Multi-degree of freedom motion platform

Abstract

The application discloses a multi-degree-of-freedom motion platform, which comprises a main supporting mechanism and at least one secondary supporting mechanism. The main supporting mechanism comprises a main supporting part, a main movable part and a main driving assembly which is used for driving the main movable part to move relative to the main supporting part. The secondary supporting mechanism comprises a secondary supporting part, a secondary movable part and a secondary driving assembly which is used for driving the secondary movable part to move relative to the secondary supporting part. The main movable part is detachably connected with the secondary supporting part. The detachable connection between the main movable part and the secondary supporting part enables the main supporting mechanism and the secondary supporting mechanism to be detachable, so that the main supporting mechanism and any secondary supporting mechanism can be assembled according to the required degree of freedom of the motion platform, and the motion platform can adapt to the degree of freedom requirement in different scenes.

Description

Technical Field

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

[0002] Motion platforms are widely used in industrial production, entertainment and leisure fields, such as motion simulation, stability compensation, and motion simulation.

[0003] In related technologies, to increase the degree of freedom of movement, motion platforms typically fix the main support mechanism and the secondary support mechanism together. However, since the main support mechanism and the secondary support mechanism cannot be disassembled after being fixed together, the motion platform cannot adapt to the degree of freedom requirements in different scenarios. Utility Model Content

[0004] This application provides a multi-degree-of-freedom motion platform that can adapt to the degree-of-freedom requirements in different scenarios, thereby at least partially solving the above-mentioned technical problems.

[0005] To achieve the above objectives, this application provides a multi-degree-of-freedom motion platform, comprising:

[0006] The main support mechanism includes a main support component, a main moving component, and a main drive assembly that drives the main support component and the main moving component to move relative to the main support component.

[0007] At least one secondary support mechanism, the secondary support mechanism including a secondary support member, a secondary movable member, and a secondary drive assembly for driving the secondary support member and the secondary movable member to move relative to the secondary support member;

[0008] The main moving part and the secondary support part are detachably connected.

[0009] Optionally, the main drive assembly is used to drive the main moving member to rotate with multiple degrees of freedom relative to the main support member; and / or,

[0010] The secondary drive assembly is used to drive the secondary moving part to rotate relative to the secondary support part in at least one degree of freedom.

[0011] Optionally, the multi-degree-of-freedom motion platform includes a primary support mechanism, which includes a primary support member, a primary moving member, and a primary drive assembly. The primary drive assembly is used to drive the primary moving member to move in one degree of freedom relative to the primary support member. The primary moving member is detachably connected to the primary support member.

[0012] Optionally, the main drive assembly is used to drive the main movable member to rotate independently relative to the main support member around the first axis and the second axis, and the first drive assembly is used to drive the first movable member to rotate relative to the first support member around the third axis. The first axis and the second axis are set at a certain angle and are both perpendicular to the third axis.

[0013] Optionally, the first drive assembly includes a first motor, and the main moving part has a receiving cavity that matches the first motor, with at least a portion of the first motor extending into the receiving cavity.

[0014] Optionally, the multi-degree-of-freedom motion platform includes a second support mechanism, which includes a second support member, a second movable member, and a second drive assembly. The second drive assembly is used to drive the second movable member to move independently in two degrees of freedom relative to the second support member. The first movable member is detachably connected to the second support member.

[0015] Optionally, the multi-degree-of-freedom motion platform includes a second support mechanism, which includes a second support member, and the main moving member is detachably connected to the second support member.

[0016] Optionally, the second drive assembly is used to drive the second movable member to rotate independently relative to the second support member around the fourth and fifth axes, and the first drive assembly is used to drive the first movable member to rotate relative to the first support member around the third axis. The fourth and fifth axes are set at a certain angle and are both perpendicular to the third axis.

[0017] Optionally, the first drive assembly is used to drive the first moving part to rotate relative to the first support part around the third axis, and the main support mechanism, the first support mechanism, and the second support mechanism are arranged along the third axis.

[0018] Optionally, the main drive assembly includes a first main motor and a first main drive structure connected to the first main motor, one of the first main motor and the first main drive structure being connected to the main support member, and the other of the first main motor and the first main drive structure being connected to the main moving member;

[0019] The main drive assembly includes a second main motor and a second main drive structure connected to the second main motor. One of the second main motor and the second main drive structure is connected to the main support member, and the other of the second main motor and the second main drive structure is connected to the main moving member.

[0020] Optionally, the main drive assembly includes a main universal joint connecting the main support member and the main moving member, with a first main motor and a second main motor disposed on opposite sides of the universal joint.

[0021] Optionally, the first main drive structure includes a first main crank and a first main connecting rod. The first main crank includes a first crank portion connected to the first main motor and a first mating portion connected to the first main connecting rod. The first crank portion is located on one side of the axial direction of the first main motor, and the first mating portion is located on one side of the radial direction of the first main motor; and / or,

[0022] The second main drive structure includes a second main crank and a second main connecting rod. The second main crank includes a second crank portion connected to the second main motor and a second mating portion connected to the second main connecting rod. The second crank portion is located on one side of the axial direction of the second main motor, and the second mating portion is located on one side of the radial direction of the second main motor.

[0023] In the multi-degree-of-freedom motion platform of this application embodiment, the main support mechanism and the secondary support mechanism are detachable through the detachable connection between the main moving part and the secondary support part. This allows the main support mechanism and any secondary support mechanism to be assembled according to the degree of freedom required by the motion platform, so that the motion platform can adapt to the degree of freedom requirements in different scenarios.

[0024] Other features and advantages of this application will be described in detail in the following detailed description section. Attached Figure Description

[0025] 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 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.

[0026] To gain a more complete understanding of this application and its beneficial effects, the following description will be provided in conjunction with the accompanying drawings, wherein the same reference numerals in the following description denote the same parts.

[0027] Figure 1 This is a schematic diagram of the overall structure of the multi-degree-of-freedom motion platform provided in an exemplary embodiment of this disclosure;

[0028] Figure 2 This is an exploded view of a multi-degree-of-freedom motion platform provided in another exemplary embodiment of this disclosure;

[0029] Figure 3 yes Figure 1 Exploded view of a multi-degree-of-freedom motion platform;

[0030] Figure 4 This is an exploded view of a multi-degree-of-freedom motion platform provided in yet another exemplary embodiment of this disclosure;

[0031] Figure 5This is a schematic diagram of the overall structure of the main support mechanism provided in an exemplary embodiment of this disclosure;

[0032] Figure 6 This is a schematic diagram of the overall structure of the second support mechanism provided in an exemplary embodiment of this disclosure.

