TWI446693B - Platform and flexible unit used thereon - Google Patents

Description

Carrying platform and flexible component applied to the carrying platform

This case relates to a load bearing platform, especially a load bearing platform using a flexible component.

At present, the technology for carrying the platform is the most widely used in the two-axis rotary platform, and it can also be used for pitching and left-right rotation, specifically for directional sensing facilities such as radio telescopes or surveillance. Equipment such as cameras, etc., almost all of the load-bearing platforms used in these two fields are controlled by rotating motors with gears, and the mechanical components of the gears are limited in their radius and number of teeth due to the demand of specific output torque. Therefore, the conventional load-bearing platform using the gear is bulky and has a large front projection area. This is because the rotation axis of the rotary motor must be transverse to the front of the sensor in order to match the rotation axis of the two-axis rotary platform. The setting, while the lateral projection area of the rotary motor is large. This creates installation difficulties in some of the more narrow spaces. Of course, the rotation axis of the rotary motor can also be parallel to the front side of the sensor, which is the effect that can be achieved by using the bevel gear, but this still cannot get rid of the disadvantages of the gear.

Therefore, the sensible person replaces the conventional rotary stepping motor with a linear stepping motor to respectively set the linear stepping motor for each axis to be parallel to the direction of the front surface of the sensor, so as to reduce the front projection area of the carrying platform, but this That is, the linear motion must be changed to the rotational motion through the crank slider mechanism or the gear and the tooth plate mechanism to achieve the effect of the two-axis rotation. However, the structure of the crank slider mechanism or the gear and the tooth plate mechanism is complicated, and there are many movable parts, and many steps are required in production and assembly, which further increases the production cost. In addition, the weight of each part is relatively heavy, making the finished load platform more heavy, and it is also a burden for some weight-sensitive equipment such as weapon systems.

For this reason, the Applicant has invented the "bearing platform and flexible components applied to the carrying platform" in view of the lack of the prior art to improve the lack of the above-mentioned conventional means.

The object of the present invention is to provide a simpler, lighter and easier to integrate bearing platform and a jointless connecting rod applied to the carrying platform, and the steering platform is turned by utilizing the excellent flexibility, that is, elasticity of the connecting rod itself. The mechanism uses only a very small number of movable elements to transmit power through the deflection of the link itself, without the need to use multiple joints and connecting rods as in the conventional technology to achieve the transfer of force, for the technology required to carry the platform The action mechanism is especially instructive. Through the carrying platform of the present invention and the connecting rod used thereby, the number of parts can be greatly reduced, the weight can be reduced, and most of the joints requiring lubrication can be eliminated, and some components can be manufactured by integrally forming to reduce the assembly cost. The overall cost can also be reduced.

In order to achieve the above object, the present invention provides a carrying platform comprising a base and a first motor; a first bogie pivoted to the base, the first bogie further having a first flexible component a motor drive, the first bogie is rotated in a first rotation direction, the first bogie is further provided with a second motor; and a second bogie is pivoted on the first bogie, the second steering The frame further has a second flexible member driven by the second motor to rotate the second bogie in a second rotational direction.

In order to achieve the above object, the present invention also provides a carrying platform comprising a first bogie fixed to a first flexible component for being driven by an external force, and a second bogie pivoted to the first bogie In addition, the second bogie also includes a second flexible member to be driven by another external force.

In order to achieve the above object, the present invention further provides a flexible member for carrying a platform, one end of the flexible member is fixed to a bogie of the carrying platform, and the other end of the flexible member is connected to one of the carrying platforms. a drive member having an arcuate line segment that deforms when the drive member drives the flexible member and drives the bogie to rotate.

The following describes the embodiments of the present invention, "the carrying platform and the flexible component applied to the carrying platform", please refer to the accompanying drawings, but the actual configuration and the method adopted do not have to completely conform to the described content, familiar with the present text. The artist can make various changes and modifications without departing from the actual spirit and scope of the case.

