經濟部中央標準局負工消費合作社印製 412461 A7 _____ B7___ 五、發明説明（1 ) 發明領域及習知技術 本發明相關於用於二元件之相對運動的裝置’該裝置 包含使元件互連的活節連桿及用來施加元件之相對運動的 動力的至少二動力施加構件。 二元件之相對運動具有藉著動力施加構件以有目的的 方式將二元件互相定位。更明確的說’根據本發明的裝置 是意欲形成操控器或機器人。二元件之第二元件是意欲經 由承載配置直接或間接承載工作構件以執行意欲的功能， 例如拾取/放置，包裝，及托運。但是工作構件可設計來執 行以上所述者以外的工作操作。 傳統的機器人是根據可樞轉連桿的臂狀系統，可樞轉 連桿的極末端包含用來樞轉/旋轉位於臂上而凸出的連桿/ 工作構件。於樞轉臂的極末端的動力施加構件的設置涉及 高負荷及慣量，此對可能的加速度及速率及相對於路徑的 準確度會有限制。也已知其他的機器人型式，但是均較不 成功，因爲準確度及速率方面的性能較差，或是成本較高 。美國專利第4,976,582號中敘述一種機器人，其中以三角 形的分佈於第一元件上配置三個動力施加構件。這些構件 經由同樣以三角形分佈的並聯連接的兰個連桿裝置而連接 於可移動元件，該連桿裝置藉著提供兩個且不多於兩個自 由度的活節接頭而分別鉸接於相關的樞轉臂及可移動元件 。實際上，每個連桿裝置包含以鉸接方式連接於樞轉臂及 可移動元件而形成平行四邊形的兩平行連桿。此種已知的 機器人型式的缺點爲由於三維的臂系統，所以難以多個緊 本紙張尺度通用中國國家標準（CNS ) Α4规格（210X297公釐） ----_---：-----ί 裝------订------银 . - (請先閱讀背面之注意事項再填寫本頁) -4- 經濟部中央橾準局貞工消費合作社印袈 41246^ A7 ____B7_ 五、發明説明（2 ) 密相鄰地放置。即使可使已知的機器人對一般的目的非常 快速及準確，也不適合於特定工作的特定應用。例如，有 時需要於互相垂直的二維方向達成非常快速的移動，而至 於其他自由度的性能需求可能不高=已知的機器人可能不 能調整至此種情況。由於其對稱結構，已知的機器人就工 作區域的調適方面也受相當的限制。 發明槪說 本發明針對計畫路線，以提供可藉著相當簡單的結構 方案來實現但是可於至少二互相垂直的方向達成非常迅速 及精確的移動的運動裝置。 本發明的第二目的爲提供模組化結構的可能性，使裝 置可容易地適用於具有不同複雜程度的工作。 本發明的第三目的爲可於裝置中使用相對於言簡單且 經充分試驗而可信賴的鉸鏈構造。 本發明之主要目的之達成是因爲根據本發明的裝置包 含經由鉸鏈相對於二元件之第一元件連接的至少二第一連 桿，該第一連桿可在動力施加構件中的至少第一動力施加 構件的影響下於相對於第一元件平行的平面中樞轉；該裝 置包含經由鉸鏈相對於二元件之第二元件連接的至少二第 二連桿，該第二連桿可在動力施加構件中的至少第二動力 施加構件的影響下於相對於第二元件平行的平面中樞轉； 該至少二第一連桿形成第一四鉸鏈系統；該至少二第二連 桿形成第二四鉸鏈系統：且此二四鉸鏈系統在第一與第二 本^張尺度適用中國國家標準（CNS ) A4規格（2丨0X297公釐） ~ ' -----if l·—' _ 裝------訂------線 - - (請先聞讀背面之注意事項再填寫本頁) 412467 經濟部中央榡準局員工消費合作社印策 A7 B7五、發明説明（3 ) 元件之間互相串聯連接。 以此方式，達成雙四鉸鏈結構’而於四鉸鏈系統的樞 轉平面中有非常迅速的運動性能。 在本發明的較佳實施例中，四鉸鏈系統形成平行四邊 形，此表示可只以兩軸達成由第二元件直接或間接承載的 工作構件的固定定向。 根據本發明的上述第二目的的達成是因爲以其具有二 四鉸鏈系統的最純粹的形式，根據本發明的裝置於兩垂直 方向提供運動的自由，然後可根據情況完成進一步的運動 自由。 使用所界定的四鉸鏈系統導致簡單的鉸接，只需提供 單一的自由度，亦即純樞轉。 根據本發明的解決方案可比根據美國專利第4,976,582 號的機器人於互相垂直的二維平面達成較大的工作區域。 申請專利範圍中界定本發明的多個較佳發展。在以下 的敘述中更密切地說明與本發明有關的這些發展及優點。 較佳實施例的詳細敘述 爲易於瞭解，以下對不同的實施例中的類似或相應的 組件使用相同的參考字元加上各實施例特有的字母。 在圖1中，分別顯示二互相垂直移動的輸送器1及2 以舉例說明根據本發明的機器人結構的可能的工作。組件 3在輸送器1上移動，而組件5在橫越輸送器1的輸送器2 上移動。如圖1中的虛線箭頭所示，組件5意欲被放置在 (請先聞讀背面之注意事項再填寫本頁} 本紙張尺度適用中國國家標準（CNS 说格（210X297公釐） -6- 經濟部中央標準局貝工消費合作社印裝 A7 __B7__ 五、發明説明（4 ) 組件3上。輸送器2在輸送器1的上方延伸。 如此，輸送器1於X方向移動，而輸送器2於Y方向 移動。可瞭解在所示的情況中，於X及Z方向需要高性能 ，而於Y方向只需適度的性能。 圖2中顯示輸送器1上的組件3具有容器的特性，而 組件5要被放置於組件3上。此例子中的組件5是設想成 具有蓋子的特性或具有其他要被置於頂部的限制的特性， 例如要放在食物包上的箔片，然後再放上蓋子。這些箔片 5由倉匣6供應，箔片可從倉匣下方被傾斜取出。爲此目 的，機器人的工作構件7必須可傾斜向上延伸以接合箔片 。然後工作構件7必須可繞Y軸旋轉。爲校正組件3與5 之間可能的未互相對準，工作構件7也必須可繞Z軸旋轉 (圖1中的rz )。 根據本發明的裝置以非常基本的情況顯示於圖3。裝 置包含以示意圖顯示的第一元件1及承載工作構件7的第 二元件2。在圖2所述的情況中，工作構件7設想成包含 抓取箔片的抽吸抓取機構，但是工作構件可爲許多不同的 設計，例如用於熔接，切削，水切割，膠黏，毛頭去除， 硏磨等工作的工具。 根據圖3的裝置包含經由鉸鏈10，11連接於第一元件 1的二第一連桿8，9。連桿8，9可在第一動力施加構件 12的影響下於相對於元件1平行的平面中樞轉。 裝置包含經由鉸鏈16，17連接餘元件2的二第二連桿 14，15。連桿14，15可在第二動力施加構件18的影響下 本紙張尺度適用中國國家標準（CNS ) A4規格（210X297公釐） Ί---:11—!.— I -¾------ΐτ------t - - (請先閱讀背面之注意事項再填寫本頁} ^1246^ ^1246^ 經濟部中央標準局貝工消費合作社印繁 A7 ______B7 五、發明説明（5 ) 於相對於元件2平行的平面中樞轉。 二第一連桿8，9形成第一四鉸鏈系統FS1 ，而二第 二連桿14’ 15形成第二四鉸鏈系統fs2°此二四鉸鏈系統 在第一與第二元件1’ 2之間互相串聯連接。 此處的「串聯連接」表示四鉸鏈系統FS2由四鉸鏈系 統FS1承載而與鉸鏈1〇’ 11隔開，使得四鉸鏈系統FS2可 藉著四鉸鏈系統FS1而移動。 在此例子中，第一連桿8，9與第二連桿14，15接由 鉸鏈19，20直接互相成對鉸接。 至少一第三連桿13分別連接連桿8，9及14，15。 更明確地說’連桿13經由鉸鏈19，20鉸接於連桿8，9 及14，15 =如此，連桿13共用於四鉸鏈系統FSI及FS2 。此表示第一連桿8，9 ’第三連桿13，及元件1形成第 —活節四連桿系統。第二連桿14，15，第三連桿13，及 元件2形成第二活節四連桿系統。下文中，FS1及FS2會 被用來指示四鉸鏈系統及四連桿系統。但是，如以下會藉 助圖7更詳細敘述，四鉸鏈系統可能缺少四連桿系統中所 包含的一連桿。 四鉸鏈系統FS1及FS2形成平行四邊形*此表示不論 連桿8，9及14，15的樞轉位置如何，均可維持元件1與 2互相之間的方向的固定性。 第一四鉸鏈系統FS1中的鉸鏈10，11，19，20形成 互相平行的鉸鏈軸。同樣地，第二四鉸鏈系統FS2中的鉸 鏈16，17，19，20形成互相平行的鉸鏈軸。鉸鏈爲必須 本纸張尺度適用中國國家標準（CMS > Α4規格（210Χ297公釐） ^----^1!;;--▲------ΐτ—--_---^ (請先閱讀背面之注意事項再填寫本頁) -8 - 經濟部中央標準局貝工消費合作社印製 41246*1 A7 ____B7_ 五、發明説明（6 ) 呈現單一自由度的簡單樞轉鉸鏈。 圖3中的兩個四鉸鏈系統FS1及FS2中的鉸鏈軸互相 平行。 第二動力施加構件Π包含連接於第一元件1的固定部 份及連接於第一連桿之一（即連桿9 )的可移動部份，該 可移動部份是配置來使連桿9相對於元件1樞轉。第二動 力施加構件12在實用上可具有許多不同的構造。例如，可 包含具有可變長度且作用在元件1與連桿9上的點之間以 產生繞鉸鏈11的轉矩的構件。另一種可能且在此較佳實施 例的情況中的爲設計構件12成爲具有定子及轉子的旋轉機 構，其中定子連接於元件1 ，而轉子連接於連桿9。旋轉 機構12當然也同樣可作用在連桿8上以使其樞轉。 不論構件12的特定設計如何，均必須可使得其於不作 用狀態維持對相關的連桿9所調整的樞轉位置，使得此樞 轉位置只有在構件12的確實驅動時才改變。 第二動力施加構件1 8連接於第一元件1，且經由至少 一連桿臂21而作用於第二四鉸鏈系統FS2。構件18包含剛 性連接於元件1的固定部份，及可相對於固定部份移動的 可移動部份，該可移動部份相對於固定部份必須只呈現一 個自由度。此可移動部份經由連桿臂21連接於四鉸鏈系統 FS2。構件18最好由旋轉機構形成，其定子形成固定部份 ，而其轉子形成可移動部份。臂22連接於可移動部份，且 固定成抵抗相對於可移動部份的旋轉。此臂22經由鉸鏈23 連接於連桿臂21，連桿臂21又經由鉸鏈24連接於元件2 本紙張尺度適用中國國家標準（CNS 規格（210Χ 297公釐） _ 9 - ：----_ 裝------訂------4 - - (請先閱讀背面之注意事項再填寫本頁) 412467 經濟部中央標準局員工消費合作社印製 A7 B7 五、發明説明（7 ) ，但是連桿臂21也可連接於任何的連桿14，15。因爲此 情況中的四鉸鏈系統FS1及FS2可於平行平面中樞轉，所 以鉸鏈23及24具有單一的自由度及形成與四鉸鏈系統的 軸平行的鉸鏈軸即足夠。 相關圖3所述的結構可藉著適當控制二動力施加構件 12，18而以高速率及精確度於XZ平面中被調整，使得工 作構件7於XZ平面中的位置可以此方式受控制。 在根據圖3的安排中，臂22及連桿臂21必須可於四鉸 鏈系統FS1及FS2的側邊通過。 圖4顯示一種機器人結構，其與圖3所示者之不同在 於四鉸鏈系統FS1及FS2與臂22/連桿臂21互相分離。在此 連接中，臂22與連桿臂21之間的角度必須不能與四鉸鏈 系統FS1及FS2中的各別對連桿8，9 ; 14，15之間的角 度一樣大，就並聯性/互相之間的方向而言，正是四鉸鏈系 統定義了元件1與2之間的相對位置。因此，臂22及連桿 臂21的作用只是使四鉸鏈系統FS2歪斜，以改變工作構件 7於Z方向的位置》 第三連桿13的另外位置在圖4中以虛現顯示。如此， 連桿13可能不需使鉸鏈19，20互連，雖然有些時候如此 較佳。 圖5顯示根據圖4的機器人可於一方向向上樞轉至相 當高的位置。如果連桿已是當的三維順序放置，則也可於 相反的方向達成相應的高位置。圖6顯示於相反方向的此 一升高的位置，該位置可藉著圖4所示的四鉸鏈結構與臂 本紙張尺度適用中國國家搮準（CNS ) Α4規格（210X297公釐） ~τ---.----^--•裝-- (請先閱讀背面之注意事項再填寫本頁) *11 •10- ^1246^ 經濟部中央標準局貝工消費合作社印裝 A7 B7五、發明説明（8 ) 22/連桿臂21的角運動的組合而達成。 圖7顯示相關於圖2所述的適合於達成繞Y軸的旋轉 的另一實施例。此旋轉以表示。在根據圖7的實施例中 ，也有如前述的四鉸鏈系統FS1及FS2，但是不同點在於 第一連桿8a及9a被配置成可互相獨立樞轉。爲此目的， 此實施例包含如前所述之使連桿9a樞轉的動力施加構件12 a，並且也包含可使連桿8a樞轉的第四動力施加構件25。 如此，藉著只使連桿8a及9a之一樞轉，或使二者以一角 度差樞轉，可改變第一元件U與第二元件2a之間就傾斜 而論的相互關係。此藉著與圖8所示的位置的比較而更明 白。如此，由於此傾斜改變的結果，第二元件2a會繞Y軸 旋轉，且此旋轉運動可以相關於圖2所述的方式被使用。 圖9顯示獲得可使元件2以不同的程度相對於元件1傾 斜的優點的另一方式》第二元件在圖9中以2a表示，且顯 示於四個不同的位置。更明確地說，第二元件2a包含於元 件2a上以隔開的方式配置的至少二工作構件7aA，7aB， 以獲得工作構件於元件2a相對於第一元件la的傾斜上採 取不同位置的情形，此未顯示於圖9中。此可被使用成使 得如圖9所示的工作構件7aA及7aB交替地抓取組件5及將 組件5放置於可沿輸送器1移動的另一組件3上。適合於 有兩個組件5的倉匣或堆疊，因爲此減少所述操作的循環 時間。除第二元件2a的傾斜外，工作構件7aA及7aB於X 及Z方向移動。 以上圖式中均假設元件1爲固定。但是，在實用上， (請先閱讀背面之注意事項再填寫本頁) 本紙張尺度適用中國國家標準（CNS ) A4規格（210X297公釐） -11 - 經濟部中丧標準局員工消費合作社印裂 ^12467 A7 ____B7 五、發明説明（9 ) 或至少在某些實施例中，元件I本身可藉著第三動力施加 構件26 (見圖10 )而相關於基座構件27移動。 具有相關於圖3至7所述的本質的機器人結構在以下 以R2表示，其中的數字2表示機器人的移動軸數目（除先 前所述的繞Y及Z軸的旋轉運動）。 從圖10可見R2機器人被放置在可藉著動力施加構件2 6而移動的托架28上。R2機器人的第一元件1實際上是要 被附著於托架28或形成爲托架的構成件。托架28可藉著 動力施加構件而樞轉。更明確地說，托架28具有成爲從基 座構件27凸出的臂的特性。數個此種臂28A至28C互相平 行定向，且分別承載機器人R2 A至R2C。機器人被放置成 其各別平面的方向互相平行，此可達成高包裝度。圖10中 的動力施加構件26A至26C可爲任意型式，但是此處設計 成由旋轉機構構成，而旋轉機構具有固定於基座構件27的 定子及固定於托架28的轉子。至於其餘部份，圖1〇中顯 示於不同機器人R2上的工作構件7爲可繞Z軸旋轉。 圖11顯示托架28b不具有樞轉臂的形狀，而是設計成 第三四鉸鏈系統FS3。此形成R2機器人與基座構件27b之 間的連接。此四鉸鏈系統28b適合地爲平行四邊形，且機 器人R2適當地附著於轉離基座構件27b的平行四邊形連桿 29 »另外’從圖11可見數個第三四鉸鏈系統可可互相緊密 相鄰放置。 圖12顯示托架2 8c可於直的移動方向（箭頭30)可移 位地移動。機器人R2附著於可沿著移動路徑3丨移動的托 本紙張尺度適用中國國家標準（CNS ) A4規格（210X297公釐） I ^ —裝 訂 . 冰 (請先閱讀背面之注意事項再填寫本頁〕 -12- 經濟部中央標隼局貝工消費合作社印掣 41246? A7 _ B7 五、發明説明（1〇 ) 架28c。此構成輪齒道的例子，托架28c上的齒輪32驅動 地嚙合。於因此有滑車特性的托架28c上，配置有可經由 一齒輪使設置有齒輪32的軸34旋轉的驅動馬達33。設置 有齒輪32的另一軸35被配置於托架28c上，且如果想要， 此第二軸也可被驅動馬達33驅動。 圖13顯示已參考圖11敘述的實施例的變化，其中用於 機器人R2的托架28d被設計成形成機器人R2與基座構件 27d之間的連接的四鉸鏈系統。馬達26d的作用爲使四鉸鏈 系統28d樞轉，且因而使機器人R2移動。此處顯示兩機器 人R2被設置於互相的側邊。四鉸鏈系統的另外可能位置以 虛線顯示。四鉸鏈系統由平行四邊形形成，以用於機器人 R2的平行移動。 圖14中顯示機器人R2的托架2 8e被設計成爲樞轉臂。 樞轉臂28e可藉著爲旋轉馬達26e的形式的動力施加構件 而相對於基座構件27e繞軸36樞轉。如前所述，有兩個動 力施加構件12e及18e來繞兩軸操作機器人的工作構件7e ，亦即於平面XZ。托架28e藉著其可動性而作用以於Y方 向移動兩軸機器人。第一元件le於此處可形成爲托架28e 的構成件。工作構件7e可藉著配置於第二元件2e上的動 力施加構件37而繞Z軸旋轉。動力施加構件37例如可由 旋轉馬達形成。 圖15顯示根據圖14的實施例的變化。此處的樞轉臂2 8f相當短，且可視爲由第一元件If形成。臂28f的樞轉軸 以36f表示。在此實施例中，二動力施加構件12f及18f相 I----II!—--裝------訂------t - - (請先閲讀背面之注意事項再填寫本頁) 本紙張尺度適用中國國家標準（CNS ) A4規格（210X297公釐） -13- A7 B7_ 五、發明説明（11 ) 當接近於樞轉軸36f配置’因爲距其—距離處的負荷傾向 於要求動力施加構件26f有高轉矩，且產生重要的慣性’ 此渉及相關於速率及精確度的問題。更明確地說’構件12 f及18f的位置最好成爲使其旋轉軸共軸’及使其旋轉軸與 樞轉軸36f的直線延伸交叉。如此’連桿9f及臂22f的位 置成爲使得其樞轉軸共軸< 在以上所述的實施例中，被配置用於四鉸鏈系統FS1 及FS2的樞轉的動力施加構件均顯示成配置於第一元件le 上，此對負荷而言較有利，因爲這些動力施加構件一般而 言相當重，如果動力施加構件被配置於稍微外部而於連桿 臂結構，則就加速度，速率，及精確度而言均會造成問題 〇 圖16中的實施例顯示工作構件7g的承載配置38鉸接 於第二元件2g上》承載配置38相對於元件2g的樞轉軸以 39表示。實施例中的樞轉軸39與連桿臂21g與元件2g之 間的鉸鏈軸一致，後者並不需要。 經濟部中央標準局員工消費合作社印家 (請先閲讀背面之注意事項再填寫本頁) 承載配置38可藉著第五動力施加構件40而相對於第 二元件2g樞轉，構件40被配置於第一元件lg上，而第一 元件lg在此處形成托架，可繞軸36樞轉或旋轉。藉著操 作動力施加構件40 ’可依需要改變工作構件7g相對於元 件2g的方向。動力施加構件40被配置於第一元件lg上， 且經由至少一連桿臂41而作用在承載配置38上。構件40 包含連接於元件lg的固定部份，及經由臂42致動連桿臂4 1的可移動部份。連桿臂41與臂42之間，連桿臂41與承 本紙張尺度適用中國國家標準（CNS ) A4規格（21〇χ297公着） -14- 412467 經濟部中央標準局貝工消費合作社印製 A7 ___B7____五、發明説明（12 ) 載配置38之間，及動力施加構件40的固定部份與可移動 部份之間的鉸鏈只需有一個自由度，用來在平行於四鉸鏈 系統的樞轉平面的平面中樞轉》 此例子中的工作構件7g是要成爲可繞軸43而相對於 承載配置38旋轉。如此，達成五軸機器人。爲旋轉工作構 件7g，可於承載配置38上設置旋轉馬達。但是，因爲此 增加於機器人的極末端處的負荷，所以當對於速率及精確 度的要求高時不宜。此時，可使用圖17所示的解決方案。 圖Π中顯示第六動力施加構件44被配置於第一元件lh上 。此構件44連接於軸45。在應用根據圖1 7的實施例於根 據圖16的實施例時，軸45應軸接於承載配置38h。動力施 加構件44與軸45之間的連接是藉著以46表示的連桿臂配 置而建立。當構件44操作時，其使軸45旋轉。也可將工 作構件7h直接設計在軸45上。但是，在此例中，最好在 軸45與工作構件7h之間有傳動機構47。此傳動機構47在 此被設計成爲步進傳動機構。至於其他方面，傳動機構47 可具有如圖Π所示的角齒輪特性。此角齒輪由配置於軸45 及工作構件7h的軸上的斜齒輪形成。 動力施加構件44具有連接於元件lh的固定部份，及 剛性連接於臂48的可移動部份，臂48藉著配置46中所包 含的至少一連桿臂（在此實施例中爲二連桿臂）而連接於 軸45。 在圖16中的沒有任何可樞轉的承載配置38於第二元 件2g上的情況中，圖17所示的用來旋轉工作構件7h的裝 I-------— - 1¾------、tT------^ - - (請先閩讀背面之注意事項再填寫本頁〕 本紙張尺度適用中國國家標率（CNS ) A4規格（210X297公釐） -15- 412467 A7 B7 經濟部中央標準局員工消費合作社印裝 五、發明説明（彳3 ) 置可取代承載配置38而設置於第二元件2g上。 圖18顯示類似於圖Π的可用來使承載配置3 8i旋轉的 裝置，承載配置38i由活節四連桿系統形成，在此例中爲 藉著兩臂軸接於第二元件2i上的平行四邊形。工作構件7i 配置成可藉著以以下會參考圖19敘述的方式適當地移動的 承載配置3 8i (四鉸鏈系統）而運動。連桿臂配置46i連接 於軸45i，而軸45i藉著軸承48而被支撐在元件2i上。軸4 5i經由傳動機構47i而驅動承載配置中所含有的承載構 件49 «更明確地說，承載構件49形成四連桿系統中的一 連桿。此例中的傳動機構47i爲角傳動機構。配重50平衡 重力及平衡來自承載配置38i及其工作構件的影響。 圖19中顯示四連桿型式的承載配置38k連接於第二元 件2k =更明確地說，四連桿系統中的連桿5 1剛性連接於 元件2k。 機器人所包含的四連桿系統FS1及FS2在此例中提供 所示的XZ平面中的移動。另一方面，四鉸鏈系統38k可於 XY平面樞轉，亦即垂直於此例中的兩四鉸鏈系統FS1及F S2的樞轉平面。換句話說，四鉸鏈系統38k連接於四鉸鏈 系統FS2，使得系統FS1，FS2，及FS4互相串連，雖然系 統FS2與FS4之間的連接繞X軸成90度，且繞Z軸旋轉90 度。 四鉸鏈系統FS4藉著配置於元件lk上的第七動力施加 構件52及動力施加構件52與四鉸鏈系統FS4之間的至少一 連桿臂53而於XY平面樞轉=動力施加構件52包含剛性連 (諳先閱讀背面之注意事項再填寫本買〕 本紙張尺度適用中國國家標车（CNS ) A4規格（210X297公董） -16- 41246*； A7 ______B7__ 五、發明説明（14 ) 接於元件lk的固定部份，及連接於臂54的可移動部份， 而臂54經由連桿臂53而致動FS4。在此例中的臂54及構 件52的可移動部份相對於元件lk具有單一的自由度，亦 即純樞轉運動，而連桿臂53經由鉸鏈連接於臂54及FS4， 包含兩個自由度。 圖20及21顯示包含四鉸鏈系統FS1及FS2及第一元件 lm的機器人。圖20中顯示元件lm形成可繞軸36m相對於 基座構件27m旋轉的托架。第一及第二動力施加構件12m 及18m以旋轉馬達的形式被配置於托架lm上，旋轉馬達各 具有連接於托架的定子，及配置來分別使四鉸鏈系統FS1 及FS2中的連桿樞轉的轉子56及57 (也參考圖21)。 從圖21可見轉子56，57分別經由例如爲齒輪傳動機 構的第一傳輸機構58及59而被配置來分別使平行的驅動 軸60及61旋轉。驅動軸之一（即驅動軸60 )經由角齒輪 62而驅動連接於四鉸鏈系統FS1中所包含的連桿9m。軸6 1藉著角齒輪63而驅動連接於臂22m。 經濟部中央橾準局員工消費合作社印製 (請先閱讀背面之注意事項再填寫本頁) 驅動軸60，61互相共軸，且與托架28m的樞轉軸36m 共軸。爲使托架28m相對於基座構件27m樞轉，配置有例 如爲旋轉馬達形式的動力施加構件26m ，其經由傳動機構 使軸36m旋轉。 驅動軸61延伸通過設計成管狀軸的另一驅動軸〇 以此方式’達成小型的實施例，而將最大負荷集中於繞托 架28m的樞轉軸3 6m的區域，此從負荷的觀點而言較佳。 軸60’ 61藉著適當的軸承相對於托架28m軸接。 本紙張尺度適用中國國家標準（CNS ) A4規格（210 X 297公釐） -17- 412467 經濟部中央橾準局員工消費合作社印装 A7 ____B7__五、發明説明（15 ) 圖22顯示配置有二第三連桿13A及13B的變化。第一 第三連桿13A連接於連桿8η及9n，而第二第三連桿ΠΒ連 接於第二連桿14η及15η »連桿13A與13B由橫桿64互相 剛性連接。連桿13Α與13Β包含一角度關係，在此例中爲 直角。如此，連桿13Α與13Β在此實施例中並非構成相對 於彼此的任何連桿，而是只相對於相關連的四鉸鏈系統FS 1及FS2。雖然在實施例中，二四鉸鏈系統FS1及FS2中的 鉸鏈軸設計成互相平行，但是也可使四鉸鏈系統FS 2的連 桿13Β連接於連桿13Α的關係成爲使得四鉸鏈系統FS2可 在與四鉸鏈系統FS1的樞轉平面成一角度（例如直角）的 平面中樞轉。此方面的兩個例子可參考圖49及圖50。更 明確地說，四鉸鏈系統FS1可於圖49中的ΧΖ平面中樞轉 ，而四鉸鏈系統FS2設計成可於ΥΖ平面中樞轉。在圖50 中，FS1於ΧΖ平面中樞轉，而FS2於ΧΥ平面中樞轉。 在根據圖22的實施例中，動力施加構件18η連接於元 件In，且配置成經由連桿臂21η致動四鉸鏈系統FS2於ΧΖ 平面中樞轉。構件18η包含固定部份及剛性連接於臂22η 的可移動部份，臂22η則連接於連桿臂21η。連桿臂21ιι在 此例子中於FS2的鉸接點之一連接於FS2，但是此並非必 須。 作用在連桿9η上的動力施加構件1 2η作用以樞轉FS 1 ，而動力施加構件18η經由連桿臂21η作動FS2的樞轉。因 此爲二軸型式的機器人提供於ΧΖ平面中的運動。 圖22中所示的機器人更淸楚地顯示於圖23的立體圖 本紙張从適用巾@跡縣{〔叫八4胁（2獻297公釐）~ ：----— L—l·— -裝-------訂------^ - . (诗先閱讀背面之注意事項再填寫本買) 經濟部中央標準局員工消費合作社印製 412461 A7 ____B7五、發明説明（16 ) 中，圖23另外顯示第一元件1〇形成托架，此托架可藉著 動力施加構件26〇而繞平行於Z軸的軸樞轉，因而提供機 器人的工作構件7〇於XY平面的移動能力。 圖24顯示與圖23所示者相同的機器人實施例，除了 第三連桿13Ap及ΠΒρ之間未有任何剛性連接之外。相對 地，這些連桿可藉著第四動力施加構件25ρ而互相樞轉。 在四鉸鏈系統FS1被動力施加構件12ρ保持於穩定位置之 下，連桿13Βρ可藉著動力施加構件25ρ而相對於連桿ΠΑρ 樞轉，此事實包含了在連桿臂21ρ被動力施加構件18ρ鎖 定之下改變第二元件2ρ及因此改變工作構件的傾斜度的可 能性。相反的，藉著動力施加構件25ρ，連桿13Αρ及13Βρ 可被互相鎖定，使得在四鉸鏈系統FS1及FS2的樞轉時， 第二元件2ρ及工作構件的方向由於四鉸鏈系統的平行四邊 形設計的結果被永遠保持。 圖25中顯示傳動配置65 «此爲設計來與圖20及21也 出現的連桿8m與14m的組合一起使用。連桿8m相對於托 架2 8m的鉸鏈以10m表示，連桿8m與14m之間的鉸鏈以 19m表示，而連桿14m與未顯示的第二元件2m之間的連桿 以16m表示。在圖26中，顯示從圖25的上方所見的鉸鏈 10m的區域。從與圖21的比較可見，連桿8m不直接連接 於任何動力施加構件。因此，鉸鏈軸不被用來使連桿 8m樞轉，而是連桿8m被自由地支撐於軸l〇m。相反的， 於托架28m上設置有驅動構件66來旋轉軸l〇m。構件66 可例如由齒輪構成，而此齒輪66又由配置於軸68上的另 --.--丨！ ·裝------訂------冰 . J - * (請先閲讀背面之注^一^項再填寫本頁) 本紙張尺度適用中國國家標準（CNS ) A4規格（210X 297公釐） -19- 經濟部中央標準局員工消費合作社印裝 A7 __B7_ 五、發明説明（17 ) 一齒輪67以一角度驅動。軸68可由配置於托架28m上的 馬達驅動。於未顯示的第二元件2m上，配置有可旋轉的 從動構件69。傳動配置包含沿著連桿組合8m，14m延伸 的傳動構件。這些傳動構件包含槓桿70，71，及69,其 具有兩臂，且可繞與連桿的鉸鏈平行的軸相對於彼此及相 對於托架28m及第二元件2m樞轉地配置於連桿8m及14m 的鉸鏈。