CN107030682A - twelve-axis spherical coordinate movement mechanism - Google Patents
twelve-axis spherical coordinate movement mechanism Download PDFInfo
- Publication number
- CN107030682A CN107030682A CN201710025223.7A CN201710025223A CN107030682A CN 107030682 A CN107030682 A CN 107030682A CN 201710025223 A CN201710025223 A CN 201710025223A CN 107030682 A CN107030682 A CN 107030682A
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- rotating module
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- 230000007246 mechanism Effects 0.000 title claims abstract description 24
- 230000033001 locomotion Effects 0.000 title claims abstract description 10
- 238000001514 detection method Methods 0.000 claims abstract description 6
- 210000000323 shoulder joint Anatomy 0.000 abstract description 4
- 239000002131 composite material Substances 0.000 abstract description 3
- 210000004394 hip joint Anatomy 0.000 abstract 1
- 230000000717 retained effect Effects 0.000 abstract 1
- 238000010586 diagram Methods 0.000 description 7
- 230000004044 response Effects 0.000 description 3
- 230000008901 benefit Effects 0.000 description 2
- 230000008859 change Effects 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 230000002452 interceptive effect Effects 0.000 description 1
- 230000009467 reduction Effects 0.000 description 1
- 230000002829 reductive effect Effects 0.000 description 1
- 230000000087 stabilizing effect Effects 0.000 description 1
- 239000000725 suspension Substances 0.000 description 1
- 238000012795 verification Methods 0.000 description 1
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/08—Programme-controlled manipulators characterised by modular constructions
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/02—Programme-controlled manipulators characterised by movement of the arms, e.g. cartesian coordinate type
- B25J9/04—Programme-controlled manipulators characterised by movement of the arms, e.g. cartesian coordinate type by rotating at least one arm, excluding the head movement itself, e.g. cylindrical coordinate type or polar coordinate type
- B25J9/046—Revolute coordinate type
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- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Transmission Devices (AREA)
- Length Measuring Devices With Unspecified Measuring Means (AREA)
- Machine Tool Units (AREA)
- Manipulator (AREA)
- Prostheses (AREA)
Abstract
The mechanism is constructed by twelve-axis geometry, can be controlled along spherical coordinate motion, still inherits the twelve-axis geometry of two former cases (certificate number US8579714B 2/publication number US20120083347A1 and publication number US20150082934A1, respectively), so that the twelve-axis torsion can be parallelly connected and serially integrated and output through four arc rod sets, but one of the two geometrical tetrahedral structures defined by the two former cases is split into two end frame structures respectively constructed by two independent geometrical arcs, and the other geometrical tetrahedral structure is retained by the scheme. Compared with the original single geometric tetrahedron, the independent two geometric arcs reduce constraint and traction, can enlarge the movement space of the mechanism, can increase the reward capacity of the mechanism if the end frame structure is additionally provided with the end frame bearing seat, and can be applied to a multi-axis composite machining center machine or a multi-time element detection measuring bed and shoulder joints or hip joints corresponding to robots.
Description
Technical field
The present invention is that a kind of mechanism is built by 12 axle geometry and can follow spherical coordinates motion manipulation, can be applied to multiaxis and answers
Processing center machine or many dimension detection limits bed are closed, also knot can should be closed in the shoulder joint knot or hip of robot.
Background technology
This case is the patent of invention card that case has got USPTO institutes core hair before two preceding cases with reference to applicant in this case, first
Case (publication number US20150082934A1) before book (certificate number US8579714B2/ publication number US20120083347A1) and second
The approval neck card for then having been achieved with USPTO is notified.