[0033] Explanation of reference numerals in the attached figures:

[0034] 1. Main support mechanism; 11. Main support component; 12. Main moving component; 121. Receiving cavity; 122. Through hole; 13. Main drive assembly; 131. First main motor; 132. First main transmission structure; 1321. First main crank; 13211. First crank section; 13212. First docking section; 1322. First main connecting rod; 133. Second main motor; 134. Second main transmission structure; 1341. Second main crank; 13411. Second crank section; 13412. Second docking section; 1342. Second main connecting rod; 135. Main universal joint; 1351. First main rotating shaft; 1352. Second main rotating shaft;

[0035] 2. Secondary support mechanism; 2a. First support mechanism; 2b. Secondary support mechanism; 21. Secondary support member; 21a. First support member; 21b. Secondary support member; 22. Secondary moving member; 22a. First moving member; 22b. Secondary moving member; 23. Secondary drive assembly; 23a. First drive assembly; 231a. First motor; 23b. Second drive assembly; 231b. Secondary left motor; 232b. Secondary left transmission structure; 2321b 23211b, Second left secondary crank; 23212b, Second left connecting part; 2322b, Second left secondary connecting rod; 233b, Second right secondary motor; 234b, Second right secondary transmission structure; 2341b, Second right secondary crank; 23411b, Second right crank part; 23412b, Second right connecting part; 2342b, Second right secondary connecting rod; 235b, Secondary universal joint; 2351b, First rotating shaft; 2352b, Second rotating shaft. Detailed Implementation

[0036] 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 a part of the embodiments of this application, and not all of them. All other embodiments obtained by those skilled in the art based on the embodiments of this application without creative effort are within the protection scope of this application.

[0037] It should be understood that terms such as “having,” “comprising,” and “including” as used herein do not exclude the presence or addition of one or more other elements or combinations thereof.

[0038] Please see Figure 1 This application provides a multi-degree-of-freedom motion platform, including a main support mechanism 1 and at least one secondary support mechanism 2. In this embodiment, the main support mechanism 1 is used to support the bottom of the secondary support mechanism 2.

[0039] For example, a multi-degree-of-freedom motion platform includes a main support mechanism 1 and a secondary support mechanism 2. Alternatively, a multi-degree-of-freedom motion platform includes a main support mechanism 1 and one or more (e.g., two) secondary support mechanisms 2.

[0040] For example, a multi-degree-of-freedom motion platform includes a main support mechanism 1, and includes a first support mechanism 2a and / or a second support mechanism 2b.

[0041] In some embodiments, in conjunction with reference Figure 2 As shown, the main support mechanism 1 includes a main support member 11, a main movable member 12, and a main drive assembly 13 that drives the main support member 11 and the main movable member 12. In this embodiment, the main support member 11 can be fixed to the mounting platform (e.g., a desktop or humanoid robot) using a flange structure (e.g., multiple flange holes arranged circumferentially and bolts). The main movable member 12 can be fixed to the secondary support mechanism 2 using a flange structure.

[0042] In some embodiments, the main drive assembly 13 is used to drive the main movable member 12 to move relative to the main support member 11. In this embodiment, after the main support member 11 is fixed, the main drive assembly 13 can drive the main movable member 12 to move relative to the main support member 11, for example, to perform multiple free movements. The main drive assembly 13 drives the main movable member 12 to move in the manner of rotation or displacement.

[0043] In some embodiments, the secondary support mechanism 2 includes a secondary support member 21, a secondary movable member 22, and a secondary drive assembly 23 that drives the secondary support member 21 and the secondary movable member 22. In this embodiment, the secondary support member 21 can be fixed to the main movable member 12 using a flange structure. The secondary movable member 22 can be fixed to the platform to be driven (e.g., a multimodal sensing platform) using a flange structure.

[0044] In some embodiments, the secondary drive assembly 23 is used to drive the secondary movable member 22 to move relative to the secondary support member 21. In this embodiment, after the secondary support member 21 is fixed to the main support mechanism 1, the secondary drive assembly 23 can drive the secondary movable member 22 to move relative to the secondary support member 21, for example, to perform at least one free movement. The secondary drive assembly 23 drives the secondary movable member 22 to move in the manner of rotation or displacement.

[0045] In some embodiments, the main moving member 12 and the secondary support member 21 are detachably connected. In this embodiment, the detachable connection between the main moving member 12 and the secondary support member 21 facilitates the installation and disassembly of the main support mechanism 1 and the secondary support mechanism 2, which is beneficial for the manufacturing and subsequent maintenance of the multi-degree-of-freedom motion platform.

[0046] In this embodiment, when it is necessary to change the degrees of freedom of the multi-degree-of-freedom motion platform, the main support mechanism 1 can be docked with different secondary support mechanisms 2, or the main support mechanism 1 can be docked with different numbers of secondary support mechanisms 2, thereby improving the flexibility of the multi-degree-of-freedom motion platform.

[0047] For example, the main moving part 12 and the secondary support part 21 are detachably connected by a matching flange structure, which can meet the coaxiality requirements between the main moving part 12 and the secondary support part 21.

[0048] The main moving part 12 and the secondary support part 21 are detachable, so that the main support mechanism 1 and the secondary support mechanism 2 can be detached. This allows the main support mechanism 1 and any secondary support mechanism 2 to be assembled according to the degree of freedom required by the motion platform, enabling the motion platform to adapt to the degree of freedom requirements in different scenarios.

[0049] In some embodiments, the main drive assembly 13 is used to drive the main moving member 12 to perform rotational motion with multiple degrees of freedom relative to the main support member 11.

[0050] In this embodiment, the main drive component 13 drives the main moving part 12 to perform multiple degrees of freedom movements in a rotational motion mode. Compared with a scheme where the motion mode is translational motion, this can reduce the range of motion of the main moving part 12, that is, reduce the range of motion of the secondary support mechanism 2, thereby saving the activity space of the multi-degree-of-freedom motion platform.

[0051] For example, the main drive assembly 13 is used to drive the main moving member 12 to rotate with two degrees of freedom relative to the main support member 11.

[0052] In some embodiments, the main support mechanism 1 uses the main drive component 13 to drive the main moving part 12 to move independently with multiple degrees of freedom relative to the main support component 11. That is, the main drive component 13 adopts a parallel degree of freedom superposition, so that the independent movement of each degree of freedom in the main drive component 13 can share the load of the secondary support mechanism 2, thereby improving the load-bearing capacity of the main support mechanism 1 for the secondary support mechanism 2.

[0053] In this embodiment, independent motion of multiple degrees of freedom means that when one degree of freedom is moving, another degree of freedom (or other degrees of freedom) can also move simultaneously.

[0054] In some embodiments, the secondary drive assembly 23 is used to drive the secondary moving member 22 to rotate relative to the secondary support member 21 with at least one degree of freedom.

