Multi-degree of freedom motion platform

Abstract

The application discloses a multi-degree-of-freedom motion platform, comprising a first motion mechanism, a second motion mechanism and a third motion mechanism. The first motion mechanism comprises a base, a first mounting seat, a first driving assembly and a first transmission assembly, the first driving assembly being capable of moving the first mounting seat relative to the base through the first transmission assembly; the second motion mechanism comprises a second mounting seat, a second driving assembly and a rotating platform, the second mounting seat being connected with the first mounting seat, and the second driving assembly being used for driving the rotating platform to rotate; and the third motion mechanism comprises a third mounting seat, a third driving assembly, a second transmission assembly and a bearing platform, the third mounting seat being connected with the rotating platform, and the third driving assembly being capable of driving the bearing platform to move relative to the third mounting seat through the second transmission assembly. The multi-degree-of-freedom motion platform provided by the application not only can realize the motion of multiple degrees of freedom, thereby meeting the requirements of different application scenarios, but also improves the motion precision and stability.

Description

Technical Field

[0001] This application relates to the field of motion platform technology, specifically to a multi-degree-of-freedom motion platform. Background Technology

[0002] Motion platforms are widely used in various scenarios requiring complex, multi-degree-of-freedom motion, such as simulation training, industrial automation, and robotics. However, in related technologies, motion platforms often have limited degrees of freedom, typically providing only linear motion in a single direction or simple rotational motion, making it difficult to meet the demands of complex motion trajectories. Furthermore, the structural design of motion platforms is often inadequate, resulting in poor stability during transmission and issues such as vibration and jamming, which negatively impact motion accuracy and equipment lifespan. Utility Model Content

[0003] This application provides a multi-degree-of-freedom motion platform that can not only realize multiple degrees of freedom of motion to meet the needs of different application scenarios, but also improves motion accuracy and stability.

[0004] This application provides a multi-degree-of-freedom motion platform, including:

[0005] A first motion mechanism, comprising a base, a first mounting base, a first drive assembly, and a first transmission assembly, wherein the first drive assembly is capable of moving the first mounting base relative to the base via the first transmission assembly;

[0006] The second motion mechanism includes a second mounting base, a second drive assembly, and a rotating platform. The second mounting base is connected to the first mounting base, and the second drive assembly is used to drive the rotating platform to rotate.

[0007] The third motion mechanism includes a third mounting base, a third drive assembly, a second transmission assembly, and a support platform. The third mounting base is connected to the rotating platform, and the third drive assembly can move the support platform relative to the third mounting base through the second transmission assembly.

[0008] In some embodiments, the first drive component is disposed on the first mounting base, and both ends of the first transmission component are respectively connected to the base and the first drive component; or,

[0009] The first drive component is disposed on the base, and the two ends of the first transmission component are respectively connected to the first mounting base and the first drive component.

[0010] In some embodiments, the base has a left side and a right side, and the first drive assembly includes a first drive portion and a second drive portion that are coaxially arranged and spaced apart from each other, and the first drive portion and the second drive portion are respectively connected to the left side and the right side of the base for transmission.

[0011] In some embodiments, the first mounting base is configured with a mounting cavity located between the first driving portion and the second driving portion, and at least a portion of the second driving assembly is mounted in the mounting cavity.

[0012] In some embodiments, the first transmission assembly includes a first crank, a first connecting rod, a second crank, and a second connecting rod;

[0013] When the first drive assembly is disposed on the first mounting base, the first drive unit and the second drive unit are coaxially disposed and respectively mounted on the first mounting base, the first crank is connected to the output end of the first drive unit, and the two ends of the first connecting rod are respectively movably connected to the first crank and the base.

[0014] The second crank is connected to the output end of the second drive unit, and the two ends of the second connecting rod are respectively movably connected to the second crank and the base.

[0015] In some embodiments, the first crank includes a first body portion, a first extension portion, and a first connecting portion. The first body portion is connected to the first connecting portion via the first extension portion. The first body portion is connected to the end of the first drive portion away from the first mounting base. The first extension portion is located on the side of the first body portion close to the first mounting base. The first connecting portion is connected to the end of the first extension portion away from the first body portion. The first connecting portion is connected to the first connecting rod.

[0016] The second crank includes a second main body, a second extension, and a second connecting part. The second main body is connected to the second connecting part via the second extension. The second main body is connected to the end of the second drive unit away from the first mounting base. The second extension is located on the side of the second main body close to the first mounting base. The second connecting part is connected to the end of the second extension away from the second main body. The second connecting part is connected to the second connecting rod.

[0017] In some embodiments, the first connecting rod is located at the middle position of the first driving part in the axial direction of the first driving part; and / or, the second connecting rod is located at the middle position of the second driving part in the axial direction of the second driving part.

[0018] In some embodiments, the multi-degree-of-freedom motion platform has a front side and a rear side, the first link is located on the front side of the first drive unit, and the second link is located on the front side of the second drive unit;

[0019] Alternatively, the first link is located behind the first drive unit, and the second link is located behind the second drive unit.

[0020] In some embodiments, the first motion mechanism further includes a first cross shaft, and the first mounting base is movably connected to the base via the first cross shaft; the length direction of one of the rotating shafts of the first cross shaft is parallel to the axial direction of the first drive component.

[0021] In some embodiments, the base is provided with a first mounting portion, a second mounting portion and a third mounting portion on the side facing the first mounting seat, the end of the first connecting rod away from the first crank is movably connected to the first mounting portion, the end of the second connecting rod away from the second crank is movably connected to the second mounting portion, and the first cross shaft is movably connected to the third mounting portion;

[0022] The third mounting part is located between the first mounting part and the second mounting part.

[0023] In some embodiments, the third drive assembly is disposed on the third mounting base, and both ends of the second transmission assembly are respectively connected to the third drive assembly and the support platform; or,

[0024] The third drive component is disposed on the support platform, and the two ends of the second transmission component are respectively connected to the third mounting base and the third drive component.

[0025] In some embodiments, the carrier platform has a left side and a right side, and the third drive assembly includes a third drive section and a fourth drive section that are coaxially arranged and spaced apart from each other, and the third drive section and the fourth drive section are respectively connected to the left side and the right side of the carrier platform for transmission.