12 axle geometric configurations of two preceding cases are followed in this case, enable this 12 axle torsion in parallel via four groups of arc bar groups
And output is incorporated in series, but how to avoid 12 axis mechanisms from interfering with each other with unusual appearance is an important topic, so this case is joined
Examine various unusual appearances before first suggested by case with its in response to geometry limit.And this case also continue to use second before case two type bases
This ring rail is set, comprehensive two preceding cases, and this case can repartition to be set for four type ring rails.Case " at least one set " terminal arc bar before second
Group, " at most two groups " crank group is then especially updated in this case.It is that two preceding cases are defined it on the newly-increased feature of this case
The one of which of two groups of geometry tetrahedral structures, is split as the two end frame knots that two each independent geometry arcs are each built into
Structure, another group of geometry tetrahedral structure, this case retains former geometric definition.Former single geometry tetrahedron is compared, each independent two
Geometry arc reduces constraint and impeded, and can expand mechanism space, if end mount structure adds set terminal frame load bearing seat again, can increase
Mechanism payload amount, so newly-increased feature can more significantly expand the application field of 12 axle spherical coordinates motions.
The content of the invention
In view of above mentioned problem, the present invention provides a kind of mechanism and is built by 12 axle geometry and can follow spherical coordinates excercises
Control, can be applied to multiaxis composite machining center machine or many dimension detection limits bed, also can should close knot in the shoulder joint knot or hip of robot.
The present invention provides a kind of 12 axis mechanisms, comprising:One group of base frame group, two groups of end frame groups, four groups of arc bar groups, and at most
Two groups of crank groups.Base frame group is included one of to constitute base frame structure by several arc frames and be installed on four base frames of the base frame structure and rotated
There is the base frame geometry tetrahedron of quadripolar corners definable one in module, the base frame structure, the output of the four base frames rotating module is defined
Axis is overlapped with the tetrahedral corner heart line of the base frame geometry respectively, and this corner heart line is centripetal intersects at base frame structure centre.
Every group of end frame group, which includes one end mount structure and be installed on two end frame rotating modules of the end mount structure, the end mount structure, has two
Hold angle definable one end frame geometry arc, define the output axis of the two ends frame rotating module respectively with the end frame geometry arc
Two jiaos of heart line angle heart lines are overlapped, and this two jiaos of heart lines are centripetal intersects at base frame structure centre so that the end frame group ring rail with one heart around
Turn.Every group of arc bar group connects arc bar, a termination arc bar and an arc bar rotating module including a base, and the base connects one end and the end of arc bar
Connect one end of arc bar to connect with the arc bar rotating module axle, the base connects the other end of arc bar and a base frame rotating module axle connects, the end
The other end and one end frame rotating module axle knot of arc bar are connect, and the output axis normality of arc bar rotating module is pointed in the base frame
The heart, so that the arc bar group ring rail rotates between the base frame structure and the two ends mount structure with one heart.Every group of crank group includes an arc
Shape crank and a crank rotating module, the arc crank one end are fixedly mounted with toss about centripetal prolong of the extension rod relative to base frame structure
Stretch, the other end and the base of the arc crank connect that arc bar is coaxial to be set in a base frame rotating module, so that the arc crank can ring rail
Rotate with one heart, crank rotating module suit coaxial with the base frame rotating module, the crank rotating module can drive the arc in good time
Shape crank, which connects arc bar to avoid base frame structure and any base, to interfere.
At most two groups crank groups of above-mentioned 12 axis mechanism, at most two groups refer to can be two groups, one group or to be free of.To make clearly
Zhou Yan, the present invention will be free of the embodiment of crank group then, add the 6th independent entry of claim, this independent entry is carried on as before comprising one
Group base frame group, two groups of end frame groups and four groups of arc bar groups, therefore related definition and group connect mode still as described above.
For the above objects, features and advantages of the present invention can more be become apparent, the geometry of each sub-assembly is discussed further below
Definition and design specification are limited with parameter, are finally provided embodiment and are coordinated institute's accompanying drawings, are described in detail below.It should be noted
It is that each component in institute's accompanying drawings is only signal, is not illustrated according to the actual ratio of each component.