[0055] In this embodiment, the secondary drive component 23 drives the secondary moving component 22 to perform at least one degree of freedom of motion in rotational motion. Compared with the solution of translational motion, the range of motion of the secondary moving component 22 can be reduced, that is, the range of motion of the platform to be driven (e.g., multimodal sensing platform) can be reduced, thereby saving the activity space of the multi-degree-of-freedom motion platform.

[0056] In some embodiments, the main moving part 12 and the secondary moving part 22 both move in rotational motion, which reduces the range of motion of the multi-degree-of-freedom motion platform and is beneficial for miniaturized application scenarios of the multi-degree-of-freedom motion platform.

[0057] Examples of miniaturized application scenarios for multi-degree-of-freedom motion platforms include: "In home use scenarios, the multi-degree-of-freedom motion platform integrates a multimodal perception platform onto a desktop" and "In humanoid robot usage scenarios, the multi-degree-of-freedom motion platform integrates a multimodal perception platform onto a humanoid robot".

[0058] The sensing data that the multimodal sensing platform can obtain includes:

[0059] Vision: Converted into image and video data, used to perceive visual information such as the shape, color, size, and position of objects;

[0060] Hearing: Converted into audio data to capture auditory information such as the frequency, amplitude, and timbre of sound;

[0061] Olfactory sense: Converted into gas concentration data, used to detect the composition and concentration of specific gases in the air;

[0062] Temperature sensing: converts data into temperature data for measuring changes in ambient temperature;

[0063] Microphone array: Converts audio data into multi-channel audio data to improve sound localization and noise reduction capabilities, thereby enhancing the accuracy of speech recognition;

[0064] Human sensing: converts data into information on human presence and activity, used to detect information such as human presence, location, and movements;

[0065] Humidity sensor: converts data into humidity data for measuring the relative humidity in the environment.

[0066] In other embodiments, the movement mode of the main moving part 12 and / or the movement mode of the secondary moving part 22 may also be translational motion, thereby meeting the different usage needs of the multi-degree-of-freedom motion platform.

[0067] In some embodiments, the multi-degree-of-freedom motion platform includes a primary support mechanism 2a. In this embodiment, as... Figure 2 The multi-degree-of-freedom motion platform consists of the main support mechanism 1 and the first support mechanism 2a.

[0068] In some embodiments, the first support mechanism 2a includes a first support member 21a, a first movable member 22a, and a first drive assembly 23a, wherein the first drive assembly 23a is used to drive the first movable member 22a to move with one degree of freedom relative to the first support member 21a.

[0069] In this embodiment, the multi-degree-of-freedom motion platform is composed of a main support mechanism 1 with at least two degrees of freedom and a first support mechanism 2a with one degree of freedom, so that the multi-degree-of-freedom motion platform includes at least three degrees of freedom of motion, which simplifies the structure of the multi-degree-of-freedom motion platform and meets the needs of specific scenarios, such as the use scenario of humanoid robots.

[0070] In some embodiments, the main movable member 12 is detachably connected to the first support member 21a.

[0071] In this embodiment, as Figure 2 The main moving part 12 and the first support part 21a are detachably connected using a flange structure. That is, corresponding flange holes are provided on the main moving part 12 and the first support part 21a, and the corresponding flange holes are connected by bolts to meet the coaxiality requirements between the main moving part 12 and the first support part 21a.

[0072] In this embodiment, the main support mechanism 1 and the first support mechanism 2a are connected end-to-end. The multimodal sensing platform is connected to the first moving part 22a.

[0073] In some embodiments, the main drive assembly 13 is used to drive the main moving member 12 to rotate independently relative to the main support member 11 about a first axis and a second axis.

[0074] In this embodiment, when the main drive assembly 13 drives the main movable member 12 to rotate around the first axis (e.g., rotate clockwise or counterclockwise around the first axis), the main movable member 12 cannot rotate around the second axis. When the main drive assembly 13 drives the main movable member 12 to rotate around the second axis (e.g., rotate clockwise or counterclockwise around the second axis), the main movable member 12 cannot rotate around the first axis.

[0075] For example, such as Figure 1 and Figure 2 As shown, the first axis is parallel to the X-axis, for example, it can extend in the left-right direction. The second axis is parallel to the Y-axis, for example, it can extend in the front-back direction.

[0076] In some embodiments, the first drive component 23a is used to drive the first movable component 22a to rotate relative to the first support component 21a about a third axis.

[0077] In this embodiment, the first driving component 23a drives the first moving component 22a to rotate around the third axis, for example, rotating clockwise or counterclockwise around the third axis.

[0078] For example, such as Figure 1 and Figure 2 As shown, the third axis is parallel to the Z-axis, for example, it can extend along the vertical direction.

[0079] In some embodiments, the first axis and the second axis are set at a certain angle, and both are perpendicular to the third axis.

[0080] In this embodiment, the first axis and the second axis have a certain angle between them, that is, the angle between them is not 0° or 180°. Both the first axis and the second axis are perpendicular to the third axis. At this time, the third axis is perpendicular to the plane containing the first axis and the second axis (e.g., the horizontal plane).

[0081] In this embodiment, the first movable component 22a can rotate relative to the main support component 11 around three different axes (i.e., the first axis, the second axis, and the third axis), thus making it suitable for use scenarios of humanoid robots.

[0082] For example, the first, second, and third axes are mutually perpendicular and intersect at a single point. The first and second axes are coplanar, for example, both of them lie in a horizontal plane.

[0083] In some embodiments, the first drive component 23a includes a first motor 231a.

[0084] In this embodiment, the first motor 231a includes a first housing connected to the first support member 21a and a first shaft connected to the first movable member 22a, so that the first movable member 22a can rotate relative to the first support member 21a, that is, rotate around the third axis.

[0085] In some embodiments, the main moving member 12 has a receiving cavity 121 that matches the first motor 231a.

[0086] In this embodiment, the inner diameter of the receiving cavity 121 matches the outer dimensions of the first motor 231a (i.e., the first housing), thereby facilitating the positioning and installation of the first motor 231a and the main moving part 12. When the first motor 231a (i.e., the first housing) extends into the receiving cavity 121, it can limit the offset between the first motor 231a and the main moving part 12 (e.g., limit radial offset).

[0087] In some embodiments, at least a portion of the first motor 231a extends into the receiving cavity 121.

[0088] In this embodiment, the first motor 231a (i.e. the first housing) extends into the receiving cavity 121, so that the main moving part 12 can store the first motor 231a, thereby reducing the space occupied by the multi-degree-of-freedom motion platform and improving the integration of the multi-degree-of-freedom motion platform.

[0089] In this embodiment, the receiving cavity 121 is a groove-shaped structure with an open top. After the first motor 231a (i.e. the first housing) extends into the receiving cavity 121, the main moving part 12 can be supported on the bottom of the first motor 231a to ensure the smooth operation of the first motor 231a.

[0090] In some embodiments, the main movable member 12 includes a through hole 122 communicating with the receiving cavity 121, through which the receiving cavity 121 can be exposed to the outside.