[0026] In some embodiments, the second transmission assembly includes a third crank, a third connecting rod, a fourth crank, and a fourth connecting rod;

[0027] When the third drive assembly is disposed on the third mounting base, the third drive unit and the fourth drive unit are coaxially disposed and respectively mounted on the third mounting base, the third crank is connected to the output end of the third drive unit, and the two ends of the third connecting rod are respectively movably connected to the third crank and the bearing platform;

[0028] The fourth crank is connected to the output end of the fourth drive unit, and the two ends of the fourth connecting rod are respectively movably connected to the fourth crank and the support platform.

[0029] In some embodiments, the third crank includes a third body portion, a third extension portion, and a third connecting portion. The third body portion is connected to the third connecting portion via the third extension portion. The third body portion is connected to the end of the third drive portion away from the third mounting base. The third extension portion is located on the side of the third body portion close to the third mounting base. The third connecting portion is connected to the end of the third extension portion away from the third body portion. The third connecting portion is connected to the third connecting rod.

[0030] The fourth crank includes a fourth main body, a fourth extension, and a fourth connecting part. The fourth main body is connected to the fourth connecting part via the fourth extension. The fourth main body is connected to the end of the fourth drive unit away from the third mounting base. The fourth extension is located on the side of the fourth main body close to the third mounting base. The fourth connecting part is connected to the end of the fourth extension away from the fourth main body. The fourth connecting part is connected to the fourth connecting rod.

[0031] In some embodiments, in the axial direction of the third drive unit, the third link is located at the middle position of the third drive unit; and / or, in the axial direction of the fourth drive unit, the fourth link is located at the middle position of the fourth drive unit.

[0032] In some embodiments, the multi-degree-of-freedom motion platform has a front side and a rear side, the third link is located on the front side of the third drive unit, and the fourth link is located on the front side of the fourth drive unit;

[0033] Alternatively, the third link is located behind the third drive unit, and the fourth link is located behind the fourth drive unit.

[0034] In some embodiments, the third motion mechanism further includes a second cross shaft, and the support platform is movably connected to the third mounting base via the second cross shaft; the length direction of one of the rotating shafts of the second cross shaft is parallel to the axial direction of the third drive assembly.

[0035] In some embodiments, the support platform is provided with a fourth mounting portion, a fifth mounting portion, and a sixth mounting portion on the side facing the third mounting base. The end of the third connecting rod away from the third crank is movably connected to the fourth mounting portion, the end of the fourth connecting rod away from the fourth crank is movably connected to the fifth mounting portion, and the second cross shaft is movably connected to the sixth mounting portion.

[0036] The sixth mounting part is located between the fourth mounting part and the fifth mounting part.

[0037] Beneficial effects: Compared with the prior art, the multi-degree-of-freedom motion platform provided in this application includes a first motion mechanism, a second motion mechanism and a third motion mechanism. Through the coordinated work of the three motion mechanisms, multiple degrees of freedom composite motion can be realized, thereby meeting the needs of different application scenarios. Moreover, the first drive component, the second drive component and the third drive component are set relatively independently, which reduces the mutual interference between the first motion mechanism, the second motion mechanism and the third motion mechanism, thereby improving motion accuracy and stability. Attached Figure Description

[0038] To more clearly illustrate the technical solutions in the embodiments of this application, the accompanying drawings used in the description of the embodiments will be briefly introduced below. Obviously, the accompanying drawings described below are only some embodiments of this application. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0039] Figure 1 This is a three-dimensional structural schematic diagram of the multi-degree-of-freedom motion platform of this application;

[0040] Figure 2 This is an exploded view of the multi-degree-of-freedom motion platform of this application;

[0041] Figure 3 This is a three-dimensional structural diagram of the first motion mechanism of this application;

[0042] Figure 4 This is a three-dimensional structural diagram of the third motion mechanism of this application;

[0043] Figure 5 This is a schematic diagram of the planar structure of the multi-degree-of-freedom motion platform of this application.

[0044] Explanation of reference numerals in the attached figures:

[0045] 1. First motion mechanism; 11. Base; 111. First mounting part; 112. Second mounting part; 113. Third mounting part; 12. First mounting seat; 121. Mounting cavity; 13. First drive assembly; 131. First drive part; 132. Second drive part; 14. First transmission assembly; 141. First crank; 1411. First main body; 1412. First extension; 1413. First connecting part; 142. First connecting rod; 143. Second crank; 1431. Second main body; 1432. Second extension; 1433. Second connecting part; 144. Second connecting rod; 15. First cross shaft; 151. First rotating shaft; 152. Second rotating shaft; 2. Second motion mechanism; 21. Second mounting seat; 22. Second drive Components; 23. Rotating platform; 3. Third motion mechanism; 31. Third mounting base; 32. Third drive assembly; 321. Third drive unit; 322. Fourth drive unit; 33. Second transmission assembly; 331. Third crank; 3311. Third main body; 3312. Third extension; 3313. Third connecting part; 332. Third connecting rod; 333. Fourth crank; 3331. Fourth main body; 3332. Fourth extension; 3333. Fourth connecting part; 334. Fourth connecting rod; 34. Bearing platform; 341. Fourth mounting part; 342. Fifth mounting part; 343. Sixth mounting part; 35. Second cross shaft; 351. Third rotating shaft; 352. Fourth rotating shaft; Z, First direction; X, Second direction; Y, Third direction. Detailed Implementation

[0046] The technical solutions of the embodiments of this application will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of this application, and not all embodiments. Based on the embodiments of this application, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of this application. In addition, it should be understood that the specific embodiments described herein are only for illustration and explanation of this application and are not intended to limit this application. In this application, unless otherwise stated, directional terms such as "up," "down," "left," and "right" generally refer to up, down, left, and right in the actual use or working state of the device, specifically the drawing directions in the accompanying drawings.

[0047] In this application, unless otherwise expressly specified and limited, the terms "connected," "linked," "stacked," etc., should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral part; they can refer to a direct connection or an indirect connection through an intermediate medium; they can refer to the internal communication of two elements or the interaction between two elements. Those skilled in the art can understand the specific meaning of the above terms in this application according to the specific circumstances.

