CN101411661B - Stage device - Google Patents

Abstract

The invention discloses a carrying platform device which comprises a body, a plurality of displacement units, a rotary platform, a plurality of reciprocating rod bodies, a bearing platform and a control circuit. The displacement unit and the rotary platform are arranged on the body, and two ends of the reciprocating rod body are respectively in spherical pivot joint with the rotary platform and the bearing platform. The control circuit is provided with three driving units for respectively driving the displacement units to enable the body to carry out linear displacement, driving the rotating platform to rotate and driving the reciprocating rod body to carry out reciprocating motion so as to correspondingly control the bearing platform to bear a borne object and move to an appointed position and an appointed angle according to a set motion track.

Description

Stage device

technical field

The invention relates to a stage device, in particular to a stage device for carrying objects to be carried at a specified position and angle.

Background technique

The robot platform technology has been developed in the field of robot technology for many years, and the robot mobile platform is used to carry the robot body and command the robot to perform operations such as industrial production, manufacturing, environmental exploration and environmental inspection that were originally performed manually by means of automatic control. The currently seen mobile platforms are limited by the design of the mechanism and the requirements of the internal space, and the degrees of freedom (DOF) that can be moved in the axial direction are not as good as the multi-axis rotation or straight line that real humans can achieve. Actions such as sports, so there are still inconveniences in practical application.

In recent years, the concept of mobile robot platforms has begun to be applied in the field of medical rehabilitation. With the assistance of mobile platforms, the rehabilitation actions of various parts of the human body can be performed. For example, in the compound sports device disclosed in Japanese Patent No. JP2006167094, a semi-spherical structure is arranged under a flat plate, and the semi-spherical structure is used as a supporting point of the flat plate, so that the flat plate can rotate within a certain range, so that It is used for rehabilitation of the user's foot joints.

Japanese patent No. JP2006341052 discloses a functional recovery walking training device, which provides a carrier for the user's feet to wear, and two pairs of rollers with eccentric bearings are respectively arranged on both sides below the carrier, and the user uses the carrier The four-wheel mechanism below can simulate the reciprocating trajectory of the foot to achieve the effect of rehabilitation.

The moving device of the above two patents, the hemispherical structure or the roller used to control the movement of the vehicle, is limited by the lack of freedom in the movable axis, so that the vehicle can only be pre-planned towards a single axis or two axes. Movement, its change will be limited to the swing or displacement of the same plane, which cannot meet the actual range of motion of the human joint structure.

In addition, the commonly used rehabilitation equipment uses various parts of the human body to passively execute its preset actions and travel paths. For patients who cannot apply force on their own, they cannot operate the rehabilitation equipment alone and must rely on the assistance of others. Rehabilitation can be performed smoothly.

Contents of the invention

The object of the present invention is to provide a stage device, so as to solve the problem of the lack of freedom of the movable axis of the mobile device in the prior art, which causes the carrier to be limited to the swing or displacement of the same plane, and the commonly used rehabilitation equipment is Passive operation makes it impossible for patients to perform rehabilitation actions on their own.

In order to achieve the above object, the present invention provides a stage device for carrying a carried object at a specified position and a specified angle. The stage device includes a main body, several displacement units, a rotating platform, a carrying platform, several reciprocating rod bodies, and a control circuit. The displacement unit is arranged on the body, and when driven, the displacement unit can drive the body to perform linear displacement on a plane. The rotating platform is arranged on the body, and when driven, the rotating platform rotates with an axis perpendicular to the plane as a rotating axis. One end of several reciprocating rods is spherically pivoted to the rotating platform, and the other end is spherically pivoted to the bearing platform to support the bearing platform. When driven, the reciprocating rods reciprocate along the axial direction of the reciprocating rods.

The control circuit is arranged in the body, and has a first driving unit, a second driving unit and a third driving unit. The first drive unit is used to drive the displacement unit to drive the body to perform linear displacement, the second drive unit is used to drive the rotating platform to rotate, and the third drive unit is used to drive several reciprocating rods to reciprocate to control the movement of the carrying platform according to the setting The trajectory moves to the specified position and specified angle.