一對連桿臂72在這些槓桿之間延伸，使得藉著軸 10m的槓桿70的樞轉造成藉著連桿臂72及中間槓桿71的 槓桿69的樞轉。槓桿69的此樞轉被用來使放置於元件2m 上的工作構件樞轉。從圖26可見，連桿臂72適當地位於 各別連桿8m及14m的兩側，且槓桿70由連接於軸10m且 固定成抵抗相對於軸10m的旋轉的兩槓桿部份70a及70b 形成。 根據圖20及21的實施例中的連桿8m，14m再次顯示 於圖27中。在此實施例中，傳動構件包含配置於連桿的鉸 鏈且可繞平行於連桿的鉸鏈軸的軸旋轉地配置的轉向構件 73至75。繞這些轉向構件敷設有二牽引力傳輸元件76及 77的無端環圈。圖28中顯示雙轉向構件被配置於連桿8m 與14m之間的鉸鏈軸，這些轉向構件之一與牽引力傳輸元 件76嚙合’而另一個與元件77嚙合。藉著使於托架28m 的可旋轉的轉向構件73旋轉，可經由元件76及中央轉向 構件74傳遞旋轉運動至第二元件環圏77及最外部的轉向 構件75。後者的軸獲得可被用來例如旋轉工作構件或執行 某些其他工作的旋轉運動。 本^^尺度適用中國國家標準吻5)八4鄕"（21攸297公慶) ' -20 - I .^11^ - (請先鬩讀背面之注意事項再填寫本萸) 經濟部中央梯準局員工消費合作社印製 412467 A7 ___B7_ 五、發明説明（18 ) 根據圖25至28的變化均包含運動從設置於托架28m 的驅動馬達傳輸至四鉸鏈系統FS2的極末端的優點，此表 示於機器人的最延伸的部份上有最小的負荷量。 圖29顯示基本上類似於圖19的實施例。但是，可於 XY平面樞轉移動的四鉸鏈系統FS4被設計成可在配置於元 件2q上的驅動構件52q的影響下樞轉。圖30顯示從上方觀 看的根據圖29的實施例。配重50q平衡工作構件的重量。 圖3 1顯示固定於元件2r以可相對於元件2r於YZ平面 中樞轉的第四四鉸鏈系統FS4。此處也顯示配置於元件2r 上的驅動構件52r。圖31中FS4的方向表示其可於垂直於 有FS1及FS2的平面的平面中樞轉。 取代如圖29至32所示的將驅動構件配置於元件2上， 已於圖19顯示的相關於FS4的驅動原理可被應用成使得驅 動構件分別位於元件1Q及lr上。 圖33中顯示兩個第四四鉸鏈系統FS4並聯連接於第二 元件2s。各四鉸鏈系統FS4承載一工作構件。此二四鉸鏈 系統互相機械連接，以用於共同的運動，如於78所示。爲 使四鉸鏈系統樞轉，可於元件2s上配置驅動構件52s，或 者，可使用圖19或圖25至28所示的驅動模式。根據圖33 的實施例適用於藉著二工作構件快速地平行處理兩物體。 圖34顯示相應於圖22所示者的實施例，除了連桿臂 21t附著於連桿I4t之外。驅動構件18t可被配置來使其相 關的臂2 2t及連桿臂21t於XZ平面或χγ平面樞轉。 根據圖35的實施例相應於圖34所示者，除了連桿 本紙張尺度適用中國國家梯準（CNS ) A4規格（210 X 297公釐） ' -21 - I-----11___ _裝------訂------4 (請先閱讀背面之注意事項再填寫本頁) A7 B7 經濟部中央嫖準局員工消費合作社印製 五、發明説明（19 ) 1 3Au與13Bu之間的角度已相對於圖34修改之外。一般而 言，此角度可從0度至360度改變。 圖36顯示示意的四鉸鏈系統FS1，FS2，及FS4，其 中四鉸鏈系統FS1及FS2被設計成可於XZ平面中樞轉，而 四鉸鏈系統FS4被設計成可於XY平面中樞轉。圖36顯示 FS1可藉著位於垂直於FS1的平面的平面中的四鉸鏈系統 FSA而被橫向穩定。FS1可藉著於79鉸接於FSA的支撐件 80而相對於FSA橫向承載。四鉸鏈系統FS2藉著垂直於FS 2延伸的四鉸鏈系統FSB而被橫向穩定。 四鉸鏈系統FS2及FS4可藉著分開的驅動構件及連桿 臂而樞轉。 圖37以虛擬立體圖顯示類似於圖4所示者的機器人結 構，圖中顯示可藉著設置平行於連桿9v及15v但是於Y軸 方向相對於連桿9v及15v平行移動的輔助連桿臂81而垂直 於四鉸鏈系統FS1及F2的樞轉運動平面XZ穩定此機器人 結構。連桿臂82在連桿81與連桿9v及15v之間延伸。這 些連桿臂82因此於Y軸延伸。支撐桿83連接於連桿13v及 元件2v，且經由連桿臂82與支撐桿83之間的鉸鏈連接而 支撐四鉸鏈系統抵靠連桿臂82。 圖38中顯示可於XZ平面中樞轉的四鉸鏈系統FS1與 第二四鉸鏈系統FS 2串聯連接，第二四鉸鏈系統係意欲如 圖38所示於Y方向而可能稍微傾斜於Y軸樞轉，或是否則 平行於Y軸樞轉。四鉸鏈系統FS1及FS2藉著額外連桿臂8 4而被橫向穩定，額外連桿臂84經由橫桿85而將連桿臂84 本紙張尺度適用中國國家榇準（CNS ) A4規格（2〗OX297公釐） I----^---—-装------ii------^ . . . . - - (諳先95讀背面之注^*>項再填寫本頁) -22- 41246^ 經濟部中央標準局貝工消費合作社印製 A7 _B7五、發明説明（2〇 ) 分別連接於FS1及FS2。從圖38可見，連桿臂84可相對於 FS1及FS2的平面傾斜延伸，使得當於FS1及FS2的平面觀 看時獲得菱形結構，以另外增加垂直於FS1及FS2的平面 的剛性。 圖39顯示相應於圖36的變化，除了横向穩定未顯示 於圖39中。如此，FS1提供沿著Z軸的移動，而FS2提供 於X方向的移動自由。最後，FS4被設計來藉著於YZ平面 或於XY平面樞轉而提供於Y方向的移動自由。如圖39中 所示的相同的四鉸鏈系統結構以稍微不同的位置顯示於圖 40 ^ 圖41顯示各包含FS1及FS 2的兩組平直串聯連接的平 行四邊形86連接成於互相垂直的平面中樞轉。各組包含第 一及第二元件lx及2x。第一元件lx可繞各別樞轉軸87樞 轉地連接於在此例中具有L形形狀的基座構件27x，樞轉 軸87互相垂直且與各組86的各別樞轉平面平行地延伸。 承載配置38χ繞垂直軸88鉸接於二第二元件2χ，垂直軸8 8平行於在第一元件lx與基座構件27之間的樞轉軸87。 於各第一元件lx上，配置有各別的第一動力施加構件 12x，以樞轉連桿9x之一，連桿9x連接於該第一元件，且 包含於各別的平行四邊形組中。第二動力施加構件1 8X配 置於第一元件lx之一上，以使臂22x相對樞轉。連桿臂21 X連接於此臂，且連桿臂2lx可樞轉地連接於第二元件 2x。該臂22x及連桿臂21x可平行於相關連的平行四邊形 組8 6樞轉。 ----Γ--! I裝--------訂------竦 - . - - (請先閱讀背面之注意事項再填寫本頁) 本紙張尺度適用中國國家標率（CNS ) A4規格（210X297公釐） -23- 412467 經濟部中央標準局員工消費合作社印製 A7 __B7五、發明説明（21 ) 藉著操作動力施加構件12x及18x，承載工作構件7x 的承載配置38可於三維空間中如所想要地被操作。所述的 所有鉸鏈及樞轉軸均只需包含一個自由度，亦即純爲樞轉 的可能性，且就另外的自由度而論，應被防止移動。 承載配置38x及工作構件7x可藉著操作動力施加構件 12x及18x而依需要於空間中被定位。平行四邊形組86界 定承載配置38x的方向，亦即於空間中的傾斜度，且於整 個移動區域維持此傾斜度爲固定。而臂22X及連桿臂21x 只參與在空間中產生所需的承載配置38x的操作。如此， 在根據圖41的實施例中總共有三個樞轉軸而達成被要求的 運動模式。 圖42顯示一種修正，其中動力施加構件12x，18x， 臂22x ，及連桿臂21x已被移除，取而代之的是已設置具 有相關連的驅動構件90的三個額外的連桿臂配置89，以 控制承載配置38x於空間中的移動。驅動構件90適當地位 於基座構件27x上。平行四邊形組86在此處就承載配置38 X的固定傾斜度而言也控制方向。 圖43中顯示根據圖41的實施例的另外態樣。在此情 況中也有兩組串聯連接的平行四邊形86y，但是此處各組 中的平行四邊形FS1及FS2互相成以角度α表示的角度。 基座構件27y經由互相垂直延伸且更明確地說係分別 於X方向及Z方向延伸的較鏈而連接於平行四邊形結構的 第一元件ly。承載配置38y經由平行於各別鉸鏈87y的鉸 鏈8 8y而連接於第二元件2y。四鉸鏈系統FS1可藉著動力 (請先閱讀背面之注意事項再填寫本頁) 本紙張尺度適用中國國家標準（CNS ) A4規格（210X297公釐） -24- 412467 經濟部中央標準局員工消費合作社印裝 A7 B7五、發明説明（22 ) 施加驅動構件12y而於各別樞轉平面中樞轉。另外，也有 經由連桿臂21y而連接於四鉸鏈系統FS2之一以使其樞轉 的驅動構件18y。 圖43中所示的裝置的稍微改變的位置顯示於圖44中 以更爲淸楚。 圖45顯示已顯示於圖35中的實施例，另外，圖45中 的四鉸鏈系統FS1及FS2已於Y方向加倍，且設置有於Y 方向延伸的撐條，以對Y方向的負荷加強平行四邊形組合 。從圖45可見，於Y方向的雙重結構可成爲使得垂直於其 鉸鏈軸觀看的平行四邊形結構獲得於向外至裝置的極末端 的方向傾斜的菱形組態。另外，圖45中顯示可加上另外的 穩定措施例如對角撐條91以建立所需的穩定性。爲更淸楚 ’圖46中顯示稍微調整過的位置，其中四鉸鏈系統FS2已 相對於圖45中的位置向前樞轉。 圖47及48顯示已採取措施來調整第二元件2z至不同 的傾斜位置的實施例。爲此目的，第一元件lz由互相鉸接 的兩部份IzA及IzB形成。從圖48可見，部份IzB形成四 連桿系統FS1中的一連桿。部份IzA主要操作成爲機器人 結構的托架。已敘述的動力施加構件12z具有剛性連接於 元件部份IzA的固定部份，及連接於連桿的可移動部份 。第四動力施加構件以25z表示，且具有剛性連接於元件 部份IzA的固定部份，及連接於元件部份izb的可移動部 份。 當要有根據圖47的一般操作時，動力施加構件25z的 I —^訂^ - T - (請先閲讀背面之注意事項再填寫本頁) 本纸張尺度適用中國國家標準（CNS ) A4規格< 210 X 297公釐） -25- 經濟部中央標準局員工消費合作社印製 412461 A7 __B7 五、發明説明（23 ) 可移動部份被阻塞，使得形成連桿的元件部份IzB被永久 保持於根據圖47的位置=如前所述，藉著動力施加構件 12z的操作造成連桿9z的樞轉，且因此造成平行連桿8z的 樞轉，而此結果可維持與連桿IzB平行的第二元件的方 向。另一方面，當需要使元件2z傾斜時，動力施加構件 25z操作，以使得連桿IzB相對於IzA及9z樞轉。此造成 元件2z由於平行四邊形的結構而相應地樞轉。 圖51顯示用來將動力從第一元件1上的驅動構件92傳 輸至第二元件2上的例如爲工作構件7的從動構件的傳動 配置，其包含平行於平行四邊形的第一及第二四鉸鏈系統 FS1及FS2中的連桿延伸的軸93，該軸93由至少一十字接 頭94互連，且經由另外的十字接頭95連接於驅動構件92 及從動構件7。爲將軸93之間的十字接頭傳輸中的彎曲角 分成兩部份，圖51中的連桿13被設計成包含四鉸鏈系統F S 1與FS2互相之間的平行間隙，而在先前所述的十字接頭 94之間，有軸段96在四鉸鏈系統與連桿13之間的邊界區 域，軸段96可被視爲剛性元件。如此，由於軸93會相應 於平行四邊形系統FS1及FS2中的連桿而平行移動，所以 旋轉或樞轉運動可沿著平行四邊形組合而安全地傳遞，而 不需任何連接或提供相對位移的栓槽。 圖51中的傳動配置顯示成爲對平行四邊形系統的直串 聯連接調整。圖52顯示藉著連桿13a及13b的剛性連接而 以一角度關係（在此例中爲直角）互相連接的平行四邊形 系統FS1及FS2。如同在先前的實施例中，使用軸93及十 (請先閱讀背面之注意事項再填寫本頁) I -裝. 訂 本紙張尺度適用中國國家標率（CNS ) A4規格（210X297公釐） -26- 412^6? A7 B7 經濟部中央橾隼局員工消費合作社印製 五、發明説明（24 ) 字接頭94於沿著平行四邊形系統FS1及FS2的動力傳輸。 爲橋接平行四邊形系統FS1與FS2之間的角位移，亦即連 桿13a與13b之間的角度，於圖52中建議使用根據錐形齒 輪的角齒輪97。如此，軸件96經由十字接頭94而連接於 軸93，該軸件96於其離開十字接頭94的末端支撐錐形齒 輪。 圖53顯示爲圖23中所示者的修正的實施例，另外的 特徵爲得自圖20中所示的實施例。從圖53中可見，形成 托架28 έ的第一部份丨έ可藉著第三動力施加構件26 S而 相對於基座構件27 έ可旋轉地移動。第一動力施加構件12 a可使連桿9 έ及8 έ相對於托架28 δ樞轉。第二動力施 加構件18 5的作用爲使第二四鉸鏈系統FS2中的連桿14 a 及15 έ樞轉。動力施加構件18 έ包含剛性連接於托架 28 έ的固定部份，及經由連桿臂21 έ連接於四鉸鏈系統 FS2的可移動部份22 έ。 第一元件Ιέ由互相鉸接的兩部份Ιέ Α及Ιέ Β形成 〇 動力施加構件25 έ可使部份1 έ Β相對於第二部份 1 έ Α樞轉。此第一部份1 έ Β形成第一四鉸鏈系統FS1的 構成件，因爲其鉸接於二連桿8έ，9έ。動力施加構件 12έ可使連桿9έ相對於部份1 3 Α樞轉，而連桿1 έ Β 藉著動力施加構件25 έ而保持固定。四鉸鏈系統FS1在第 二元件2 έ的固定空間方向下改變形式。爲此目的，動力 施加構件1 2 έ設置有剛性連接於部份1 έ Α的固定部份， -------^---裝------訂------〆--Γ - - - . (讀先閲讀背面之注意事項再填寫本頁) 本紙張尺度逋用中國國家標準（CNS ) A4規格（210 X 297公釐） -27- 經濟部中央標準局員工消費合作社印製 412467 A7 __B7五、發明説明（25 ) 及剛性連接於連桿9 έ的可移動部份。 在藉著動力施加構件12 έ使連桿9 δ保持固定的同時 ，動力施加構件25 έ可被驅動以使部份1 δ Β相對於部份 1 έ Α樞轉。此種樞轉改變四鉸鏈系統FS1的形式，使得 第二元件2 3的傾斜度改變至想要的程度。動力施加構件 25 έ也具有剛性連接於部份1 έ A的固定部份，及剛性連 接於部份1 3 B的可移動部份。此例中的動力施加構件12 a，25 έ，及均爲先前所述的旋轉機構型式。 圖54顯示類似於根據圖24的實施例的實施例，但是 對其加以修正。如同先前的實施例，第一元件1 S包含互 相鉸接的兩部份1 ’d Α及1 S Β。二者之間的鉸鏈軸平行 於二四鉸鏈系統FS1及FS2中的鉸鏈軸。動力施加構件26 运的作用爲使部份1 h A相對於基座構件27 Μ樞轉。形成 四鉸鏈系統FS1中的一連桿的第一元件的部份1 S B經由 鉸鏈105鉸接於連桿9 S，且形成具有從此鉸鏈向外凸出 的兩臂的槓桿。動力施加構件25 S經由連桿配置106作用 在槓桿的兩臂之一上，使得部份I目B相對於部份1 a A 樞轉。此種樞轉改變第二元件2 ϋ的空間傾斜度。在此例 中，顯示動力施加構件25 3具有剛性連接於基座構件27 巨的固定部份’及經由連桿108作用在上述的兩臂槓桿上 的可移動臂狀部份107。因爲第一元件的部份1 S A可藉 著動力施加構件26 S而相對於基座構件27 h樞轉，所以 可包含一或多個連桿的連桿配置106必須包含具有至少兩 個自由度的至少兩鉸鏈，例如球接頭。 (請先閱讀背面之注意事項再填寫本頁) 本紙張尺度適用中國國家標準（CNS ) A4規格（210X297公釐） -28- 412467 經濟部中央標準局貝工消費合作社印繁 A7 __B7五、發明説明（26 ) 動力施加構件12目經由連桿配置1〇2而作用在四鉸鏈 系統FS1中的連桿9目上。更明確地說，連桿9 a被設計 成具有兩臂且繞鉸鏈軸105鉸接於部份1 h B的槓桿。動 力施加構件12 Μ經由連桿配置102作用在槓桿的兩臂之一 上，以改變四鉸鏈系統FS1的形式，而保持第二元件2 Μ 的傾斜度不變，但是此是先假設部份1 Β在同時不相對 於部份1 ‘d A樞轉。動力施加構件12 S也具有剛性連接於 基座構件27 S的固定部份，及經由連桿配置1〇2而作用在 連桿9 S上的可移動部份。更明確地說，可移動部份具有 臂1 03的特性，其經由所連接且藉著具有至少兩個自由度 的鉸鏈而連接於連桿9 a的連桿臂104來傳輸操作力。 在此情況中，動力施加構件1 8 S作動以經由稍微較複 雜的連桿配置98使四鉸鏈系統FS2中所含的連桿樞轉。此 連桿配置98如前包含連接於第二四鉸鏈系統FS2的連桿臂 21 h，但是此處在此連桿臂21 S與動力施加構件18运的 可移動部份22 ‘έ之間有另外兩連桿99及100，連桿99具 有具有兩臂的槓桿的特性，且經由軸101鉸接於第一四鉸 鏈系統FS1，而槓桿中的兩臂之一鉸接於連桿臂21 S，同 時另一臂連接於連桿100。此連桿又連接於動力施加構件1 8¾的臂狀可移動部份22¾。因爲動力施加構件18 a的固 定部份剛性連接於基座構件27 Μ，所以連桿配置98中需 要具有至少兩個自由度的鉸鏈連接。在此例中，這些連桿 連接存在於連桿100與槓桿9之間及在連桿100與動力施加 構件18 S的可移動部份22 S之間。 ^^1 m^i I ^^1 I 1 I . r I- - I - -- ^^1 ---- I - . (請先閱讀背面之注意事項再填寫本頁) 本紙張尺度適用中國國家標準（CNS ) A4規格（210X297公釐） -29- 412467 經濟部中央榡準局員工消費合作社印製 A7 B7五、發明説明（27 ) 圖55顯示類似於圖41所示者的實施例。二四鉸鏈系 統FS 1及FS2在第一與第二元件1 6與2 d之間串聯連接> 動力施加構件12 ϋ的作用爲改變四鉸鏈系統FS1的形式， 而動力施加構件18 δ被配置在第一元件1 ό上，且經由連 桿臂21 6作用在第二元件上，以改變四鉸鏈系統FS2的形 式。第一元件1 ϋ可繞第一樞轉軸108樞轉地連接於基座 構件27 ό。動力施加構件109被配置來使第一元件1 6樞 轉，且因此使第一及第二四鉸鏈系統FS1及FS2及第二元 件2 ΰ繞樞轉軸108樞轉。在此例中，此動力施加構件包 含剛性連接於基座構件27 d的固定部份，及經由連桿臂11 3作用在第二元件2 δ上的可移動部份112。動力施加構件 的可移動部份112最好具有臂狀特性。連桿臂113經由具 有至少兩個自由度的鉸鏈連接於臂112及第二元件2 δ。 動力施加構件109被配置來使第一元件1 δ於對四鉸鏈系 統FS1及FS2的樞轉平面以最好爲直角的角度延伸的樞轉 平面中樞轉。 承載配置110可繞第二樞轉軸111樞轉地連接於元件 2 6。第二樞轉軸111最好平行於第一樞轉軸1〇8。動力施 加構件114可使承載配置11〇繞樞轉軸ill樞轉。此動力施 加構件114具有剛性連接於基座構件27 ό的固定部份，及 經由連桿配置116而作用在承載配置11〇上以使其樞轉的 可移動部份115。連桿配置116必須包含具有至少兩個自 由度的至少二鉸鏈連接。工作構件7 6連接於承載配置11〇 。爲維持承載配置U0於空間中的某一給定方向，動力施 ----------,装------V------Μ 』 . . -(請先閱讀背面之注意事項再填寫本頁) 本紙張尺度適用中國國家標準（CNS ) Α4規格（210Χ297公釐） -30- 經濟部中央橾準局員工消費合作杜印製 412467 A7 ____B7五、發明説明（28 ) 加構件109及114互相之間必須受適當電腦的控制，使得 當元件1 ό及藉著動力施加構件109而於某一方向繞軸 108樞轉時，承載配置11〇必須藉著動力施加構件114於相 反的方向繞軸111樞轉相同的程度。 上述的所有實施例所共同者爲配置有適當的控制單元 ，最好爲電腦的形式，以控制不同機器人實施例的動力施 加構件，用以使第二元件2或其直接或間接連接的構件於 想要的路徑移動。 可能的修正 很明顯以上所給的本發明的實施例爲舉例說明用，在 由所附的申請專利範圍所界定的本發明的範圍內可有數種 方式的修正。一般而言，也可在本發明的架構內使用與所 舉出的例子不同的其他四鉸鏈系統的串聯連接實施例，且 串聯連接的四鉸鏈系統的數目也可根據個別情況中所想要 的修正。 圖42所示的變化中的用於承載構件3 8χ的操作的動力 施加構件90及連桿臂89也可應用於參考圖43所述的實施 例中，在此情況中，去除以12y及18y表示的動力施加構 件，取而代之的爲三個連桿臂89鉸接於承載構件3 8y，且 這些連桿臂被配置成由設置於基座構件27y上的動力施加 構件90致動。構件90可使連桿89於不平行平面中樞轉。 相關於已參考圖16至18，圓25至28，及圖50至51 敘述的不同傳動配置，其當然可以較複雜的連桿臂結構以 本紙張U適用中國國家標準（CNS > A4規格（210X297公釐） _ ---------------tr------^ - -(請先閱讀背面之注意事項再填寫本頁) - 經濟部中央標準局員工消費合作社印^ 41246? A7 _________B7 五、發明説明（妁） 類比方式形成。 例如圖19中所示的四鉸鏈系統jiS4也可以類比方式被 用於根據圖22至24及圖53至54的實施例中。 圖式的簡要敘述 圖1爲顯示根據本發明的機器人的工作的平面圖； 圖2爲更詳細的側視圖； 圖3爲顯示簡單形式的根據本發明的裝置的槪略側視 圖， 圖4類似於圖3，但是顯示可能的修正； 圖5顯示於向上樞轉情況的根據圖4的裝置； 圖6類似於圖5 ，但是裝置向相反方向樞轉，圖中顯 示根據圖3的四鉸鏈結構； 圖7類似於圖4，爲涉及相對於第二元件傾斜的可能 性的修正實施例； 圖8顯示於另一位置的根據圖7的裝置； 圖9爲顯示在工作中的根據圖7及圖8的裝置的槪略 圖； 圖10爲顯示根據本發明的數個機器人如何被互相接近 放置的俯視圖； 圖11，12，及13顯示以圖10所示者以外的方式形成 的實施例： 圖14爲顯示根據本發明的機器人的實施例的立體圖； 圖15爲根據圖14的實施例的修正的立體圖； 本紙張尺度適用中國國家標準（CNS ) A#規格（2丨OX297公釐） ------.-----裝------訂------A . - r (請先閲讀背面之注意事項再填寫本頁) - ' -32- 412467 A7 ____B7 五、發明説明（30) 圖16爲具有用於設置於第二元件上的工作構件的可樞 轉的承載配置的機器人的槪略側視圖： (請先聞讀背面之注意事項再填寫本頁) 圖17詳細顯示可應用於例如根據圖16的機器人的傳 動機構； 圖18爲顯示圖π所示的傳動裝置的應用的槪略圖； 圖19爲另一機器人實施例的立體圖； 圖20爲機器人實施例的槪略側視圖； 圖21爲顯示根據圖20的機器人的更特定的實施例的 部份細部圖； 圖22爲另一四鉸鏈系統結構的槪略圖； 圖23爲類似於圖22的機器人應用的立體圖； 圖24顯示根據圖23的機器人的修正； 圖25爲用於例如根據圖20及21的機器人的傳動機構 9 圖26爲於相對於圖25旋轉90度的位置的放大比例的 細部圖； 經濟部中央標準局員工消費合作社印製 的傳實 257½人 圖 2 器 於圖機 似據一 類根另 爲爲爲 7 8 9 2 2 2 圖圖圖 另動 施 •, 圖 構部ffi 機細見 動 Siifj/T 傳構的 一機例 視視 仰側 的的 例例 施施 實實 的人 9 ί 2 器 圖機 據 I 根另 爲爲 ί 3 3 圖圖 看 觀 方 右 從 示 顯 2 3 圖 另另 爲爲 3 4 3 3 圖圖 圖 圖 人 器 機 ； 的 圖 3 視 圖；側 據圖的 根部例 的細施 的實 例人 施器 實機 本紙張尺度適用中國國家標準（CNS ) Α4規格（210 X 297公釐） 33- 經濟部中央橾準局貝工消費合作社印製 412467 A7 _B7 五、發明説明（31 ) 圖35爲另一實施例的側視圖； 圖36爲具有橫向穩定化及串聯連接的三個四鉸鏈系,統 的機器人實施例的虛擬立體圖； 圖37爲具有橫向穩定化的另一實施例的虛擬立體圖； 圖38爲另一機器人實施例的立體圖； 圖39爲另一實施例的側視圖； 圖40顯示於改變的位置的根據圖39的實施例； 圖41爲另一機器人實施例的立體圖； 圖42類似於圖41，但是具有某些修正； 圖43及44爲於不同位置的類似於圖41及42的實施例 的槪略圖； 圖45及46爲於二不同位置的另一機器人實施例的立 體圖： 圖47及48顯示第二元件傾斜的實施例； 圖49及50爲二另外的四鉸鏈系統結構的槪略圖； 圖51顯示十字傅動機構； 圖52顯示十字及角齒輪型式的傳動機構； 圖53顯示類似於圖23所示者的修正的實施例； 圖54顯示類似於圖24所示者的修正的實施例； 圖55顯示類似於圖41所示者的修正的實施例。 本紙張尺度適用中國國家椁準（CNS ) A4規格{ 2!0X297公楚） ---------裝------訂------戒--. (請先聞讀背面之注意事項再填寫本頁) -34-Printed by the Central Standards Bureau of the Ministry of Economic Affairs and Consumer Cooperatives 412461 A7 _____ B7___ V. Description of the Invention (1) Field of Invention and Known Technology The present invention relates to a device for relative movement of two elements. A articulated link and at least two power applying members for applying power for relative motion of the elements. The relative movement of the two elements has the purpose of positioning the two elements relative to each other by the power applying member. More specifically, the device according to the present invention is intended to form a manipulator or robot. The second element of the two elements is intended to directly or indirectly carry the working member through the carrying configuration to perform the intended function, such as picking / placement, packaging, and shipping. However, work components can be designed to perform work operations other than those described above. Conventional robots are based on an arm-like system of a pivotable link, and the extreme end of the pivotable link contains a link / working member protruding to rotate / rotate on the arm. The setting of the power application member at the extreme end of the pivoting arm involves high loads and inertia, which limits the possible accelerations and rates and accuracy relative to the path. Other types of robots are also known, but are less successful because of poor performance in terms of accuracy and speed, or higher cost. U.S. Patent No. 4,976,582 describes a robot in which three power application members are arranged in a triangular shape on a first element. These components are connected to the movable element via parallel connected blue link devices, also distributed in a triangle, which are respectively hinged to the relevant ones by providing two and no more than two degrees of freedom joint joints Pivot arm and movable element. In fact, each link device includes two parallel links that are hingedly connected to the pivot arm and the movable element to form a parallelogram. The disadvantage of this known robot type is that due to the three-dimensional arm system, it is difficult to have multiple compact paper sizes. Common Chinese National Standard (CNS) A4 specification (210X297 mm) ----_---: --- --ί Packing ------ Order ------ Silver.