[0048] This application provides a multi-degree-of-freedom motion platform, which will be described in detail below. It should be noted that the order of description of the following embodiments is not intended to limit the preferred order of the embodiments of this application. Furthermore, the descriptions of each embodiment have their own emphasis; parts not described in detail in a certain embodiment can be referred to in the relevant descriptions of other embodiments.

[0049] Reference Figure 1 One embodiment of this application provides a multi-degree-of-freedom motion platform, including a first motion mechanism 1, a second motion mechanism 2, and a third motion mechanism 3. The first motion mechanism 1 can drive the second motion mechanism 2 and the third motion mechanism 3 to move, and the second motion mechanism 2 can drive the third motion mechanism 3 to move, thereby realizing the multi-degree-of-freedom motion of the multi-degree-of-freedom motion platform. The multi-degree-of-freedom motion platform has a first direction Z, a second direction X, and a third direction Y that are mutually perpendicular to each other. The first motion mechanism 1, the second motion mechanism 2, and the third motion mechanism 3 are stacked along the first direction Z.

[0050] Reference Figure 2 and Figure 3 The first motion mechanism 1 includes a base 11, a first mounting base 12, a first drive assembly 13, and a first transmission assembly 14. The first drive assembly 13 provides driving force and, through the first transmission assembly 14, enables the first mounting base 12 to move relative to the base 11. The base 11 can be mounted on a worktable surface, and under the driving action of the first drive assembly 13, the first mounting base 12 can move relative to the base 11. The base 11 serves as the supporting foundation for the multi-degree-of-freedom motion platform. In one embodiment, the base 11 is made of high-strength aluminum alloy to ensure sufficient structural strength. The first mounting base 12, the first drive assembly 13, and the first transmission assembly 14 can be positioned above the base 11. The base 11 can be bolted to the mounting surface to ensure stability during the movement of the multi-degree-of-freedom motion platform.

[0051] Reference Figure 2The second motion mechanism 2 includes a second mounting base 21, a second drive assembly 22, and a rotating platform 23. The second drive assembly 22 can be mounted on the second mounting base 21, and its output end is connected to the rotating platform 23. The second drive assembly 22 drives the rotating platform 23 to rotate, enabling it to rotate in one degree of freedom, thereby driving the third motion mechanism 3 to rotate synchronously. For example, the second drive assembly 22 drives the rotating platform 23 to rotate circumferentially along a horizontal plane. The second mounting base 21 is connected to the first mounting base 12, and the first mounting base 12 can drive the second mounting base 21 to move together. The second mounting base 21 and the first mounting base 12 are detachably connected by bolts. Multiple bolts can be arranged in a circular array to improve the stability of the connection between the second mounting base 21 and the first mounting base 12. The second drive assembly 22 may include a motor, such as a rotary motor. In some embodiments, the second drive assembly 22 may also be mounted on the first mounting base 12.

[0052] In some embodiments, the second drive assembly 22 may also include a reducer (not shown), which can improve the positioning accuracy and repeatability of the motor, thereby improving the motion accuracy and stability of the second motion mechanism 2.

[0053] Reference Figure 2 and Figure 4 The third motion mechanism 3 includes a third mounting base 31, a third drive assembly 32, a second transmission assembly 33, and a support platform 34. The third drive assembly 32 provides driving force and, through the second transmission assembly 33, enables the support platform 34 to move relative to the third mounting base 31. The third mounting base 31 is connected to a rotating platform 23, which can drive the third mounting base 31 to move together. The third mounting base 31 and the rotating platform 23 are detachably connected by multiple bolts, which can be arranged in a circular array to improve the stability of the connection between them. The support platform 34 can be used to support the robot, and the multi-degree-of-freedom motion platform can drive the robot to move in multiple degrees of freedom.

[0054] In this application, by working together with three motion mechanisms including the first drive component 13, the second drive component 22 and the third drive component 32, multiple degrees of freedom of compound motion can be achieved, thereby meeting the needs of different application scenarios. Moreover, the first drive component 13, the second drive component 22 and the third drive component 32 are set relatively independently, which reduces the mutual interference between the first motion mechanism 1, the second motion mechanism 2 and the third motion mechanism 3, thereby improving motion accuracy and stability.

[0055] Regarding the installation location of the first drive component 13, in some embodiments, refer to... Figure 2 and Figure 3The first drive assembly 13 is disposed on the first mounting base 12, and the two ends of the first transmission assembly 14 are respectively connected to the base 11 and the first drive assembly 13. The first drive assembly 13 is fixedly connected to the first mounting base 12. When the first drive assembly 13 operates, it drives the first mounting base 12 and the first drive assembly 13 to move relative to the base 11 through the first transmission assembly 14. That is, the first drive assembly 13 drives the first transmission assembly 14 to move, and the first transmission assembly 14 can transmit the driving force of the first drive assembly 13 to the base 11. Since the base 11 is fixed, the first mounting base 12 and the first drive assembly 13 move relative to the base 11 under the action of the reaction force.

[0056] Alternatively, the first drive assembly 13 is disposed on the base 11, and the two ends of the first transmission assembly 14 are respectively connected to the first mounting base 12 and the first drive assembly 13. The first drive assembly 13 is fixedly connected to the base 11, and when the first drive assembly 13 operates, the first drive assembly 13 drives the first mounting base 12 to move relative to the base 11 through the first transmission assembly 14.

[0057] In some embodiments, refer to Figure 2 and Figure 3 The base 11 has a left side and a right side, which are the two sides of the multi-degree-of-freedom motion platform in the second direction X. The first drive assembly 13 includes a first drive part 131 and a second drive part 132 that are coaxially arranged and spaced apart. The first drive part 131 and the second drive part 132 are respectively connected to the left side and the right side of the base 11 for transmission.

[0058] The first drive unit 131 and the second drive unit 132 are, for example, motors, such as servo motors. Preferably, the first drive unit 131 and the second drive unit 132 are motors of the same model. The first drive unit 131 and the second drive unit 132 are independent of each other and can operate independently. When one of the first drive unit 131 and the second drive unit 132 is operating, the first mounting base 12 can swing left and right; when the first drive unit 131 and the second drive unit 132 operate synchronously, the first mounting base 12 can swing up and down; when the first drive unit 131 and the second drive unit 132 operate asynchronously, the first mounting base 12 can swing both left and right and up and down simultaneously. The different operating states of the first drive unit 131 and the second drive unit 132 allow the first mounting base 12 to rotate in two degrees of freedom.

