TWI751006B - Connecting mechanism and sensing device - Google Patents

Abstract

A connecting mechanism includes a rod, a first linkage, a second linkage, a linking-up assembly, and a third linkage. An object is adapted to install on the rod. The first linkage is pivoted to the rod. The second linkage is pivoted to the first linkage. The linking-up assembly is connected to the first linkage and the second linkage. The first linkage, the second linkage, and the linking-up assembly constitute an elliptic trammel mechanism. The third linkage is pivoted to the rod and the second linkage. The rod, the first linkage, the second linkage, and the third linkage constitute a parallel linkage mechanism. The elliptic trammel mechanism and the parallel linkage mechanism is adapted to drive the object to move back and forth between a first position and a second position along at least one part of an elliptical track. A sensing device is also provided.

Description

Linkage mechanism and sensing device

The present invention relates to a linkage mechanism and a sensing device, and more particularly, to a linkage mechanism and a sensing device using the linkage mechanism.

In industrial applications, the workpiece needs to be reciprocated in two tanks due to the needs of workpiece processing. For example, in electroplating or metal processing, the workpiece needs to be reciprocated in two tanks filled with solutions. In addition, in the process of making thin wires by the wire drawing device, it is necessary to use a sensor to detect the concentration of the solution, and make the sensor reciprocate in the two tanks, and let the solution in one of the tanks clean the surface of the sensor, and then use it again. Move the sensor to another tank to detect the concentration of the solution in the other tank, so as to improve the false alarm of the solution concentration caused by the residual liquid on the surface of the sensor.

In order to make the above-mentioned workpiece or sensor move reciprocally in the two-slot container, its motion trajectory needs to overcome the height of the slot body. In the prior art, objects are generally moved through a positioning slide or a robotic arm with two degrees of freedom. However, using a positioning slide or a robotic arm to move the object has the disadvantages of limited space and high cost.

The present invention provides a linkage mechanism with simple structure, low manufacturing cost and small operating space.

The present invention provides a sensing device with low manufacturing cost, and the linkage mechanism is designed in a double-slot structure, which can effectively reduce the space required for the sensing device.

The linkage mechanism of the present invention includes a rod, a first linkage, a second linkage, a linkage assembly and a third linkage. The object is adapted to be mounted on the rod. The first link is pivotally connected to the rod. The second link is pivotally connected to the first link. The linkage assembly is connected to the first link and the second link. The first connecting rod, the second connecting rod and the linkage assembly constitute an elliptical gauge mechanism. The third link is pivotally connected to the rod and the second link. The rod, the first link, the second link and the third link constitute a parallel link mechanism. The elliptical gauge mechanism and the parallel link mechanism are suitable for driving the object to reciprocate along at least a part of the elliptical track between the first position and the second position.

In an embodiment of the present invention, the above-mentioned linkage assembly includes a first chute, a second chute and a slider, the first chute and the second chute are perpendicular to each other, and the second link slides on the first chute, The slider slides on the second chute, and the first link is pivotally connected to the slider.

In an embodiment of the present invention, the above-mentioned linkage mechanism further includes a fourth link, wherein the fourth link is pivotally connected to the first link and the third link, and the parallel link mechanism and the fourth link form a double parallel Linkage.

In an embodiment of the present invention, the above-mentioned first link has a first fulcrum, a second fulcrum and a third fulcrum, the first fulcrum is pivoted to the rod, the second fulcrum is pivoted to the second link, and the third The fulcrum is pivotally connected to the fourth link, and the first fulcrum, the second fulcrum and the third fulcrum are not collinear.

In an embodiment of the present invention, the above-mentioned third link has a fourth fulcrum, a fifth fulcrum and a sixth fulcrum, the fourth fulcrum is pivoted to the rod, the fifth fulcrum is pivoted to the second link, the sixth The fulcrum is pivotally connected to the fourth link, and the fourth fulcrum, the fifth fulcrum and the sixth fulcrum are not collinear.