-(Please read the notes on the back before filling this page) A7 ____B7_ V. Description of the Invention (2) Placed close to each other. Even though known robots can be made very fast and accurate for general purposes, they are not suitable for specific applications for specific jobs. For example, sometimes it is necessary to achieve very fast movements in two-dimensional directions that are perpendicular to each other, while the performance requirements for other degrees of freedom may not be high = known robots may not be able to adjust to this situation. Due to its symmetrical structure, the adaptation of the known robots to the working area is also quite limited. The invention is directed to a planning route to provide a motion device that can be implemented by a fairly simple structural solution, but can achieve very rapid and accurate movement in at least two mutually perpendicular directions. A second object of the present invention is to provide the possibility of a modular structure so that the device can be easily adapted to work with different degrees of complexity. A third object of the present invention is to make it possible to use a hinge structure that is relatively simple and sufficiently tested and reliable in a device. The main purpose of the present invention is achieved because the device according to the present invention includes at least two first links connected to the first element of the two elements via a hinge, and the first link may be at least a first power in the power applying member. Pivoting in a plane parallel to the first element under the influence of the applying member; the device includes at least two second links connected to the second element of the two elements via a hinge, the second link may be in the power applying member Pivot in a plane parallel to the second element under the influence of at least a second power-applying member; the at least two first links form a first four-hinge system; the at least two second links form a second four-hinge system: And this two or four hinge system applies the Chinese National Standard (CNS) A4 specification (2 丨 0X297 mm) in the first and second dimensions. ~ '----- if l · —' _ equipment ---- --Order ------ Line--(Please read the precautions on the back before filling out this page) 412467 Employees' Cooperative Cooperatives of the Central Government Procurement Bureau of the Ministry of Economic Affairs A7 B7 V. Description of Invention (3) Between Components Connected to each other in series. In this way, a double-four-hinge structure is achieved 'and very fast motion performance in the pivot plane of the four-hinge system. In a preferred embodiment of the invention, the four-hinged system forms a parallelogram, which means that the fixed orientation of the working member directly or indirectly carried by the second element can be achieved with only two axes. The above-mentioned second object according to the present invention is achieved because in its purest form having a two-four hinge system, the device according to the present invention provides freedom of movement in two vertical directions, and then further freedom of movement can be completed according to the situation. The use of the defined four-hinge system results in a simple articulation, providing only a single degree of freedom, i.e. pure pivoting. The solution according to the invention can achieve a larger working area than a robot according to US Pat. No. 4,976,582 on two mutually perpendicular two-dimensional planes. Several preferred developments of the invention are defined in the scope of the patent application. These developments and advantages related to the present invention are explained more closely in the following description. DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS For ease of understanding, the following uses the same reference characters for similar or corresponding components in different embodiments plus letters specific to each embodiment. In Fig. 1, two conveyors 1 and 2 which are moved perpendicularly to each other are shown to illustrate the possible work of the robot structure according to the invention. The component 3 is moved on the conveyor 1 and the component 5 is moved on the conveyor 2 across the conveyor 1. As shown by the dashed arrow in Figure 1, component 5 is intended to be placed (please read the precautions on the back before filling out this page) This paper size applies to the Chinese national standard (CNS Standard (210X297 mm) -6- Economy Printed by the Central Standards Bureau Shellfish Consumer Cooperative A7 __B7__ 5. Description of the Invention (4) On the component 3. The conveyor 2 extends above the conveyor 1. In this way, the conveyor 1 moves in the X direction and the conveyor 2 moves in the Y direction. It can be understood that in the case shown, high performance is required in the X and Z directions, and moderate performance is required in the Y direction. Figure 2 shows that the component 3 on the conveyor 1 has the characteristics of a container, and the component 5 To be placed on component 3. The component 5 in this example is conceived to have the characteristics of a lid or other limiting characteristics to be placed on the top, such as foils to be placed on a food bag, and then the lid These foils 5 are supplied by a magazine 6, which can be tilted out from under the magazine. For this purpose, the working member 7 of the robot must be tiltable and extend upwards to engage the foil. Then the working member 7 must be able to rotate around the Y axis Rotate. For correction kit 3 5 may not be aligned with each other, the working member 7 must also be rotatable about the Z axis (rz in Fig. 1). The device according to the present invention is shown in Fig. 3 in a very basic situation. The device includes a first An element 1 and a second element 2 carrying a working member 7. In the situation described in Fig. 2, the working member 7 is envisaged to include a suction gripping mechanism for gripping the foil, but the working member may be of many different designs, For example tools for welding, cutting, water cutting, gluing, hair removal, honing, etc. The device according to Fig. 3 comprises two first links 8, 9 connected to the first element 1 via hinges 10, 11. The links 8, 9 are pivotable in a plane parallel to the element 1 under the influence of the first power applying member 12. The device includes two second links 14, 15 which connect the remaining element 2 via hinges 16, 17. Link 14, 15 can be under the influence of the second power application member 18, this paper size applies Chinese National Standard (CNS) A4 specification (210X297 mm) Ί ---: 11 —! .— I -¾ ------ ΐτ ------ t--(Please read the notes on the back before filling this page} ^ 1246 ^ ^ 1246 ^ Central Standards Bureau of the Ministry of Economic Affairs, Shellfish Consumer Cooperatives, India Fan A7 ______B7 V. Description of the invention (5) Pivot in a plane parallel to the element 2. The two first links 8, 9 form the first four-hinge system FS1, and the second one The two links 14 '15 form a second four-hinge system fs2 °. The two-four-hinge system is connected in series between the first and second elements 1' 2. The "series connection" here means that the four-hinge system FS2 consists of four hinges. The system FS1 is carried and separated from the hinge 10 ′ 11 so that the four-hinge system FS2 can be moved by the four-hinge system FS1. In this example, the first links 8, 9 and the second links 14, 15 are directly hinged in pairs with each other by hinges 19, 20. At least one third link 13 is connected to the links 8, 9 and 14, 15 respectively. More specifically, the 'link 13 is hinged to the links 8, 9 and 14, 15 via the hinges 19, 20 = so, the link 13 is used in common for the four hinge systems FSI and FS2. This means that the first link 8, 9 'and the third link 13, and the element 1 form a first joint four-link system. The second link 14, 15, the third link 13, and the element 2 form a second joint four-link system. In the following, FS1 and FS2 will be used to indicate the four hinge system and the four link system. However, as will be described in more detail below with the help of FIG. 7, the four-hinge system may lack a link included in the four-link system. The four-hinge systems FS1 and FS2 form a parallelogram * This means that regardless of the pivot positions of the links 8, 9 and 14, 15, the fixation of the directions of the elements 1 and 2 to each other can be maintained. The hinges 10, 11, 19, 20 in the first four-hinge system FS1 form hinge axes that are parallel to each other. Similarly, the hinges 16, 17, 19, 20 in the second four-hinge system FS2 form mutually parallel hinge axes. The hinge is required. This paper size applies the Chinese national standard (CMS > Α4 specification (210 × 297 mm) ^ ---- ^ 1! ;;-▲ ------ ΐτ ----_--- ^ (Please read the precautions on the back before filling out this page) -8-Printed by the Shellfish Consumer Cooperative of the Central Standards Bureau of the Ministry of Economic Affairs 41246 * 1 A7 ____B7_ V. Description of the invention (6) A simple pivot hinge showing a single degree of freedom. The hinge axes of the two four-hinge systems FS1 and FS2 in 3 are parallel to each other. The second power applying member Π includes a fixed portion connected to the first element 1 and one of the first links (ie, the link 9). The movable portion is configured to pivot the connecting rod 9 relative to the element 1. The second power applying member 12 may practically have many different configurations. For example, it may include a variable length and A member that acts between the element 1 and a point on the connecting rod 9 to generate a torque around the hinge 11. Another possibility and in the case of this preferred embodiment is to design the member 12 to become a rotating mechanism with a stator and a rotor Where the stator is connected to element 1 and the rotor is connected to link 9. Rotation mechanism 12 is of course It can also act on the connecting rod 8 to make it pivot. Regardless of the specific design of the member 12, it must be able to maintain the pivoting position adjusted for the related connecting rod 9 in an inactive state so that this pivoting position It changes only when the component 12 is actually driven. The second power applying component 18 is connected to the first element 1 and acts on the second four-hinged system FS2 via at least one link arm 21. The component 18 includes a rigid connection to the element 1 fixed