[0059] In some embodiments, the first drive assembly 13 may also include a reducer (not shown), etc. The reducer can improve the positioning accuracy and repeatability of the first drive unit 131 and the second drive unit 132, thereby improving the motion accuracy and stability of the first motion mechanism 1.

[0060] ReferenceFigure 2 and Figure 3 The first mounting base 12 has a mounting cavity 121 located between the first drive unit 131 and the second drive unit 132. At least a portion of the structure of the second motion mechanism 2 is installed in the mounting cavity 121, for example, a portion of the structure of the second drive assembly 22 is installed within the mounting cavity 121. This significantly reduces the overall volume of the multi-degree-of-freedom motion platform, making its structure more compact and improving space utilization. While meeting motion requirements, some components of the first motion mechanism 1, the second motion mechanism 2, and the third motion mechanism 3 can be made of low-density materials, such as plastic, to reduce the overall weight of the multi-degree-of-freedom motion platform. This allows it to meet application scenarios with strict space and weight constraints, expanding the applicability of the multi-degree-of-freedom motion platform. Of course, in some application scenarios with lower space and weight requirements, the first mounting base 12 may not have a mounting cavity 121.

[0061] Reference Figure 2 and Figure 3 The first transmission assembly 14 includes a first crank 141, a first connecting rod 142, a second crank 143, and a second connecting rod 144. The first crank 141 and the second crank 143 can be symmetrically distributed, as can the first connecting rod 142 and the second connecting rod 144. Thus, the first motion mechanism 1 has a symmetrical structure overall. This not only ensures that the forces acting on the first motion mechanism 1 during movement are evenly distributed, effectively reducing local stress concentration and vibration, but also makes it easier to precisely adjust the motion state of the first motion mechanism 1 through algorithms and control systems. Furthermore, the symmetrical structure itself has better geometric stability, improving the rigidity and deformation resistance of the first motion mechanism 1.

[0062] Reference Figure 2 and Figure 3When the first drive assembly 13 is disposed on the first mounting base 12, the first mounting base 12 preferably has a symmetrical structure. The first drive unit 131 and the second drive unit 132 are coaxially disposed and respectively mounted on the first mounting base 12, that is, the first drive unit 131 and the second drive unit 132 are symmetrically disposed on the left and right sides of the first mounting base 12 along the central axis of the first mounting base 12. The first crank 141 is connected to the output end of the first drive unit 131, and the first drive unit 131 can drive the first crank 141 to rotate. The two ends of the first connecting rod 142 are movably connected to the first crank 141 and the base 11 respectively. The movable connection is, for example, a rotatable connection. The two ends of the first connecting rod 142 are preferably connected to the first crank 141 and the base 11 respectively through universal joints. The second crank 143 is connected to the output end of the second drive unit 132, and the second drive unit 132 can drive the second crank 143 to rotate. The two ends of the second connecting rod 144 are movably connected to the second crank 143 and the base 11, respectively. The movable connection is, for example, a rotatable connection. Preferably, the two ends of the second connecting rod 144 are connected to the second crank 143 and the base 11 via universal joints. Universal joints allow free rotation in multiple directions, reducing motion constraints, improving transmission accuracy, and adapting to complex oscillation requirements. They also reduce additional stress caused by assembly errors or dynamic loads. Furthermore, universal joints reduce vibration and impact, improving the positioning accuracy and repeatability of multi-degree-of-freedom motion platforms.

[0063] When the first drive assembly 13 is disposed on the base 11, the first drive unit 131 and the second drive unit 132 are coaxially disposed and respectively mounted on the base 11, that is, the first drive unit 131 and the second drive unit 132 are symmetrically disposed on the left and right sides of the base 11 along the central axis of the base 11. The first crank 141 is connected to the output end of the first drive unit 131. The two ends of the first connecting rod 142 are movably connected to the first crank 141 and the first mounting base 12 respectively. The movable connection is, for example, a rotatable connection. The two ends of the first connecting rod 142 are preferably connected to the first crank 141 and the first mounting base 12 via universal joints. The second crank 143 is connected to the output end of the second drive unit 132. The two ends of the second connecting rod 144 are movably connected to the second crank 143 and the first mounting base 12 respectively. The movable connection is, for example, a rotatable connection. The two ends of the second connecting rod 144 are preferably connected to the second crank 143 and the first mounting base 12 via universal joints.

[0064] The first crank 141 includes a first main body 1411, a first extension 1412, and a first connecting part 1413. The first main body 1411 is connected to the first connecting part 1413 via the first extension 1412. The first main body 1411 is connected to the end of the first drive unit 131 away from the first mounting base 12. The first extension 1412 is located on the side of the first main body 1411 near the first mounting base 12. The first connecting part 1413 is connected to the end of the first extension 1412 away from the first main body 1411 and is connected to the first connecting rod 142. This reduces the size of the first motion mechanism 1 in the second direction X, thereby reducing the size of the multi-degree-of-freedom motion platform in the second direction X.

[0065] The second crank 143 includes a second main body 1431, a second extension 1432, and a second connecting part 1433. The second main body 1431 is connected to the second connecting part 1433 via the second extension 1432. The second main body 1431 is connected to the end of the second drive unit 132 away from the first mounting base 12. The second extension 1432 is located on the side of the second main body 1431 near the first mounting base 12. The second connecting part 1433 is connected to the end of the second extension 1432 away from the second main body 1431 and is connected to the second connecting rod 144. This reduces the size of the first motion mechanism 1 in the second direction X, thereby reducing the size of the multi-degree-of-freedom motion platform in the second direction X.

[0066] In the axial direction of the first drive unit 131, the first connecting rod 142 can be located at the middle position of the first drive unit 131. In the axial direction of the second drive unit 132, the second connecting rod 144 is also located at the middle position of the second drive unit 132. This can reduce the overall volume of the first motion mechanism 1, thereby reducing the overall volume of the multi-degree-of-freedom motion platform.