The sensing device of the present invention includes a double-slot structure and a linkage mechanism. The double-slot structure has a first slot and a second slot. The linkage mechanism is arranged in a double-slot structure. The linkage mechanism includes a rod, a first link, a second link, a linkage assembly and a third link. The sensor is suitable for being installed on the rod. The first link is pivotally connected to the rod. The second link is pivotally connected to the first link. The linkage assembly is connected to the first link and the second link. The first connecting rod, the second connecting rod and the linkage assembly constitute an elliptical gauge mechanism. The third link is pivotally connected to the rod and the second link. The rod, the first link, the second link and the third link constitute a parallel link mechanism. The elliptical gauge mechanism and the parallel link mechanism are suitable for driving the sensor to reciprocate along at least a part of the elliptical track between the first position in the first slot and the second position in the second slot.

In an embodiment of the present invention, the above-mentioned linkage assembly includes a first chute, a second chute and a slider, the first chute and the second chute are perpendicular to each other, and the second link slides on the first chute, The slider slides on the second chute, and the first link is pivotally connected to the slider.

In an embodiment of the present invention, the above-mentioned sensing device further includes a fourth link, wherein the fourth link is pivotally connected to the first link and the third link, and the parallel link mechanism and the fourth link constitute a double link Parallel linkage.

In an embodiment of the present invention, the above-mentioned first link has a first fulcrum, a second fulcrum and a third fulcrum, the first fulcrum is pivoted to the rod, the second fulcrum is pivoted to the second link, and the third The fulcrum is pivotally connected to the fourth link, and the first fulcrum, the second fulcrum and the third fulcrum are not collinear.

In an embodiment of the present invention, the above-mentioned third link has a fourth fulcrum, a fifth fulcrum and a sixth fulcrum, the fourth fulcrum is pivoted to the rod, the fifth fulcrum is pivoted to the second link, the sixth The fulcrum is pivotally connected to the fourth link, and the fourth fulcrum, the fifth fulcrum and the sixth fulcrum are not collinear.

In an embodiment of the present invention, the above-mentioned sensing device further includes a driving member, wherein the driving member is connected to the linkage mechanism.

In an embodiment of the present invention, the length of the short axis of the above-mentioned elliptical trajectory is equal to the distance between the center of the first groove and the center of the second groove.

In an embodiment of the present invention, the length of the semi-major axis of the elliptical trajectory is greater than the distance between the first position and the top of the first groove.

Based on the above, in the linkage mechanism of the present invention, the elliptical gauge mechanism of the linkage mechanism is suitable for driving the sensor of the sensing device to reciprocate along a part of the elliptical trajectory to the first position and the second position in the first slot of the sensing device. Between the second positions in the slot, so that the sensor has a motion trajectory that can span the height difference of the partitions of the two grooves, and the parallel link mechanism of the linkage mechanism solves the sensor to move back and forth along a part of the elliptical trajectory to the first position. The problem of left and right sway between the position and the second position, thereby improving the stability of the sensor movement. In addition, the linkage mechanism is arranged in the design of the double-slot structure, which can effectively reduce the space required for the sensing device.

In order to make the above-mentioned features and advantages of the present invention more obvious and easy to understand, the following embodiments are given and described in detail with the accompanying drawings as follows.

FIG. 1 is a schematic diagram of an object of a linkage mechanism in a first position according to an embodiment of the present invention. FIG. 2 is a schematic diagram of the object of the linkage mechanism of FIG. 1 moving to a second position. Cartesian coordinates X-Y-Z are provided here to facilitate subsequent component descriptions. Please refer to FIG. 1 and FIG. 2 at the same time. In this embodiment, the linkage mechanism 100 includes a rod member 110 , a first link 120 , a second link 130 , a linkage component 140 and a third link 150 . The object 112 is suitable for being mounted on the rod 110 . The first link 120 is pivotally connected to the rod 110 . The second link 130 is pivotally connected to the first link 120 . The linkage assembly 140 is connected to the first link 120 and the second link 130 . The third link 150 is pivotally connected to the rod 110 and the second link 130 .