1 and FIG. 2, FIG. 1 is a perspective view of a carrying platform according to an embodiment of the present invention, and FIG. 2 is a side view of a carrying platform according to an embodiment of the present invention. The loading platform 1 has a base 11 on which a first motor 13 is fixed and a first bogie 10 is pivotally connected. More specifically, the first bogie 10 is pivotally extended to protrude from the surface of the base 11. The first direction of the first bogie 10 is perpendicular to the base 11 , and the first bogie 10 is rotated (swinged) to the left and right with respect to the base 11 , as shown in FIGS. 1 and 2 . In other words, the first motor 13 is a linear motor, and the first drive shaft 13a is reciprocating in a linear manner, and the first drive shaft 13a is coupled to the first force receiving end 121 of the first flexible member 12 (refer to FIG. 3A). And the first bogie 10 is coupled to the first fixed end 120 of the first flexible member 12 (see FIG. 3A), so that when the first drive shaft 13a pushes and pulls the first flexible member 12, the first flexibility Element 12 can transmit power to first bogie 10 for rotation. The first bogie 10 is further pivoted with a second bogie 20 and is provided with a second motor 23, and the second bogie 20 is rotated in a second rotational direction R2. The second bogie 20 is pitched relative to the base 11. Rotating (i.e., raising or lowering), the second motor 23 transmits power through a second flexible member 22 coupled to the second bogie 20 to drive the second bogie 20 to rotate, and the second motor 23 is also a linear motor. The second drive shaft 23a is reciprocating in a linear manner, the second drive shaft 23a is coupled to the second force receiving end 221 of a second flexible member 22 (see FIG. 4A), and the second bogie 20 is coupled to the second The second fixed end 220 of the flexible member 22 (see FIG. 4A), when the second drive shaft 23a of the second motor 23 is pushed back and forth, the second flexible member 22 is driven to push and pull the second bogie 20, so that the second The bogie 20 is either tilted or tilted. In particular, the first flexible element 12 and the second flexible element 22 are provided with flexible characteristics by appropriately selecting parameters such as material, geometry, and size.

Please refer to FIG. 3A and FIG. 3B. 3A is a perspective view of a first flexible member according to an embodiment of the present invention, and FIG. 3B is a plan view of a first flexible member according to an embodiment of the present invention. The first connecting base 101 is a part of the first bogie 10, and belongs to the lower half of the first bogie 10 in the embodiment of FIG. 1 or FIG. 2, for convenience of description of the first flexible element 12 and the first The coupling relationship of the bogie 10 is such that the first connector 101 belonging to the first bogie 10 is depicted in FIGS. 3A and 3B. The first flexible member 12 has a curved shape and has at least one curved line segment 122 between the first force receiving end 121 and the first fixed end 120. Preferably, the first flexible member 12 has a plurality of curved line segments 122. The material of the flexible member 12 can be metal or non-metal. When the first flexible member 12 is driven by an external force to push the first bogie 10 (see FIGS. 5B, 6B), the first flexible member 12 is deformed, and the curved line segment 122 is also deformed by an external force. As can be seen from the embodiment shown in FIG. 3A and FIG. 3B, the first fixed end 120 of the first flexible element 12 is not fixed to the center of the first connecting base 101, but is disposed farther away from the first flexible element. The first force receiving end 121 of the first motor 13 is fixed to the first driving shaft 13a of the first motor 13, so that when the first driving shaft 13a generates a pushing and pulling action, the first flexible element 12 can be pushed and pulled, in order to reduce the front side. The projected area, the first motor 13 of the present invention is disposed directly behind the first bogie 10, but since the direction in which the force is actually applied is the straight line direction between the first force receiving end 121 and the first fixed end 120. As shown by the dashed line in FIG. 3B, the linear direction does not pass through the first rotating shaft A1, so the first flexible member 12 disposed offset can still push and pull the first bogie 10 to rotate. In particular, the first fixed end 120 of the first flexible member 12 and the first connecting base 101 are not pivotally connected by a hinge, and there is no relative movement between the parts to generate friction, and no wear is caused. Causing a gap, so there is no problem with motion or power transfer delay. As for the first flexible element 12 and the first connecting base 101, it may be separately manufactured, and then the two are fixed to each other by means of bonding, ultrasonic welding, splicing (usually tight fitting). Preferably, the first flexible member 12 and the first connecting base 101 of the first bogie 10 are integrally formed, thereby reducing the number of parts and having the advantages of easy assembly, light weight, and miniaturization.

4A and FIG. 4B, FIG. 4A is a perspective view of a second flexible member according to an embodiment of the present invention, and FIG. 4B is a side view of a second flexible member according to an embodiment of the present invention. The second flexible member 22 is also substantially a curved shape having at least one curved line segment 222, preferably having a plurality of curved line segments 222, which are driven by an external force when the second flexible member 22 is driven. When the bogie 20 is used (see FIGS. 5C and 6C), the second flexible member 22 is deformed, and the curved segment 222 is also deformed by an external force. The material of the second flexible member 22 may be metal or non-metal. The second flexible member 22 has a second fixed end 220 and a second force receiving end 221, the second fixed end 220 is fixed to the second bogie 20 (please cooperate with FIG. 2), and the second stressed end 221 is Fixed to the second drive shaft 23a of the second motor 23 (please cooperate with FIG. 1), when the second drive shaft 23a is pushed and pulled, that is, the second bogie 20 is biased by the second flexible member 22 to make the second The bogie 20 is pitched. Similarly, the second fixed end 220 of the second flexible element 22 is directly fixed to the second bogie 20 instead of being hinged, and further, between the second flexible element 22 and the second bogie 20 It can be manufactured separately, and then fixed to each other by means of bonding, ultrasonic welding, splicing (usually tight fitting). Preferably, the second flexible member 22 and the second bogie 20 are integrally formed, and the advantages thereof have been mentioned above and will not be repeated.

