201224315 、發明說明： 【發明所屬之技術領域】 -種ΐΐϊΐί Ϊ:!具有非圓形齒輪之連動機構，特別是指 提升^ 輪之連動機構，其兼具 如升工作效率及降低成本等優點及功效。 【先前技術】 合而成般的路减生機構通常是由連桿131或凸輪_連桿機構組 徑輪出端能夠通過特定的幾個精 合複雜的電氣迴路進行控制才可達成， 最的例子，就是機械手臂(Robot)的應用。 以;5 一!臂的組成’基本上包含-個曲柄、-個懸臂、 庙：L 式,^機械手。曲柄的一端固定於機台本體的固定 接，這it iff連接，而懸臂的另一端則與機械手連 手會藉 動主二個自由度的機械手臂而言，其機械手的移 ί於繼成。由於機械手固 ΐϋίΐ要目標°由於曲柄與懸臂的連結，可使得 此路#輸出端在允許的範_，做兩個自由度的移動。 的迴=在ί劃與設計後’如何促使曲柄與懸臂做適度 二成目前這方面的技術，多是以電氣迴路設 但利用電氣㈣之方式，係存在著設計難_及成本高 201224315 分的機械手臂，其實只需要進行料而特定 ：用於_物_機械手臂而言），若利用複 雜的電虱迴路進行控制，只會降低工作效率及提高成本。 因此，有必要研發新H啸決上述·及 【發明内容】 媒，im0的在於提供—種具有制職輪之連動機 冓，，、兼〃k升工作效率及降低成本等優點及功效，用以解決 習知技術設計過程複雜及成本高昂等問題。 、 本=解決上關題之技術手段係提供—種具有非圓形 齒輪之連動機構，其包括： 一第一非圓形齒輪，其係具有一第一連接部； 一一第二非圓形齒輪，其係固定於一機架上而不轉動；該 二非圓形齒輪係具有一第二連接部； 在^第―圓形齒輪，其係具有—第三連接部；該第三連接部 ==了連接部上侧-圓形齒輪與該第-非圓形 第一圓形齒輪，其係具有一第四連接部； 一曲柄，其係具有三個曲柄連接部，分別枢接該第一連 =該第二連接部及該細連接部，並使該第一侧形齒輪與 二第一非_齒輪喃合、該第—®職輪無第二_齒輪喷 〇，又，該第一連接部及樞接該第二連接部之曲柄連接部其 之一係連接一驅動部； 、 ^ 一連動桿，其係具有一固定端及一輸出端；該固定端係固 疋於^第四連接部上，·而該輸出端係連接—預定連動元件; 藉此’當該驅動部驅動該第一連接部及樞接於該第二 曲柄連接部其中之一轉動時，該曲柄係會以該第二&接 ，軸心轉動，而該第一非圓形齒輪係會沿該第二非圓形齒輪^ =廓滾動，使該第-®形錄同步觀並帶能第二_ 轉動，進而使該連動桿之輸出端達到預定路徑之變化。119 本發明之上述目的與優點，不難從下述所選用實施例之詳 201224315 細說明與附圖中，獲得深入瞭解。 茲以下列實施例並配合圖式詳細說明本發明於後： 【實施方式】 如第一至第五圖所示，本發明係為一種具有非圓形齒輪之 連動機構，其包括：一第一非圓形齒輪ίο、一第二非圓形齒 輪20、一第一圓形齒輪30、一第二圓形齒輪40、一曲柄50 及一連動桿60。 關於第一非圓形齒輪10，其係具有一第一連接部Η。201224315, invention description: [Technical field of invention] - ΐΐϊΐ Ϊ !:! The linkage mechanism with non-circular gears, especially the linkage mechanism of the lifting wheel, which has the advantages of such as lifting work efficiency and cost reduction efficacy. [Prior Art] A general road reduction mechanism is usually realized by the connection of the connecting rod 131 or the cam-link mechanism group wheel through a specific number of complicated and complicated electrical circuits, the most An example is the application of a robot. The composition of the [5!! arm] basically consists of - a crank, a cantilever, a temple: L-type, ^ manipulator. One end of the crank is fixed to the fixed connection of the machine body, and the it iff is connected, and the other end of the cantilever is connected with the robot, and the robot with the two degrees of freedom is used. to make. Since the robot is fixed to the target, due to the connection between the crank and the cantilever, the output of the road # can be moved in two degrees of freedom in the allowed range. The back = after the design and design, how to promote the crank and the cantilever to do moderately. The current technology in this area is mostly based on the electrical circuit but using the electrical (4) method. The design is difficult and the cost is high 201224315 The mechanical arm, in fact, only needs to be materialized and specific: for the _ object _ robotic arm, if the use of complex electric circuit control, it will only reduce work efficiency and increase costs. Therefore, it is necessary to develop new H-small and above-mentioned [invention content] media, im0 is to provide the advantages and functions of the company with the motivation of the company, and the advantages and functions of the work efficiency and cost reduction. In order to solve the problems of complicated design process and high cost of the conventional technology. The technical means for solving the above problem is to provide a linkage mechanism having a non-circular gear, comprising: a first non-circular gear having a first connecting portion; a second non-circular shape a gear that is fixed to a frame without rotating; the two non-circular gear train has a second connecting portion; and the second circular portion has a third connecting portion; the third connecting portion == the upper side of the