part, and a movable part that can be moved relative to the fixed part, the movable part must present only one degree of freedom relative to the fixed part. This movable part is connected to the four via the link arm 21 The hinge system FS2. The member 18 is preferably formed by a rotating mechanism, the stator thereof forms a fixed part, and the rotor thereof forms a movable part. The arm 22 is connected to the movable part and is fixed to resist rotation relative to the movable part The arm 22 is connected to the link arm 21 via a hinge 23, and the link arm 21 is connected to the element 2 via a hinge 24. This paper size is applicable to the Chinese national standard (CNS specification (210 × 297 mm) _ 9-: -------- _ Outfit ------ Order ------ 4--(Please read the notes on the back before filling out this page) 412467 Printed by the Consumer Cooperatives of the Central Standards Bureau of the Ministry of Economic Affairs A7 B7 V. Invention Description (7), but the link arm 21 also Can be connected to any of the connecting rods 14, 15. Since the four-hinge systems FS1 and FS2 in this case can pivot in a parallel plane, the hinges 23 and 24 have a single degree of freedom and form a hinge parallel to the axis of the four-hinge system The axis is sufficient. The structure described in FIG. 3 can be adjusted in the XZ plane at a high rate and accuracy by appropriately controlling the two power application members 12, 18, so that the position of the working member 7 in the XZ plane can be this way. controlled. In the arrangement according to Fig. 3, the arms 22 and the link arms 21 must be able to pass through the sides of the four hinge systems FS1 and FS2. Fig. 4 shows a robot structure which differs from that shown in Fig. 3 in that the four-hinge systems FS1 and FS2 and the arm 22 / link arm 21 are separated from each other. In this connection, the angle between the arm 22 and the link arm 21 must not be as large as the angle between the respective pairs of links 8, 9; 14, 15 in the four-hinge system FS1 and FS2. In terms of the direction of each other, it is the four hinge system that defines the relative position between elements 1 and 2. Therefore, the role of the arm 22 and the link arm 21 is merely to skew the four-hinge system FS2 to change the position of the working member 7 in the Z direction. The other position of the third link 13 is shown in a virtual representation in FIG. 4. As such, the connecting rod 13 may not need to interconnect the hinges 19, 20, although this is sometimes preferred. Fig. 5 shows that the robot according to Fig. 4 can be pivoted upwards in a direction to a relatively high position. If the connecting rods are already placed in the correct three-dimensional order, the corresponding high position can also be achieved in the opposite direction. Figure 6 shows this elevated position in the opposite direction. This position can be adapted to the Chinese National Standard (CNS) A4 size (210X297 mm) ~ τ- by the four-hinged structure and arm shown in Figure 4 --.---- ^-• Installation-- (Please read the precautions on the back before filling out this page) * 11 • 10- ^ 1246 ^ Printed A7 B7 by the Shellfish Consumer Cooperative of the Central Standards Bureau of the Ministry of Economic Affairs DESCRIPTION OF THE INVENTION (8) The combination of angular motion of 22 / link arm 21 is achieved. FIG. 7 shows another embodiment suitable for achieving rotation around the Y-axis, as described in relation to FIG. This rotation is indicated by. In the embodiment according to FIG. 7, there are also the four hinge systems FS1 and FS2 as described above, but the difference is that the first links 8a and 9a are configured to be able to pivot independently of each other. For this purpose, this embodiment includes the power applying member 12 a that pivots the link 9 a as described above, and also includes a fourth power applying member 25 that pivots the link 8 a. In this way, by pivoting only one of the links 8a and 9a, or by pivoting them at an angular difference, the relationship between the first element U and the second element 2a in terms of tilt can be changed. This is made clearer by comparison with the position shown in FIG. As such, as a result of this tilt change, the second element 2a will rotate around the Y axis, and this rotational motion may be used in a manner related to that described in FIG. 2. Fig. 9 shows another way to obtain the advantage that the element 2 can be tilted relative to the element 1 to varying degrees. "The second element is shown in Fig. 9 as 2a and is shown in four different positions. More specifically, the second element 2a includes at least two working members 7aA, 7aB arranged on the element 2a in a spaced manner to obtain a situation where the working member takes different positions on the inclination of the element 2a with respect to the first element la. This is not shown in FIG. 9. This can be used so that the working members 7aA and 7aB shown in FIG. 9 alternately grasp the module 5 and place the module 5 on another module 3 that can be moved along the conveyor 1. It is suitable for a magazine or stack with two components 5 because this reduces the cycle time of the operation. Except for the inclination of the second element 2a, the working members 7aA and 7aB move in the X and Z directions. In the above figures, it is assumed that the component 1 is fixed. However, in practice, (please read the precautions on the back before filling out this page) This paper size applies to China National Standard (CNS) A4 (210X297 mm) ^ 12467 A7 ____B7 5. Description of the Invention (9) or at least in some embodiments, the component I itself can be moved relative to the base member 27 by the third power applying member 26 (see FIG. 10). The structure of the robot having the essence described in Figs. 3 to 7 is represented by R2 below, where the number 2 represents the number of moving axes of the robot (except for the previously described rotational movements around the Y and Z axes). It can be seen from FIG. 10 that the R2 robot is placed on a carriage 28 that can be moved by the power application member 26. The first element 1 of the R2 robot is actually a component to be attached to or formed as a bracket 28. The bracket 28 is pivotable by a power applying member. More specifically, the bracket 28 has a characteristic of becoming an arm protruding from the base member 27. Several such arms 28A to 28C are oriented parallel to each other and carry the robots R2 A to R2C, respectively. The robots are placed so that the directions of their respective planes are parallel to each other, which can achieve high packing. The power applying members 26A to 26C in Fig. 10 may be of any type, but here they are designed to be constituted by a rotating mechanism having a stator fixed to the base member 27 and a rotor fixed to the bracket 28. As for the rest, the working member 7 shown in FIG. 10 on different robots R2 is rotatable about the Z axis. Fig. 11 shows that the bracket 28b does not have the shape of a pivot arm, but is designed as a third and fourth hinge system FS3. This forms a connection between the R2 robot and the base member 27b. This four-hinged system 28b is suitably a parallelogram, and the robot R2 is properly attached to the parallelogram link 29 turned away from the base member 27b »In addition, as seen from FIG. 11, several third four-hinged systems can be placed next to each other closely . Fig. 12 shows that the carriage 28c can be displaced in a straight movement direction (arrow 30). The robot R2 is attached to a paper tray that can move along the moving path 3 丨 The paper size is applicable to the Chinese National Standard (CNS) A4 (210X297 mm) I ^ — Binding. Ice (please read the precautions on the back before filling this page) -12- Printed by the Central Bureau of Standards of the Ministry of Economic Affairs, Peugeot Consumer Cooperative, 41246? A7 _ B7 V. Description of the invention (10) Frame 28c. This constitutes an example of a gear wheel path, and the gear 32 on the bracket 28c meshes with driving. A drive motor 33 that can rotate the shaft 34 provided with the gear 32 via a gear is disposed on the carriage 28c having the characteristics of a pulley. The other shaft 35 provided with the gear 32 is disposed on the carriage 28c, and if desired, Yes, this second axis can also be driven by the drive motor 33. Fig. 13 shows a variation of the embodiment which has been described with reference to Fig. 11, in which the bracket 28d for the robot R2 is designed to form between the robot R2 and the base member 27d. The connected four-hinge system. The function of the motor 26d is to pivot the four-hinge system 28d and thereby move the robot R2. Here it is shown that two robots R2 are arranged on the sides of each other. Another possible position of the four-hinge system is shown in dotted The four-hinged system is formed by a parallelogram for parallel movement of the robot R2. The bracket 2e of the robot R2 shown in FIG. 14 is designed as a pivot arm. The pivot arm 28e can be in the form of a rotary motor 26e The power applying member is pivoted relative to the base member 27e about the axis 36. As mentioned before, there are two power applying members 12e and 18e to operate the working member 7e of the robot about two axes, that is, on the plane XZ. The bracket 28e is used to move the two-axis robot in the Y direction due to its movability. The first element le can be formed here as a component of the bracket 28e. The working member 7e can be applied by power disposed on the second element 2e. The member 37 rotates around the Z axis. The power applying member 37 can be formed by, for example, a rotary motor. Fig. 15 shows a variation of the embodiment according to Fig. 14. The pivot arm 28f here is quite short and can be regarded as being formed by the first element If The pivot axis of the arm 28f is represented by 36f. In this embodiment, the two power applying members 12f and 18f phase I ---- II! ---------------------- -(Please read the notes on the back before filling out this page) This paper size applies to China Standard (CNS) A4 specification (210X297 mm) -13- A7 B7_ V. Description of the invention (11) When close to the pivot shaft 36f configuration 'Because the load at a distance from it tends to require high torque of the power application member 26f And produce important inertia 'This problem and issues related to speed and accuracy. More specifically,' the position of the members 12 f and 18f should preferably be coaxial with its rotation axis' and its rotation axis and the pivot axis 36f Straight line extends and crosses. In this way, the positions of the link 9f and the arm 22f become coaxial with each other. < In the embodiments described above, the pivoting power applying members configured for the four-hinge systems FS1 and FS2 are all shown as being disposed on the first element le, which is advantageous for the load because these powers The application member is generally quite heavy. If the power application member is arranged slightly outside the link arm structure, it will cause problems in terms of acceleration, velocity, and accuracy. The embodiment in FIG. 16 shows the working member 7g The bearing arrangement 38 is hinged on the second element 2g. The pivot axis of the bearing arrangement 38 relative to the element 2g is indicated by 39. The pivot axis 39 in the embodiment is consistent with the hinge axis between the link arm 21g and the element 2g, which is not required. Yin Jia, Consumer Cooperative of Employees of the Central Standards Bureau of the Ministry of Economic Affairs (please read the precautions