In detail, in this embodiment, the first link 120 , the second link 130 and the linkage assembly 140 constitute the elliptical mechanism 200 . The rod 110 , the first link 120 , the second link 130 and the third link 150 constitute the parallel link mechanism 300 . The elliptical gauge mechanism 200 and the parallel link mechanism 300 are adapted to drive the object 112 to reciprocate along a portion EA of the elliptical trajectory E1 between the first position S1 and the second position S2.

In particular, in this embodiment, the linkage mechanism 100 can move the object 112 back and forth between the first position S1 and the second position S2 along the part EA of the elliptical trajectory E1 by setting the ellipsometric mechanism 200, so that the object 112 can move along the first position S1 and the second position S2 simultaneously. It moves in the horizontal direction (that is, the X-axis direction) and the vertical direction (that is, the Y-axis direction), and spans the space between the first slot 510 and the second slot 520 of the double-slot structure 500 as shown in FIG. The height difference of the partition plate 530 . In addition, the linkage mechanism 100 solves the problem of left and right deflection when the object 112 reciprocates along the part EA of the elliptical trajectory E1 between the first position S1 and the second position S2 by setting the parallel link mechanism 300 .

Please continue to refer to FIG. 1 and FIG. 2 , in this embodiment, the linkage assembly 140 includes a first chute 142 , a second chute 144 and a slider 146 . The first chute 142 and the second chute 144 are perpendicular to each other. The second link 130 slides along the Y-axis direction on the first sliding groove 142 , and the slider 146 slides along the X-axis direction on the second sliding groove 144 .

FIG. 3 is a schematic diagram of the object of the linkage mechanism of FIG. 1 moving to a third position. Please refer to FIGS. 1 to 3 at the same time, in this embodiment, the linkage mechanism 100 is adapted to drive the object 112 to move from the first position S1 through the third position S3 to the second position S2 or from the second position along the part EA of the elliptical trajectory E1 The position S2 is moved to the first position S1 via the third position S3.

It is worth mentioning that when the parallel link mechanism 300 of the linkage mechanism 100 moves to the third position S3, the third link 150 of the parallel link mechanism 300 is located at a change point. At this time, the movement direction of the third link 150 is not restricted, and the third link 150 has two rotation directions of clockwise rotation around the Z axis or counterclockwise rotation around the Z axis.

In order to avoid the above situation, the linkage mechanism 100 of this embodiment further includes a fourth link 160 that forms a double parallel linkage mechanism 400 with the parallel linkage mechanism 300 , that is, the linkage mechanism 100 is provided with the double parallel linkage mechanism 400 , when the parallel link mechanism 300 is located at the switching point, the first link 120 , the second link 130 , the third link 150 and the fourth link 160 of the double parallel link mechanism 400 will not be at the switching point, but can The movement of the double parallel link mechanism 400 assists the parallel link mechanism 300 to escape from the switching point, thereby overcoming the problem that the movement direction of the parallel link mechanism 300 at the switching point is not restricted. The fourth link 160 and the linkage mechanism 100 will be further described below.

Please continue to refer to FIGS. 1 to 3 , in this embodiment, the fourth link 160 is pivotally connected to the first link 120 and the third link 150 . The fourth link 160 is parallel to the rod 110 and the second link 130 along the Y-axis direction. The first link 120 is parallel to the third link 150 .

In this embodiment, the first link 120 has a first fulcrum P1 , a second fulcrum P2 , a third fulcrum P3 and a seventh fulcrum P7 . The first pivot point P1 is pivotally connected to the rod member 110 , and the second pivot point P2 is pivotally connected to the second link 130 . The third pivot point P3 is pivotally connected to the fourth link 160 , and the seventh pivot point P7 is pivotally connected to the slider 146 .

In detail, in this embodiment, the first fulcrum P1 , the second fulcrum P2 and the third fulcrum P3 are not collinear, and the first fulcrum P1 , the second fulcrum P2 and the seventh fulcrum P7 are collinear. The third fulcrum P3 is located between the first fulcrum P1 and the second fulcrum P2, and the second fulcrum P2 is located between the third fulcrum P3 and the seventh fulcrum P7. The line connecting the first fulcrum P1 and the second fulcrum P2 and the line connecting the third fulcrum P3 and the second fulcrum P2 have an included angle A1. Here, it should be noted that the included angle A1 in this embodiment is between 10 degrees and 30 degrees, but the present invention is not limited to this.