connecting portion - the circular gear and the first non-circular first circular gear, which has a fourth connecting portion; a crank having three crank connecting portions, respectively pivoting the first The second connecting portion and the thin connecting portion are connected to each other, and the first side gear is halved with the two first non-gears, and the second - front wheel has no second gear sneezing. a connecting portion and a crank connecting portion pivotally connected to the second connecting portion are connected to a driving portion; and a linkage rod having a fixed end and an output end; the fixed end is fixed to the first On the four connections, the output is connected - a predetermined interlocking element; thereby 'when the drive drives the first connection When the one of the second crank connecting portions is pivoted, the crank is rotated by the second & the first non-circular gear is along the second non-circular The gear ^ = profile roll, so that the first - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - The above objects and advantages of the present invention are not limited by the detailed description of the selected embodiments below, and the detailed description of the accompanying drawings. The present invention will be described in detail below with reference to the following embodiments: [Embodiment] As shown in the first to fifth figures, the present invention is a linkage mechanism having a non-circular gear, which includes: a first The non-circular gear ίο, a second non-circular gear 20, a first circular gear 30, a second circular gear 40, a crank 50 and a linkage rod 60. Regarding the first non-circular gear 10, it has a first connecting portion Η.
該第二非圓形齒輪20係固定於一機架71上而不轉動；該 第二非圓形齒輪20係具有一第二連接部21。 關於第一圓形齒輪30，其係具有一第三連接部31 ;該第 三連接部31係固定於該第一連接部11上，使該第一圓形齒輪 30與該第一非圓形齒輪10同步轉動。 該第二圓形齒輪40 ’其係具有一第四連接部41。 該曲柄50係具有三個曲柄連接部51，分別樞接該第一連 接部11、該第一連接部21及該第四連接部41 ,並使該第一非 圓形齒輪10與該第二非圓形齒輪2〇唾合、該第一圓形齒輪 30與該第二圓形齒輪合；又，如第二及第三圖所示，該 第-連接部11及枢接該第二連接部21之曲柄連接部5 之一係連接一驅動部72。 ' Ύ 山動^旱6〇係具有一固定端61及一輸出端62 ;該固沒 41 ; 62 預疋，動70件73(例如：滑塊、刀具或機械夾爪）。 一連驅動該第—連接部11及樞接於該第 會以該第二連接部21為轴心轉動，而=5〇係 會=第二非圓形齒輪2G之輪廊滾二 圓J = 同步轉動並帶動該第二圓形齒輪40轉動進 出⑽之預之變化(該預定連動元件刀隨該輸 201224315 該驅說’當料—連接部11與該鶴部72連接時， # j齒輪°2〇上滾輪轉動而於該第二非圓 21為軸心);樞該曲柄50轉動(以該第二連接部 接該驅動i 72 Β；，之曲柄連接部51連 第二連接部2i為軸心），該該曲柄50轉動(以該 第二非圓形齒輪2〇上二而二，，第一非，形齒輪1〇於該 -連接部u或樞接於②一’本發明不論是以該第 驅動^連接，^柄連接部51與該 式並使iit旱的路絲件，推導其路徑方程 當該輸出端62黑ΐ甘輸出端62沿著其路徑移動’由此推導出 50 6〇 非圓形齒於20的也為該第一非圓形齒輪10及該第二 關係，並由節曲線合成原理，推導出 及繪出其外幵Ϊ齒 該第二非圓形齒輪20的節曲線方程式 行說Ϊ發明仙舉下顺種不同設計所_之職變化來進 設計A圖所示’其係為本發明之 形齒輪1〇之第二連接部驅5:;2一係連接於該第-非圓 該第二非圓形齒輪20上之第―;立田署非圓形齒輪10位於 出端62係位於一第一輸出位，連動j旱60之輸 動該第一非圓形齒輪10順時鐘 圓所示，當驅 之第二位置P2時，該曲柄5〇、第一非圓形齒輪2〇上 動’同時，該第一圓形齒輪3〇係3工齒:3= 隨之轉 時鐘轉動，使該連動桿60之輸齒輪4〇逆 移動至-第二輸出位置耽立置P11 形齒輪1G持續以順時鐘轉動至該第、二 第-非圓 位置P3時，該連動桿6°之輸出端62係由該第二輪出= 201224315 移動至—第三輸出位置P3。 轉動時，係會連mj旱〜。齒輪1〇順時鐘 線路徑L1之移動。 莉出端62進行一近似正弦曲 [b]直線路徑。該如第七圖所 式二之示意圖，該驅動部72係連接_'^本發明之設計型 第一連接部u上；當驅動該第形齒輪1〇之 ;動係會連動該連動桿6。之輸出端心 Μ八字形路徑。該如第八圖所示，1 fi二ί示意圖，該驅動部72係連接於該、第二ΐί形= :移會連動™之輪出端， 設計射發明之 鐘轉動時，係會‘該連動二^—端非6=齒輪r頃時 曲線路徑L4之移動。 〈端62進订-B-splme 4〇 ^ 50 6〇 徑的改變；在實際應用上，該第一二的^化^達到路 ίϊ=Λ柄5°及該連動桿6°之尺寸二=圓ί 寸=== 輪：S時二'需更換不同外形、义 =述圓::::以圓歸?為輪一 拉工作效率。習知技麟於搬運關械手臂單姑而 輸出路徑，若利用複雜的電氣控制之方式， 作效率，而本發明以_形齒輪之設計，直接連動該輪= 201224315 62於一預定路徑上進行移動， 工作效率。 不需複雜之控制，可有效提高 設外知技術_電紐狀枝，係存在著 適縛咖路徑之 62於-發月彻簡單之齒輪設計，直接連動該輸出端 圓形齒於之移動’且要變更路徑時’只需變更非 =i=:。