200806443 九、發明說明： 【發明所屬之技術領域】 》本發明係有關於—種機器人，詳而言之，尤指—種藉由—個 反及俯仰、翻滾二倾轉自由度的_、並聯 使用於災害處理、戰場侦防等之機器人重心及姿態調=合而反應、 【先前技術】 按’現彳T對於有安全疑慮的場合，或進行相關高危險卫作， 彈，用以從事各種人力所不及的工作，諸如：拆^« 作更甚者二^作與夜間巡守、廠區毒氣檢測、疾病傳染性地區工 作更甚者於我场傭(如搜索雷達、衛星天線、砲塔）等。 以具有重心及絲之機構，f知機器人用在高精度 ^、動5膽水平機構為串聯式雙減構，由於 線長，機搆強度較弱，而若為增加強度需加強結構，如 用並聯式機構的細，丨是其為-封閉結構，負荷流線:: 可雜量化’減低慣量’達到易控制、高負荷、高精度的目的。作考量平 移需未時’典型三滅聯錢齡缺點在⑽作㈣則、，料 =此’如何針對機器人其串聯、並聯式調整機構之優、缺點加以改良，並 之機構設計，誠是料或有智之士應再進—步思考、努力突破之 繁^述機ϋ人調整機難朗上之缺點及其結構設計上未臻理想之 事貫，本案發明人乃射研魏思其觀方案，希魏·出—種 =便概、_細_器人重心及娜_合賴構，以服務社 會大眾及錢歸之魏，驗彡叙構思喊本剌之產生。 5 200806443 【發明内容】 本發明之目_在提供-_器人和及姿_整複合賴構，其能 利用串、並聯式複合型機器人重心及姿態調整機構，使達到致動平台具^ 快速反應及省能功效而用以調整機器人姿態角度，且具有較大行程^ 以調整機器人前、後重心，以積極提升機器人重心及姿態調整利 性及效率性者。 本u之再目的在於提供—種機器人重心及姿態調整複 其能同時具娜b低·、高精歧玉作㈣大且易_ 性 而便利機器人其重心及姿態之操作調整者。 寸r進 本^之目的在於提供—種機狀重心、及姿態調整複合型機構， ^一個平移自域及二地括俯仰與翻滾之旋轉自於 處理、戰場偵防等機器人重心位置與姿態角度調整控制之場合i “ 本發明為達上述目的所採用之技 構之主體模組，而該致動機構要係匕括有一具有致動機 7 一支撐平台及支撐座’該支撐座上係設有-銜接該致動平:之二 頭；-驅動轴組，係包括有一平w± 了丧廣動十口之萬向接 驅動之平料減i 平移電動紅及被該平移電動缸所 第-電動二該第-旋轉驅動軸組包括有-設有—連接該支撐旋轉驅動軸，該第—電動缸係 該致動平台之第—球接二該轴係設有一連接 該第二電動紅所驅動之第二旋轉驅動=動軸組包括有—第二電動缸及被 撐平台之萬向接 _ '' ，，忒弟一電動缸係設有一連接該支 接頭；藉由該第一、=乐一疋4動軸係設有一連接該致動平台之第二球 行俯仰與姆之^ '轉軸組、第二旋轉驅_組以帶動紐動平台進 袞?作，進而達到機器人姿態之調整。 ' 4查委員對本㈣之技轉徵及職成之功《有進-步 200806443 之瞭解與認識，謹佐以較佳之實施例圖及配合詳細之說明，說明如後： 【實施方式】 請參閱第1圖，本發明機器人重心及姿態調整複合型機構包括有一機 體裝置10、移動機構20及主體模組3〇 ;該機體裝置1〇包括有一偈限框架 1卜該侷限框架11係設有剔目對之平移導執12及後端—提把13，·該移 動機構20係設於該機體裝置1()之下方，其包括有固設於該機體裝置之 滾輪組21，賴輪组21储動力源如馬料所鶴（未目示），該滾輪组 21係包覆連結_有—傳_ 22，靖騁22可藉設於該舰框架u 後之調節輪23、24進行張力調節。 該主體模組3G包括有—承《 3卜鶴機構32縣_整機構33， 睛-併參閱第2、3圖，該承載體31兩側係設有滑導件3U，該滑導件3ιι 係滑設於該平移導轨12内，以使該承載體31可滑移作動於該偈限框架Η 内，該承载體31係具有一容設空間312 ;該致動機構犯係設於該承载體 ς之合工間312内’其包括有—支標結構34、致動平台36及驅動軸组 請一併參閱第4、5圖，該支撐結構34係包括有-支擇平台341及支 座342 ^用以作為支撐之主體，該支撐座342上係設有—萬向接頭⑽， 用崎接姐動平台36 ;馳柿組35係包括有—平移驅_組π及第 -《I驅動軸組38、第二棘轉軸組39，其中該平移驅軸37係包括 平移電動缸371及被該平移電動叙371所驅動之平移驅動軸372 ’該平 ^電動缸371係固裝於支撐座342，而該平移驅動軸372則穿過該承载體 哭ΓΓ邊Γ限框架11相連接，透過該平移驅動轴372的伸縮作動以達到機 ^心W、後調整（如第3圖所示）；該第一旋轉驅動軸組油、第 ‘玉動轴組39係與該支撐結構34呈對應佈設於該支稽平台mi上， =驅=㈣係咖—帛—账3δ1及觸1齡撕所驅動 轴382，該第—電動虹381係設有一萬向接頭呦，用與該 牙、341相固接，而該第一旋轉驅動軸382係設有—球接頭粼，用與 200806443 及接’·該第二旋轉驅_^^^ 対H 驅動之第二旋轉驅動軸392，該第二電動蝴係 ;有=向_ ，卿妓㈣341 _接，_第：旋 1Γ接頭394，用與該致動平台36相固接；而透過該第-Γ轉 第二旋轉驅動抽組392之分別驅動該第—旋轉驅_ 382、' ==Γ帶動該致動平台36進行俯仰與翻滾之操作，進而 俜由2㈣之 該致動平台36上係設有一手臂361，該手臂361 動電動缸362所驅動。該視線調整機構33係設於該承載體 單^31频雜動單元331所驅動之伸縮支撐桿心該 熱像鏡組二及ί 333係連結有一 益刷“動紅37卜第—電動飯381及第二電動缸391係分別為一 同驅動（未圖示），該無刷直流馬達係連結一控制器例如電腦， H動軸組35係連結該控制器而控制其驅動軸 置或姿態角度，如此，本發明可達到具有—個平移自 機與翻滾)的串、並聯式複合型機器人重心及姿態調整 哭人次有外式致動平台具備快速反應及省能等之優點，用以調整機 =安恶角度’並同時具有串聯式平移驅動軸，而具有較大行程之優點， 機器人前、後重心，其適用於災害處理、戰場偵防等機器人重心 位置與姿態角度調整控制之場合。 ^、請參閱第6圖，該致動平台36及該支樓結構34之支撐平台341上係 步設有-角度感測器4卜42，例如陀螺儀，藉該角度感測器&、π ①連結控制ϋ而感_機體f置1Q(域結構34)所處的位置角度及該致動 36仲應植置肖度’以自输侧校其水平肖度，進而使轉在固定 7二角度範_，達到機器人姿腿定之贿，並使其更細於其他如搜 敎憎綱物嫩姿態角度 8 200806443 磚麥閲第丫圖 — ，〃丁、4周整機構之系統方塊示意圖。其中，平移電 395 乂用^^動叙381與第—電動缸391 *別設有位移感測器375、385、 '第-電動缸381與第二電動缸391之位 5〇 J 5 375 ^ 385 ^ 回傳之角/ L工益5〇會依據裝設於主體模組3G之角度感測器41所 驅動軸_人之重心位置，相對會得知平移 _敕機哭人^ 標位置，進而控制平移電動紅371動作， 感=;=:移:==^ ^置^且回傳至控制器5Q ’供_ 5〇得知平_缸= Γ Μ所下達_量’若否_ 5G將會再驅使平移電動 缸=動作’如此即可精確調整機器人之重心 ^動 第二電動缸观動作，以調整致動平Γ36^ “弟一電動缸撕與 395合回僂所f 正致動千p 36之角度’同時位移感測器娜、 平台曰36之角Ϊ 移量，讓赚_。，如此即可精確調整致動 之均等變化與修飾，均應包括於本發明之中請内!"及精神所為 【圖式簡單說明】 第1圖係本發明之結構示意圖； 第2圖係本發明主體模組之結構示意圖； ^ 3圖係本發日肚體池之平料動示意圖 第4圖係本發明致動機構示意圖一； 第5圖係本發明致動機構示意圖二； 9 200806443 第6圖係本發明角感測器設置示意圖；以及 第7圖係本發明系統功能方塊圖。