CN107030682B - Twelve-axis spherical coordinate movement mechanism - Google Patents
Twelve-axis spherical coordinate movement mechanism Download PDFInfo
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- CN107030682B CN107030682B CN201710025223.7A CN201710025223A CN107030682B CN 107030682 B CN107030682 B CN 107030682B CN 201710025223 A CN201710025223 A CN 201710025223A CN 107030682 B CN107030682 B CN 107030682B
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- 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
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- 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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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 mechanism is constructed by twelve-axis geometry, can be controlled along the movement of spherical coordinates, can be applied to a multi-axis composite machining center machine or a multi-time element detection measuring bed, and can also be applied to shoulder joint or hip joint of a robot.
Background
The applicant refers to two previous cases, the first previous case has received the patent certificate issued by the USPTO (certificate No. US8579714B 2/publication No. US20120083347a1) and the second previous case (publication No. US20150082934a1) has already obtained the approval receipt notice of the USPTO.
The present application takes over the twelve-axis geometric configuration of the two-piece prior art, so that the twelve-axis torque can be integrated and output in parallel and in series through four arc rod sets, but how to avoid the mutual interference and singularity of the twelve-axis mechanism is an important subject, so the present application refers to the various singularities and the corresponding geometric limitations suggested by the first prior art. The present application also follows the setting of the second type basic circular track of the second prior art, and combines the two prior arts, which can be further divided into the setting of the four-type circular track. The second prior case "at least one set" of terminal arc rods is specifically updated in this case to "at most two sets" of cranks. Regarding the new added feature of the present application, one of the two sets of geometrical tetrahedral structures defined in the two previous applications is divided into two independent end frame structures respectively constructed by two geometrical arcs, and the other set of geometrical tetrahedral structure is the same as the original geometrical definition. Compared with the original single geometric tetrahedron, the independent two geometric arcs reduce constraint and influence, the mechanism motion space can be enlarged, and the mechanism reward amount can be increased if the end frame structure is additionally provided with the end frame bearing seat, so the application field of the twelve-axis spherical coordinate motion mechanism can be greatly enlarged due to the additional characteristic.
Disclosure of Invention
In view of the above problems, the present invention provides a mechanism constructed by twelve-axis geometry and capable of operating and controlling along spherical coordinate motion, which can be applied to a multi-axis machining center or a multi-dimensional measuring bed, and can also be applied to a shoulder joint or a hip joint of a robot.
The invention provides a twelve-shaft mechanism, which comprises a group of base frame groups, two groups of end frame groups, four groups of arc rod groups and at most two groups of crank groups. The base frame group comprises a base frame structure consisting of a plurality of arc frames and four base frame rotating modules arranged on the base frame structure, wherein four corners of the base frame structure can define a base frame geometrical tetrahedron, output axes of the four base frame rotating modules are defined to be respectively superposed with four corner center lines of the base frame geometrical tetrahedron, and the four corner center lines are intersected at the center of the base frame structure. Each end frame group comprises an end frame structure and two end frame rotating modules arranged on the end frame structure, two end angles on the end frame structure can define an end frame geometric arc, the output axes of the two end frame rotating modules are defined to be respectively superposed with two angular center lines of the end frame geometric arc, and the two angular center lines are centripetally intersected at the center of the base frame structure, so that the circular tracks of the end frame group concentrically revolve. Each arc rod group comprises a base arc connecting rod, an end arc connecting rod and an arc rod rotating module, one end of the base arc connecting rod is connected with one end of the end arc connecting rod through the arc rod rotating module in a shaft connection mode, the other end of the base arc connecting rod is connected with a base frame rotating module in a shaft connection mode, the other end of the end arc connecting rod is connected with an end frame rotating module in a shaft connection mode, and the output axis of the arc rod rotating module points to the center of the base frame in a normal mode, so that the circular rail of the arc rod group concentrically rotates between the base frame structure and the two end frame structures. Each crank group comprises an arc crank and a crank rotating module, one end of the arc crank is fixedly provided with an extending rod which extends centripetally relative to the opposite side of the base frame structure, the other end of the arc crank and the base arc connecting rod are coaxially sleeved on a base frame rotating module so that the arc crank can concentrically rotate around a circular track, the crank rotating module and the base frame rotating module are coaxially sleeved, and the crank rotating module can timely drive the arc crank to avoid possible interference between the base frame structure and any base arc connecting rod.