[0067] Reference Figure 1 and Figure 2The multi-degree-of-freedom motion platform has a front side and a rear side, which are the two sides of the multi-degree-of-freedom motion platform in the third direction Y. The first link 142 is located on the front side of the first drive unit 131, and the second link 144 is located on the front side of the second drive unit 132. Alternatively, the first link 142 is located on the rear side of the first drive unit 131, and the second link 144 is located on the rear side of the second drive unit 132. That is, the first link 142 and the second link 144 are simultaneously located on the same side of the first mounting base 12 in the third direction Y, thereby enabling the first mounting base 12 to move in two degrees of freedom. Furthermore, when the first drive unit 131 and the second drive unit 132 simultaneously drive the first crank 141 and the second crank 143 to rotate clockwise, or when the first drive unit 131 and the second drive unit 132 simultaneously drive the first crank 141 and the second crank 143 to rotate counterclockwise, abnormal situations such as jamming can be avoided.

[0068] Reference Figure 2 and Figure 3 The first motion mechanism 1 also includes a first cross shaft 15, and the first mounting base 12 is movably connected to the base 11 via the first cross shaft 15. The length direction of one of the rotating shafts of the first cross shaft 15 is parallel to the axial direction of the first drive assembly 13.

[0069] The first cross shaft 15 includes a first rotating shaft 151 and a second rotating shaft 152, with the first rotating shaft 151 connected to the second rotating shaft 152. The end of the first rotating shaft 151 furthest from the second rotating shaft 152 is movably connected to the base 11, for example, a rotatable connection. Preferably, the end of the first rotating shaft 151 furthest from the second rotating shaft 152 is connected to the base 11 via a universal joint. The second rotating shaft 152 is movably connected to the first mounting base 12, for example, a rotatable connection. Preferably, the second rotating shaft 152 is connected to the first mounting base 12 via a universal joint. The first drive assembly 13 can drive the first mounting base 12 to rotate around the first rotating shaft 151 and / or the second rotating shaft 152. The first rotating shaft 151 and the second rotating shaft 152 not only provide support for the first mounting base 12, ensuring a more stable position, but also limit the movement trajectory of the first mounting base 12, preventing drifting, swaying, and other unstable phenomena during movement, thereby improving movement accuracy and stability. In some embodiments, the first rotating shaft 151 and the second rotating shaft 152 are movably connected, such as a rotatable connection, and the first rotating shaft 151 and the second rotating shaft 152 are preferably connected by a universal joint.

[0070] As an example, when one of the first drive unit 131 and the second drive unit 132 is operating, the first mounting base 12 rotates around the first rotating shaft 151. When the first drive unit 131 and the second drive unit 132 operate synchronously, the first mounting base 12 rotates around the second rotating shaft 152. When the first drive unit 131 and the second drive unit 132 operate asynchronously, the first mounting base 12 rotates around the first rotating shaft 151 and the second rotating shaft 152.

[0071] Reference Figure 2 and Figure 3 The first rotating shaft 151 and the second rotating shaft 152 are intersecting. Preferably, the first rotating shaft 151 and the second rotating shaft 152 are perpendicular to each other. Both ends of the second rotating shaft 152 are movably connected to the first mounting base 12, which can further improve the rotational stability of the first mounting base 12.

[0072] When the first drive assembly 13 is disposed on the first mounting base 12, the base 11 has a first mounting portion 111, a second mounting portion 112, and a third mounting portion 113 on the side facing the first mounting base 12. The third mounting portion 113 may be located between the first mounting portion 111 and the second mounting portion 112. The end of the first connecting rod 142 away from the first crank 141 is movably connected to the first mounting portion 111, for example, a rotatable connection. The end of the first connecting rod 142 away from the first crank 141 is preferably connected to the first mounting portion 111 via a universal joint. The end of the second connecting rod 144 away from the second crank 143 is movably connected to the second mounting portion 112, for example, a rotatable connection. The end of the second connecting rod 144 away from the second crank 143 is preferably connected to the second mounting portion 112 via a universal joint. The first cross shaft 15 is movably connected to the third mounting portion 113, that is, the first rotating shaft 151 is movably connected to the third mounting portion 113. This movable connection is, for example, a rotatable connection, and the first rotating shaft 151 and the third mounting portion 113 are preferably connected via a universal joint. The stability and reliability of the connection between each component are ensured by the first mounting portion 111, the second mounting portion 112, and the third mounting portion 113. In some embodiments, refer to... Figure 5 There are two third mounting parts 113. The two ends of the first rotating shaft 151 are movably connected to the two third mounting parts 113 respectively, which can further improve the motion accuracy and stability of the first motion mechanism 1.

[0073] Regarding the installation location of the third drive component 32, in some embodiments, refer to... Figure 2 and Figure 4The third drive assembly 32 is disposed on the third mounting base 31, and the two ends of the second transmission assembly 33 are respectively connected to the third drive assembly 32 and the support platform 34. The third drive assembly 32 is fixedly connected to the third mounting base 31. When the third drive assembly 32 is in operation, the third drive assembly 32 drives the support platform 34 to move relative to the third mounting base 31 through the second transmission assembly 33.

[0074] Alternatively, the third drive assembly 32 is disposed on the support platform 34, and both ends of the second transmission assembly 33 are connected to the third mounting base 31 and the third drive assembly 32, respectively. The third drive assembly 32 is fixedly connected to the support platform 34. When the third drive assembly 32 operates, it drives the support platform 34 and the third drive assembly 32 to move relative to the third mounting base 31 through the second transmission assembly 33. That is, the third drive assembly 32 drives the second transmission assembly 33 to move, and the second transmission assembly 33 can transmit the driving force of the third drive assembly 32 to the third mounting base 31. Since the third mounting base 31 is fixed, the support platform 34 and the third drive assembly 32 move relative to the third mounting base 31 under the action of the reaction force.

[0075] In some embodiments, refer to Figure 2 and Figure 4 The support platform 34 has a left side and a right side, which are the two sides of the multi-degree-of-freedom motion platform in the second direction X. The third drive assembly 32 includes a third drive unit 321 and a fourth drive unit 322 that are coaxially arranged and spaced apart. The third drive unit 321 and the fourth drive unit 322 are respectively connected to the left and right sides of the support platform 34 for transmission.