Please refer to FIG. 5A, FIG. 5B, and FIG. 5C. 5A is a schematic diagram of the operation of the loading platform according to an embodiment of the present invention; FIG. 5B is a partial operation diagram of FIG. 5A; and FIG. 5C is a partial operation diagram of FIG. Please refer to FIG. 5A, wherein the exposed platform 1 is biased to the lower left direction, that is, the first bogie 10 is turned to the left and the second bogie 20 is swung downward, and the first flexible member 12 can be seen in conjunction with FIG. 5B. The first connector 101 is pushed forward to rotate to the left, at which time the first drive shaft 13a of the first motor 13 is projected forward to push the first flexible member 12. Referring to FIG. 5C, it is disclosed that the second flexible member 22 is pushed further to push the second bogie 20 downward to rotate downward. At this time, the second drive shaft 23a of the second motor 23 is Extending forwardly pushes the second flexible element 22. 5B and 5C, it can be seen that the various flexible elements of the present invention can simplify the mechanism as much as possible, but still maintain the effect of biaxial rotation.

6A, 6B, and 6C, wherein FIG. 6A is another schematic diagram of the operation of the carrying platform according to an embodiment of the present invention; FIG. 6B is a partial operation diagram of FIG. 6A; FIG. 6C is a partial portion of FIG. Action diagram. Please refer to FIG. 6A, wherein the carrying platform 1 is swung to the upper right, that is, the first bogie 10 is turned to the right, and the second bogie 20 is swung upward, and please cooperate with FIG. 6B to see that the first flexible member 12 is pulled back. The first connecting base 101 rotates to the right, at which time the first drive shaft 13a of the first motor 13 is retracted rearwardly to pull the first flexible element 12. Please also refer to FIG. 6C, which discloses that the second flexible member 22 is pulled and then the second bogie 20 is pulled upward to be rotated upward, and the second drive shaft 23a of the second motor 23 is retracted backward. The second flexible element 22 is pulled. 6B and 6C, it can be seen that the various flexible elements of the present invention can simplify the mechanism as much as possible, but still maintain the effect of biaxial rotation.

Please refer to FIG. 7 , which is an exploded view of FIG. 1 . FIG. 7 is a view showing a more detailed structure of the embodiment of FIG. 1 of the present invention. Please refer to FIG. 1 and FIG. 2 , wherein the first bogie 10 further includes a first adapter 101 and two sub-turns. The first connecting arm 102 on the left and right sides of the socket 101 is further fixed to the second motor 23 through a second motor base 23'. The first motor 13 is fixed to the base 11 through the first motor base 13' (see FIGS. 1 and 2), and the first fixed end 120 of the first flexible member 12 is fixed to the first connecting base 101 ( Please see Figure 3A). The second bogie 20 further includes a carrier 201 and two second connecting arms 202 disposed on the left and right sides of the carrier 201. The two connecting arms 202 are further pivoted through the bearing 5 to the corresponding side. The first connecting arm 102. In addition, and in order to prevent the base 11 from obstructing the view angle of the second bogie 20, the first bogie 10 for supporting the second bogie 20 further raises the height of the first bogie 10 through a lifting element 14, and The first bogie 10 is pivotally mounted on the lifting element 14 through the bearing 5, and is also indirectly pivoted on the base 11. The carrier 201 is used to carry a sensing component 6. As can be seen from the embodiment shown in FIG. 1, FIG. 2 and FIG. 7, after the assembly is completed, the first motor 13 and the second motor 23 are arranged in front and rear to reduce the front projection area of the carrying platform.

Please refer to FIG. 8, which is a schematic view of another embodiment of a first flexible member of the present invention. It is disclosed that the linear motor shown in the previous embodiment is replaced by a rotary motor, and the first rotating shaft 31a of the first rotary motor 31 in FIG. 8 is connected to one end of a first crank 310, and the other end of the first crank 310 is It is fixed to the first force receiving end 121 of the first flexible element 12, and the first fixed end 120 is fixed to the first connecting base 101. It can be seen that when the first crank 310 is swung by the rotation of the first rotary motor 31, displacement is still generated in the lateral direction in FIG. 8, so that the first flexible member 12 can be pushed and pulled to further push and pull. A connecting base 101 rotates in the first rotational direction R1 centering on the first rotating shaft A1.