The stage device of the present invention relies on the movement of the displacement unit, the rotating platform and the reciprocating rod body to increase the axial freedom of the stage device, so that the carrying platform can carry an object at a specified position and angle, and cooperate with the preset Sequential mode, to control the carrier device to actively execute preset actions.

The present invention will be described in detail below in conjunction with the accompanying drawings and specific embodiments, but not as a limitation of the present invention.

Description of drawings

FIG. 1 is an exploded perspective view of a stage device according to a first embodiment of the present invention;

2A is a schematic perspective view of a stage device according to a first embodiment of the present invention;

2B is a partial perspective view of the stage device of the present invention;

3 is a schematic perspective view of a stage device according to a second embodiment of the present invention;

Fig. 4 is the circuit block diagram of stage device of the present invention;

Fig. 5 is the sequence relationship diagram of sequence control to time of the present invention;

Fig. 6 is the circuit block diagram of cooperative motion system of the present invention;

Fig. 7 is a three-dimensional schematic diagram of the first embodiment of the coordinated motion system of the present invention; and

Fig. 8 is a schematic perspective view of the second embodiment of the cooperative motion system of the present invention.

Among them, reference signs:

100 stage device

110 body

120 displacement units

130 rotating platform

131 The first pivot seat

140 carrying platform

141 The second pivot seat

150 reciprocating rod body

151 The first ball shaft

152 second ball shaft

153 piston cylinder

154 piston rod

155 spring

160 control circuit

161 The first drive unit

162 second drive unit

163 The third drive unit

164 control unit

165 sensors

166 speakers

167 display screen

170 main control unit

171 storage module

172 timing mode

1721 Displacement Timing Table

1722 Rotation timing table

1723 Reciprocating timing table

200 objects to be carried

300 The first stage device

310 main control circuit

320 first communication module

400 second stage device

410 times control circuit

420 second communication module

Detailed ways

Please refer to the schematic diagrams of FIG. 1 , FIG. 2A , FIG. 2B and FIG. 4 , the stage device 100 disclosed in the first embodiment of the present invention includes a body 110 , four displacement units 120 , a rotating platform 130 , a carrying platform 140 , Two reciprocating rod bodies 150 and a control circuit 160 .

The four displacement units 120 are wheels, and are symmetrically installed on the periphery of the body 110. However, those familiar with this technology can change the type and quantity of the displacement units according to actual needs, and are not limited to this embodiment. The rotating platform 130 is disposed on the upper side of the main body 110 and can rotate relative to the main body.

One end of the two reciprocating rod bodies 150 has a first ball shaft 151 respectively, and the side of the rotating platform 130 corresponding to the reciprocating rod body 150 is provided with two first pivotal seats 131, and the first ball shafts 151 are pivotally connected to the first pivotal seat 131 Such that one end of the two reciprocating rods 150 is pivotally connected to the rotating platform 130 in a spherical shape, and the two reciprocating rods 150 can rotate spherically within a certain range relative to the rotating platform 130 . The other ends of the two reciprocating rod bodies 150 respectively have a second ball shaft 152, and the side of the carrying platform 140 corresponding to the reciprocating rod body 150 is provided with two second pivotal seats 141, and the second ball shafts 152 are pivotally connected to the second pivotal seat 141 so that the other ends of the two reciprocating rods 150 are pivotally connected to the bearing platform 140 in a spherical shape, and the bearing platform 130 can perform spherical rotation within a certain range relative to the two reciprocating rods 150, and carry a loaded object 200, such as a user's foot , a flat plate and any other object that can be erected on the carrying platform 130 . The two reciprocating rod bodies 150 can perform relative motions such as rotation or coupling in space simultaneously by virtue of mutual restraint.

As shown in FIG. 2B , the two reciprocating rod bodies 150 of the present invention respectively have a piston cylinder 153 , a piston rod 154 , and a spring 155 . There is a stroke space inside the piston cylinder 153. The piston rod 154 is accommodated in the piston cylinder 153, and can be telescopically displaced between a retracted position and an extended position. The spring 155 is sleeved on the piston rod 154, and the two ends respectively resist Lean against the piston cylinder 153 and the second ball shaft 152 , and normally push the piston rod 154 toward the retracted position, so that the piston rod 154 is kept in the stroke space of the piston cylinder 153 .