At most two crank sets of the twelve-shaft mechanism, at most two crank sets may be two, one or none. For the sake of clarity, the present invention is extended to the embodiment without crank set, claim 6, which includes one set of base frame, two sets of end frame and four sets of arc rod, so the definition and the assembly manner are the same as above.
In order to make the aforementioned objects, features and advantages of the present invention comprehensible, the geometrical definitions and design specifications and parameter limitations of the respective assemblies are described in detail below, and embodiments thereof are provided in conjunction with the accompanying drawings. It is to be noted that the components in the attached drawings are merely schematic and are not shown in actual scale.
Drawings
FIG. 1 is a geometric definition diagram and a perspective view of a first design aspect of a base frame structure.
FIG. 2 is a geometric definition diagram and a perspective view of a second design aspect of a base frame structure.
FIG. 3 is a geometric definition diagram and a perspective view of a third design aspect of a base frame structure.
FIG. 4 is a geometric definition diagram and a perspective view of a fourth design aspect of a base frame structure.
FIG. 5 is a geometric definition diagram and a perspective view of the circular track of the arc rod set.
FIG. 6 is a geometric definition diagram and a perspective view of the circular track setting two of the arc rod set.
FIG. 7 is a geometric definition diagram and a perspective view of the third setting of the circular track of the arc rod set.
FIG. 8 is a geometric definition diagram and a perspective view of the circular track of the arc rod set.
FIG. 9 is a geometric definition and a perspective view of a first aspect of the crank set.
FIG. 10 is a geometric definition diagram and a perspective view of the second embodiment of the crank set.
FIG. 11 is a three-dimensional view of the first embodiment with a single crank set by the circular track of the arc rod set.
FIG. 12 is a three-dimensional view of the second embodiment with two sets of assembled single cranks set by the circular tracks of the arc rod sets.
FIG. 13 is a three-dimensional view of the third embodiment, with the circular tracks of the arc rod sets defining three mating dual crank sets.
FIG. 14 is a three-dimensional view of the fourth embodiment, with the circular tracks of the arc rod sets defining four mating dual crank sets.
FIG. 15 is a three-dimensional view of the fifth embodiment with the endless track of the arc rod set defining an unassembled crank set.
FIG. 16 is a three-dimensional view of the sixth embodiment with two unassembled crank sets set by the endless track of the arc rod set.
Detailed Description
The mechanism is constructed by twelve-axis geometry and can be controlled along the movement of spherical coordinates, and comprises a group of base frame sets, two groups of end frame sets, four groups of arc rod sets and at most two groups of crank sets.
The base frame group comprises a base frame structure 0c consisting of a plurality of arc frames and four base frame rotating modules 0a installed on the base frame structure 0c, wherein four end angles on the base frame structure 0c can define a base frame geometrical tetrahedron, output axes of the four base frame rotating modules 0a are defined and are marked as unit vectors Ui, wherein i is 1-4 and are respectively superposed with four corner axes of the base frame geometrical tetrahedron, and the four corner axes are centripetally intersected at the center of the base frame structure 0 a. the base frame structure 0c is fixedly provided with the four base frame rotating modules 0a, an included angle between output axes of any two base frame rotating modules 0a is marked as Λ ij ArcCos (Ui.Uj), wherein i is not equal to j, the included angle between output axes of any two base frame rotating modules 0a of the rotating modules is larger than 75 degrees and smaller than 150 degrees, namely 75 degrees Λ ij <150 degrees.
According to the first prior art, the geometric definition of the base frame structure 0c is not necessarily a regular tetrahedron, because it is easier to design parameters and to calculate and simulate the same symmetry, and thus, the six included angles between the angle centers of the base frame structure 0c are equal to about 109.5 °, i.e., Λ 12 ═ Λ 13 ═ Λ 14 ═ Λ 23 ═ Λ 24 ═ Λ 34 ≈ 6352.5 °.