In this embodiment, the third link 150 has a fourth fulcrum P4, a fifth fulcrum P5 and a sixth fulcrum P6. The fourth fulcrum P4 is pivotally connected to the rod member 110 , the fifth fulcrum P5 is pivotally connected to the second link 130 , and the sixth fulcrum P6 is pivotally connected to the fourth link 160 . The fourth fulcrum P4, the fifth fulcrum P5 and the sixth fulcrum P6 are not collinear.

In detail, in this embodiment, the sixth fulcrum P6 is located between the fourth fulcrum P4 and the fifth fulcrum P5. The connection line between the fourth fulcrum P4 and the fifth fulcrum P5 is parallel to the connection between the first fulcrum P1 and the second fulcrum P2, and the connection line between the sixth fulcrum P6 and the fifth fulcrum P5 is parallel to the third fulcrum P3 and the second fulcrum Connection to P2.

That is to say, in this embodiment, when the linkage mechanism 100 drives the object 112 to move to the third position S3 ( FIG. 3 ) along the part EA of the elliptical trajectory E1 , the fourth pivot point P4 and the fifth pivot point of the third link 150 P5 is collinear with the first fulcrum P1 , the second fulcrum P2 and the seventh fulcrum P7 of the first link 120 . At this time, since the first fulcrum P1 , the second fulcrum P2 and the third fulcrum P3 of the first link 120 are not collinear, and the fourth fulcrum P4 , the fifth fulcrum P5 and the sixth fulcrum P6 of the third link 150 are not collinear, so that the first link 120 , the second link 130 , the third link 150 and the fourth link 160 of the double parallel link mechanism 400 will not be at the transition point. The movement of 400 assists the parallel linkage 300 to disengage from the transition point.

4 is a schematic diagram of a sensor of a linkage mechanism of a sensing device at a first position according to an embodiment of the present invention. Referring to FIG. 4 , in this embodiment, the sensing device 10 includes the linkage mechanism 100 and the double-slot structure 500 shown in FIG. 1 , wherein the linkage mechanism 100 is disposed in the double-slot structure 500 , and the double-slot structure 500 has a first The slot 510 and the second slot 520 have a partition 530 between the first slot 510 and the second slot 520 .

In this embodiment, the sensor 114 is suitable for being mounted on the rod 110 . The first link 120 , the second link 130 and the linkage assembly 140 constitute the elliptical mechanism 200 . The rod 110 , the first link 120 , the second link 130 and the third link 150 constitute the parallel link mechanism 300 . The elliptical gauge mechanism 200 and the parallel link mechanism 300 are adapted to drive the sensor 114 to reciprocate along a portion EA of the elliptical trajectory E1 between the first position S1 in the first slot 510 and the second position S2 in the second slot 520 .

(1) 其中

及

分別為感測器114沿著X軸及Y軸的位移，

及

分別為橢圓軌跡E1的半短軸及半長軸，橢圓軌跡E1的短軸2

的長度等於第一槽510的中心與第二槽520的中心的距離w，且橢圓軌跡的半長軸

的長度大於感測器114位於第一位置S1與第一槽510的頂端的距離h。 In detail, in this embodiment, the sensor 114 moves along a part EA of the elliptical trajectory E1, and simultaneously moves in the horizontal direction (ie, the X-axis direction) and the vertical direction (ie, the Y-axis direction), and the elliptical track E1 The equation can be expressed as:

(1) of which

and

are the displacements of the sensor 114 along the X axis and the Y axis, respectively,

and

are the semi-minor axis and semi-major axis of the elliptical trajectory E1, and the minor axis 2 of the elliptical trajectory E1

The length of is equal to the distance w between the center of the first slot 510 and the center of the second slot 520, and the semi-major axis of the elliptical trajectory

The length of is greater than the distance h between the sensor 114 at the first position S1 and the top of the first slot 510 .