200806443 IX. Description of the invention: [Technical field to which the invention pertains] The present invention relates to a type of robot, in particular, a type of _, parallel by means of a reverse and pitch, tumbling two tilting degrees of freedom Used in disaster handling, battlefield detection and other robots, the center of gravity and attitude adjustment = reaction, [previous technology] Press 'now T for occasions with safety concerns, or related high-risk guards, bombs, to engage in various Work that is beyond the reach of human resources, such as: dismantling ^« to do more than two, and night patrol, factory gas detection, disease-infected areas work even more in my field (such as search radar, satellite antennas, turrets, etc.) . With a mechanism with a center of gravity and a wire, the robot is used in a high-precision ^, dynamic 5-biliary horizontal mechanism as a series double subtractive structure, due to the line length, the strength of the mechanism is weak, and if the strength is increased, the structure needs to be strengthened, such as parallel connection. The fineness of the type mechanism is that it is a closed structure, and the load flow line:: The miscellaneous 'reduced inertia' can achieve the purpose of easy control, high load and high precision. Considering the need for translation, the typical shortcomings of the three-year-old joints are in (10) (four), and the material = this is how to improve the advantages and disadvantages of the series and parallel adjustment mechanisms of the robot, and the design of the mechanism is sincere. Or the person with wisdom should go further and step by step, think hard, break through the complexity, describe the shortcomings of the machine, and the unsatisfactory things in the structural design. The inventor of this case is the researcher Wei Siqi’s plan. Wei·Out – Kind = Casual, _ Fine _ The focus of the person and the _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 5 200806443 [Description of the Invention] The object of the present invention is to provide a _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ The reaction and energy saving effect are used to adjust the attitude angle of the robot, and have a large stroke ^ to adjust the front and rear center of gravity of the robot to actively improve the center of gravity and attitude of the robot to adjust the profitability and efficiency. The purpose of this u is to provide a kind of robot center of gravity and attitude adjustment. It can also be used to adjust the center of gravity and attitude of the robot. The purpose of the inch r into the ^ is to provide a kind of machine-like center of gravity, and attitude adjustment composite mechanism, ^ a translation of the self-domain and two ground rotation and roll rotation from the processing, battlefield detection and other robot gravity center position and attitude angle Where the control is adjusted i "The present invention is a main body module of the structure adopted for the above purpose, and the actuating mechanism is provided with