Brief description of the drawings
Fig. 1 is the geometric definition figure and three-dimensional view of the design pattern one of base frame structure.
Fig. 2 is the geometric definition figure and three-dimensional view of the design pattern two of base frame structure.
Fig. 3 is the geometric definition figure and three-dimensional view of the design pattern three of base frame structure.
Fig. 4 is the geometric definition figure and three-dimensional view of the design pattern four of base frame structure.
Fig. 5 sets one geometric definition figure and three-dimensional view for the ring rail of arc bar group.
Fig. 6 sets two geometric definition figure and three-dimensional view for the ring rail of arc bar group.
Fig. 7 sets three geometric definition figure and three-dimensional view for the ring rail of arc bar group.
Fig. 8 sets four geometric definition figure and three-dimensional view for the ring rail of arc bar group.
Fig. 9 connects the geometric definition figure and three-dimensional view of pattern one for the axle of crank group.
Figure 10 connects the geometric definition figure and three-dimensional view of pattern two for the axle of crank group.
Figure 11 is equipped with single crank group for the three-view diagram of first embodiment by the ring rail setting one of arc bar group.
Figure 12 is equipped with single crank group for the three-view diagram of second embodiment by the ring rail setting two of arc bar group.
Figure 13 is equipped with double-crank group for the three-view diagram of 3rd embodiment by the ring rail setting three of arc bar group.
Figure 14 is equipped with double-crank group for the three-view diagram of fourth embodiment by the ring rail setting four of arc bar group.
Figure 15 is equipped with crank group for the three-view diagram of the 5th embodiment by the nothing of ring rail setting one of arc bar group.
Figure 16 is equipped with crank group for the three-view diagram of sixth embodiment by the nothing of ring rail setting two of arc bar group.
Embodiment
This case is that a kind of mechanism is built by 12 axle geometry and can follow spherical coordinates motion manipulation, comprising:One group of base frame group,
Two groups of end frame groups, four groups of arc bar groups and at most two groups crank groups.
Base frame group, which includes one of to constitute base frame structure 0c by several arc frames and be installed on base frame structure 0c four base frames, to be turned
There is the base frame geometry tetrahedron of quadripolar corners definable one on dynamic model block 0a, base frame structure 0c, the four base frames rotating module is defined
0a output axis, is denoted as unit vector Ui, wherein i=1~4, respectively with the tetrahedral corner heart line weight of the base frame geometry
Close, and this corner heart line is centripetal intersects at base frame structure 0a centers.Base frame structure 0c is fixedly mounted with four base frame rotating module 0a, appoints diyl
Angle between frame rotating module 0a output axis, geometry is denoted as Λ ij=ArcCos (UiUj), wherein i ≠ j.Rotate mould
Angle between the wantonly two base frames rotating module 0a outputs axis of block is all more than 75 degree and less than 150 degree, i.e.,:75°<Λij<150°.Base
Mount structure geometric definition such as Figure 1A, Fig. 2A, Fig. 3 A and Fig. 4 A.
Disclosed according to case before first, if base frame structure 0c geometric definition positive tetrahedron, because of its single symmetrical characteristic
Parameter designing is relatively easy to simulate with computing.Such then between base frame structure 0c each angle heart line six angles are all equal about 109.5 °,
I.e.:109.5 ° of 34 ≒ of Λ 12=Λ 13=Λ 14=Λ 23=Λ 24=Λ.Case is clearly pointed out and made a concrete analysis of before first
It should be noted that unusual appearance most easily occurs for positive tetrahedron, thus it is unusual to avoid, and base frame structure 0c geometric definition is not necessarily positive four sides
Body.
Two groups of end frame groups, every group of end frame group includes one end mount structure 4c and is installed on end mount structure 4c two end frames rotations
There are two end angle definable one end frame geometry arcs on module 4a, end mount structure 4c, define two end frame rotating module 4a's
Output axis is overlapped with two jiaos of heart line angle heart lines of the end frame geometry arc respectively, and this two jiaos of heart lines are centripetal intersects at base frame knot
Structure center, so that the end frame group ring rail rotates with one heart.End mount structure 4c geometry orbit radius is denoted as r4, base frame structure 0c it
Geometry orbit radius is denoted as r0.