Two end frame groups, each end frame group comprises an end frame structure 4c and two end frame rotating modules 4a arranged on the end frame structure 4c, two end angles on the end frame structure 4c can define an end frame geometric arc, an output axis of the two end frame rotating module 4a is defined to be respectively superposed with two angular center lines of the end frame geometric arc, and the two angular center lines are centripetally intersected at the center of the base frame structure, so that the end frame group circular tracks concentrically revolve. The geometric orbital radius of the end frame structure 4c is designated as r4, and the geometric orbital radius of the base frame structure 0c is designated as r 0.
The output axes of the two end frame rotating modules 4a on the first end frame structure are indicated as unit vectors V1 and V2, and the included angle between the two output axes of the two end frame rotating modules 4a is geometrically indicated as λ 12 ═ ArcCos (V1 · V2). The output axes of the two end frame rotating modules 0a of the second end frame structure are indicated as unit vectors V3 and V4, and the included angle between the two output axes of the two end frame rotating modules 0a is geometrically indicated as λ 34 ═ ArcCos (V3 · V4).
The included angles between the two output axes of the end frame rotating modules 4a of each end frame set are both larger than 90 degrees and smaller than 150 degrees, i.e., 75 DEG < lambda 12<150 DEG and 75 DEG < lambda 34<150 deg. The end frame geometry is defined as shown in fig. 5A, fig. 6A, fig. 7A and fig. 8A.
Two end frame sets, each end frame set can be installed with an end frame bearing seat 4s on the opposite end side of the end connection arc rod 2c of the end frame structure 2c for installing the cargo. The end frame bearing seat 4s can be a lifting mechanism with a telescopic arm of force, such as a pneumatic cylinder, an oil hydraulic cylinder or an electric screw rod, and can be applied to shoulder joint or hip joint of a robot.
Four arc rod sets, each arc rod set includes a base arc rod 1c, an end arc rod 2c and an arc rod rotation module 2a, one end of the base arc rod 1c is connected with one end of the end arc rod 2c by the arc rod rotation module 2a, and the other end of the base arc rod 1c is connected with a base frame rotation module 0a by a shaft. The other end of the end connection arc rod 2c is connected with an end frame rotation module 4a by a shaft. The output axis of the arc rod rotating module 2a is marked as a unit vector Wi, wherein i is 1-4, and the normal state points to the center of the base frame, so that the circular orbit of the arc rod set concentrically rotates between the base frame structure 0c and the two sets of end frame structures 4 c. The radius of the geometric orbit of the base curved bar 1c is designated as r1, and the radius of the geometric orbit of the terminal curved bar 2c is designated as r 2.
The four arc rod groups have twelve shafts, and the twelve shaft torque forces are connected in parallel and in series to be integrated and output through the four base frame rotating module 0a, the four arc rod rotating module 2a and the four end frame rotating module 4a respectively.
The base arc bar 1c has an arc length defined as the angle between the base frame rotation module 0a and the arc bar rotation module 2a, and a geometric designation of α i ═ ArcCos (Ui · Wi) —. the end arc bar 2c has an arc length defined as the angle between the end frame rotation module 4a and the arc bar rotation module 2a, and a geometric designation of β i ═ ArcCos (Vi · Wi).
Referring to the various singular phenomena and the corresponding geometrical limitations suggested in the first prior case, the included angle between the output axes of any two base frame rotating modules 0a is smaller than or equal to the sum of the arc lengths of the two corresponding base arc connecting rods 1c, i.e. Λ ij is smaller than or equal to α i + α j, wherein i is not equal to j, the included angle between the output axes of the two end frame rotating modules 4a of any end frame is smaller than or equal to the sum of the arc lengths of the two corresponding base arc connecting rods 2c, i.e. λ 12 is smaller than or equal to β 1+ β 2 or λ 34 is smaller than or equal to β 3+ β 4.