on the back before filling out this page) The load bearing configuration 38 can be pivoted relative to the second element 2g by the fifth power application member 40, and the member 40 is disposed The first element 1g is formed on the first element 1g, and can be pivoted or rotated around the shaft 36. By operating the driving force applying member 40 ', the direction of the working member 7g relative to the element 2g can be changed as needed. The power applying member 40 is disposed on the first element 1g, and acts on the bearing arrangement 38 via at least one link arm 41. The member 40 includes a fixed portion connected to the element 1g, and a movable portion that actuates the link arm 41 via the arm 42. Between the connecting rod arm 41 and the arm 42, the connecting rod arm 41 and the paper size are applicable to the Chinese National Standard (CNS) A4 specification (21 × 297 published) -14- 412467 Printed by the Bayer Consumer Cooperative of the Central Standards Bureau of the Ministry of Economic Affairs A7 ___B7____ V. Description of the invention (12) The hinge between the load configuration 38 and the fixed part and the movable part of the power applying member 40 only needs one degree of freedom, which is used to parallel the four-hinge system. Pivoting in the plane of the pivoting plane> The working member 7g in this example is intended to be rotatable about the shaft 43 with respect to the bearing arrangement 38. In this way, a five-axis robot is achieved. In order to rotate the working member 7g, a rotation motor may be provided on the bearing arrangement 38. However, because this increases the load at the extreme end of the robot, it is not appropriate when the requirements for speed and accuracy are high. In this case, the solution shown in FIG. 17 can be used. FIG. 11 shows that the sixth power applying member 44 is disposed on the first element lh. This member 44 is connected to a shaft 45. When the embodiment according to Fig. 17 is applied to the embodiment according to Fig. 16, the shaft 45 should be axially connected to the bearing arrangement 38h. The connection between the power application member 44 and the shaft 45 is established by a link arm configuration indicated at 46. When the member 44 operates, it rotates the shaft 45. It is also possible to design the working member 7h directly on the shaft 45. However, in this example, a transmission mechanism 47 is preferably provided between the shaft 45 and the working member 7h. This transmission mechanism 47 is here designed as a stepping transmission mechanism. As for other aspects, the transmission mechanism 47 may have an angle gear characteristic as shown in FIG. This angle gear is formed by a helical gear arranged on the shaft 45 and the shaft of the working member 7h. The power applying member 44 has a fixed portion connected to the element lh and a movable portion rigidly connected to the arm 48. The arm 48 is configured by at least one link arm (two in this embodiment) Lever arm) and connected to the shaft 45. In the case where there is no pivotable load-bearing arrangement 38 on the second element 2g in FIG. 16, the device I for rotating the working member 7h shown in FIG. 17 is shown in FIG. ----, tT ------ ^--(Please read the notes on the reverse side before filling out this page) This paper size applies to China National Standard (CNS) A4 specification (210X297 mm) -15- 412467 A7 B7 Printed by the Consumer Cooperatives of the Central Standards Bureau of the Ministry of Economic Affairs 5. The description of the invention (彳 3) can be placed on the second element 2g instead of the bearing configuration 38. Figure 18 shows that similar to Figure Π can be used to make the bearing configuration 3 The 8i rotating device, the bearing configuration 38i is formed by a four-link joint system, in this example a parallelogram connected to the second element 2i through the two-arm shaft. The working member 7i is configured so that it can be referred to by the following reference Figure 19 describes the bearing arrangement 3 8i (four-hinged system) that moves appropriately. The link arm arrangement 46i is connected to the shaft 45i, and the shaft 45i is supported on the element 2i by the bearing 48. The shaft 4 5i passes The transmission mechanism 47i drives the bearing member 49 contained in the bearing arrangement «more specifically, the bearing member 49 Forms a connecting rod in a four-link system. The transmission mechanism 47i in this example is an angle transmission mechanism. The weight 50 balances the gravity and balance from the load configuration 38i and its working members. Figure 19 shows the four-link type The load-bearing configuration 38k is connected to the second element 2k = more specifically, the link 5 1 in the four-link system is rigidly connected to the element 2k. The four-link systems FS1 and FS2 included in the robot are shown in this example. Movement in the XZ plane. On the other hand, the four hinge system 38k can be pivoted in the XY plane, that is, perpendicular to the pivot planes of the two or four hinge systems FS1 and F S2 in this example. In other words, the four hinge system 38k Connected to the four-hinge system FS2, so that the systems FS1, FS2, and FS4 are connected in series, although the connection between the systems FS2 and FS4 is 90 degrees about the X axis and 90 degrees around the Z axis. The seventh power applying member 52 on the element lk and at least one link arm 53 between the power applying member 52 and the four-hinged system FS4 pivot in the XY plane = the power applying member 52 includes a rigid connection (read the first Matters needing attention before filling in this purchase] this paper The dimensions are applicable to China National Standard Car (CNS) A4 specifications (210X297 public directors) -16- 41246 *; A7 ______B7__ V. Description of the invention (14) The fixed part connected to the element lk and the movable part connected to the arm 54 The arm 54 actuates FS4 via the link arm 53. In this example, the movable part of the arm 54 and the member 52 has a single degree of freedom with respect to the element lk, that is, a purely pivotal movement, and the link arm 53 is connected to the arm 54 and FS4 via a hinge and contains two degrees of freedom. 20 and 21 show a robot including a four-hinge system FS1 and FS2 and a first element lm. The display element lm in Fig. 20 forms a bracket rotatable about a shaft 36m with respect to a base member 27m. The first and second power application members 12m and 18m are arranged on the bracket lm in the form of rotary motors, each of which has a stator connected to the bracket, and is arranged to make the links in the four hinge systems FS1 and FS2, respectively. The pivoting rotors 56 and 57 (see also FIG. 21). It can be seen from Fig. 21 that the rotors 56, 57 are respectively arranged via first transmission mechanisms 58 and 59, such as gear transmission mechanisms, to rotate parallel drive shafts 60 and 61, respectively. One of the driving shafts (i.e., the driving shaft 60) is driven to be connected to a link 9m included in the four-hinge system FS1 via an angle gear 62. The shaft 61 is drivingly connected to the arm 22m via the angle gear 63. Printed by the Consumer Cooperatives of the Central Bureau of Standards, Ministry of Economic Affairs (please read the precautions on the back before filling out this page). The drive shafts 60, 61 are coaxial with each other, and 36m with the 28m pivot axis of the bracket. In order to pivot the bracket 28m with respect to the base member 27m, a power application member 26m, for example, in the form of a rotary motor, is provided, which rotates the shaft 36m via a transmission mechanism. The drive shaft 61 extends through another drive shaft designed as a tubular shaft. In this way, a small embodiment is achieved, and the maximum load is concentrated in the area of 36 m around the pivot shaft 28 m from the bracket. From the viewpoint of load, Better. The shaft 60 '61 is pivotally connected to the bracket 28m by a suitable bearing. This paper size is in accordance with Chinese National Standard (CNS) A4 (210 X 297 mm) -17- 412467 Printed by the Consumer Cooperatives of the Central Government Standards Bureau of the Ministry of Economic Affairs A7 ____B7__ 5. Description of the invention (15) Figure 22 shows the configuration with two Changes in the third links 13A and 13B. The first and third links 13A are connected to the links 8η and 9n, and the second and third links ΠB are connected to the second links 14η and 15η. The links 13A and 13B are rigidly connected to each other by the cross bar 64. The links 13A and 13B include an angular relationship, which is a right angle in this example. As such, the links 13A and 13B in this embodiment do not constitute any links relative to each other, but only relative to the associated four hinge systems FS1 and FS2. Although the hinge axes of the two-four-hinge system FS1 and FS2 are designed to be parallel to each other in the embodiment, the relationship between the link 13B of the four-hinge system FS 2 and the link 13A can be made such that the four-hinge system FS2 can Pivot in a plane that is at an angle (eg, right angle) to the pivot plane of the four-hinge system FS1. Refer to FIG. 49 and FIG. 50 for two examples in this regard. More specifically, the four-hinge system FS1 can be pivoted in the XZ plane in FIG. 49, and the four-hinge system FS2 is designed to be pivotable in the YZ plane. In Figure 50, FS1 is pivoted in the XY plane, and FS2 is pivoted in the XY plane. In the embodiment according to Fig. 22, the power application member 18n is connected to the element In and is configured to actuate the four-hinge system FS2 to pivot in the XZ plane via the link arm 21n. The component 18η includes a fixed portion and a movable portion rigidly connected to the arm 22η, and the arm 22η is connected to the link arm 21η. The link arm 21m is connected to the FS2 at one of the hinge points of the FS2 in this example, but this is not necessary. The power application member 1 2η acting on the link 9η acts to pivot FS 1, and the power application member 18η operates the pivot of FS2 via the link arm 21η. Therefore, the two-axis robot provides motion in the XZ plane. The robot shown in FIG. 22 is more neatly shown in the perspective view of FIG. 23. The paper from the applicable towel @ 迹 县 {[called eight 4 wai (2 297 mm) ~: ——— L—l · — -Install ------- Order ------ ^-. (Read the notes on the back of the poem before filling in this purchase) Printed by the Staff Consumer Cooperative of the Central Standards Bureau of the Ministry of Economic Affairs 412461 A7 ____B7 V. Description of the invention ( 16), FIG. 23 additionally shows that the first element 10 forms a bracket, and this bracket can be pivoted about an axis parallel to the Z axis by the power applying member 26, thereby providing the working member 7 of the robot in the XY plane. Mobility. Fig. 24 shows an embodiment of the same robot as that shown in Fig. 23, except that there is no rigid connection between the third links 13Ap and ΠΒ. In contrast, these links can be pivoted to each other by the fourth power applying member 25ρ. The fact that the four-hinged system FS1 is kept in a stable position by the power application member 12ρ, the link 13Bρ can be pivoted relative to the link ΠΑρ by the power application member 25ρ. This fact includes that the link arm 21ρ is 18ρ The possibility of changing the second element 2ρ and therefore the inclination of the working member under lock. In contrast, by the power applying member 25ρ, the links 13Aρ and 13Bρ can be locked to each other, so that when the four hinge system FS1 and FS2 are pivoted, the direction of the second element 2ρ and the working member is due to the parallelogram design of the four hinge system The results are kept forever. The transmission arrangement 65 «is shown in Fig. 25. It is designed to be used with the combination of the connecting rods 8m and 14m also shown in Figs. The hinge of the link 8m with respect to the bracket 28m is represented by 10m, the hinge between the links 8m and 14m is represented by 19m, and the link between the link 14m and the second element 2m (not shown) is represented by 16m. In Fig. 26, the area of the hinge 10m seen from the upper side of Fig. 25 is shown. As can be seen from a comparison with FIG. 21, the link 8m is not directly connected to any power applying member. Therefore, the hinge shaft is not used to pivot the link 8m, but the link 8m is freely supported on the shaft 10m. In contrast, a driving member 66 is provided on the bracket 28m to rotate the shaft 10m. The component 66 may be constituted by a gear, for example, and this gear 66 is formed by another --.