[0091] In this embodiment, the through hole 122 facilitates heat dissipation for the primary motor 231a inside the cavity 121. Users can also route wiring, such as the wiring for the primary motor 231a, through the through hole 122.

[0092] In this embodiment, the user can operate inside the receiving cavity 121 through the through hole 122 without having to operate from the top opening of the receiving cavity 121. For example, the user can use the through hole 122 to inspect or maintain the first motor 231a.

[0093] For example, the main moving part 12 includes two through holes 122, which are located on the front and rear sides of the main moving part 12, enhancing heat dissipation while providing more wiring space and operating space.

[0094] In some embodiments, the multi-degree-of-freedom motion platform includes a secondary support mechanism 2b. In this embodiment, as... Figure 1 and Figure 3 The multi-degree-of-freedom motion platform consists of a main support mechanism 1, a first support mechanism 2a, and a second support mechanism 2b.

[0095] In some embodiments, the second support mechanism 2b includes a second support member 21b, a second movable member 22b, and a second drive assembly 23b, the second drive assembly 23b being used to drive the second movable member 22b to move independently with two degrees of freedom relative to the second support member 21b.

[0096] In this embodiment, the multi-degree-of-freedom motion platform consists of a main support mechanism 1 with at least two degrees of freedom, a first support mechanism 2a with one degree of freedom, and a second support mechanism 2b with two degrees of freedom. This allows the multi-degree-of-freedom motion platform to include at least five degrees of freedom of motion, enabling it to achieve more degrees of freedom of motion and meet the needs of specific scenarios, such as desktop use in a home setting.

[0097] In this embodiment, as Figure 1 and Figure 3 Only the main support mechanism 1 (i.e. the main moving part 12) has a receiving cavity 121, while the second support mechanism 2b does not have a corresponding receiving cavity, thereby reducing the space occupied by the second support mechanism 2b.

[0098] In some embodiments, the first movable member 22a is detachably connected to the second support member 21b.

[0099] In this embodiment, as Figure 1 and Figure 3 The first movable part 22a and the second support part 21b are detachably connected using a flange structure. That is, corresponding flange holes are provided on the first movable part 22a and the second support part 21b, and the corresponding flange holes are connected by bolts to meet the coaxiality requirements between the first movable part 22a and the second support part 21b.

[0100] In this embodiment, the main support mechanism 1, the first support mechanism 2a, and the second support mechanism 2b are connected end-to-end in sequence. The multimodal sensing platform is connected to the second moving part 22b.

[0101] In some embodiments, the second drive assembly 23b is used to drive the second movable member 22b to rotate independently relative to the second support member 21b about the fourth axis and the fifth axis.

[0102] In this embodiment, when the second drive assembly 23b drives the second movable member 22b to rotate around the fourth axis (e.g., clockwise or counterclockwise around the fourth axis), the second movable member 22b cannot rotate around the fifth axis. Similarly, when the second drive assembly 23b drives the second movable member 22b to rotate around the fifth axis (e.g., clockwise or counterclockwise around the fifth axis), the second movable member 22b cannot rotate around the fourth axis.

[0103] For example, such as Figure 1 and Figure 3 As shown, the fourth axis is parallel to the X-axis, for example, it can extend in the left-right direction. The fifth axis is parallel to the Y-axis, for example, it can extend in the front-back direction.

[0104] For example, such as Figure 1 As shown, the first axis is parallel to the fourth axis. The second axis is parallel to the fifth axis.

[0105] In some embodiments, the first drive component 23a is used to drive the first movable component 22a to rotate relative to the first support component 21a about a third axis.

[0106] In this embodiment, the first driving component 23a drives the first moving component 22a to rotate around the third axis, for example, rotating clockwise or counterclockwise around the third axis.

[0107] For example, such as Figure 1 and Figure 3 As shown, the third axis is parallel to the Z-axis, for example, it can extend along the vertical direction.

[0108] In some embodiments, the fourth axis and the fifth axis are set at a certain angle and are both perpendicular to the third axis.

[0109] In this embodiment, the fourth axis and the fifth axis have a certain angle between them, that is, the angle between them is not 0° or 180°. Both the fourth axis and the fifth axis are perpendicular to the third axis. At this time, the third axis is perpendicular to the plane (e.g., the horizontal plane) in which the fourth axis and the fifth axis are located.

[0110] In this embodiment, the second movable member 22b can rotate relative to the main support member 11 around five different axes (i.e., the first axis, the second axis, the third axis, the fourth axis, and the fifth axis), thus making it suitable for desktop use in home settings.

[0111] For example, the fourth, fifth, and third axes are mutually perpendicular, and the three axes intersect at a single point. The fourth and fifth axes are coplanar, for example, both of them lie in a horizontal plane.

[0112] In some embodiments, the main support mechanism 1, the first support mechanism 2a, and the second support mechanism 2b are arranged along a third axis.

[0113] In this embodiment, as Figure 3 The main support mechanism 1, the first support mechanism 2a, and the second support mechanism 2b are arranged sequentially along the third axis and connected end to end with each other, which can reduce the size of the multi-degree-of-freedom motion platform along the direction perpendicular to the third axis.

[0114] In this embodiment, as Figure 1 The first support mechanism 2a is located between the main support mechanism 1 and the second support mechanism 2b. When the first motor 231a extends into the main moving part 12, the main support mechanism 1 and the second support mechanism 2b are arranged opposite each other along the third axis, which reduces the size of the multi-degree-of-freedom motion platform along the third axis, making the structure of the multi-degree-of-freedom motion platform more compact and occupying less space, which is conducive to miniaturization.

[0115] In some embodiments, the multi-degree-of-freedom motion platform includes a secondary support mechanism 2b. In this embodiment, as... Figure 4 The multi-degree-of-freedom motion platform consists of a main support mechanism 1 and a secondary support mechanism 2b.

[0116] In this embodiment, the multi-degree-of-freedom motion platform is composed of a main support mechanism 1 with at least two degrees of freedom and a secondary support mechanism 2b with two degrees of freedom, so that the multi-degree-of-freedom motion platform includes at least four degrees of freedom of motion, enabling the multi-degree-of-freedom motion platform to meet the usage needs of specific scenarios, such as desktop use in a home setting.

[0117] In some embodiments, the main movable member 12 is detachably connected to the secondary support member 21b.

[0118] In this embodiment, as Figure 4 The main moving part 12 and the secondary support part 21b are detachably connected using a flange structure. That is, corresponding flange holes are provided on the main moving part 12 and the secondary support part 21b, and the corresponding flange holes are connected by bolts to meet the coaxiality requirements between the main moving part 12 and the secondary support part 21b.

[0119] In this embodiment, the main support mechanism 1 and the secondary support mechanism 2b are connected end-to-end. The multimodal sensing platform is connected to the secondary moving part 22b.