Please refer to FIG. 9, which is a schematic view of another embodiment of a second flexible member of the present invention. It is disclosed that the linear motor shown in the previous embodiment is replaced by a rotary motor. The second rotary motor 32 in FIG. 9 has a second crank 320, one end of which is connected to the second rotating shaft 32a of the first rotary motor 31, and the other One end is fixed to the second force receiving end 221 of the second flexible member 22, and the second fixed end 220 is fixed to the second bogie 20. It can be seen that when the second crank 320 is swung, displacement is still generated in the lateral direction in FIG. 9, so that it can push and pull the second flexible member 22 to further push and pull the second bogie 20 to the second reel A2. The rotation of the second rotational direction R2 is generated for the center.

It can be seen that the present invention utilizes the flexibility of the flexible element itself, so that the flexible element is fixed to the drive shaft of the motor and the bogie, but can still flex through its own force when subjected to force. To accommodate the change in the relative position between the drive shaft of the motor and the bogie. For a mechanism consisting of a traditional rigid material, it is necessary to use the four-link or crank-slider mechanism to achieve the same effect, but these mechanisms must use several shaft joints to change the relative position between the links. In order to adapt to the change of the relative position between the drive shaft and the bogie of the motor, if the conventional multi-link is used to achieve the same action effect, the overall mechanism will become more complicated due to the multi-link mechanism. The weight is high and the cost is high. If maintenance is required, the shaft joint needs to be lubricated and becomes troublesome. One of the points is that the lubricating oil is more likely to be dusty and dirty. It can be seen that the flexible component of the present invention is a pivot-free linkage set that achieves a pivot mechanism such as a four-link or crank slider mechanism through its own flexible characteristics. The achievable effect, and the carrying platform of the present invention can be applied to a variety of devices, especially as a directional sensor such as a camera, an ultrasonic wave, a sounder, or a signal source such as a laser emitter, directivity. The carrying platform of the speaker. In addition, the flexible element of the present invention is low in cost if it is used in a single-use device such as a warhead guiding device for guiding a weapon, such as an optical camera, an infrared sensor, a radar antenna, or a sound. In addition, since the use amount of such a disposable product such as ammunition is large, it is possible to greatly reduce the cost by using the present invention.

Example:

A load bearing platform comprising a base and a first motor; a first bogie pivoted to the base, the first bogie further having a first flexible element driven by the first motor, such that a bogie rotates in a first direction of rotation, the first bogie is further provided with a second motor; and a second bogie is pivotally mounted on the first bogie, the second bogie has a second ream The sexual element is driven by the second motor to rotate the second bogie in a second rotational direction.

2. The carrier platform of embodiment 1, wherein the first or second motor is a linear motor.

3. The load platform of embodiment 1, wherein the first bogie is integrally formed with the first flexible element, or the second bogie is integrally formed with the second flexible element.

4. The carrier platform of embodiment 1, further comprising a first crank and a second crank, one end of the first crank is connected to the first motor, and the other end is connected to the first flexible component, the second crank One end is connected to the second motor and the other end is connected to the second flexible element, wherein the first motor and the second motor are rotary motors.

5. A carrier platform comprising a first bogie fixed to a first flexible component for being driven by an external force; and a second bogie pivoted to the first bogie, the second bogie A second flexible element is included to be driven by another external force.

6. The carrier platform of embodiment 5, the first flexible element has an arcuate line segment, and the second flexible element also has an arcuate line segment, each of which is driven by the external force The curved line segments are deformed.

7. The carrier platform of embodiment 5, further comprising a base for pivoting the first bogie, the first bogie being pivoted relative to the base when the first flexible element is driven by an external force, the first When the two flexible elements are driven by another external force, the second bogie pivots relative to the first bogie.

8. A flexible member for carrying a platform, one end of the flexible member being fixed to a bogie of the carrying platform, the other end of the flexible member being coupled to a driving member of the carrying platform, the flexible member having An arcuate segment that deforms when the drive member drives the flexible member and drives the bogie to rotate.

9. The flexible element of embodiment 8 wherein the flexible element is integrally formed with the bogie.

The above-described embodiments are merely examples for the convenience of the description, and those skilled in the art will be modified as described above, and are not intended to be protected as claimed.