-- 丨 arranged on the shaft 68! · Install ------ Order ------ Ice. J-* (Please read the note on the back ^ a ^ item before filling out this page) This paper size applies to China National Standard (CNS) A4 specification (210X 297 mm) -19- Printed by the Consumer Cooperatives of the Central Standards Bureau of the Ministry of Economic Affairs A7 __B7_ V. Description of the invention (17) A gear 67 is driven at an angle. The shaft 68 can be driven by a motor disposed on the carriage 28m. A rotatable follower member 69 is arranged on the second element 2m (not shown). The transmission configuration includes transmission members extending 8m and 14m along the connecting rod assembly. These transmission members include levers 70, 71, and 69, which have two arms and are pivotally arranged on the link 8m relative to each other and to the bracket 28m and the second element 2m about an axis parallel to the hinge of the link. And 14m hinges. A pair of link arms 72 extend between these levers, so that pivoting of the lever 70 by the shaft 10m causes pivoting of the lever 69 by the link arm 72 and the intermediate lever 71. This pivoting of the lever 69 is used to pivot the working member placed on the element 2m. As can be seen from FIG. 26, the link arms 72 are appropriately located on both sides of the respective links 8m and 14m, and the lever 70 is formed by two lever portions 70a and 70b connected to the shaft 10m and fixed to resist rotation relative to the shaft 10m . The connecting rods 8m, 14m in the embodiment according to Figs. 20 and 21 are shown in Fig. 27 again. In this embodiment, the transmission member includes steering members 73 to 75 arranged on a hinge of the link and rotatably arranged about an axis parallel to the hinge axis of the link. Endless loops of two traction force transmitting elements 76 and 77 are laid around these steering members. Fig. 28 shows a double steering member arranged at a hinge shaft between the links 8m and 14m. One of these steering members is engaged with the traction force transmission element 76 and the other is engaged with the element 77. By rotating the rotatable steering member 73 on the bracket 28m, the rotary motion can be transmitted to the second element ring 77 and the outermost steering member 75 via the element 76 and the central steering member 74. The latter shaft gain can be used, for example, to rotate a working member or perform a rotary motion of some other work. This ^^ standard applies Chinese national standards. 5) 鄕 4 鄕 " (21 297 public holiday) '-20-I. ^ 11 ^-(Please read the notes on the back before filling in this card) Central Ministry of Economic Affairs Printed by the Employees ’Cooperatives of the Ladder Standard Bureau 412467 A7 ___B7_ V. Description of the invention (18) The changes according to Figures 25 to 28 include the advantage that the motion is transmitted from the drive motor set on the bracket 28m to the extreme end of the four-hinge system FS2. There is a minimum load on the most extended part of the robot. FIG. 29 shows an embodiment substantially similar to FIG. 19. However, the four-hinge system FS4 which can be pivoted in the XY plane is designed to be pivotable under the influence of a driving member 52q arranged on the element 2q. Fig. 30 shows the embodiment according to Fig. 29 as viewed from above. Counterweight 50q balances the weight of the working members. Figure 31 shows a fourth four hinge system FS4 fixed to the element 2r so as to be pivotable in the YZ plane relative to the element 2r. The drive member 52r arranged on the element 2r is also shown here. The direction of FS4 in Fig. 31 indicates that it can be pivoted in a plane perpendicular to the plane having FS1 and FS2. Instead of disposing the driving member on the element 2 as shown in Figs. 29 to 32, the driving principle related to the FS4 shown in Fig. 19 may be applied so that the driving member is located on the elements 1Q and lr, respectively. Fig. 33 shows that two fourth four-hinge systems FS4 are connected in parallel to the second element 2s. Each of the four hinge systems FS4 carries a working member. These two or four hinge systems are mechanically connected to each other for common motion, as shown at 78. In order to pivot the four-hinge system, a driving member 52s may be provided on the element 2s, or the driving mode shown in Fig. 19 or Figs. 25 to 28 may be used. The embodiment according to FIG. 33 is suitable for quickly processing two objects in parallel by two working members. Fig. 34 shows an embodiment corresponding to the one shown in Fig. 22, except that the link arm 21t is attached to the link I4t. The driving member 18t may be configured to pivot its associated arms 2 2t and link arms 21t in the XZ plane or the χγ plane. The embodiment according to FIG. 35 corresponds to that shown in FIG. 34, except that the paper size of the connecting rod is applicable to the Chinese National Standard (CNS) A4 specification (210 X 297 mm) '-21-I ----- 11___ _ equipment ------ Order ------ 4 (Please read the notes on the back before filling out this page) A7 B7 Printed by the Consumers' Cooperative of the Central Government Bureau of the Ministry of Economic Affairs V. Invention Description (19) 1 3Au and The angle between 13Bu has been modified relative to Figure 34. Generally, this angle can be changed from 0 degrees to 360 degrees. Figure 36 shows the schematic four-hinge systems FS1, FS2, and FS4, where the four-hinge systems FS1 and FS2 are designed to pivot in the XZ plane, and the four-hinge system FS4 is designed to pivot in the XY plane. Figure 36 shows that the FS1 can be laterally stabilized by a four hinge system FSA located in a plane perpendicular to the plane of the FS1. The FS1 can be carried laterally relative to the FSA by a support 80 hinged to the FSA at 79. The four-hinge system FS2 is laterally stabilized by the four-hinge system FSB extending perpendicular to the FS 2. The four-hinge systems FS2 and FS4 can be pivoted by separate drive members and link arms. FIG. 37 shows a robotic structure similar to that shown in FIG. 4 in a virtual perspective view. The figure shows an auxiliary link arm that can be moved parallel to the links 9v and 15v but parallel to the links 9v and 15v in the Y-axis direction. 81. The pivoting plane XZ perpendicular to the four-hinge systems FS1 and F2 stabilizes the robot structure. The link arm 82 extends between the link 81 and the links 9v and 15v. These link arms 82 therefore extend in the Y-axis. The support rod 83 is connected to the link 13v and the element 2v, and supports the four-hinged system against the link arm 82 via a hinge connection between the link arm 82 and the support rod 83. Fig. 38 shows a four-hinge system FS1 pivotable in the XZ plane and a second four-hinge system FS 2 connected in series. The second four-hinge system is intended to be pivoted in the Y direction as shown in Fig. 38 and may be slightly inclined to the Y-axis , Or pivoting otherwise parallel to the Y axis. The four-hinged system FS1 and FS2 are laterally stabilized by an additional link arm 84, and the additional link arm 84 is connected to the link arm 84 via a cross bar 85. This paper size applies to China National Standard (CNS) A4 specifications (2) OX297 mm) I ---- ^ ---------------------------------------------------------- (I read the note on the back ^ * > item 95 first) (Fill in this page) -22- 41246 ^ A7 _B7 printed by Shellfish Consumer Cooperative of the Central Standards Bureau of the Ministry of Economic Affairs 5. Description of the invention (2) Connected to FS1 and FS2 respectively. It can be seen from FIG. 38 that the link arm 84 can extend obliquely with respect to the planes of FS1 and FS2, so that when viewed in the plane of FS1 and FS2, a rhombic structure is obtained to additionally increase the rigidity of the plane perpendicular to FS1 and FS2. FIG. 39 shows a variation corresponding to FIG. 36 except that lateral stabilization is not shown in FIG. 39. In this way, FS1 provides movement along the Z axis, and FS2 provides freedom of movement in the X direction. Finally, the FS4 is designed to provide freedom of movement in the Y direction by pivoting in the YZ plane or the XY plane. The same four-hinged system structure shown in FIG. 39 is shown in slightly different positions in FIG. 40 ^ FIG. 41 shows that two sets of parallelograms 86 connected in series, each including FS1 and FS 2, are connected in a plane perpendicular to each other Pivot. Each group includes first and second elements 1x and 2x. The first elements 1x are pivotably connected to respective base members 27x having an L-shape in this example, which pivot axes 87 are perpendicular to each other and extend parallel to the respective pivot planes of each group 86. The bearing arrangement 38χ is hinged to the two second elements 2χ around a vertical axis 88, and the vertical axis 88 is parallel to the pivot axis 87 between the first element 1x and the base member 27. Each first element 1x is provided with a respective first power applying member 12x to pivot one of the connecting rods 9x, which is connected to the first element and is included in each of the parallelogram groups. The second power applying member 18X is disposed on one of the first elements 1x so that the arm 22x is relatively pivoted. The link arm 21 X is connected to this arm, and the link arm 21x is pivotably connected to the second element 2x. The arm 22x and the link arm 21x are pivotable parallel to the associated parallelogram group 86. ---- Γ--! I installed -------- Order ------ 竦-.