The present application still inherits the twelve-axis geometric configuration of the two previous cases, and how to avoid the mutual interference and singular phenomenon of the twelve-axis mechanism is an important subject, and the present application refers to the various singular phenomena suggested by the first previous case and the corresponding geometric limitations thereof.
The twelve-axis spherical coordinate motion mechanism is most difficult to avoid because of the singular four-axis fold, and the detailed geometric definition and illustration refer to fig. 18-21 of the first prior art. Since the four-axis folding singularity usually occurs in the central posture, it is difficult to escape upon mistake, and the deviated central posture is often the original or necessary posture to restore and is difficult to avoid. The first prior art has listed three parameter designs to avoid the four-axis singular folding phenomenon.
The singular phenomena are analyzed through induction, and a new basis is selected for configuration parameter design, a fourth parameter design is proposed, wherein the base arc connecting rod 1c and the end arc connecting rod 2c of the same arc connecting rod set concentrically rotate on the same geometric track, so that the same track is difficult to completely fold, and the track radius of each base arc connecting rod 1c is enabled to be equal to the track radius of each end arc connecting rod 2 c. The second former two-type basic circular orbit setting is also followed, in which one type of basic circular orbit setting is that the orbit radius of the base frame structure 0c is "" larger than "" the orbit radius of the end frame structure 4c, and the other type of basic circular orbit setting is that the orbit radius of the base frame structure 0c is "" smaller than "" the orbit radius of the end frame structure 4 c.
Therefore, the two prior proposals are combined, the arc rod set circular tracks concentrically rotate between the base frame structure 0c and the two end frame structures 4c, and the base arc rod 1c and the end arc rod 2c of the same arc rod set concentrically rotate on the same geometric track, and the scheme can be further divided into four circular track settings. The circular track is set such that the track radius of the base frame structure 0c is "larger" than that of the end frame structure 4c, and the track radius of each base arc rod 1c is "the same" as that of each end arc rod 2c, i.e., r0> r1 ═ r2> r4, as shown in fig. 5A to 5B. The circular track is set to have a radius of orbit "smaller" for the base frame structure 0c than for the end frame structure 4c, and the radius of orbit "same" for each base arc rod 1c as for each end arc rod 2c, i.e. r0< r1 ═ r2< r4, as shown in fig. 6A to 6B. The circular track is set to three, the track radius of the base frame structure 0c is "" larger than "" the track radius of the end frame structure 4c, and the track radius of each base arc rod 1c is "" larger than "" the track radius of each end arc rod 2c, i.e., r0> r1> r2> r4, as shown in FIGS. 7A-7B. The circular track is set to have a radius of orbit of the base frame structure 0c smaller than that of the end frame structure 4c and a radius of orbit of each base arc rod 1c smaller than that of each end arc rod 2c, i.e., r0< r1< r2< r4, as shown in fig. 8A-8B.
At most two crank sets, each crank set includes an arc crank 3c and a crank rotation module 3a, one end of the arc crank 3c is fixedly installed with an extension rod which extends centripetally relative to the opposite side of the base frame structure 0c, the extension line of the extension rod is marked as unit vector Ni, wherein i is 1-2. The other end of the arc crank 3c and one end of the base arc connecting rod 1c are coaxially sleeved on a base frame rotating module 1a, so that the arc crank 3c can concentrically rotate around the circular orbit. The crank rotation module 3a is coaxially sleeved with the base frame rotation module 0a, and the crank rotation module 3a can drive the arc crank 3c timely to avoid possible interference between the base frame structure 0c and any base arc connecting rod 1 c. The arc length of the arc crank 3c is defined as the angle between the base frame rotation module 0a and the output axis of the arc crank 3c, and the geometric notation is i ═ ArcCos (Ui · Ni), where i ═ 1-2. The arc length of the arc crank 3c is less than or equal to 90 degrees, i is less than or equal to 90 degrees, and i is 1-2 degrees. The geometry of the crank set of the rotation module is defined as shown in fig. 9A and fig. 10A.