[0120] In this embodiment, as Figure 4 The main support mechanism 1 and the second support mechanism 2b adopt the same structure. In this case, the main support mechanism 1 and the second support mechanism 2b are symmetrically arranged along the third axis, which simplifies the structure of the multi-degree-of-freedom motion platform. Neither the main support mechanism 1 nor the second support mechanism 2b is provided with a corresponding receiving cavity, thereby reducing the space occupied by the main support mechanism 1 and the second support mechanism 2b.

[0121] In some embodiments, in conjunction with reference Figure 5 As shown, the main drive assembly 13 includes a first main motor 131 and a first main transmission structure 132 connected to the first main motor 131.

[0122] In this embodiment, the first main motor 131 includes a first main housing and a first main shaft. The first main housing is connected to the main moving member 12, and the first main shaft is connected to the first main transmission structure 132, so that the main moving member 12 and the first main transmission structure 132 can rotate relative to each other.

[0123] In some embodiments, one of the first main motor 131 and the first main drive structure 132 is connected to the main support member 11, and the other of the first main motor 131 and the first main drive structure 132 is connected to the main moving member 12.

[0124] In this embodiment, when the first main drive structure 132 is connected to (e.g., hinged to) the main support member 11 and the first main motor 131 is connected to the main movable member 12, the first main motor 131 applies a force to the main support member 11 through the first main drive structure 132. Under the action of the reaction force of this force, the first main motor 131 moves with the main movable member 12 (e.g., rotates).

[0125] In other embodiments, when the first main motor 131 is connected to the main support member 11 and the first main drive structure 132 is connected to (e.g., hinged to) the main movable member 12, the first main drive structure 132 moves (e.g., rotates) with the main movable member 12. That is, it is sufficient to ensure that there is relative movement between the main movable member 12 and the main support member 11.

[0126] In some embodiments, continue to refer to Figure 5 As shown, the main drive assembly 13 includes a second main motor 133 and a second main transmission structure 134 connected to the second main motor 133.

[0127] In this embodiment, the second main motor 133 includes a second main housing and a second main shaft. The second main housing is connected to the main moving member 12, and the second main shaft is connected to the second main transmission structure 134, so that the main moving member 12 and the second main transmission structure 134 can rotate relative to each other.

[0128] In some embodiments, one of the second main motor 133 and the second main drive structure 134 is connected to the main support member 11, and the other of the second main motor 133 and the second main drive structure 134 is connected to the main moving member 12.

[0129] In this embodiment, when the second main drive structure 134 is connected to (e.g., hinged to) the main support member 11 and the second main motor 133 is connected to the main movable member 12, the second main motor 133 moves (e.g., rotates) with the main movable member 12.

[0130] In other embodiments, when the second main motor 133 is connected to the main support member 11 and the second main drive structure 134 is connected to (e.g., hinged to) the main movable member 12, the second main drive structure 134 moves (e.g., rotates) with the main movable member 12. That is, it is sufficient to ensure that there is relative movement between the main movable member 12 and the main support member 11.

[0131] For example, such as Figure 5 When the first main motor 131 and the second main motor 133 rotate in the same direction, the main moving part 12 moves along the first axis (i.e., Figure 5 The main moving part 12 rotates along the second axis (i.e., the X-axis); when the first main motor 131 and the second main motor 133 rotate in opposite directions, the main moving part 12 rotates along the second axis (i.e., the X-axis). Figure 5 Rotate along the Y-axis.

[0132] In some embodiments, continue to refer to Figure 5 As shown, the main drive assembly 13 includes a main universal joint 135 that connects the main support member 11 and the main moving member 12.

[0133] In this embodiment, the main universal joint 135 includes a first main rotating shaft 1351 and a second main rotating shaft 1352 connected to each other. The two ends of the first main rotating shaft 1351 are connected to the main moving member 12 via bearing seats, enabling relative rotation between the first main rotating shaft 1351 and the main moving member 12. The two ends of the second main rotating shaft 1352 are connected to the main support member 11 via bearing seats, enabling relative rotation between the second main rotating shaft 1352 and the main support member 11.

[0134] In this embodiment, the axis of the first main rotating shaft 1351 and the axis of the second main rotating shaft 1352 are set at a certain angle. The axes of the first main rotating shaft 1351 and the second main rotating shaft 1352 are perpendicular to each other, so that the main universal joint 135 forms a cross shaft.

[0135] For example, the axis of the first main rotation axis 1351 is parallel to... Figure 5 The X-axis, for example, extends along the left-right direction. The axis of the second main rotation axis 1352 is parallel to... Figure 5 The Y-axis in the model, for example, extends along the front-back direction.

[0136] In some embodiments, the first main motor 131 and the second main motor 133 are disposed on opposite sides of the universal joint.

[0137] In this embodiment, the main universal joint 135 is located between the first main motor 131 and the second main motor 133, so that when the first main motor 131 and the second main motor 133 move with the main moving part 12, the overall structure of the main support mechanism 1 is more stable and it is not easy to shake during the movement.

[0138] In this embodiment, the main universal joint 135 is centrally located, making the overall layout of the main support mechanism 1 more compact and aesthetically pleasing.

[0139] For example, such as Figure 1 The first main motor 131 and the second main motor 133 are located on opposite sides of the main moving part 12 (i.e., the receiving cavity 121) along the first axis, increasing the distance between the first main motor 131 and the second main motor 133 to facilitate heat dissipation.

[0140] In some embodiments, in conjunction with reference Figure 6 As shown, the main drive assembly 13 and the second drive assembly 23b adopt the same structure, which simplifies the structure of the multi-degree-of-freedom motion platform, improves the versatility between parts, and facilitates the manufacturing and maintenance of the multi-degree-of-freedom motion platform.

[0141] In some embodiments, continue to refer to Figure 6 As shown, the second drive assembly 23b includes a second left motor 231b and a second left transmission structure 232b connected to the second left motor 231b.

[0142] In this embodiment, the second left motor 231b includes a second left housing and a second left shaft. The second left housing is connected to the second support member 21b, and the second left shaft is connected to the second left transmission structure 232b, so that the second support member 21b and the second left transmission structure 232b can rotate relative to each other.

[0143] In some embodiments, one of the second left secondary motor 231b and the second left secondary transmission structure 232b is connected to the second support member 21b, and the other of the second left secondary motor 231b and the second left secondary transmission structure 232b is connected to the second movable member 22b.

[0144] In this embodiment, when the second left secondary transmission structure 232b is connected to (e.g., hinged to) the second movable member 22b and the second left secondary motor 231b is connected to the second support member 21b, the second left secondary transmission structure 232b moves with the second movable member 22b (e.g., rotates).