[0076] The third drive unit 321 and the fourth drive unit 322 are, for example, motors, such as servo motors. Preferably, the third drive unit 321 and the fourth drive unit 322 are motors of the same model. The third drive unit 321 and the fourth drive unit 322 are independent of each other and can operate independently. When one of the third drive unit 321 or the fourth drive unit 322 is operating, the support platform 34 can swing left and right; when the third drive unit 321 and the fourth drive unit 322 operate synchronously, the support platform 34 can swing up and down; when the third drive unit 321 and the fourth drive unit 322 operate asynchronously, the support platform 34 can swing both left and right and up and down simultaneously. The different operating states of the third drive unit 321 and the fourth drive unit 322 allow the support platform 34 to rotate in two degrees of freedom.

[0077] In some embodiments, the third drive assembly 32 may also include a reducer (not shown), which can improve the positioning accuracy and repeatability of the third drive unit 321 and the fourth drive unit 322, thereby improving the motion accuracy and stability of the third motion mechanism 3.

[0078] Reference Figure 2 and Figure 4 The second transmission assembly 33 includes a third crank 331, a third connecting rod 332, a fourth crank 333, and a fourth connecting rod 334. The third crank 331 and the fourth crank 333 can be symmetrically distributed, as can the third connecting rod 332 and the fourth connecting rod 334. Thus, the third motion mechanism 3 as a whole has a symmetrical structure. This not only ensures that the forces acting on the third motion mechanism 3 during movement are evenly distributed, effectively reducing local stress concentration and vibration, but also makes it easier to precisely adjust the motion state of the third motion mechanism 3 through algorithms and control systems. Furthermore, the symmetrical structure itself has better geometric stability, improving the rigidity and deformation resistance of the third motion mechanism 3.

[0079] Reference Figure 2 and Figure 4 When the third drive assembly 32 is disposed on the third mounting base 31, the third mounting base 31 preferably has a symmetrical structure. The third drive unit 321 and the fourth drive unit 322 are coaxially disposed and respectively mounted on the third mounting base 31, and the third drive unit 321 and the fourth drive unit 322 are symmetrically disposed on the left and right sides of the third mounting base 31 along the central axis of the third mounting base 31. The third crank 331 is connected to the output end of the third drive unit 321, and the third drive unit 321 can drive the third crank 331 to rotate. The two ends of the third connecting rod 332 are movably connected to the third crank 331 and the support platform 34 respectively. The movable connection is, for example, a rotatable connection. The two ends of the third connecting rod 332 are preferably connected to the third crank 331 and the support platform 34 respectively through universal joints. The fourth crank 333 is connected to the output end of the fourth drive unit 322, and the fourth drive unit 322 can drive the fourth crank 333 to rotate. The two ends of the fourth link 334 are movably connected to the fourth crank 333 and the support platform 34, respectively. The movable connection is, for example, a rotatable connection. The two ends of the fourth link 334 are preferably connected to the fourth crank 333 and the support platform 34 via universal joints.

[0080] When the third drive assembly 32 is disposed on the support platform 34, the third drive unit 321 and the fourth drive unit 322 are coaxially disposed and respectively mounted on the support platform 34, that is, the third drive unit 321 and the fourth drive unit 322 are symmetrically disposed on the left and right sides of the support platform 34 along the central axis of the support platform 34. The third crank 331 is connected to the output end of the third drive unit 321. The two ends of the third connecting rod 332 are movably connected to the third crank 331 and the third mounting base 31 respectively. The movable connection is, for example, a rotatable connection. The two ends of the third connecting rod 332 are preferably connected to the third crank 331 and the third mounting base 31 via universal joints. The fourth crank 333 is connected to the output end of the fourth drive unit 322. The two ends of the fourth connecting rod 334 are movably connected to the fourth crank 333 and the third mounting base 31 respectively. The movable connection is, for example, a rotatable connection. The two ends of the fourth connecting rod 334 are preferably connected to the fourth crank 333 and the third mounting base 31 via universal joints.

[0081] Reference Figure 2 and Figure 4 The third crank 331 includes a third main body 3311, a third extension 3312, and a third connecting part 3313. The third main body 3311 is connected to the third connecting part 3313 via the third extension 3312. The third main body 3311 is connected to the end of the third drive unit 321 away from the third mounting base 31. The third extension 3312 is located on the side of the third main body 3311 near the third mounting base 31. The third connecting part 3313 is connected to the end of the third extension 3312 away from the third main body 3311 and is connected to the third connecting rod 332. This reduces the size of the third motion mechanism 3 in the second direction X, thereby reducing the size of the multi-degree-of-freedom motion platform in the second direction X.

[0082] Reference Figure 2 and Figure 4 The fourth crank 333 includes a fourth main body 3331, a fourth extension 3332, and a fourth connecting part 3333. The fourth main body 3331 is connected to the fourth connecting part 3333 via the fourth extension 3332. The fourth main body 3331 is connected to the end of the fourth drive unit 322 away from the third mounting base 31. The fourth extension 3332 is located on the side of the fourth main body 3331 near the third mounting base 31. The fourth connecting part 3333 is connected to the end of the fourth extension 3332 away from the fourth main body 3331. The fourth connecting part 3333 is connected to the fourth connecting rod 334. This reduces the size of the third motion mechanism 3 in the second direction X, thereby reducing the size of the multi-degree-of-freedom motion platform in the second direction X.

[0083] In the axial direction of the third drive unit 321, the third link 332 can be located at the middle position of the third drive unit 321. In the axial direction of the fourth drive unit 322, the fourth link 334 is also located at the middle position of the fourth drive unit 322. This reduces the overall volume of the third motion mechanism 3, thereby reducing the overall volume of the multi-degree-of-freedom motion platform.

[0084] Reference Figure 1 and Figure 2 The multi-degree-of-freedom motion platform has a front side and a rear side, which are the two sides of the multi-degree-of-freedom motion platform in the third direction Y. The third link 332 is located on the front side of the third drive unit 321, and the fourth link 334 is located on the front side of the fourth drive unit 322. Alternatively, the third link 332 is located on the rear side of the third drive unit 321, and the fourth link 334 is located on the rear side of the fourth drive unit 322. That is to say, the third link 332 and the fourth link 334 are simultaneously located on the same side of the third mounting base 31 in the third direction Y, thereby enabling the support platform 34 to move in two degrees of freedom. Furthermore, when the third drive unit 321 and the fourth drive unit 322 simultaneously drive the third crank 331 and the fourth crank 333 to rotate clockwise, or when the third drive unit 321 and the fourth drive unit 322 simultaneously drive the third crank 331 and the fourth crank 333 to rotate counterclockwise, abnormal situations such as jamming can be avoided.