Please continue to refer to the schematic diagrams of FIG. 1 and FIG. 4, the control circuit 160 of the present invention is disposed in the body 110, the control circuit 160 has a main control unit 170, and the first driving unit 161 electrically connected to the main control unit 170, the second The second driving unit 162 and the third driving unit 163 . The first drive unit 161 is connected to each displacement unit 120 for driving each displacement unit 120 to drive the body 110 to perform linear displacement on a plane, and the second drive unit 162 is connected to the rotary platform 130 for driving the rotary platform 130 on the body 120 The rotating platform 130 rotates with an axis perpendicular to this plane as the rotation axis. The third drive unit 163 is connected to the two reciprocating rods 150, and is used to drive the piston rod 154 of the reciprocating rod 150 to move along the reciprocating rod. 150 reciprocates in the axial direction, and the control circuit 160 can control the carrying platform 140 to carry the object 200 according to the actual use requirements, and move to the specified position and specified angle according to the set motion track to execute a preset mode Function.

The drive units 161 , 162 , 163 of the present invention can be selected to be pneumatically driven, hydraulically driven, or electrically driven to make the displacement unit 110 , the rotating platform 120 and the reciprocating rod body 150 move. However, the above-mentioned various driving modes are designs that can be understood by those of ordinary skill who are familiar with this technology, so the inventors will not repeat them here.

As shown in the circuit block diagrams and sequence diagrams of FIG. 4 and FIG. 5 , the control circuit 160 of the present invention also has a storage module 171 and a control unit 164 electrically connected to the main control unit 170 . The storage module 171 stores several timing modes 172, such as rehabilitation mode, exercise mode, entertainment mode, but not limited thereto. These timing patterns 172 respectively have four displacement timing tables 1721 corresponding to the displacement unit 120, one rotation timing table 1722 corresponding to the rotating platform 130, and two reciprocating timing tables 1723 corresponding to the reciprocating rod body 150, each of which performs actions at a specific time. Timing tables 1721 , 1722 , and 1723 respectively include motion curves within a time interval according to different timing modes 172 . In addition, the number of timing tables 1721, 1722, and 1723 disclosed in the present invention is determined by the number of each movable mechanism (displacement unit 120, rotating platform 130, reciprocating rod body 150), and is not determined by the embodiments disclosed in the present invention. limit.

The control unit 164 of the first embodiment of the present invention is a touch panel, the user can directly obtain the information of each timing mode 172 on the touch panel, and directly click on the mode to be executed, and the main control unit 170 receives this control After receiving the signal, the corresponding timing tables 1721, 1722, and 1723 preset in the timing mode 172 are retrieved from the storage module 171, and the drive units 161, 162, 163 respectively drives the displacement unit 120, the rotating platform 130, and the reciprocating rod body 150 to perform displacement, rotation and reciprocating actions in a specific time interval, so that the carrying platform 140 moves to a specified position and a specified angle.

Please continue to refer to FIG. 1 and FIG. 4 , the control circuit 160 also has several sensors 165 and a speaker 166 electrically connected to the main control unit 170 . The sensor 165 is installed at the front and rear ends of the main body 110 to detect the relative distance between the main body 110 and an obstacle (not shown in the figure), and sends a warning signal to the main control unit 170 within a warning distance, and forces the drive unit 161 , 162, 163 stop driving the displacement unit 120, the rotating platform 130 or the reciprocating rod body 150, avoiding the collision between the body 110 and the obstacle, and the loudspeaker 166 also emits a warning sound while the main control unit receives the warning signal, to remind and inform the use Otherwise, unnecessary risks can be reduced. This warning mode is a design that can be understood by those of ordinary skill who are familiar with this technology, so the inventor will not repeat it here.