That is to say, in this embodiment, the sensor 114 driven by the linkage mechanism 100 can move along a part of EA of the elliptical trajectory E1, cross the partition 530 between the first slot 510 and the second slot 520, and move the The design of the linkage mechanism 100 disposed on the double-slot structure 500 can effectively reduce the space required for the sensing device 10 .

It must be noted here that the following embodiments use the element numbers and part of the contents of the previous embodiments, wherein the same numbers are used to represent the same or similar elements, and the description of the same technical contents is omitted. For the description of the omitted part, reference may be made to the foregoing embodiments, and repeated descriptions in the following embodiments will not be repeated.

FIG. 5 is a schematic diagram of a sensor of a linkage mechanism of a sensing device in a first position according to another embodiment of the present invention. Please refer to FIG. 4 and FIG. 5 at the same time, the sensing device 10A of this embodiment is similar to the sensing device 10 of FIG. 4 , the difference between the two is that the sensing device 10A further includes a driving member 600 , wherein the driving member 600 is connected to the linkage Institution 100.

Referring to FIG. 5 , in this embodiment, the slider 146 of the linkage mechanism 100 can be driven by the driving member 600 to drive the slider 146 to slide along the X-axis direction on the second chute 144 , so that the sensor 114 follows an elliptical trajectory A part EA of E1 reciprocates between the first position S1 in the first slot 510 and the second position S2 in the second slot 520 . It should be noted that the driving member 600 is, for example, a motor, but not limited thereto.

To sum up, in the linkage mechanism of the present invention, the elliptical gauge mechanism of the linkage mechanism is suitable for driving the sensor of the sensing device to reciprocate along a part of the elliptical trajectory to the first position in the first slot of the sensing device and the first position in the first slot of the sensing device. Between the second positions in the second slot, so that the sensor has a movement trajectory that can span the height difference of the partitions of the two slots, and the linkage mechanism can be set by the parallel link mechanism to solve the problem of the sensor along the elliptical trajectory When a part of the device is reciprocatingly moved between the first position and the second position, the problem of left and right yaw is to improve the stability of the sensor movement. Moreover, disposing the linkage mechanism in the double-slot structure can effectively reduce the space required for the sensing device.

Although the present invention has been disclosed above by the embodiments, it is not intended to limit the present invention. Anyone with ordinary knowledge in the technical field can make some changes and modifications without departing from the spirit and scope of the present invention. Therefore, The protection scope of the present invention shall be determined by the scope of the appended patent application.

10, 10A: Sensing device 100: Linkage mechanism 110: Rods 112: Objects 114: Sensor 120: The first link 130: Second Link 140: Linkage components 142: The first chute 144: Second chute 146: Slider 150: Third Link 160: Fourth Link 200: elliptical gauge mechanism 300: Parallel linkage 400: Double parallel linkage 500: Double slot structure 510: first slot 520: Second slot 530: Separator 600:Driver a: semi-minor axis b: semi-major axis A1: Included angle E1: elliptical trajectory EA: Part h, w: distance P1~P7: The first fulcrum ~ the seventh fulcrum S1: First position S2: Second position X-Y-Z: Cartesian coordinates

FIG. 1 is a schematic diagram of an object of a linkage mechanism in a first position according to an embodiment of the present invention. FIG. 2 is a schematic diagram of the object of the linkage mechanism of FIG. 1 moving to a second position. FIG. 3 is a schematic diagram of the object of the linkage mechanism of FIG. 1 moving to a third position. 4 is a schematic diagram of a sensor of a linkage mechanism of a sensing device at a first position according to an embodiment of the present invention. FIG. 5 is a schematic diagram of a sensor of a linkage mechanism of a sensing device in a first position according to another embodiment of the present invention.