Two end frame rotating module 4a output axis, is denoted as unit vector V1 and V2, this two on first group of end mount structure
Angle between frame rotating module 4a two output axis is held, geometry is denoted as λ 12=ArcCos (V1V2).Second group of end mount structure
Upper two ends frame rotating module 0a output axis, is denoted as unit vector V3 and V4, two end frame rotating module 0a two outputs
Angle between axis, geometry is denoted as λ 34=ArcCos (V3V4).
Angle is all more than 90 degree and less than 150 degree between the end frame rotating module 4a of every group of end frame group two output axis, i.e.,:
75°<λ12<150 ° and 75 °<λ34<150°.Hold mount structure geometric definition such as Fig. 5 A, Fig. 6 A, Fig. 7 A and Fig. 8 A.
Two groups of end frame groups, every group of end frame group can add placement one end frame load bearing seat 4s in end mount structure 2c termination arc bar 2c
Reverse side, to install payload thing.Its middle-end frame load bearing seat 4s can be the flexible lifting mechanism of the arm of force, such as pneumatic cylinder, oil hydraulic cylinder
Or electric screw bar, it can be applied to the shoulder joint knot or hip pass knot of robot.
Four groups of arc bar groups, every group of arc bar group meets arc bar 1c, an a termination arc bar 2c and arc bar rotating module 2a including a base,
The base is connect arc bar 1c one end and connect with termination arc bar 2c one end with the arc bar rotating module 2a axles, and it is another that the base meets arc bar 1c
One end connects with a base frame rotating module 0a axles.The termination arc bar 2c other end connects with one end frame rotating module 4a axles.Arc bar turns
Dynamic model block 2a output axis, is denoted as unit vector Wi, wherein i=1~4, and normality points to the base frame center, so that the arc bar
Group ring rail rotates between the base frame structure 0c and two groups of end mount structure 4c with one heart.Base connects arc bar 1c geometry orbit radius sign
For r1, termination arc bar 2c geometry orbit radius is denoted as r2.
Four groups of arc bar groups have 12 axles, respectively via four base frame rotating module 0a, four arc bar rotating module 2a and four ends
Frame rotating module 4a, enables this 12 axle torsion in parallel and incorporates in series output.
Base connects the angle that arc bar 1c arc length is defined as base frame rotating module 0a and arc bar rotating module 2a, and geometry is denoted as α i
=ArcCos (UiWi).Termination arc bar 2c arc length is defined as holding frame rotating module 4a and arc bar rotating module 2a angle, several
What is denoted as β i=ArcCos (ViWi).
Various unusual appearances with reference to suggested by case before first with its in response to geometry limit.Wantonly two base frames rotating module 0a
Angle between output axis connects arc bar 1c arc length sums less than or equal to corresponding diyl, i.e.,:Λ ij≤α i+ α j, wherein i ≠
j.The two end frame rotating module 4a output axis angles of either end frame be less than or equal to corresponding two termination arc bar 2c arc length it
With that is,:λ 12≤β 1+ β 2 or λ 34≤β 3+ β 4.
12 axle geometric configurations of two preceding cases are still followed in this case, how to avoid 12 axis mechanisms interfere with each other with it is unusual existing
As if an important topic, various unusual appearances before herein by reference first suggested by case with its in response to geometry limit.
What 12 axle spherical coordinates motions were most difficult to avoid is that four axles convert into unusual, and detailed geometric definition and diagram are with reference to the
Figure 18~Figure 21 of case before one.Because four axles convert into the unusual posture often betided in putting, it is difficult to depart from once being strayed into, wilfully puts
In posture again be often it is initial or reduction must through posture so it is difficult to avoiding.Case has enumerated three kinds of parameter designings to return before first
Keep away four axles and convert into unusual appearance.