[0145] In other embodiments, when the second left secondary drive structure 232b is connected (e.g., hinged to) the second support member 21b and the second left secondary motor 231b is connected to the second movable member 22b, the second left secondary motor 231b moves (e.g., rotates) with the main movable member 12. That is, it is sufficient to ensure that there is relative movement between the second movable member 22b and the second support member 21b.

[0146] In some embodiments, continue to refer to Figure 6As shown, the second drive assembly 23b includes a second right secondary motor 233b and a second right secondary transmission structure 234b connected to the second right secondary motor 233b.

[0147] In this embodiment, the second right secondary motor 233b includes a second right secondary housing and a second right secondary motor shaft. The second right secondary housing is connected to the second support member 21b, and the second right secondary motor shaft is connected to the second right secondary transmission structure 234b, so that the second support member 21b and the second right secondary transmission structure 234b can rotate relative to each other.

[0148] In some embodiments, one of the second right secondary motor 233b and the second right secondary transmission structure 234b is connected to the second support member 21b, and the other of the second right secondary motor 233b and the second right secondary transmission structure 234b is connected to the second movable member 22b.

[0149] In this embodiment, when the second right secondary transmission structure 234b is connected to (e.g., hinged to) the second movable member 22b and the second right secondary motor 233b is connected to the second support member 21b, the second right secondary transmission structure 234b moves with the second movable member 22b (e.g., rotates).

[0150] In other embodiments, when the second right secondary drive structure 234b is connected (e.g., hinged to) the second support member 21b and the second right secondary motor 233b is connected to the second movable member 22b, the second right secondary motor 233b moves (e.g., rotates) with the main movable member 12. That is, it is sufficient to ensure that there is relative movement between the second movable member 22b and the second support member 21b.

[0151] For example, such as Figure 6 When the second left secondary motor 231b and the second right secondary motor 233b rotate in the same direction, the second moving part 22b moves along the fourth axis (i.e. Figure 6 The main moving part 12 rotates along the fifth axis (i.e., the X-axis); when the second left motor 231b and the second right motor 233b rotate in opposite directions, the main moving part 12 rotates along the fifth axis (i.e., the X-axis). Figure 6 Rotate along the Y-axis.

[0152] In some embodiments, continue to refer to Figure 6 As shown, the second drive assembly 23b includes a second universal joint 235b that connects the second movable member 22b and the second support member 21b.

[0153] In this embodiment, the secondary universal joint 235b includes a first rotating shaft 2351b and a second rotating shaft 2352b connected to each other. The two ends of the first rotating shaft 2351b are connected to the second support member 21b via bearing seats, enabling relative rotation between the first rotating shaft 2351b and the second support member 21b. The two ends of the second rotating shaft 2352b are connected to the second movable member 22b via bearing seats, enabling relative rotation between the second rotating shaft 2352b and the second movable member 22b.

[0154] In this embodiment, the axis of the first rotating shaft 2351b and the axis of the second rotating shaft 2352b are set at a certain angle. The axes of the first rotating shaft 2351b and the second rotating shaft 2352b are perpendicular to each other, so that the secondary universal joint 235b forms a cross shaft.

[0155] For example, the axis of the first rotation axis 2351b is parallel to Figure 6 The X-axis, for example, extends along the left-right direction. The axis of the second rotation axis 2352b is parallel to... Figure 6 The Y-axis in the model, for example, extends along the front-back direction.

[0156] In some embodiments, the second left secondary motor 231b and the second right secondary motor 233b are disposed on opposite sides of the secondary joint.

[0157] In this embodiment, the secondary universal joint 235b is located between the second left secondary motor 231b and the second right secondary motor 233b, so that when the second left secondary motor 231b and the second right secondary motor 233b drive the second movable part 22b to move, the overall structure of the second support mechanism 2b is more stable and it is not easy to shake during the movement.

[0158] In this embodiment, the secondary universal joint 235b is centrally located, making the overall layout of the secondary support mechanism 2b more compact and aesthetically pleasing.

[0159] For example, the second left secondary motor 231b and the second right secondary motor 233b are located on opposite sides of the second support 21b along the first axis.

[0160] In some embodiments, in conjunction with reference Figure 1 or Figure 4 As shown, the main drive assembly 13 and the second drive assembly 23b are symmetrically arranged along the third axis, which makes the main drive assembly 13 and the second drive assembly 23b more stable when performing multi-degree-of-freedom motion.

[0161] In this embodiment, the first main motor 131 and the second main motor 133 increase the weight of the main movable component 12 when they move with it. Because of this increased weight, the second support 21b, when connected to the main movable component 12 (or connected to it via the second support mechanism 2b), increases its stability, facilitating stable movement of the second movable component 22b and preventing it from becoming top-heavy.

[0162] In this embodiment, since the main support member 11 remains stationary after being fixed to the desktop or humanoid robot, the first main motor 131 and the second main motor 133 increase the weight of the main moving member 12 when they move with the main moving member 12, but do not affect the stability of the main moving member 12 during movement.

[0163] In this embodiment, when the second left secondary motor 231b and the second right secondary motor 233b are connected to the second support member 21b, the stability of the second support member 21b can be increased, the stability of the second movable member 22b during movement can be improved, and the top-heavy structure can be avoided.

[0164] In this embodiment, when the multimodal sensing platform is connected to the second movable component 22b, the second left secondary transmission structure 232b and the second right secondary transmission structure 234b move with the second movable component 22b, reducing the weight of the second movable component 22b and improving its load-bearing capacity, thus avoiding a top-heavy appearance.

[0165] In some embodiments, continue to refer to Figure 5 As shown, the first main transmission structure 132 includes a first main crank 1321 and a first main connecting rod 1322.

[0166] In this embodiment, one side of the first main connecting rod 1322 is hinged to the first main crank 1321, and the opposite side of the first main connecting rod 1322 is hinged to the main support member 11.

[0167] In some embodiments, the first main crank 1321 includes a first crank portion 13211 connected to the first main motor 131 and a first mating portion 13212 connected to the first main connecting rod 1322.

[0168] In this embodiment, the first crank portion 13211 is connected to the first main shaft. The first docking portion 13212 is connected to the first crank portion 13211 and hinged to the first main connecting rod 1322.

[0169] In some embodiments, the first crank portion 13211 is located on one side of the first main motor 131 along the axial direction, and the first docking portion 13212 is located on one side of the first main motor 131 in the radial direction.

[0170] In this embodiment, the first crank portion 13211 is attached to the axial end face of the first main motor 131. The first mating portion 13212 is located on the side of the first crank portion 13211 close to the first main motor 131, such that the first mating portion 13212 is attached to the radial end face of the first main motor 131. This saves space occupied by the first main transmission structure 132 (i.e., the first main connecting rod 1322) along the first axis (e.g., the left-right direction), reducing the space occupied by the main drive assembly 13.