In addition, as shown in FIG. 3 and FIG. 4 , the three-dimensional schematic view of the second embodiment of the stage device, the control unit 164 can also use a key set as a control medium in addition to the touch panel disclosed in the first embodiment. It is also equipped with a display screen 167 to facilitate the user to know the information of the current timing mode 172 and to select different modes.

FIG. 6 and FIG. 7 show the coordinated motion system using the stage device 100 of the present invention, which includes a coordinated motion system of a first stage device 300 and a second stage device 400 . A main control circuit 310 and a first communication module 320 are arranged in the first stage device 300 , and a primary control circuit 410 and a second communication module 420 are arranged in the second stage device 400 . Several timing patterns 172 are respectively stored in the main control circuit 310 and the secondary control circuit 410. When the first stage device 300 is used as a master apparatus, the second stage device 400 is a slave apparatus. , at this time, the main control circuit 310 of the first stage device 300 controls the movement of the first stage device 300 according to the selected timing mode 172, and the communication between the first communication module 320 and the second communication module 420 so that the secondary control circuit 410 of the second stage device 400 executes the corresponding timing mode 172, and controls the corresponding actions of the drive units 161, 162, 163 to match the timing mode currently executed by the first stage device 300 172.

Among them, the first communication module 320 and the second communication module 420 can transmit signals by wired communication or wireless communication according to the needs of use, that is, the first communication module 320 and the second communication module 420 can select Using a wired communication module or a wireless communication module enables the two carrier devices 300 and 400 to achieve the purpose of coordinating actions.

7 and 8 show different embodiments of the application of the cooperative motion system of the present invention. The first platform device 300 and the second platform device 400 can bear the user's foot for rehabilitation of the user. The first and second stage devices 300, 400 can also jointly carry boards 200 such as skateboards, surfboards, etc. Users can stand on the boards and cooperate with the timing mode executed by two or more devices 300, 400 , to provide users with entertainment and sports functions.

The carrier device of the present invention actively controls the movement or rotation of the displacement unit, the rotating platform, and the reciprocating rod body according to the preset timing pattern, so that the carrier platform moves to a specified position and a specified angle at a specific time, and its movable axis The degree of freedom is increased, and the two carrier devices can communicate with each other by means of the communication module to implement a mutually coordinated preset mode to provide users with functions such as rehabilitation, fitness, and entertainment.

Certainly, the present invention also can have other multiple embodiments, without departing from the spirit and essence of the present invention, those skilled in the art can make various corresponding changes and deformations according to the present invention, but these corresponding changes All changes and modifications should belong to the scope of protection of the appended claims of the present invention.

Claims (11)

1. a bearing table device is characterized in that, includes:

One body;

Several displacement units are arranged at this body, drive the enterprising line linearity displacement on a plane of this body when being driven;

One rotation platform is arranged at this body, and this rotation platform is when being driven, planar one being that rotating shaft rotates axially perpendicular to this;

One carrying platform is in order to carry this by carrier;

Several reciprocating rod subassemblies, spherical respectively this rotation platform that is articulated in of one end, its other end is spherical respectively to be articulated in and to support this carrying platform, and these reciprocating rod subassemblies are when being driven, along axially moving back and forth of this reciprocating rod subassembly; And

One control circuit, be arranged in this body, this control circuit has one first driver element, one second driver element and one the 3rd driver element, this first driver element carries out this linear displacement in order to drive this displacement unit, this second driver element rotates in order to drive this rotation platform, the 3rd driver element carries out this reciprocating motion in order to drive these reciprocating rod subassemblies, moves to this assigned address and this specified angle to control this carrying platform.

2. bearing table device according to claim 1, it is characterized in that, this rotation platform has several first pin joint seats corresponding to these reciprocating rod subassembly places, these reciprocating rod subassembly one ends are respectively equipped with one first ball journal, this first ball journal is hubbed at this first pin joint seat, so that spherical this rotation platform that is articulated in of an end of these reciprocating rod subassemblies.

3. bearing table device according to claim 2 is characterized in that, this rotation platform has two these first pin joint seats.