[0085] Reference Figure 2 and Figure 4 The third motion mechanism 3 also includes a second cross shaft 35, through which the support platform 34 is movably connected to the third mounting base 31. The longitudinal direction of one of the rotating shafts of the second cross shaft 35 is parallel to the axial direction of the third drive assembly 32.

[0086] The second cross shaft 35 includes a third rotating shaft 351 and a fourth rotating shaft 352, which are connected. The end of the third rotating shaft 351 furthest from the fourth rotating shaft 352 is movably connected to the support platform 34, for example, through a rotatable connection. Preferably, the end of the third rotating shaft 351 furthest from the fourth rotating shaft 352 is connected to the support platform 34 via a universal joint. The fourth rotating shaft 352 is movably connected to the third mounting base 31, for example, through a rotatable connection. Preferably, the fourth rotating shaft 352 is connected to the third mounting base 31 via a universal joint. The third drive assembly 32 can drive the support platform 34 to rotate around the third rotating shaft 351 and / or the fourth rotating shaft 352. The third rotating shaft 351 and the fourth rotating shaft 352 not only provide support for the support platform 34, ensuring greater stability of its position, but also limit the movement trajectory of the support platform 34, preventing drifting, swaying, and other unstable phenomena during movement, thereby improving movement accuracy and stability. In some embodiments, the third rotating shaft 351 and the fourth rotating shaft 352 are movably connected, such as a rotatable connection, and the third rotating shaft 351 and the fourth rotating shaft 352 are preferably connected by a universal joint.

[0087] As an example, when one of the third drive unit 321 and the fourth drive unit 322 is operating, the support platform 34 rotates around the third pivot 351. When the third drive unit 321 and the fourth drive unit 322 operate synchronously, the support platform 34 rotates around the fourth pivot 352. When the third drive unit 321 and the fourth drive unit 322 operate asynchronously, the support platform 34 rotates around both the third pivot 351 and the fourth pivot 352.

[0088] Reference Figure 2 and Figure 4 The third rotating shaft 351 and the fourth rotating shaft 352 are intersecting. Preferably, the third rotating shaft 351 and the fourth rotating shaft 352 are perpendicular to each other. Both ends of the fourth rotating shaft 352 are movably connected to the third mounting base 31, which can further improve the rotational stability of the bearing platform 34.

[0089] When the third drive assembly 32 is disposed on the third mounting base 31, the support platform 34 facing the third mounting base 31 is provided with a fourth mounting portion 341, a fifth mounting portion 342, and a sixth mounting portion 343. The sixth mounting portion 343 may be located between the fourth mounting portion 341 and the fifth mounting portion 342. The end of the third connecting rod 332 away from the third crank 331 is movably connected to the fourth mounting portion 341, for example, a rotatable connection. Preferably, the end of the third connecting rod 332 away from the third crank 331 is connected to the fourth mounting portion 341 via a universal joint. The end of the fourth connecting rod 334 away from the fourth crank 333 is movably connected to the fifth mounting portion 342, for example, a rotatable connection. Preferably, the end of the fourth connecting rod 334 away from the fourth crank 333 is connected to the fifth mounting portion 342 via a universal joint. The second cross shaft 35 is movably connected to the sixth mounting part 343, that is, the third rotating shaft 351 is movably connected to the sixth mounting part 343. This movable connection is, for example, a rotatable connection, and the third rotating shaft 351 and the sixth mounting part 343 are preferably connected via a universal joint. The fourth mounting part 341, the fifth mounting part 342, and the sixth mounting part 343 ensure the stability and reliability of the connections between the components. In some embodiments, refer to... Figure 5 There are two sixth mounting parts 343, and the two ends of the third rotating shaft 351 are movably connected to the two sixth mounting parts 343 respectively, which can further improve the motion accuracy and stability of the third motion mechanism 3.

[0090] In this application, through the coordinated operation of the first motion mechanism 1, the second motion mechanism 2, and the third motion mechanism 3, the multi-degree-of-freedom motion platform can achieve compound motion with at least five degrees of freedom, including rotation and oscillation in multiple directions. Furthermore, by rationally arranging the positions of each component, the overall volume of the multi-degree-of-freedom motion platform is reduced.

[0091] The above provides a detailed description of a multi-degree-of-freedom motion platform provided by this application. Specific examples have been used to illustrate the principles and implementation methods of this application. The description of the above embodiments is only for the purpose of helping to understand the method and core ideas of this application. At the same time, for those skilled in the art, there will be changes in the specific implementation methods and application scope based on the ideas of this application. Therefore, the content of this specification should not be construed as a limitation of this application.

Claims

1. A multi-degree-of-freedom motion platform, characterized in that, include: A first motion mechanism, comprising a base, a first mounting base, a first drive assembly, and a first transmission assembly, wherein the first drive assembly is capable of moving the first mounting base relative to the base via the first transmission assembly; The second motion mechanism includes a second mounting base, a second drive assembly, and a rotating platform. The second mounting base is connected to the first mounting base, and the second drive assembly is used to drive the rotating platform to rotate. The third motion mechanism includes a third mounting base, a third drive assembly, a second transmission assembly, and a support platform. The third mounting base is connected to the rotating platform, and the third drive assembly can move the support platform relative to the third mounting base through the second transmission assembly.

2. The multi-degree-of-freedom motion platform according to claim 1, characterized in that, The first drive component is disposed on the first mounting base, and the two ends of the first transmission component are respectively connected to the base and the first drive component; or, The first drive component is disposed on the base, and the two ends of the first transmission component are respectively connected to the first mounting base and the first drive component.

3. The multi-degree-of-freedom motion platform according to claim 2, characterized in that, The base has a left side and a right side. The first drive assembly includes a first drive part and a second drive part that are coaxially arranged and spaced apart from each other. The first drive part and the second drive part are respectively connected to the left side and the right side of the base for transmission.

