are included in at least one embodiment or example of the present application. In this specification, the schematic expressions of the above terms do not necessarily refer to the same embodiment or instance. Moreover, the specific features, structures, materials, or characteristics described may be combined in any one or more embodiments or examples in a suitable manner.

[0042] The above are only the preferred embodiments of the present application and are not used to limit the present application. For those skilled in the art, the present application may have various changes and modifications. Any modifications, equivalent replacements, improvements, etc. made within the spirit and principle of the present application shall be included within the protection scope of the present application.

Claims

1. A parallel kinematic mechanism, characterized in that: include: The support frame is cross-shaped, wherein The two ends of the first direction are respectively connected to the first object for rotation, The two ends of the second direction are respectively connected to the second object opposite to the first object for rotation, and There are at least two driving mechanisms, which are located at different positions and connected to the first object and the second object to control the relative position between the first object and the second object.

2. The motion mechanism according to claim 1, characterized in that: Also includes: A first connecting member and a second connecting member, wherein One end of the first connecting member is rotatably connected to one end of the support frame in the first direction, and the other end is fixedly connected to the first object. One end of the second connecting member is rotatably connected to the other end of the support frame in the first direction, and the other end is fixedly connected to the first object. The first and second connecting members are arranged opposite to each other on the first object along a first direction of the supporting frame.

3. The motion mechanism according to claim 1, characterized in that: Also includes: The third connecting member and the fourth connecting member, wherein One end of the third connecting member is rotatably connected to one end of the supporting frame in the second direction, and the other end is fixedly connected to the second object. One end of the fourth connecting member is rotatably connected to the other end of the supporting frame in the second direction, and the other end is fixedly connected to the second object. The third and fourth connecting members are arranged opposite to each other on the second object along the second direction of the supporting frame.

4. The motion mechanism according to claim 1, characterized in that: The driving mechanism comprises: A motor is fixedly supported on the first object and located between the first object and the second object; A crank, one end of which is connected to the output end of the motor; and A connecting rod has one end connected to the other end of the crank by a ball joint, and the other end connected to the second object by a ball joint.

5. The motion mechanism according to claim 1, characterized in that: The plurality of driving mechanisms can be controlled separately.

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