an actuator 7 and a support platform and a support base" -Connecting the actuation flat: the second head; - the drive shaft group, including a flat w± 丧 广 广 十 之 万 万 减 减 减 减 减 减 减 减 平移 平移 平移 平移 平移 平移 平移 平移 平移 平移 平移 平移 平移 平移 平移The electric two-rotating drive shaft set includes-providing-connecting the support rotary drive shaft, the first electric cylinder is the first ball-connecting shaft of the actuating platform, and the shaft is provided with a connection to the second electric red The second rotary drive of the drive = the movable shaft group includes a universal joint of the second electric cylinder and the supported platform _ '', and the electric cylinder of the younger brother is provided with a connection joint; by the first, =乐一疋4 moving shaft system is provided with a second connecting the actuating platform The line pitch and the M ^ ^ 'rotor group, the second rotating drive _ group to drive the new platform to enter the 衮 衮 , , , , , , , , , , , , , , , , , , , , , , , , , , , , , , , , , , , , , , , , , , , , , , , , , , , , , , , , , , , , , , , , , , , , , , , , , , , , , , The understanding and understanding of the further embodiment of the present invention will be described with reference to the preferred embodiment and the detailed description. [Embodiment] Referring to FIG. 1, the robot center of gravity and attitude adjustment composite mechanism includes a body. The device 10, the moving mechanism 20 and the main body module 3; the body device 1A includes a limit frame 1 and the limited frame 11 is provided with a panning guide 12 and a rear end - a handle 13 The moving mechanism 20 is disposed under the body device 1 (), and includes a roller set 21 fixed to the body device, and the traction wheel set 21 stores a power source such as a horse crane (not shown), and the roller set 21 series covered connection _ _ _ _ 22, Jing Hao 22 can be adjusted by the adjustment wheel 23, 24 after the ship frame u. The main body module 3G includes the "3 Buhe institutions 32 counties _Complete mechanism 33, eye - and refer to Figures 2 and 3, the carrier 31 is provided with sliding on both sides a member 3U, the sliding guide member 3111 is slidably disposed in the translation guide rail 12, so that the carrier member 31 can be slidably moved in the frame Η, the carrier member 31 has a receiving space 312; The actuation mechanism is disposed in the joint 312 of the carrier ' 'which includes the fulcrum structure 34, the actuation platform 36 and the drive shaft set. Please refer to Figures 4 and 5 together. The utility model comprises a support platform 341 and a support 342 ^ for supporting the main body, the support base 342 is provided with a universal joint (10), the Suzuki joint platform 36 is used, and the Chi persimmon 35 series includes a translation. Drive group π and - "I drive shaft set 38, second ratchet shaft set 39, wherein the translation drive shaft 37 includes a translational electric cylinder 371 and a translation drive shaft 372 driven by the translation motor 371. The electric cylinder 371 is fixed to the support base 342, and the translation drive