4. bearing table device according to claim 1, it is characterized in that, this carrying platform has several second pin joint seats corresponding to these reciprocating rod subassembly places, the other end of these reciprocating rod subassemblies is respectively equipped with one second ball journal, this second ball journal is hubbed at this second pin joint seat, so that spherical this carrying platform that is articulated in of the other end of these reciprocating rod subassemblies.

5. bearing table device according to claim 4 is characterized in that, this carrying platform has two these second pin joint seats.

6. bearing table device according to claim 1 is characterized in that, these reciprocating rod subassemblies have respectively:

One piston cylinder, inside have the one stroke space;

One piston rod is installed with in this piston cylinder, and stretches between a retracted position and an extended position, and this reciprocating rod subassembly is during by the 3rd drive unit drives, and this piston rod is moved to this extended position; And

One spring is sheathed on this piston rod, and normality pushes against this piston rod towards this retracted position direction.

7. bearing table device according to claim 1, it is characterized in that, this control circuit includes a main control unit, an and memory module that is electrically connected at this main control unit, these driver elements are electrically connected at this main control unit, this storage module stores has at least one time series pattern, and this time series pattern has several displacement time-scales of corresponding these displacement units, a pair of should rotation platform the rotation time-scale and the reciprocal time-scale of several corresponding these reciprocating rod subassemblies, respectively this time-scale has comprised the curve movement in a time interval, this main control unit captures this time-scale from this memory module, with this displacement unit of the corresponding control of this curve movement according to this time-scale, this rotation platform and this reciprocating rod subassembly carry out displacement respectively, rotation and reciprocating motion.

8. a bearing table device is characterized in that, includes:

One first bearing table device includes:

One body;

Several displacement units are arranged at this body, drive the enterprising line linearity displacement on a plane of this body when being driven;

One rotation platform is arranged at this body, and this rotation platform is when being driven, planar one being that rotating shaft rotates axially perpendicular to this;

One carrying platform is in order to carry this by carrier;

Several reciprocating rod subassemblies, spherical respectively this rotation platform that is articulated in of one end, its other end is spherical respectively to be articulated in and to support this carrying platform, and these reciprocating rod subassemblies are when being driven, along axially moving back and forth of this reciprocating rod subassembly; And

One main control circuit, be arranged in this body, this main control circuit has one first driver element, one second driver element, one the 3rd driver element and a first communication module, this first driver element carries out this linear displacement in order to drive this displacement unit, this second driver element rotates in order to drive this rotation platform, the 3rd driver element carries out this reciprocating motion in order to drive these reciprocating rod subassemblies, move to this assigned address and this specified angle to control this carrying platform, and this main control circuit has several time series patterns, and according to this wherein a time series pattern control the motion of this first bearing table device; And

One second bearing table device includes:

One body;

Several displacement units are arranged at this body, drive the enterprising line linearity displacement on a plane of this body when being driven;

One rotation platform is arranged at this body, and this rotation platform is when being driven, planar one being that rotating shaft rotates axially perpendicular to this;

One carrying platform is in order to carry this by carrier;

Several reciprocating rod subassemblies, spherical respectively this rotation platform that is articulated in of one end, its other end is spherical respectively to be articulated in and to support this carrying platform, and these reciprocating rod subassemblies are when being driven, along axially moving back and forth of this reciprocating rod subassembly; And

A control circuit, be arranged in this body, this time control circuit has one first driver element, one second driver element, one the 3rd driver element and a second communication module, this first driver element carries out this linear displacement in order to drive this displacement unit, this second driver element rotates in order to drive this rotation platform, the 3rd driver element carries out this reciprocating motion in order to drive these reciprocating rod subassemblies, move to this assigned address and this specified angle to control this carrying platform, this time control circuit has several time series patterns, and this time series pattern wherein that this main control circuit controls with communicating by letter of this second communication module that this time control circuit carries out this time control circuit via this first communication module, and control the motion of this second bearing table device according to this time series pattern.

9. bearing table device according to claim 8 is characterized in that, this two communication module is a wire communication module.

10. bearing table device according to claim 8 is characterized in that, this two communication module is a wireless communication module.

11. bearing table device according to claim 8 is characterized in that, the carrying platform of this two bearing table device in order to common carrying this by carrier.

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