Again through this unusual appearance of reductive analysis, and the newly-increased foundation of preferentially apolegamy is designed for structure parameters, this case proposes the 4th
Parameter designing:The base of same arc bar group is set to meet arc bar 1c arc bar 2c is concentric rotates in same geometry track with termination, this is because of same rail
It is difficult to convert into completely so avoiding, i.e.,:The orbit radius " being same as " for making each base meet arc bar 1c respectively terminates arc bar 2c track half
Footpath.The basic ring rail setting of two types of case before this case also continues to use second, wherein the basic ring rail setting of a type:Base frame structure 0c track
Radius " being more than " end mount structure 4c orbit radius, another basic ring rail setting:Base frame structure 0c orbit radius " being less than " end
Mount structure 4c orbit radius.
Therefore, comprehensive two preceding cases, and foregoing arc bar group ring rail rotate in the base frame structure 0c and two groups of end frames with one heart
Between structure 4c, and the above-mentioned base for making same arc bar group connects arc bar 1c and termination arc bar 2c is concentric and rotates in same geometry rail
Road, this case can repartition to be set for four type ring rails.Ring rail setting one:Base frame structure 0c orbit radius " being more than " end mount structure 4c
Orbit radius, and each base connects each termination arc bar 2c of arc bar 1c orbit radius " being same as " orbit radius, i.e.,:r0>R1=
r2>R4, such as Fig. 5 A~Fig. 5 B.Ring rail setting two:Base frame structure 0c orbit radius " being less than " end mount structure 4c orbit radius,
And each base connects arc bar 1c each termination arc bar 2c of orbit radius " being same as " orbit radius, i.e.,:r0<R1=r2<R4, such as Fig. 6 A
~Fig. 6 B.Ring rail setting three:Base frame structure 0c orbit radius " being more than " end mount structure 4c orbit radius, and each base connects arc bar
1c orbit radius " being more than " respectively terminates arc bar 2c orbit radius, i.e.,:r0>r1>r2>R4, such as Fig. 7 A~Fig. 7 B.Ring rail is set
Four:Base frame structure 0c orbit radius " being less than " end mount structure 4c orbit radius, and each base connect arc bar 1c orbit radius it is " small
In " each orbit radius for terminating arc bar 2c, i.e.,:r0<r1<r2<R4, such as Fig. 8 A~Fig. 8 B.
At most two groups crank groups, every group of crank group includes an an arc crank 3c and crank rotating module 3a, and the arc is bent
Handle 3c one end is fixedly mounted with toss about centripetal extension of the extension rod relative to base frame structure 0c, and the extension line of the extension rod is denoted as
Unit vector Ni, wherein i=1~2.The arc crank 3c other end is coaxial with one end that base meets arc bar 1c to be set in a base frame
Rotating module 1a so that arc crank 3c can ring rail rotate with one heart.The crank rotating module 3a and base frame rotating module 0a
Coaxial suit, crank rotating module 3a can drive the arc crank 3c in good time and connect arc bar with any base to avoid base frame structure 0c
1c may interfere.Arc crank 3c arc length is defined as the angle of base frame rotating module 0a and arc crank 3c output axis, several
What is denoted as δ i=ArcCos (UiNi), wherein i=1~2.Arc crank 3c arc length is less than or equal to 90 degree, i.e.,:δi≤
90 °, wherein i=1~2.The geometric definition of rotating module crank group such as Fig. 9 A and Figure 10 A.
Every group of crank group can add one crank load bearing seat 3s of placement in arc crank 3c extension rod relative to base frame structure
0c's tosses about, to install payload thing.Wherein load bearing seat 3s can be holding unit, the self-clamping module of such as toolroom machine, can Ying Yu it is many
Axle composite machining center machine or many dimension detection limits bed.