shaft 372 is connected through the support body crying edge limiting frame 11, and the telescopic operation of the translation drive shaft 372 is performed to achieve the machine core W, Rear adjustment (as shown in FIG. 3); the first rotary drive shaft group oil, the 'Y-axis set 39 is paired with the support structure 34 Deployed on the branch platform mi, = drive = (four) system coffee - 帛 - account 3δ1 and touch 1 inch tear drive shaft 382, the first - electric rainbow 381 series with a universal joint 呦, with the tooth, The 341 phase is fixed, and the first rotary drive shaft 382 is provided with a ball joint 粼, and the second rotary drive shaft 392 is driven by the second and second rotary drive _H ^ 対 H 2 electric butterfly system; there is = direction _, qing 妓 (4) 341 _ _, _: 旋 1 Γ joint 394, with the actuation platform 36 fixed; and through the first - Γ second rotation drive pumping group 392 Driving the first rotating drive _ 382, '== Γ to drive the actuating platform 36 to perform the pitching and tumbling operations, and then an arm 361 is attached to the actuating platform 36 of the second (four), the arm 361 Driven by 362. The line-of-sight adjusting mechanism 33 is disposed on the telescopic support rod core driven by the carrier unit 31 and the frequency hybrid unit 331. The heat mirror group 2 and the 333 line are connected with a benefit brush “moving red 37 bu-electric rice 381 And the second electric cylinder 391 is driven together (not shown), the brushless DC motor is coupled to a controller such as a computer, and the H-axis group 35 is coupled to the controller to control the driving axis or attitude angle thereof. In this way, the present invention can achieve the center of gravity and posture adjustment of the string and parallel type compound robots having a translational self-machine and tumbling. The crying person has an external actuation platform with the advantages of quick response and energy saving, etc., for adjusting the machine= At the same time, it has a series of translational drive shafts, and has the advantage of a large stroke, the front and rear center of gravity of the robot, which is suitable for the position control and attitude angle adjustment control of the robot such as disaster management and battlefield detection. Referring to FIG. 6, the actuation platform 36 and the support platform 341 of the branch structure 34 are provided with an angle sensor 4, such as a gyroscope, by means of the angle sensor & π 1 Link control _The body f is set to 1Q (the domain structure 34) where the position angle and the actuation 36 should be implanted with the degree of 'the self-transmission side to correct its horizontal degree, and then the rotation is fixed at 7 two angles _, reaching the robot The legs are set to bribe, and make it more detailed than other aspects such as the search for the tender posture angle 8 200806443 brick and wheat read the map -, the system block diagram of Kenting, 4 weeks of the whole body. Among them, the translation of the electricity 395 乂^^动叙381 and the first electric cylinder 391 *There are displacement sensors 375,385, 'the first electric cylinder 381 and the second electric cylinder 391. 