--(Please read the precautions on the back before filling this page) This paper size applies to Chinese national standards (CNS) A4 specification (210X297 mm) -23- 412467 Printed by the Consumer Cooperatives of the Central Bureau of Standards of the Ministry of Economic Affairs A7 __B7 V. Description of the invention (21) By operating the power application member 12x and 18x, the load of the working member 7x The arrangement 38 can be operated as desired in a three-dimensional space. All the hinges and pivot axes mentioned need only contain one degree of freedom, which is purely a possibility of pivoting, and as far as the other degrees of freedom are concerned, they should be prevented from moving. The load bearing configuration 38x and the working member 7x can be positioned in the space as needed by operating the power application members 12x and 18x. The parallelogram group 86 defines the direction of the load configuration 38x, that is, the inclination in space, and maintains this inclination to be constant throughout the moving area. The arm 22X and the link arm 21x only participate in the operation of generating the required load configuration 38x in the space. Thus, in the embodiment according to Fig. 41, there are a total of three pivot axes to achieve the required motion mode. Fig. 42 shows a modification in which the power application members 12x, 18x, arms 22x, and link arms 21x have been removed and replaced by three additional link arm configurations 89 having associated drive members 90, To control the movement of the bearing configuration 38x in space. The driving member 90 is appropriately positioned on the base member 27x. The parallelogram group 86 here also controls the direction in terms of the fixed inclination of the bearing arrangement 38 X. FIG. 43 shows another aspect of the embodiment according to FIG. 41. In this case, there are also two sets of parallelograms 86y connected in series, but here the parallelograms FS1 and FS2 in each group form an angle represented by an angle α with each other. The base member 27y is connected to the first element ly of the parallelogram structure via chains which extend perpendicular to each other and more specifically extend in the X direction and the Z direction, respectively. The load bearing arrangement 38y is connected to the second element 2y via a hinge 88y parallel to the respective hinge 87y. The four-hinge system FS1 can be powered by (please read the notes on the back before filling this page) This paper size is applicable to China National Standard (CNS) A4 specification (210X297 mm) -24- 412467 Staff Consumer Cooperatives, Central Standards Bureau, Ministry of Economic Affairs Printed A7 B7 V. Description of the invention (22) The driving member 12y is applied to pivot in the respective pivoting planes. There is also a driving member 18y connected to one of the four-hinge systems FS2 via a link arm 21y to pivot it. The slightly changed position of the device shown in Fig. 43 is shown in Fig. 44 to make it more plausible. FIG. 45 shows the embodiment shown in FIG. 35. In addition, the four-hinge systems FS1 and FS2 in FIG. 45 have been doubled in the Y direction, and a stay extending in the Y direction is provided to strengthen the parallel load in the Y direction. Quadrilateral combination. As can be seen from Fig. 45, the double structure in the Y direction can become a rhombus configuration such that the parallelogram structure viewed perpendicular to its hinge axis is obtained obliquely outward to the extreme end of the device. In addition, it is shown in Fig. 45 that additional stabilization measures such as diagonal braces 91 can be added to establish the required stability. For better understanding, the slightly adjusted position is shown in FIG. 46, in which the four-hinge system FS2 has been pivoted forward relative to the position in FIG. 45. Figures 47 and 48 show embodiments where measures have been taken to adjust the second element 2z to a different tilted position. For this purpose, the first element lz is formed of two parts IzA and IzB which are hinged to each other. It can be seen from Fig. 48 that a part of IzB forms a link in the four-link system FS1. Part of the IzA mainly operates as a bracket for the robot structure. The described power applying member 12z has a fixed portion rigidly connected to the element portion IzA, and a movable portion connected to the connecting rod. The fourth power applying member is represented by 25z, and has a fixed portion rigidly connected to the element portion IzA, and a movable portion connected to the element portion izb. When general operation according to Fig. 47 is required, I-^ order ^-T-of the power application member 25z (please read the precautions on the back before filling this page) This paper size applies the Chinese National Standard (CNS) A4 specification < 210 X 297 mm) -25- Printed by the Consumer Cooperatives of the Central Standards Bureau of the Ministry of Economic Affairs 412461 A7 __B7 V. Description of the invention (23) The movable part is blocked, so that the component part IzB forming the connecting rod is permanently maintained At the position according to FIG. 47 = as described above, the pivot of the link 9z is caused by the operation of the power application member 12z, and therefore the pivot of the parallel link 8z, and this result can be maintained parallel to the link IzB Orientation of the second element. On the other hand, when it is necessary to tilt the element 2z, the power applying member 25z is operated so that the link IzB is pivoted with respect to IzA and 9z. This causes the element 2z to pivot accordingly due to the parallelogram structure. FIG. 51 shows a transmission arrangement for transmitting power from the driving member 92 on the first member 1 to the driven member, such as the working member 7, on the second member 2, which includes first and second parallel parallelograms. The four-hinge systems FS1 and FS2 have a shaft 93 extending from the connecting rod. The shaft 93 is interconnected by at least one cross joint 94 and is connected to the driving member 92 and the driven member 7 via another cross joint 95. In order to divide the bending angle in the cross joint transmission between the shafts 93 into two parts, the connecting rod 13 in FIG. 51 is designed to include a parallel gap between the four hinge systems FS 1 and FS2, and in the previously described Between the cross joints 94, there is a boundary region of the shaft segment 96 between the four hinge system and the connecting rod 13, and the shaft segment 96 can be regarded as a rigid element. In this way, since the shaft 93 will move in parallel corresponding to the links in the parallelogram systems FS1 and FS2, the rotation or pivoting movement can be safely transmitted along the parallelogram combination without any connection or a bolt providing relative displacement. groove. The drive configuration in Figure 51 shows a straight in-line connection adjustment to a parallelogram system. Figure 52 shows the parallelogram systems FS1 and FS2 connected to each other in an angular relationship (right angle in this example) by the rigid connection of the links 13a and 13b. As in the previous embodiment, use shafts 93 and 10 (please read the precautions on the back before filling this page) I-Binding. The size of the paper is applicable to China National Standard (CNS) A4 specification (210X297 mm)- 26- 412 ^ 6? A7 B7 Printed by the Consumers' Cooperative of the Central Government Bureau of the Ministry of Economic Affairs of the People's Republic of China. 5. Description of the invention (24) The word joint 94 transmits power along the parallelogram systems FS1 and FS2. In order to bridge the angular displacement between the parallelogram systems FS1 and FS2, that is, the angle between the links 13a and 13b, it is suggested in Fig. 52 to use an angle gear 97 based on a conical gear. In this way, the shaft member 96 is connected to the shaft 93 via the cross joint 94, and the shaft member 96 supports the tapered gear at the end away from the cross joint 94. Fig. 53 shows a modified embodiment of the one shown in Fig. 23, and further features are derived from the embodiment shown in Fig. 20. As can be seen from Fig. 53, the first portion forming the bracket 28 can be rotatably moved relative to the base member 27 by the third power applying member 26S. The first power applying member 12 a can pivot the links 9 and 8 relative to the bracket 28 δ. The function of the second power applying member 185 is to pivot the links 14a and 15 in the second four-hinge system FS2. The power application member 18 includes a fixed portion rigidly connected to the bracket 28 and a movable portion 22 connected to the four-hinged system FS2 through a link arm 21. The first element I is formed by two parts I Α and I Β which are hinged to each other. The power application member 25 can pivot part 1 Β relative to the second part 1 Α. This first part 1 Β forms a component of the first four-hinge system FS1 because it is hinged to the two links 8 and 9. The power applying member 12 can pivot the connecting rod 9 to the portion 1 3 Α, and the connecting rod 1 Β is kept fixed by the power applying member 25. The four-hinge system FS1 changes form in the direction of the fixed space of the second element. For this purpose, the power applying member 12 is provided with a fixed portion rigidly connected to the portion 1 Α, ------- ^ --- installation ------ order ------ 〆--Γ---. (Read the precautions on the back before you fill in this page) This paper size uses the Chinese National Standard (CNS) A4 specification (210 X 297 mm) -27- Staff of the Central Bureau of Standards, Ministry of Economic Affairs Printed by the Consumer Cooperative 412467 A7 __B7 V. Description of the invention (25) and the movable part rigidly connected to the connecting rod 9. While the connecting rod 9 δ is kept fixed by the power applying member 12, the power applying member 25 can be driven to pivot part 1 δ Β relative to part 1 Α. This pivoting changes the form of the four-hinge system FS1 so that the inclination of the second element 23 is changed to a desired degree. The power applying member 25 also has a fixed portion rigidly connected to the portion 1 A, and a movable portion rigidly connected to the portion 1 3 B. The power application members 12a, 25a in this example are the types of the rotating mechanism described previously. Fig. 54 shows an embodiment similar to the embodiment according to Fig. 24, but with a modification. As in the previous embodiment, the first element 1 S includes two parts 1'd Α and 1 S Β hinged to each other. The hinge axis between the two is parallel to the hinge axis in the two or four hinge system FS1 and FS2. The function of the power applying member 26 is to pivot a portion of 1 h A relative to the base member 27 M. The part 1 S B forming the first element of a link in the four-hinge system FS1 is hinged to the link 9 S via a hinge 105 and forms a lever having two arms protruding outward from the hinge. The power applying member 25 S acts on one of the two arms of the lever via the link arrangement 106, so that the part I and the part B pivot with respect to the part 1 a A. This pivoting changes the spatial inclination of the second element 2 ϋ. In this example, the display power applying member 25 3 has a fixed portion rigidly connected to the base member 27 and a movable arm-like portion 107 acting on the above-mentioned two-arm lever via a link 108. Because part 1 SA of the first element can be pivoted relative to the base member 27 h by the power applying member 26 S, the link arrangement 106 which can include one or more links must include at least two degrees of freedom At least two hinges, such as ball joints. (Please read the precautions on the back before filling this page) This paper size is applicable to the Chinese National Standard (CNS) A4 specification (210X297 mm) -28- 412467 The Central Standards Bureau of the Ministry of Economic Affairs, Bayong Consumer Cooperatives, India, Fan A7 __B7 Explanation (26) The 12-mesh power-applying member acts on the 9-mesh link in the four-hinge system FS1 via the link configuration 102. More specifically, the connecting rod 9 a is designed as a lever having two arms and hinged to a portion 1 h B about the hinge axis 105. The power application member 12M acts on one of the two arms of the lever via the link configuration 102 to change the form of the four-hinge system FS1 while keeping the inclination of the second element 2M unchanged, but this is assuming part 1 first Beta