The terminal arc bar group of case is renamed as case before crank group, and second " at least one set " terminal arc bar in this case before second
Group, " at most two groups " crank group is then especially updated in this case.Via simplation verification, crank group more than two easily with base frame
Structure or the interference of arc bar group, space is limited to cause application benefit to subtract greatly.The working space of two groups of crank groups slightly have it is limited but
It is acceptable because can jointly stabilizing clamping payload thing, the working space of single group crank group is relatively increased again, but single suspension clamping is easily drawn
Vibration.
Do not set crank group completely, then space relatively it is unrestricted then, though now in mechanism without crank load bearing seat 3s but still
Can be by end frame load bearing seat 4s installing payload things.So the configuration of less than two groups crank groups respectively has a suitable application area, thus this case be updated to "
At most two groups " crank group, and repartition two axles and connect pattern, many two groups of crank groups and base frame group, such as Fig. 9 A~Fig. 9 B are connected to axle
And Figure 10 A~Figure 10 B.
Design on the base frame structure 0c of this case can be divided into closed loop or open loop type.Closed loop design is kept away with strengthened rigidity
Exempt to vibrate or deform.Open loop type designs to avoid that the operating of arc bar group or crank group may be interfered.Therefore base frame structure 0c can area
It is divided into four kinds of design patterns, design pattern is just like Figure 1A, Figure 1B, design pattern two such as Fig. 2A, Fig. 2 B, design pattern three as schemed
3A, Fig. 3 B and design pattern four such as Fig. 4 A, Fig. 4 B.
On the various rotating module of this case, base frame rotating module 0a can by torsion follower, angle detector, shaft core with
Bearing is combined or thrin.Arc bar rotating module 2a can be as combined by torsion follower, angle detector, shaft core and bearing
Or thrin.Hold frame rotating module 4a can as combined by torsion follower, angle detector, shaft core and bearing or three it
One.Crank rotating module 3a can be as combined by torsion follower, angle detector, shaft core and bearing or thrin.The base frame
The driven thing of rotating module 1a torsion followers can meet arc bar 1c for base, the driven thing of the arc bar rotating module 2a torsion followers
Arc bar 1c or termination arc bar 2c can be met for base, end frame rotating module 4a driven thing can rotate mould for termination arc bar 4c, the crank
The driven thing of block 3a torsion followers can be arc crank 3c.Wherein, above-mentioned torsion follower can be that motor or oil pressure rotate
Cylinder etc..
The newly-increased feature of this case can be demonstrated with six embodiments, and first embodiment is equipped with single by the ring rail setting one of arc bar group
Handle group, such as Figure 11 A~Figure 11 C.Second embodiment is by the equipped single crank group of ring rail setting two of arc bar group, such as Figure 12 A~figure
12C.3rd embodiment is by the equipped double-crank group of ring rail setting three of arc bar group, such as Figure 13 A~Figure 13 C.Fourth embodiment is by arc
The equipped double-crank group of ring rail setting four of bar group, such as Figure 14 A~Figure 14 C.5th embodiment sets a nothing by the ring rail of arc bar group
Equipped crank group, such as Figure 15 A~Figure 15 C.Sixth embodiment is by the ring rail setting two of arc bar group without equipped crank group, such as Figure 16 A
~Figure 16 C.
Above-described embodiment it is merely for convenience explanation and illustrate, though arbitrarily repaiied by person of ordinary skill in the field
Change, all without departing from such as the scope to be protected in claims.