Each crank set can be installed with a crank bearing seat 3s on the opposite side of the extension rod of the arc crank 3c relative to the base frame structure 0c for accommodating the cargo. The support base 3s may be a holding device, such as a clamping module of a machine tool, which may be applied to a multi-axis machining center or a multi-component measuring bed.
The second prior art terminal arc rod set is named crank set in this case, and the second prior art terminal arc rod set of at least one set is updated to crank set of at most two sets in this case. Through simulation verification, more than two crank sets are easy to interfere with the base frame structure or the arc rod set, and the application benefit is greatly reduced due to the limited movement space. The working space of the two crank sets is slightly limited but acceptable because the crank sets can stably clamp loaded articles together, the working space of the single crank set is enlarged, but the single suspension clamp is easy to induce vibration.
If the crank set is not provided at all, the movement space is relatively unlimited, and the loaded object can be loaded by the end frame bearing seat 4s even though the crank bearing seat 3s is not provided in the mechanism. Therefore, the arrangement of two or less crank sets has various application fields, so the present application is updated to "at most two crank sets", and further distinguishes the two-shaft connection mode to connect at most two crank sets and the base frame set, as shown in fig. 9A-9B and fig. 10A-10B.
The design of the base frame structure 0c can be classified into a closed loop type or an open loop type. The closed loop design is rigid against vibration or deformation. An open-loop design to avoid possible interference with the operation of the arc rod set or crank set. Therefore, the base frame structure 0c can be divided into four design patterns, i.e., the first design pattern shown in fig. 1A, 1B, the second design pattern shown in fig. 2A, 2B, the third design pattern shown in fig. 3A, 3B, and the fourth design pattern shown in fig. 4A, 4B.
Regarding the various rotating modules of the present application, the base frame rotating module 0a can be composed of one or three of a torque output device, an angle detector, a shaft core and a bearing. The arc rod rotation module 2a can be composed of one or three of a torque force output device, an angle detector, a shaft core and a bearing. The end frame rotating module 4a can be composed of one or three of a torque output device, an angle detector, a shaft core and a bearing. The crank rotation module 3a can be composed of one or three of a torque output device, an angle detector, a shaft core and a bearing. The driven object of the torque output device of the base frame rotating module 1a can be a base connecting arc rod 1c, the driven object of the torque output device of the arc rod rotating module 2a can be a base connecting arc rod 1c or a terminal connecting arc rod 2c, the driven object of the end frame rotating module 4a can be a terminal connecting arc rod 4c, and the driven object of the torque output device of the crank rotating module 3a can be an arc crank 3 c. The torque output device may be a motor or a hydraulic rotary cylinder.
This added feature can be demonstrated in six embodiments, the first embodiment setting a single crank set from the circular track of the arc rod set, as shown in fig. 11A-11C. The second embodiment sets two single crank sets by the circular track of the arc rod set, as shown in fig. 12A-12C. The third embodiment sets three-fitting double crank set by the circular track of the arc rod set, as shown in fig. 13A to 13C. The fourth embodiment sets four-fitting double crank set by the ring track of the arc rod set, as shown in fig. 14A to 14C. The fifth embodiment sets an unassembled crank set by the ring track of the arc rod set, as shown in fig. 15A to 15C. The sixth embodiment sets two unassembled crank sets from the circular track of the arc rod set, as shown in fig. 16A to 16C.
The above-described embodiments are merely exemplary for convenience of description, and various modifications may be made by those skilled in the art without departing from the scope of the invention as claimed in the claims.