解決習知技術以複雜的電氣迴路The second non-circular gear 20 is fixed to a frame 71 without rotation; the second non-circular gear 20 has a second connecting portion 21. The first circular gear 30 has a third connecting portion 31; the third connecting portion 31 is fixed to the first connecting portion 11 to make the first circular gear 30 and the first non-circular shape The gear 10 rotates synchronously. The second circular gear 40' has a fourth connecting portion 41. The crank 50 has three crank connecting portions 51 pivotally connected to the first connecting portion 11, the first connecting portion 21 and the fourth connecting portion 41, and the first non-circular gear 10 and the second The non-circular gear 2 is sprinkled, the first circular gear 30 is coupled to the second circular gear; and, as shown in the second and third figures, the first connecting portion 11 and the second connecting portion are pivotally connected One of the crank connecting portions 5 of the portion 21 is connected to a driving portion 72. 'Ύ山动^ drought6〇 has a fixed end 61 and an output end 62; the solid 41; 62 pre-twist, moving 70 pieces 73 (for example: slider, cutter or mechanical jaw). Driving the first connecting portion 11 and pivoting at the first meeting to rotate with the second connecting portion 21 as a shaft center, and =5〇 会==================================================================== Rotating and driving the second circular gear 40 to rotate in and out (10) of the previous change (the predetermined interlocking element knife with the input 201224315 said the drive - when the connecting portion 11 is connected with the crane 72, #j gear °2 The upper roller is rotated to the second non-circle 21 as an axis); the crank 50 is pivoted (the second connecting portion is connected to the driving i 72 Β; and the crank connecting portion 51 is connected to the second connecting portion 2i The crank 50 is rotated (the second non-circular gear 2 is wound on the second and second, the first non-shaped gear 1 is connected to the connecting portion u or pivoted to the second one'. With the first driving connection, the handle connecting portion 51 and the formula and the iit dry road wire, deriving its path equation when the output end 62 black and white output 62 moves along its path 'from this 50 6〇 non-circular tooth 20 is also the first non-circular gear 10 and the second relationship, and the outer molar is derived and drawn by the principle of the curve curve synthesis. The section curve equation of the second non-circular gear 20 is said to be the second connection of the gear of the invention according to the change of the design of the invention. The first drive is connected to the second non-circular gear 20 of the first non-circular gear 20; the Rita non-circular gear 10 is located at the outlet 62 and is located at a first output position. The first non-circular gear 10 is shown as a clock circle, and when the second position P2 is driven, the crank 5 〇 and the first non-circular gear 2 〇 move 'at the same time, the first circle Gear 3 3 3 work teeth: 3 = with the clock rotation, the transmission gear 4 of the linkage rod 60 is moved backwards to - the second output position, the vertical P11 gear 1G continues to rotate clockwise to the first When the second-non-circular position P3, the output end 62 of the linkage rod 6° is moved by the second round-out = 201224315 to the third output position P3. When rotating, the system will connect with the mj drought~. The movement of the clock line path L1. The output end 62 performs an approximate sinusoidal [b] linear path. The schematic diagram of the second embodiment is shown in FIG. '^ on the design-type first connecting portion u of the present invention; when driving the first-shaped gear 1; the moving system will interlock the connecting rod 6. The output end of the connecting rod has a splayed figure. As shown in the eighth figure, 1 