[0171] For example, the first crank portion 13211 and the first docking portion 13212 are in an "L" shape, so that the first main crank 1321 fits against the first main motor 131.

[0172] In other embodiments, the first docking portion 13212 is located on the side of the first crank portion 13211 away from the first main motor 131, which allows for more flexible adjustment of the position of the first docking portion 13212 and avoids interference with the first main connecting rod 1322 connected to the first docking portion 13212 during movement.

[0173] In some embodiments, the second main drive structure 134 includes a second main crank 1341 and a second main connecting rod 1342.

[0174] In this embodiment, one side of the second main connecting rod 1342 is hinged to the second main crank 1341, and the opposite side of the second main connecting rod 1342 is hinged to the main support member 11.

[0175] In some embodiments, the second main crank 1341 includes a second crank portion 13411 connected to the second main motor 133 and a second docking portion 13412 connected to the second main connecting rod 1342.

[0176] In this embodiment, the second crank portion 13411 is connected to the first main shaft. The second docking portion 13412 is connected to the first crank portion 13211 and is hinged to the second main connecting rod 1342.

[0177] In some embodiments, the second crank portion 13411 is located on one side of the second main motor 133 in the axial direction, and the second docking portion 13412 is located on one side of the second main motor 133 in the radial direction.

[0178] In this embodiment, the second crank portion 13411 is attached to the axial end face of the second main motor 133. The second mating portion 13412 is located on the side of the second crank portion 13411 near the second main motor 133, such that the second mating portion 13412 is attached to the radial end face of the second main motor 133. This saves space occupied by the second main transmission structure 134 (i.e., the second main connecting rod 1342) along the first axis (e.g., the left-right direction), reducing the space occupied by the main drive assembly 13.

[0179] For example, the second crank portion 13411 and the second docking portion 13412 are in an "L" shape, so that the second main crank 1341 fits against the second main motor 133.

[0180] In other embodiments, the second docking portion 13412 is located on the side of the second crank portion 13411 away from the second main motor 133, which allows for more flexible adjustment of the position of the second docking portion 13412 and avoids interference with the second main connecting rod 1342 connected to the second docking portion 13412 during movement.

[0181] In some embodiments, the first main connecting rod 1322 and the second main connecting rod 1342 are located on the same side of the main moving member 12. For example, the first main connecting rod 1322 is located in front of the first main motor 131, and the second main connecting rod 1342 is located in front of the second main motor 133. This avoids interference when the first main motor 131 and the second main motor 133 rotate, allowing the main moving member 12 to move in two degrees of freedom. Furthermore, when the first main motor 131 and the second main motor 133 simultaneously drive the first main crank 1321 and the second main crank 1341 to rotate clockwise relative to the main support member 11, or when the first main motor 131 and the second main motor 133 simultaneously drive the first main crank 1321 and the second main crank 1341 to rotate counterclockwise relative to the main support member 11, jamming and other abnormal situations can be avoided.

[0182] For example, the first crank portion 13211 is located on the side of the first main motor 131 that is axially away from the second main motor 133, and the first mating portion 13212 is located on the side of the first main motor 131 that is radially toward the first main connecting rod 1322. The second crank portion 13411 is located on the side of the second main motor 133 that is axially away from the first main motor 131, and the second mating portion 13412 is located on the side of the second main motor 133 that is radially toward the second main connecting rod 1342.

[0183] In some embodiments, continue to refer to Figure 6 As shown, the second left secondary transmission structure 232b includes a second left secondary crank 2321b and a second left secondary connecting rod 2322b.

[0184] In this embodiment, one side of the second left secondary connecting rod 2322b is hinged to the second left secondary crank 2321b, and the opposite side of the second left secondary connecting rod 2322b is hinged to the second movable member 22b.

[0185] In some embodiments, the second left secondary crank 2321b includes a second left crank portion 23211b connected to the second left secondary motor 231b and a second left connecting portion 23212b connected to the second left secondary connecting rod 2322b.

[0186] In this embodiment, the second left crank portion 23211b is connected to the second left secondary shaft. The second left connecting portion 23212b is connected to the second left crank portion 23211b and is hinged to the second left secondary connecting rod 2322b.

[0187] In some embodiments, the second left crank portion 23211b is located on one side of the second left secondary motor 231b along the axial direction, and the second left docking portion 23212b is located on one side of the second left secondary motor 231b in the radial direction.

[0188] In this embodiment, the second left crank portion 23211b is attached to the axial end face of the second left secondary motor 231b. The second left mating portion 23212b is located on the side of the second left crank portion 23211b closest to the second left secondary motor 231b, such that the second left mating portion 23212b is attached to the radial end face of the second left secondary motor 231b. This saves space occupied by the second left secondary transmission structure 232b (i.e., the second left secondary connecting rod 2322b) along the first axis (e.g., the left-right direction), reducing the space occupied by the second left secondary drive assembly 23.

[0189] For example, the second left crank portion 23211b and the second left mating portion 23212b are in an "L" shape, so that the second left secondary crank 2321b fits against the second left secondary motor 231b.

[0190] In other embodiments, the second left docking portion 23212b is located on the side of the second left crank portion 23211b away from the second left secondary motor 231b, which allows for more flexible adjustment of the position of the second left docking portion 23212b and avoids interference with the second left secondary connecting rod 2322b connected to the second left docking portion 23212b during movement.

[0191] In some embodiments, continue to refer to Figure 6 As shown, the second right secondary transmission structure 234b includes a second right secondary crank 2341b and a second right secondary connecting rod 2342b.

[0192] In this embodiment, one side of the second right secondary connecting rod 2342b is hinged to the second right secondary crank 2341b, and the opposite side of the second right secondary connecting rod 2342b is hinged to the second movable member 22b.

[0193] In some embodiments, the second right secondary crank 2341b includes a second right crank portion 23411b connected to the second right secondary motor 233b and a second right connecting portion 23412b connected to the second right secondary connecting rod 2342b.

[0194] In this embodiment, the second right crank portion 23411b is connected to the second right secondary shaft. The second right connecting portion 23412b is connected to the second right crank portion 23411b and is hinged to the second right secondary connecting rod 2342b.

[0195] In some embodiments, the second right crank portion 23411b is located on one side of the second right secondary motor 233b along the axial direction, and the second right docking portion 23412b is located on one side of the second right secondary motor 233b in the radial direction.

[0196] In this embodiment, the second right crank portion 23411b is attached to the axial end face of the second right secondary motor 233b. The second right mating portion 23412b is located on the side of the second right crank portion 23411b closest to the second right secondary motor 233b, such that the second right mating portion 23412b is attached to the radial end face of the second right secondary motor 233b. This saves space occupied by the second right secondary transmission structure 234b (i.e., the second right secondary connecting rod 2342b) along the first axis (e.g., the right-to-right direction), reducing the space occupied by the second right secondary drive assembly 23.