Claims (9)
1. A mechanism is constructed by twelve-axis geometry and can be controlled along the movement of spherical coordinates, which comprises a group of base frame groups, wherein each base frame group comprises a base frame structure consisting of a plurality of arc frames and four base frame rotating modules arranged on the base frame structure, four corners on the base frame structure can define a base frame geometry tetrahedron, output axes of the four base frame rotating modules are defined to be respectively superposed with four corner center lines of the base frame geometry tetrahedron, the four corner center lines are intersected at the center of the base frame structure, and included angles between the output axes of any two base frame rotating modules are larger than 75 degrees and smaller than 150 degrees;
two end frame groups, each end frame group comprises an end frame structure and two end frame rotating modules arranged on the end frame structure, two end angles on the end frame structure can define an end frame geometric arc, the output axes of the two end frame rotating modules are defined to be respectively superposed with the angular center lines of two angular center lines of the end frame geometric arc, the two angular center lines are concentrically intersected at the center of the base frame structure, so that the end frame group orbits concentrically, wherein the included angles between the two output axes of the end frame rotating modules of each end frame group are both larger than 75 degrees and smaller than 150 degrees;
four groups of arc rod sets, each group of arc rod sets comprises a base arc connecting rod, an end arc connecting rod and an arc rod rotating module, one end of the base arc connecting rod is connected with one end of the end arc connecting rod through the arc rod rotating module in a shaft mode, the other end of the base arc connecting rod is connected with a base frame rotating module in a shaft mode, the other end of the end arc connecting rod is connected with the end frame rotating module in a shaft mode, the output axis of the arc rod rotating module normally points to the center of the base frame, so that the arc rod set concentrically rotates between the base frame structure and the two end frame structures, the included angle between any two output axes of the base frame rotating module is smaller than or equal to the sum of the arc lengths of the two corresponding base arc connecting rods, and the included angle between the output axes of the two end frame rotating modules of any end frame is smaller than or equal to the sum of the arc lengths of the two corresponding arc connecting rods; and
at most two groups of crank groups, each group of crank groups comprises an arc crank and a crank rotating module, one end of the arc crank is fixedly provided with an extending rod which extends centripetally relative to the opposite side of the base frame structure, the other end of the arc crank and the base arc connecting rod are coaxially sleeved on the base frame rotating module so that the arc crank can concentrically rotate around the circular track, the crank rotating module is coaxially sleeved with the base frame rotating module, the crank rotating module can timely drive the arc crank to avoid possible interference between the base frame structure and any base arc connecting rod, and the arc length of the arc crank is less than or equal to 90 degrees.
2. The mechanism of claim 1 wherein each end frame set is adapted to mount an end frame carrier on the opposite end side of the end frame structure from the end stop rod for carrying a payload.
3. The mechanism of claim 1, wherein each crank set is adapted to mount a crank carrier on the opposite end of the extension rod of the curved crank relative to the base frame structure for carrying a payload.
4. The mechanism of claim 1, wherein the base frame rotation module is one or three of a torque output device, an angle detector, a shaft core and a bearing, the end frame rotation module is one or three of a torque output device, an angle detector, a shaft core and a bearing, the arc rod rotation module is one or three of a torque output device, an angle detector, a shaft core and a bearing, and the crank rotation module is one or three of a torque output device, an angle detector, a shaft core and a bearing.
5. The mechanism of claim 1, wherein the base frame structure of the base frame set can be a closed-loop design to enhance rigidity against vibration or deformation, or an open-loop design to avoid possible interference with the operation of the arc rod set or crank set.
6. A mechanism is constructed by twelve-axis geometry and can be controlled along the movement of spherical coordinates, which comprises a group of base frame groups, wherein each base frame group comprises a base frame structure consisting of a plurality of arc frames and four base frame rotating modules arranged on the base frame structure, four corners on the base frame structure can define a base frame geometry tetrahedron, output axes of the four base frame rotating modules are defined to be respectively superposed with four corner center lines of the base frame geometry tetrahedron, the four corner center lines are intersected at the center of the base frame structure, and included angles between the output axes of any two base frame rotating modules are larger than 75 degrees and smaller than 150 degrees;
two end frame groups, each end frame group comprises an end frame structure and two end frame rotating modules arranged on the end frame structure, two end angles on the end frame structure can define an end frame geometric arc, an output axis of the two end frame rotating modules is defined to be respectively superposed with two angular center lines of the end frame geometric arc, the two angular center lines are concentrically intersected at the center of the base frame structure, so that the end frame group orbits concentrically, wherein included angles between two output axes of the end frame rotating modules of each end frame group are both larger than 75 degrees and smaller than 150 degrees;
four arc rod sets, each arc rod set comprises a base arc connecting rod, an end arc connecting rod and an arc rod rotating module, one end of the base arc connecting rod is connected with one end of the end arc connecting rod through the arc rod rotating module in a shaft mode, the other end of the base arc connecting rod is connected with a base frame rotating module in a shaft mode, the other end of the end arc connecting rod is connected with an end frame rotating module in a shaft mode, an output axis of the arc rod rotating module normally points to the center of the base frame, so that the arc rod set concentrically rotates between the base frame structure and the two end frame structures, an included angle between any two output axes of the base frame rotating module is smaller than or equal to the sum of the arc lengths of the two corresponding base arc connecting rods, and an included angle between two output axes of the end frame rotating module of any end frame is smaller than or equal to the sum of the arc lengths of the two corresponding arc connecting rods.