Claims (9)
1. a kind of mechanism is built by 12 axle geometry and can follow spherical coordinates motion manipulation, comprising:
One group of base frame group, the base frame group, which is included, one of to be constituted base frame structure by several arc frames and is installed on four bases of the base frame structure
There is the base frame geometry tetrahedron of quadripolar corners definable one in frame rotating module, the base frame structure, the four base frames rotating module is defined
Output axis overlapped respectively with the tetrahedral corner heart line of the base frame geometry, and this corner heart line is centripetal intersects at base frame structure
Center, wherein the angle between wantonly two base frames rotating module output axis is all more than 75 degree and less than 150 degree；
Two groups of end frame groups, every group of end frame group includes one end mount structure and is installed on two end frame rotating modules of the end mount structure, should
Holding has two end angle definable one end frame geometry arcs on mount structure, define the output axis of the two ends frame rotating module respectively with
Two jiaos of heart line angle heart lines of the end frame geometry arc are overlapped, and this two jiaos of heart lines are centripetal intersects at base frame structure centre so that should
End frame group ring rail rotates with one heart, wherein the angle between two output axis of the end frame rotating module of every group of end frame group is all more than 75 degree
And less than 150 degree；
Four groups of arc bar groups, every group of arc bar group connects arc bar, a termination arc bar and an arc bar rotating module including a base, and the base connects arc bar
One end and one end of the termination arc bar connect with the arc bar rotating module axle, the base connect arc bar the other end and a base frame rotate mould
Block axle connects, the other end and one end frame rotating module axle knot of the termination arc bar, and the output axis normality of arc bar rotating module refers to
To the base frame center, so that the arc bar group ring rail rotates between the base frame structure and the two ends mount structure with one heart, wherein wantonly two
Angle between base frame rotating module output axis connects arc bar arc length sum, any of which end frame less than or equal to corresponding diyl
Two end frame rotating modules output axis between angle be less than or equal to the arc length sums of two corresponding termination arc bars；And
At most two groups crank groups, every group of crank group includes an arc crank and a crank rotating module, and the arc crank one end is consolidated
Fill toss about centripetal extension of the extension rod relative to base frame structure, the other end and the base of the arc crank connect that arc bar is coaxial to be set in
One base frame rotating module so that the arc crank can ring rail rotate with one heart, the crank rotating module and the base frame rotating module are total to
Axle sleeve is filled, the crank rotating module can drive the arc crank in good time with avoid base frame structure and any base connect arc bar can be competent
Relate to, wherein the arc length of the arc crank is less than or equal to 90 degree.
2. mechanism as claimed in claim 1, wherein every group of end frame group can add placement one end frame load bearing seat in the end mount structure it
The reverse side of arc bar is terminated, to install a payload thing.
3. mechanism as claimed in claim 1, every group of crank group can add one crank load bearing seat of placement in the extension of the arc crank
Bar is relative to the reverse side of base frame structure, to install a payload thing.
4. mechanism rotating module as claimed in claim 1, wherein the base frame rotating module are torsion follower, angle detection
Device, shaft core and bearing be combined or thrin, and the end frame rotating module is torsion follower, angle detector, shaft core and axle
Hold combined or thrin, the arc bar rotating module is that torsion follower, angle detector, shaft core and bearing are combined or three
One of person, the crank rotating module is combined by torsion follower, angle detector, shaft core and bearing or thrin.
Kept away 5. the base frame structure of mechanism as claimed in claim 1, wherein the base frame group can design for closed loop with strengthened rigidity
Exempt to vibrate or deform, or open loop type designs to avoid that the operating of arc bar group or crank group may be interfered.