5〇J 5 375 ^ 385 ^Returned corner / L Gongyi 5〇 will be based on the position of the center of gravity of the axis of the driver 41 mounted on the angle sensor 41 of the main body module 3G, and will know the position of the panning _ 哭 machine crying person, and then control the panning electric red 371 action , Sense =; =: Shift: ==^ ^ Set ^ and pass back to the controller 5Q 'for _ 5 〇 to know the level _ cylinder = Γ Μ 下 _ _ ' If no _ 5G will drive the translation of the electric cylinder = Action 'This can precisely adjust the center of gravity of the robot ^ Move the second electric cylinder to observe the action, to adjust the actuation level 36 ^ "Different electric cylinder torn and 395 combined back to the f 36 angles 'At the same time, the displacement sensor Na, the platform 曰 36 corner Ϊ shift amount, let earn _. Therefore, it is possible to accurately adjust the equal changes and modifications of the actuation, and should be included in the present invention! "and the spirit of the [simplified description of the drawings] Figure 1 is a schematic diagram of the structure of the present invention; 4 is a schematic diagram of the actuating mechanism of the present invention; FIG. 5 is a schematic view of the actuating mechanism of the present invention; FIG. 5 is a schematic view of the actuating mechanism of the present invention; 9 200806443 6 is a schematic diagram of the installation of the angle sensor of the present invention; and FIG. 7 is a functional block diagram of the system of the present invention.
【主要元件符號說明】 10 機體裝置 11 侷限框架 12 平移導執 13 提把 20 移動機構 21 滾輪組 22 傳動帶 23 調節輪 24 調節輪 30 主體模組 31 承載體 32 致動機構 33 視線調整機構 34 支撐結構 35 驅動轴組 36 致動平台 37 平移驅動軸組 38 第一旋轉驅動軸組 39 第二旋轉驅動軸組 41 角度感測器 42 角度感測器 50 控制器 311 滑導件 10 200806443[Main component symbol description] 10 Body device 11 Limit frame 12 Translation guide 13 Lifting lever 20 Moving mechanism 21 Roller set 22 Transmission belt 23 Adjustment wheel 24 Adjustment wheel 30 Main body module 31 Carrier 32 Actuating mechanism 33 Sight adjustment mechanism 34 Support Structure 35 Drive Shaft Set 36 Actuation Stage 37 Translation Drive Shaft Set 38 First Rotary Drive Shaft Set 39 Second Rotary Drive Shaft Set 41 Angle Sensor 42 Angle Sensor 50 Controller 311 Slide Guide 10 200806443
312 容設空間 331 驅動單元 332 伸縮支撐桿 333 視線調整座 334 熱像鏡組 335 可見光鏡組 341 支撐平台 342 支撐座 343 萬向接頭 361 手臂 362 致動電動缸 371 平移電動缸 372 平移驅動軸 375 位移感測器 381 第一電動缸 382 第一旋轉驅動軸 383 萬向接頭 384 球接頭 385 位移感測器 391 第二電動缸 392 第二旋轉驅動軸 393 萬向接頭 394 球接頭 395 位移感測器312 Included space 331 Drive unit 332 Telescopic support rod 333 Sight adjustment seat 334 Thermal image group 335 Visible light group 341 Support platform 342 Support base 343 Universal joint 361 Arm 362 Actuated electric cylinder 371 Translation electric cylinder 372 Translation drive shaft 375 Displacement sensor 381 first electric cylinder 382 first rotary drive shaft 383 universal joint 384 ball joint 385 displacement sensor 391 second electric cylinder 392 second rotary drive shaft 393 universal joint 394 ball joint 395 displacement sensor