7. The mechanism of claim 6 wherein each end frame set is adapted to mount an end frame carrier on the opposite end side of the end frame structure from the end stop rod for carrying a payload.
8. The mechanism of claim 6, wherein the base frame rotation module is one or more of a torque output device, an angle detector, a shaft core and a bearing, and the end frame rotation module is one or more of a torque output device, an angle detector, a shaft core and a bearing.
9. The mechanism of claim 6, wherein the base frame structure of the base frame set can be a closed-loop design to enhance rigidity against vibration or deformation, or an open-loop design to avoid possible interference with the operation of the arc rod set.
Applications Claiming Priority (4)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| TW105101295 | 2016-01-15 | ||
| TW105101295A TWI623345B (en) | 2016-01-15 | 2016-01-15 | Arc-links assembly mechanism |
| TW105143085 | 2016-12-23 | ||
| TW105143085A TWI652430B (en) | 2016-12-23 | 2016-12-23 | Twelve axes mechanism for spherical coordinates orientating |
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| CN107030682A CN107030682A (en) | 2017-08-11 |
| CN107030682B true CN107030682B (en) | 2020-07-14 |
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| CN201710025223.7A Active CN107030682B (en) | 2016-01-15 | 2017-01-13 | Twelve-axis spherical coordinate movement mechanism |
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| CN107877189B (en) * | 2017-11-08 | 2020-06-16 | 弗埃斯工业技术（苏州）有限公司 | Spherical processing machine seat |
| CN108000508B (en) * | 2018-01-25 | 2024-01-26 | 西南石油大学 | Motion adjusting device |
| CN109333510B (en) * | 2018-11-08 | 2021-08-06 | 天津大学 | Coordinate type zero-coupling parallel mechanism for translating two rotating balls |
| CN110696007B (en) * | 2019-09-27 | 2020-11-10 | 北京交通大学 | Combined tetrahedral mobile robot |
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| JPS6165790A (en) * | 1984-09-05 | 1986-04-04 | 新明和工業株式会社 | Three-dimensional wrist device |
| DE3810477C1 (en) * | 1988-03-26 | 1989-10-19 | Gerhart Dr.Med. 6718 Gruenstadt De Faber | |
| TWI440499B (en) * | 2010-10-04 | 2014-06-11 | A space orientation mechanism | |
| CN103158157A (en) * | 2013-04-01 | 2013-06-19 | 天津工业大学 | Simulated joint mechanism with radial direction buffering function |
| US9579786B2 (en) * | 2013-09-26 | 2017-02-28 | Wen-Der TRUI | Spherical coordinates manipulating mechanism |
| CN103639712B (en) * | 2013-11-25 | 2016-04-27 | 浙江理工大学 | A kind of three rotation spherical parallel institutions |
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2017
- 2017-01-13 CN CN201710025223.7A patent/CN107030682B/en active Active
- 2017-01-16 JP JP2017005465A patent/JP6912205B2/en active Active
Also Published As
| Publication number | Publication date |
|---|---|
| CN107030682A (en) | 2017-08-11 |
| JP6912205B2 (en) | 2021-08-04 |
| JP2017125612A (en) | 2017-07-20 |
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