does not pivot at the same time with respect to part 1 'd A. The power applying member 12 S also has a fixed portion rigidly connected to the base member 27 S, and a movable portion acting on the link 9 S via the link arrangement 10 2. More specifically, the movable portion has the characteristics of an arm 103, which transmits an operating force via a link arm 104 which is connected and connected to the link 9a by a hinge having at least two degrees of freedom. In this case, the power application member 18 S is actuated to pivot the link contained in the four-hinge system FS2 via a slightly more complicated link configuration 98. This link configuration 98 previously includes a link arm 21 h connected to the second four-hinge system FS2, but here there is between the link arm 21 S and the movable portion 22 ′ of the power application member 18. The other two links 99 and 100, the link 99 has the characteristics of a lever with two arms, and is hinged to the first four hinge system FS1 via the shaft 101, and one of the two arms in the lever is hinged to the link arm 21 S, at the same time The other arm is connected to the link 100. This link is connected to the arm-shaped movable portion 22¾ of the power applying member 1828. Since the fixed portion of the power application member 18a is rigidly connected to the base member 27M, a hinge connection having at least two degrees of freedom is required in the link arrangement 98. In this example, these link connections exist between the link 100 and the lever 9 and between the link 100 and the movable portion 22 S of the power applying member 18 S. ^^ 1 m ^ i I ^^ 1 I 1 I. R I--I--^^ 1 ---- I-. (Please read the precautions on the back before filling this page) This paper size applies to China National Standard (CNS) A4 Specification (210X297 mm) -29- 412467 Printed by the Consumers Cooperative of the Central Government Bureau of the Ministry of Economic Affairs A7 B7 V. Description of Invention (27) Figure 55 shows an embodiment similar to that shown in Figure 41. Two or four hinge systems FS 1 and FS2 are connected in series between the first and second elements 16 and 2 d > The power application member 12 ϋ functions to change the form of the four hinge system FS1, and the power application member 18 δ is configured On the first element 1 and acting on the second element via the link arm 21 6 to change the form of the four hinge system FS2. The first element 1 is pivotably connected to the base member 27 about a first pivot axis 108. The power application member 109 is configured to pivot the first element 16 and thus the first and second four-hinge systems FS1 and FS2 and the second element 2 to pivot about the pivot shaft 108. In this example, the power applying member includes a fixed portion rigidly connected to the base member 27 d, and a movable portion 112 acting on the second element 2 δ via the link arm 11 13. The movable portion 112 of the power applying member preferably has an arm-like characteristic. The link arm 113 is connected to the arm 112 and the second element 2 δ via a hinge having at least two degrees of freedom. The power applying member 109 is configured to pivot the first element 1 δ in a pivot plane extending at an angle of preferably a right angle to the pivot planes of the four hinge systems FS1 and FS2. The load bearing arrangement 110 is pivotably connected to the element 2 6 about a second pivot axis 111. The second pivot axis 111 is preferably parallel to the first pivot axis 108. The power application member 114 can pivot the load-bearing arrangement 110 about a pivot axis ill. This power applying member 114 has a fixed portion rigidly connected to the base member 27, and a movable portion 115 which acts on the load bearing arrangement 11 via the link arrangement 116 to pivot it. The link arrangement 116 must include at least two hinged connections with at least two degrees of freedom. The working member 76 is connected to the bearing arrangement 110. In order to maintain the load bearing configuration U0 in a given direction in space, power is applied ----------, installed ------ V ------ M 』..-(Please first Read the notes on the reverse side and fill out this page) This paper size is applicable to Chinese National Standard (CNS) Α4 specification (210 × 297 mm) -30- Consumption cooperation by employees of the Central Bureau of Standards, Ministry of Economic Affairs, printed 412467 A7 ____B7 28) The adding members 109 and 114 must be controlled by a suitable computer with each other, so that when the element 1 and the axis 108 are pivoted in a certain direction by the power applying member 109, the bearing arrangement 11 must be applied by power The member 114 pivots to the same extent about the shaft 111 in the opposite direction. All the embodiments described above are equipped with appropriate control units, preferably in the form of a computer, to control the power application components of different robot embodiments, so that the second element 2 or its directly or indirectly connected components are The desired path moves. Possible Modifications It is obvious that the embodiments of the present invention given above are for illustration purposes, and there are several ways to modify within the scope of the present invention as defined by the scope of the attached patent application. In general, other series-connected embodiments of four-hinged systems different from the examples cited can also be used within the framework of the present invention, and the number of four-hinged systems connected in series can also be based on the desired in individual cases Amended. The power applying member 90 and the link arm 89 used for the operation of the load bearing member 3 8χ in the variation shown in FIG. 42 can also be applied to the embodiment described with reference to FIG. 43. In this case, the 12 y and 18 y are removed The illustrated power application member is replaced by three link arms 89 articulated to the load bearing member 38y, and these link arms are configured to be actuated by a power application member 90 provided on the base member 27y. The member 90 can pivot the connecting rod 89 in a non-parallel plane. In relation to the different transmission configurations that have been described with reference to FIGS. 16 to 18, circles 25 to 28, and FIGS. 50 to 51, it is of course possible for more complex link arm structures to use the Chinese national standard (CNS > A4 specifications ( 210X297 mm) _ --------------- tr ------ ^--(Please read the notes on the back before filling out this page)-Staff of the Central Standards Bureau of the Ministry of Economic Affairs Consumption cooperative seal ^ 41246? A7 _________B7 V. Description of invention (妁) An analogous method is formed. For example, the four hinge system jiS4 shown in FIG. 19 can also be used analogously for the embodiments according to FIGS. 22 to 24 and FIGS. 53 to 54 Brief description of the drawings Fig. 1 is a plan view showing the operation of a robot according to the present invention; Fig. 2 is a more detailed side view; Fig. 3 is a schematic side view showing a device according to the present invention in a simple form, Fig. 4 Similar to Figure 3, but showing possible corrections; Figure 5 shows the device according to Figure 4 in the case of an upward pivot; Figure 6 is similar to Figure 5, but the device pivots in the opposite direction, showing the four hinges according to Figure 3 Structure; FIG. 7 is similar to FIG. A modified embodiment of the function; FIG. 8 shows the device according to FIG. 7 in another position; FIG. 9 is a schematic view showing the device according to FIG. 7 and FIG. 8 in operation; FIG. Top views of how the robots are placed close to each other; Figures 11, 12, and 13 show embodiments formed in a manner other than that shown in Figure 10: Figure 14 is a perspective view showing an embodiment of a robot according to the present invention; Figure 15 is Modified perspective view of the embodiment according to FIG. 14; This paper size applies the Chinese National Standard (CNS) A # specification (2 丨 OX297 mm) ------.----- installation ------ order ------ A.-R (Please read the precautions on the back before filling out this page)-'-32- 412467 A7 ____B7 V. Description of the invention (30) Figure 16 is for setting on the second component A schematic side view of a robot with a pivotable load-bearing configuration of the working member: (Please read the precautions on the back before filling out this page) Figure 17 shows in detail the transmission mechanism that can be applied to, for example, the robot according to Figure 16; Figure 18 is a schematic diagram showing an application of the transmission device shown in FIG. Π; FIG. 19 is another machine A perspective view of the embodiment; FIG. 20 is a schematic side view of the robot embodiment; FIG. 21 is a partial detailed view showing a more specific embodiment of the robot according to FIG. 20; FIG. 22 is a schematic view of another four-hinged system structure FIG. 23 is a perspective view of a robot application similar to FIG. 22; FIG. 24 shows a modification of the robot according to FIG. 23; FIG. 25 is a transmission mechanism 9 for the robot according to, for example, FIGS. 20 and 21; Rotated 90-degree magnified detail drawing; 257½ people printed by the Consumer Cooperatives of the Central Standards Bureau of the Ministry of Economic Affairs. Figure 2 is based on a type of machine and the other is 7 8 9 2 2 2 Figure Figure Figure According to another example, a detailed example of the structure of the graphics department is shown in the example of the Siifj / T transmission. See the example on the back side. Shi Shishi 9 9 ί 2 According to I, it is ί 3 3 The figure shows the right side of the display 2 3 The figure is another 3 4 3 3 The figure is a human machine; The view of FIG. 3; The example of the detailed application of the root of the figure is based on the actual machine paper Standards apply to China National Standard (CNS) Α4 specifications (210 X 297 mm) 33- Printed by the Shellfish Consumer Cooperative of the Central Bureau of Standards, Ministry of Economic Affairs 412467 A7 _B7 V. Description of the invention (31) Figure 35 is a side view of another embodiment; Figure 36 is a horizontal stabilizer and A virtual perspective view of a three-hinge system connected in series, a robot embodiment; FIG. 37 is a virtual perspective view of another embodiment with lateral stabilization; FIG. 38 is a perspective view of another robot embodiment; FIG. 39 is another Side view of the embodiment; Fig. 40 shows the embodiment according to Fig. 39 in a changed position; Fig. 41 is a perspective view of another robot embodiment; Fig. 42 is similar to Fig. 41 but with some modifications; Figs. 43 and 44 are 41 and 42 at different positions are similar to the embodiment; FIGS. 45 and 46 are perspective views of another robot embodiment at two different positions: FIGS. 47 and 48 show an embodiment in which the second element is inclined; FIG. 49 And 50 are schematic diagrams of two other four-hinge system structures; FIG. 51 shows a cross-Four-action mechanism; FIG. 52 shows a cross and angle gear type transmission mechanism; FIG. 53 shows a modified embodiment similar to that shown in FIG. 23; Fig. 54 A modified embodiment similar to the one shown in FIG. 24 is shown; FIG. 55 shows a modified embodiment similar to the one shown in FIG. 41. This paper size applies to China National Standards (CNS) A4 specifications {2! 0X297 Gongchu) --------- Installation ------ Order ------ Just--. (Please first (Please read the notes on the back and fill out this page) -34-