10: Sensing device

100: Linkage mechanism

110: Rods

114: Sensor

120: The first link

130: Second Link

140: Linkage components

142: The first chute

144: Second chute

146: Slider

150: Third Link

160: Fourth Link

200: elliptical gauge mechanism

300: Parallel linkage

400: Double parallel linkage

500: Double slot structure

510: first slot

520: Second slot

530: Separator

a: semi-minor axis

b: semi-major axis

E1: elliptical trajectory

EA: Part

h, w: distance

P1~P7: The first fulcrum ~ the seventh fulcrum

S1: First position

X-Y-Z: Cartesian coordinates

Claims (13)

A linkage mechanism, including: a rod to which an object is adapted; a first link, pivotally connected to the rod; a second link pivotally connected to the first link; a linkage component connected to the first link and the second link, wherein the first link, the second link and the linkage component form an elliptical mechanism; and A third link is pivotally connected to the rod and the second link, wherein the rod, the first link, the second link and the third link constitute a parallel link mechanism, the ellipse The gauge mechanism and the parallel link mechanism are suitable for driving the object to reciprocate along at least a part of an elliptical track between a first position and a second position. The linkage mechanism according to claim 1, wherein the linkage component comprises a first chute, a second chute and a slider, the first chute and the second chute are perpendicular to each other, and the second link The slider slides on the first chute, the slider slides on the second chute, and the first link is pivotally connected to the slider. The linkage mechanism of claim 1, further comprising a fourth link, wherein the fourth link is pivotally connected to the first link and the third link, the parallel link mechanism and the fourth link A double parallel link mechanism is formed. The linkage mechanism of claim 3, wherein the first link has a first fulcrum, a second fulcrum and a third fulcrum, the first fulcrum is pivoted to the rod, and the second fulcrum is pivoted to the rod The second link and the third fulcrum are pivotally connected to the fourth link, and the first fulcrum, the second fulcrum and the third fulcrum are not collinear. The linkage mechanism of claim 3, wherein the third link has a fourth fulcrum, a fifth fulcrum and a sixth fulcrum, the fourth fulcrum is pivotally connected to the rod, and the fifth fulcrum is pivoted to the The second link and the sixth fulcrum are pivotally connected to the fourth link, and the fourth fulcrum, the fifth fulcrum and the sixth fulcrum are not collinear. A sensing device, comprising: a double-slot structure having a first slot and a second slot; and A linkage mechanism is arranged on the double-slot structure, and the linkage mechanism includes: a rod, a sensor is suitable for being installed on the rod; a first link, pivotally connected to the rod; a second link pivotally connected to the first link; a linkage component connected to the first link and the second link, wherein the first link, the second link and the linkage component form an elliptical mechanism; and A third link is pivotally connected to the rod and the second link, wherein the rod, the first link, the second link and the third link constitute a parallel link mechanism, the ellipse The gauge mechanism and the parallel link mechanism are suitable for driving the sensor to reciprocate along at least a part of an elliptical trajectory between a first position in the first groove and a second position in the second groove. The sensing device according to claim 6, wherein the linkage component comprises a first chute, a second chute and a slider, the first chute and the second chute are perpendicular to each other, and the second connection The rod slides on the first sliding groove, the slider slides on the second sliding groove, and the first link is pivotally connected to the sliding block. The sensing device of claim 6, further comprising a fourth link, wherein the fourth link is pivotally connected to the first link and the third link, the parallel link mechanism and the fourth link The rods form a pair of parallel linkages. The sensing device of claim 8, wherein the first link has a first fulcrum, a second fulcrum and a third fulcrum, the first fulcrum is pivoted to the rod, and the second fulcrum is pivoted In the second link, the third fulcrum is pivotally connected to the fourth link, and the first fulcrum, the second fulcrum and the third fulcrum are not collinear. The sensing device of claim 8, wherein the third link has a fourth fulcrum, a fifth fulcrum and a sixth fulcrum, the fourth fulcrum is pivotally connected to the rod, and the fifth fulcrum is pivoted In the second link, the sixth fulcrum is pivotally connected to the fourth link, and the fourth fulcrum, the fifth fulcrum and the sixth fulcrum are not collinear. The sensing device according to claim 6, further comprising a driving member, wherein the driving member is connected to the linkage mechanism. The sensing device of claim 6, wherein the length of the short axis of the elliptical trajectory is equal to the distance between the center of the first slot and the center of the second slot. The sensing device of claim 6, wherein the length of the semi-major axis of the elliptical trajectory is greater than the distance between the first position and a top end of the first groove.

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