4. The multi-degree-of-freedom motion platform according to claim 3, characterized in that, The first mounting base is configured with a mounting cavity located between the first driving part and the second driving part, and at least a portion of the second driving assembly is mounted in the mounting cavity.

5. The multi-degree-of-freedom motion platform according to claim 3, characterized in that, The first transmission assembly includes a first crank, a first connecting rod, a second crank, and a second connecting rod; When the first drive assembly is disposed on the first mounting base, the first drive unit and the second drive unit are coaxially disposed and respectively mounted on the first mounting base, the first crank is connected to the output end of the first drive unit, and the two ends of the first connecting rod are respectively movably connected to the first crank and the base. The second crank is connected to the output end of the second drive unit, and the two ends of the second connecting rod are respectively movably connected to the second crank and the base.

6. The multi-degree-of-freedom motion platform according to claim 5, characterized in that, The first crank includes a first main body, a first extension, and a first connecting part. The first main body is connected to the first connecting part through the first extension. The first main body is connected to the end of the first drive unit away from the first mounting base. The first extension is located on the side of the first main body close to the first mounting base. The first connecting part is connected to the end of the first extension away from the first main body. The first connecting part is connected to the first connecting rod. The second crank includes a second main body, a second extension, and a second connecting part. The second main body is connected to the second connecting part via the second extension. The second main body is connected to the end of the second drive unit away from the first mounting base. The second extension is located on the side of the second main body close to the first mounting base. The second connecting part is connected to the end of the second extension away from the second main body. The second connecting part is connected to the second connecting rod.

7. The multi-degree-of-freedom motion platform according to claim 5, characterized in that, In the axial direction of the first drive unit, the first connecting rod is located at the middle position of the first drive unit; and / or, in the axial direction of the second drive unit, the second connecting rod is located at the middle position of the second drive unit.

8. The multi-degree-of-freedom motion platform according to claim 5, characterized in that, The multi-degree-of-freedom motion platform has a front side and a rear side, the first link is located on the front side of the first drive unit, and the second link is located on the front side of the second drive unit; Alternatively, the first link is located behind the first drive unit, and the second link is located behind the second drive unit.

9. The multi-degree-of-freedom motion platform according to claim 5, characterized in that, The first motion mechanism further includes a first cross shaft, and the first mounting base is movably connected to the base via the first cross shaft; the length direction of one of the rotating shafts of the first cross shaft is parallel to the axial direction of the first drive component.

10. The multi-degree-of-freedom motion platform according to claim 9, characterized in that, The base has a first mounting part, a second mounting part, and a third mounting part on the side facing the first mounting seat. The end of the first connecting rod away from the first crank is movably connected to the first mounting part. The end of the second connecting rod away from the second crank is movably connected to the second mounting part. The first cross shaft is movably connected to the third mounting part. The third mounting part is located between the first mounting part and the second mounting part.

11. The multi-degree-of-freedom motion platform according to claim 1, characterized in that, The third drive assembly is disposed on the third mounting base, and both ends of the second transmission assembly are respectively connected to the third drive assembly and the support platform; or, The third drive component is disposed on the support platform, and the two ends of the second transmission component are respectively connected to the third mounting base and the third drive component.

12. The multi-degree-of-freedom motion platform according to claim 11, characterized in that, The support platform has a left side and a right side, and the third drive assembly includes a third drive part and a fourth drive part that are coaxially arranged and spaced apart from each other. The third drive part and the fourth drive part are respectively connected to the left side and the right side of the support platform for transmission.

13. The multi-degree-of-freedom motion platform according to claim 12, characterized in that, The second transmission assembly includes a third crank, a third connecting rod, a fourth crank, and a fourth connecting rod; When the third drive assembly is disposed on the third mounting base, the third drive unit and the fourth drive unit are coaxially disposed and respectively mounted on the third mounting base, the third crank is connected to the output end of the third drive unit, and the two ends of the third connecting rod are respectively movably connected to the third crank and the bearing platform; The fourth crank is connected to the output end of the fourth drive unit, and the two ends of the fourth connecting rod are respectively movably connected to the fourth crank and the support platform.

14. The multi-degree-of-freedom motion platform according to claim 13, characterized in that, The third crank includes a third main body, a third extension, and a third connecting part. The third main body is connected to the third connecting part through the third extension. The third main body is connected to the end of the third drive unit away from the third mounting base. The third extension is located on the side of the third main body close to the third mounting base. The third connecting part is connected to the end of the third extension away from the third main body. The third connecting part is connected to the third connecting rod. The fourth crank includes a fourth main body, a fourth extension, and a fourth connecting part. The fourth main body is connected to the fourth connecting part via the fourth extension. The fourth main body is connected to the end of the fourth drive unit away from the third mounting base. The fourth extension is located on the side of the fourth main body close to the third mounting base. The fourth connecting part is connected to the end of the fourth extension away from the fourth main body. The fourth connecting part is connected to the fourth connecting rod.

15. The multi-degree-of-freedom motion platform according to claim 13, characterized in that, In the axial direction of the third drive unit, the third link is located at the middle position of the third drive unit; and / or, in the axial direction of the fourth drive unit, the fourth link is located at the middle position of the fourth drive unit.

16. The multi-degree-of-freedom motion platform according to claim 13, characterized in that, The multi-degree-of-freedom motion platform has a front side and a rear side, the third link is located on the front side of the third drive unit, and the fourth link is located on the front side of the fourth drive unit; Alternatively, the third link is located behind the third drive unit, and the fourth link is located behind the fourth drive unit.

17. The multi-degree-of-freedom motion platform according to claim 13, characterized in that, The third motion mechanism further includes a second cross shaft, and the bearing platform is movably connected to the third mounting base through the second cross shaft; the length direction of one of the rotating shafts of the second cross shaft is parallel to the axial direction of the third drive assembly.

18. The multi-degree-of-freedom motion platform according to claim 17, characterized in that, The bearing platform is provided with a fourth mounting part, a fifth mounting part and a sixth mounting part on the side facing the third mounting base. The end of the third connecting rod away from the third crank is movably connected to the fourth mounting part, the end of the fourth connecting rod away from the fourth crank is movably connected to the fifth mounting part, and the second cross shaft is movably connected to the sixth mounting part. The sixth mounting part is located between the fourth mounting part and the fifth mounting part.

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