[0197] For example, the second right crank portion 23411b and the second right mating portion 23412b are in an "L" shape, so that the second right secondary crank 2341b fits against the second right secondary motor 233b.

[0198] In other embodiments, the second right docking portion 23412b is located on the side of the second right crank portion 23411b away from the second right secondary motor 233b, which allows for more flexible adjustment of the position of the second right docking portion 23412b and avoids interference with the second right secondary connecting rod 2342b connected to the second right docking portion 23412b during movement.

[0199] In some embodiments, the second left secondary link 2322b and the second right secondary link 2342b are located on the same side of the second movable member 22b. For example, the second left secondary link 2322b is located in front of the second left secondary motor 231b, and the second right secondary link 2342b is located in front of the second right secondary motor 233b. This avoids interference when the second left secondary motor 231b and the second right secondary motor 233b rotate, allowing the second movable member 22b to move in two degrees of freedom. Furthermore, when the second left secondary motor 231b and the second right secondary motor 233b simultaneously drive the second left secondary crank 2321b and the second right secondary crank 2341b to rotate clockwise, or when the second left secondary motor 231b and the second right secondary motor 233b simultaneously drive the second left secondary crank 2321b and the second right secondary crank 2341b to rotate clockwise and counterclockwise, abnormal situations such as jamming can be avoided.

[0200] For example, the second left crank portion 23211b is located on the side of the second left secondary motor 231b that is axially away from the second right secondary motor 233b, and the second left docking portion 23212b is located on the side of the second left secondary motor 231b that is radially toward the second left secondary connecting rod 2322b. The second right crank portion 23411b is located on the side of the second right secondary motor 233b that is axially away from the second right secondary motor 233b, and the second right docking portion 23412b is located on the side of the second right secondary motor 233b that is radially toward the second right secondary connecting rod 2342b.

[0201] In the description of this application, the terms "first" and "second" are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of technical features indicated. Therefore, a feature defined as "first" or "second" may explicitly or implicitly include one or more features. In the description of this application, "multiple" means two or more, unless otherwise explicitly specified.

[0202] In the above embodiments, the descriptions of each embodiment have different focuses. For parts not described in detail in a certain embodiment, please refer to the relevant descriptions in other embodiments.

[0203] The embodiments, implementation methods, and related technical features of this application can be combined and substituted for each other without conflict.

[0204] The above are merely preferred embodiments of this application and are not intended to limit this application in any way. Any simple modifications, equivalent changes, and alterations made to the above embodiments based on the technical essence of this application without departing from the scope of the technical solution of this application shall still fall within the scope of the technical solution of this application.

Claims

1. A multi-degree-of-freedom motion platform, characterized in that, include: The main support mechanism includes a main support member, a main movable member, and a main drive assembly that drives the main support member and the main movable member to move relative to the main support member. At least one secondary support mechanism, the secondary support mechanism including a secondary support member, a secondary movable member, and a secondary drive assembly for driving the secondary support member and the secondary movable member to move relative to the secondary support member; The main moving part and the secondary support part are detachably connected.

2. The multi-degree-of-freedom motion platform as described in claim 1, characterized in that, The main drive assembly is used to drive the main moving component to rotate with multiple degrees of freedom relative to the main support component; and / or, The secondary drive assembly is used to drive the secondary moving part to rotate relative to the secondary support part in at least one degree of freedom.

3. The multi-degree-of-freedom motion platform as described in claim 1, characterized in that, The multi-degree-of-freedom motion platform includes a primary support mechanism, which includes a primary support member, a primary movable member, and a primary drive assembly. The primary drive assembly is used to drive the primary movable member to move with one degree of freedom relative to the primary support member. The primary movable member is detachably connected to the primary support member.

4. The multi-degree-of-freedom motion platform as described in claim 3, characterized in that, The main drive assembly is used to drive the main movable component to rotate independently relative to the main support component around the first axis and the second axis. The first drive assembly is used to drive the first movable component to rotate relative to the first support component around the third axis. The first axis and the second axis are set at a certain angle and are both perpendicular to the third axis.

5. The multi-degree-of-freedom motion platform as described in claim 3, characterized in that, The first drive assembly includes a first motor, and the main moving part has a receiving cavity that matches the first motor, with at least a portion of the first motor extending into the receiving cavity.

6. The multi-degree-of-freedom motion platform as described in claim 3, characterized in that, The multi-degree-of-freedom motion platform includes a second support mechanism, which includes a second support member, a second movable member, and a second drive assembly. The second drive assembly is used to drive the second movable member to perform independent motion in two degrees of freedom relative to the second support member. The first movable member is detachably connected to the second support member.

7. The multi-degree-of-freedom motion platform as described in claim 1, characterized in that, The multi-degree-of-freedom motion platform includes a second support mechanism, which includes a second support member, and the main moving member is detachably connected to the second support member.

8. The multi-degree-of-freedom motion platform as described in claim 6, characterized in that, The second drive assembly is used to drive the second movable part to rotate independently relative to the second support member around the fourth and fifth axes. The first drive assembly is used to drive the first movable part to rotate relative to the first support member around the third axis. The fourth and fifth axes are set at a certain angle and are both perpendicular to the third axis.

9. The multi-degree-of-freedom motion platform as described in claim 6, characterized in that, The first drive assembly is used to drive the first movable part to rotate relative to the first support part around the third axis. The main support mechanism, the first support mechanism, and the second support mechanism are arranged along the third axis.

10. The multi-degree-of-freedom motion platform as described in claim 1, characterized in that, The main drive assembly includes a first main motor and a first main drive structure connected to the first main motor. One of the first main motor and the first main drive structure is connected to the main support member, and the other of the first main motor and the first main drive structure is connected to the main moving member. The main drive assembly includes a second main motor and a second main drive structure connected to the second main motor. One of the second main motor and the second main drive structure is connected to the main support member, and the other of the second main motor and the second main drive structure is connected to the main moving member.

11. The multi-degree-of-freedom motion platform as described in claim 10, characterized in that, The main drive assembly includes a main universal joint connecting the main support member and the main moving member, with the first main motor and the second main motor disposed on opposite sides of the universal joint.

12. The multi-degree-of-freedom motion platform as described in claim 10, characterized in that, The first main drive structure includes a first main crank and a first main connecting rod. The first main crank includes a first crank portion connected to the first main motor and a first mating portion connected to the first main connecting rod. The first crank portion is located on one side of the axial direction of the first main motor, and the first mating portion is located on one side of the radial direction of the first main motor; and / or, The second main drive structure includes a second main crank and a second main connecting rod. The second main crank includes a second crank portion connected to the second main motor and a second mating portion connected to the second main connecting rod. The second crank portion is located on one side of the axial direction of the second main motor, and the second mating portion is located on one side of the radial direction of the second main motor.

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