6. a kind of mechanism is built by 12 axle geometry and can follow spherical coordinates motion manipulation, comprising:One group of base frame group, the base frame group
Comprising one of being made up of base frame structure several arc frames and be installed in four base frame rotating modules of the base frame structure, the base frame structure
With the base frame geometry tetrahedron of quadripolar corners definable one, the output axis for defining the four base frames rotating module is several with the base frame respectively
What tetrahedral corner heart line is overlapped, and this corner heart line is centripetal intersects at base frame structure centre, wherein wantonly two base frame rotates mould
Angle between block 0a output axis is all more than 75 degree and less than 150 degree；
Two groups of end frame groups, every group of end frame group includes one end mount structure and is installed on two end frame rotating modules of the end mount structure, should
Holding has two end angle definable one end frame geometry arcs on mount structure, define the output axis of the two ends frame rotating module respectively with
Two jiaos of heart line angle heart lines of the end frame geometry arc are overlapped, and this two jiaos of heart lines are centripetal intersects at base frame structure centre so that should
End frame group ring rail rotates with one heart, wherein between two output axis of the end frame rotating module of every group of end frame group angle all more than 75 degree and
Less than 150 degree；And
Four groups of arc bar groups, every group of arc bar group connects arc bar, a termination arc bar and an arc bar rotating module including a base, and the base connects arc bar
One end and one end of the termination arc bar connect with the arc bar rotating module axle, the base connect arc bar the other end and a base frame rotate mould
Block axle connects, the other end and one end frame rotating module axle knot of the termination arc bar, and the output axis normality of arc bar rotating module refers to
To the base frame center, so that the arc bar group ring rail rotates between the base frame structure and the two ends mount structure with one heart, wherein wantonly two
Angle between base frame rotating module output axis connects arc bar arc length sum, any of which end frame less than or equal to corresponding diyl
Two end frame rotating modules output axis between angle be less than or equal to two corresponding termination arc bar arc length sums.
7. mechanism as claimed in claim 6, wherein every group of end frame group can add placement one end frame load bearing seat in the end mount structure it
The reverse side of arc bar is terminated, to install a payload thing.
8. mechanism rotating module as claimed in claim 6, wherein the base frame rotating module are torsion follower, angle detection
Device, shaft core and bearing be combined or thrin, and the end frame rotating module is torsion follower, angle detector, shaft core and axle
Hold combined or thrin, the arc bar rotating module is that torsion follower, angle detector, shaft core and bearing are combined or three
One of person, the crank rotating module is combined by torsion follower, angle detector, shaft core and bearing or thrin.
Kept away 9. the base frame structure of mechanism as claimed in claim 6, wherein the base frame group can design for closed loop with strengthened rigidity
Exempt to vibrate or deform, or open loop type designs to avoid that the operating of arc bar group or crank group may be interfered.
Applications Claiming Priority (4)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| TW105101295A TWI623345B (en) | 2016-01-15 | 2016-01-15 | Arc-links assembly mechanism |
| TW105101295 | 2016-01-15 | ||
| TW105143085 | 2016-12-23 | ||
| TW105143085A TWI652430B (en) | 2016-12-23 | 2016-12-23 | Twelve axes mechanism for spherical coordinates orientating |
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| CN107877189A (en) * | 2017-11-08 | 2018-04-06 | 弗埃斯工业技术（苏州）有限公司 | Spherical processing support |
| CN108000508A (en) * | 2018-01-25 | 2018-05-08 | 西南石油大学 | A kind of movement adjusting device |
| CN109333510A (en) * | 2018-11-08 | 2019-02-15 | 天津大学 | One translation of one kind, two rotation spherical coordinates type zero couples parallel institution |
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| CN110696007B (en) * | 2019-09-27 | 2020-11-10 | 北京交通大学 | Combined tetrahedral mobile robot |
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| CN108000508A (en) * | 2018-01-25 | 2018-05-08 | 西南石油大学 | A kind of movement adjusting device |
| CN108000508B (en) * | 2018-01-25 | 2024-01-26 | 西南石油大学 | Motion adjusting device |
| CN109333510A (en) * | 2018-11-08 | 2019-02-15 | 天津大学 | One translation of one kind, two rotation spherical coordinates type zero couples parallel institution |
| CN109333510B (en) * | 2018-11-08 | 2021-08-06 | 天津大学 | Coordinate type zero-coupling parallel mechanism for translating two rotating balls |
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| JP2017125612A (en) | 2017-07-20 |
| CN107030682B (en) | 2020-07-14 |
| JP6912205B2 (en) | 2021-08-04 |
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