fi2, the driving part 72 is connected to the second ΐ 形 = = shifting linkage TM wheel end, when the design of the invention clock is rotated, the system will 'the linkage two ^ end non 6 = The gear r is the movement of the curve path L4. <End 62 binding-B-splme 4〇^ 50 6 〇 path change; in practical application, the first two ^ ^ ^ reach the road ϊ Λ = Λ handle 5 ° And the linkage rod 6 ° size two = circle ί inch === wheel: S when two 'replace different shape, meaning = circle:::: round to return? The conventional technology is used to transport the arm of the arm and the output path is used. If the complicated electrical control is used, the efficiency is achieved, and the present invention uses the design of the _-shaped gear to directly link the wheel = 201224315 62 on a predetermined path. Mobile, work efficiency. Without complicated control, it can effectively improve the externally-known technology _ electric-like branch, there is a suitable gear path in the 62-to-moon simple gear design, directly linked to the circular tooth of the output to move And when you want to change the path, you only need to change non=i=:. Solve the conventional technology with complicated electrical circuits
所极藉由較佳實施例詳細說明本發明，對於該實施例 所做的任何簡單修改與變化，皆不_本發明之精神與範圍。 、去Λ、ί以上詳細·，可賴知本項技藝者a膽本發_確可 已符合專利法之規定，紐出發明專利申請。 第:圖係本發明之具有非圓形齒輪之連動機構之分解示意圖 第二圖係本發明之驅動位置一之示意圖 第三圖係本發明之驅動位置二之示意圖 第四圖係本發明之連動關係之示意圖 第五圖係本發明之側視示意圖 第六A圖係本發明之正弦曲線路徑之移動過程—之示意圖 第六B圖係本發明之正弦曲線路徑之移動過程二之示意圖 第六C圖係本發明之正弦曲線路徑之移動過程三之示旁圖 第七圖係本發明之產生直線路徑之機構示意圖 “ 第八圖係本發明之產生八字形路徑之機構示意圖 第九圖係本發明之產生B-spline曲線之機構示意圖 11第一連接部 21第二連接部 31第三連接部 41第四連接部 51曲柄連接部 【主要元件符號說明】 10第一非圓形齒輪 20第一非圓形齒輪 30第一圓形齒輪 40第二圓形齒輪 50曲柄 201224315 60連動桿 62輸出端 72驅動部 P1第一位置 P3第三位置 P12第二輸出位置 L1正弦曲線路徑 L3八字形路徑 61固定端 71機架 73預定連動元件 P2第二位置 P11第一輸出位置 P13第三輸出位置 L2直線路徑 L4 B-spline曲線路徑The invention is described in detail by the preferred embodiments thereof, and the invention is not limited to the scope of the invention. , go to Λ, ί above the details, can know that this artist is a daring hair _ indeed can have met the provisions of the patent law, the new invention patent application. BRIEF DESCRIPTION OF THE DRAWINGS FIG. 2 is a schematic exploded view of a linkage mechanism having a non-circular gear according to the present invention. FIG. 3 is a schematic view of a driving position of the present invention. FIG. BRIEF DESCRIPTION OF THE DRAWINGS FIG. 5 is a side view of the present invention. FIG. 6A is a schematic diagram of the movement process of the sinusoidal path of the present invention. FIG. 6B is a schematic diagram of the movement process of the sinusoidal path of the present invention. Figure 7 is a schematic diagram of the movement process of the sinusoidal path of the present invention. The seventh diagram is a schematic diagram of the mechanism for generating a straight path of the present invention. The eighth diagram is a schematic diagram of the mechanism for generating a figure-eight path of the present invention. Schematic diagram of the mechanism for generating a B-spline curve 11 first connecting portion 21 second connecting portion 31 third connecting portion 41 fourth connecting portion 51 crank connecting portion [main element symbol description] 10 first non-circular gear 20 first non Round gear 30 first circular gear 40 second circular gear 50 crank 201224315 60 linkage rod 62 output end 72 drive portion P1 first position P3 third position P12 second output position Sinusoidal path L1 L3-eight path 61 fixed to the frame 71 of the link member 73 a predetermined second position P2 position P13 P11 a first output a third output position L2 straight path L4 B-spline curve path