1. . . Carrier platform

10. . . First bogie

101. . . First connector

102. . . First connecting arm

11. . . Base

12. . . First flexible element

120. . . First fixed end

121. . . First force end

122. . . Curved line segment

13. . . First motor

13’. . . First motor seat

13a. . . First drive shaft

14. . . Raising element

20. . . Second bogie

201. . . Carrier

202. . . Second connecting arm

twenty two. . . Second flexible element

220. . . Second fixed end

221. . . Second force end

222. . . Curved line segment

twenty three. . . Second motor

twenty three'. . . Second motor seat

23a. . . Second drive shaft

31. . . First rotary motor

31a. . . First shaft

310. . . First crank

32. . . Second rotary motor

32a. . . Second shaft

320. . . Second crank

R1. . . First direction of rotation

R2. . . Second direction of rotation

40. . . Flexible bogie

41. . . Fixed seat

42. . . Active end

43a. . . First connecting piece

43a0. . . First swing end

43a1. . . First fixed end

43b. . . Second connecting piece

43b0. . . Second swing end

43b1. . . Second fixed end

5. . . Bearing

6. . . Sensing element

1 is a perspective view of a carrier platform according to an embodiment of the invention;

2 is a side view of a carrying platform according to an embodiment of the present invention;

3A is a perspective view of a first flexible member according to an embodiment of the invention;

3B is a top plan view of a first flexible member according to an embodiment of the invention;

4A is a perspective view of a second flexible member according to an embodiment of the invention;

4B is a side view of a second flexible member in accordance with an embodiment of the present invention;

FIG. 5A is a schematic diagram of an operation of a carrying platform according to an embodiment of the present invention; FIG.

Figure 5B is a partial schematic view of the operation of Figure 5A;

Figure 5C is a partial schematic view of the operation of Figure 5A;

6A is another schematic diagram of an operation of a carrying platform according to an embodiment of the present invention;

6B is a partial schematic view of the operation of FIG. 6A;

6C is a partial schematic view of the operation of FIG. 6A;

Figure 7, is an exploded view of Figure 1;

Figure 8 is a schematic view showing another embodiment of the first flexible member of the present invention;

Figure 9 is a schematic view of another embodiment of a second flexible member of the present invention.

1. . . Carrier platform

10. . . First bogie

11. . . Base

12. . . First flexible element

13. . . First motor

13a. . . First drive shaft

14. . . Raising element

20. . . Second bogie

twenty two. . . Second flexible element

twenty three. . . Second motor

R2. . . Second direction of rotation

Claims (9)

A loading platform includes: a base, a first motor; a first bogie pivoted to the base, the first bogie is further fixed with a first flexible component driven by the first motor, the first The flexible member has a first fixed end fixed to the first bogie, and has a first receiving end fixed to the first motor, and a connection between the first fixed end and the first receiving end Offseting the axis of the first bogie to rotate the first bogie in a first direction of rotation, the first bogie is further provided with a second motor; and a second bogie pivoting on the first bogie a bogie, the second bogie is further fixed with a second flexible element driven by the second motor to rotate the second bogie in a second rotational direction. The load bearing platform of claim 1, wherein the first motor or the second motor is a linear motor. The load bearing platform of claim 1, wherein the first bogie is integrally formed with the first flexible member, or the second bogie is integrally formed with the second flexible member. The load bearing platform of claim 1, further comprising a first crank and a second crank, one end of the first crank is connected to the first motor, and the other end is connected to the first flexible component, the second One end of the crank is connected to the second motor, and the other end is connected to the second flexible element, wherein the first motor and the second motor are rotary motors. A carrier platform includes: a first bogie fixed to a first flexible member for being driven by an external force, the first flexible member having a first fixed end fixed to the first bogie and having a first receiving end fixed to a first motor, and a connection between the first fixed end and the first force receiving end is offset from an axis of the first bogie; and a second bogie is pivoted on the first bogie The second bogie is also fixed to a second flexible member to be driven by another external force. The load-bearing platform of claim 5, wherein the first flexible element has a curved line segment, and the second flexible element also has a curved line segment, each of the flexible elements being driven by the external force The curved line segment is deformed. The loading platform of claim 5, further comprising a base for pivoting the first bogie, wherein the first bogie is pivoted relative to the base when the first flexible member is driven by an external force, When the second flexible element is driven by another external force, the second bogie pivots relative to the first bogie. A flexible member for carrying a platform, one end of the flexible member being fixed to a bogie of the carrying platform, the other end of the flexible member being coupled to a driving member of the carrying platform, the flexible member having a plurality of An arcuate segment that, when the drive member drives the flexible member, deforms the plurality of curved segments and drives the bogie to rotate. The flexible element of claim 8, wherein the flexible element is integrally formed with the bogie.