TWI574722B - Spherical coordinates orientating mechanism - Google Patents

Description

Ball coordinate steering mechanism

The invention relates to a ball coordinate steering mechanism, which can be equipped with various payloads such as a torque output device, a telescopic lifting mechanism, a lathe clamping module, a laser cutting drilling spindle, a hemispherical projection screen or a video wall, an observation positioning device or driving. Simulated cockpit, can be applied to multi-axis composite machining center or multi-component detection bed, handling robot with large inertia or torque variation, indoor space steering game or fighter driving training machine, multi-person outdoor space steering amusement mechanism or large astronomy Telescope seat.

The current mechanism commonly used for spherical latitude and longitude movement is the traditional balanced gimbal mechanism. The gimbal mechanism allows the power bearing to rotate at a large angle or even continuously. But this organization is a ring-by-loop architecture. The power bearing shall be placed in the inner ring, and the motor and the gear box shall be connected to the inner ring to drive the power bearing to rotate the latitude axis, so the motor and the gear box of the outer ring shall be loaded with the inertia of the motor and the gear box of the inner ring. The outer ring can be driven to rotate the longitude axis. If the power bearing volume or inertia is large, the inner and outer ring radii must also be augmented, making it difficult to approximate the bulk of the operating space. Moreover, the balanced ring mechanism is also associated with problems such as telecommunication transmission and harness winding due to the ring-by-loop architecture.

In order to supplement the shortcomings of the traditional balanced gimbals (Gimbals), it was invented earlier (US8,579,714B2), which can be briefly described as: the double tetrahedral structure end line concentrically connected to the four sets of inner and outer rail arcs Degree of freedom steering mechanism. Earlier inventions (US 8,579,714 B2) were used to install the payload compartment in the inner frame tetrahedral structure and can be applied to indoor space steering amusement instruments or fighter multi-axis steering driving trainers. The greatest improvement of the invention compared to earlier inventions is the creation of more than one set of terminal arc assemblies. Earlier inventions were not supported by the terminal arc-rod assembly, so the ball coordinate steering space was large, but the present invention used this terminal arc-rod assembly to output the torque to the steering mechanism of the ball coordinate motion.

The invention comprises: an outer frame structure assembly (4), a four outer rail arc bar group (3), a four inner rail arc bar group (2), an inner frame structure assembly (1) and a terminal arc bar assembly. (5). A perspective view of the combined configuration of the present invention is shown in Figure 1, and a front view and a side view are shown in Figures 2 and 3.

The outer frame structure assembly (4): an outer frame tetrahedral structure (hereinafter referred to as the outer frame structure), the four end corners of the outer frame structure (4o) are respectively connected to four sets of outer frame rotating devices (4a), four inner frames The rotating device can be installed in the four end angles of the inner frame structure (1o), and then the outer rail arc bars (4o) are respectively respectively connected, as shown in FIG.

External rail arc bar group (3) and inner rail arc bar group (2): outer rail arc bar (3o) outer end outer shaft core (3a) and outer frame rotating device (4a) output shaft keying, four groups The outer frame rotating device can also be installed outside the four-end corner of the outer frame structure (4o), and the outer rail arc bar (3o) and the inner rail arc bar (2o) are axially connected with the middle connecting shaft core (3b), and the inner rail arc The inner end of the rod (2o) is axially connected to the inner frame rotating device (1a) by an inner connecting shaft core (2a), as shown in FIG.

Inner frame structure assembly (1): an inner frame tetrahedral structure (hereinafter referred to as inner frame structure), four inner frame rotating devices (1a) are respectively arranged in the four end corners of the inner frame structure (1o) to respectively respectively Inner rail arc (2o). In the inner frame structure (1o), an inner frame bracket (1b) is installed to load the inner frame payload. As shown in Figure 5. The four sets of inner frame rotating devices (1a) may also be installed outside the four end corners of the inner frame structure (1o), and the four sets of outer frame rotating devices (4a) may be installed within the four end corners of the outer frame structure (4o) , as shown in Figure 6.

The above is a configuration feature of the earlier invention (US 8,579,714 B2), and the greatest improvement of the invention and earlier invention is that a new set of terminals is newly established. The arc bar assembly (5) comprises: a terminal arc bar (5x) coupled to a terminal rotating device (5a) and a terminal bearing (5e). The installation of the terminal arc bar assembly (5) can be divided into a frame type and an inner frame type, and the number of the terminal arc bar assembly pieces (5) can be divided into a single group type and a double frame type. As shown in Figures 1, 2 and 3, the single-frame external frame terminal (5e) can be a clamping module or a measuring device of the machine tool, and can be applied to a multi-axis composite machining center machine or a multi-component detection measuring bed. . The single-frame inner frame type, the terminal load (5e) can be a lifting mechanism, such as a pneumatic cylinder, a hydraulic cylinder or an electric screw, which can be applied to a shoulder joint or a hip joint of a robot.

The outer frame type, a terminal arc bar (5x) and an outer rail arc bar (3o) are coaxially mounted on either end corner of the outer frame structure (4o), and run on the inner rail arc bar (2o) in a centripetal orbital manner. Between the inner frame structure (1o), the terminal rotating device (5a) can drive the terminal load (5e) in time to avoid interference between any inner rail arc bar (2o) and any outer rail arc bar (3o) to achieve setting The ball coordinates turn angle and momentum. The outer frame structure (4o) can be designed as a closed-loop structure to strengthen the rigidity to avoid vibration or deformation, and the inner frame structure (1o) can be designed as an open-loop structure to reduce the movement of the ball coordinate steering mechanism when the terminal is loaded (5e) and The inner frame structure (1o) may interfere. As shown in Figure 7.

The inner frame type end arc bar (5x) and the inner rail arc bar (2o) are coaxially mounted on either end corner of the inner frame structure (1o), and run in a centripetal orbit to the outer rail arc bar (3o) and outside. Between the frame structure (4o), the terminal rotating device (5a) can drive the terminal bearing (5e) to avoid interference between the inner rail arc bar (2o) and the outer rail arc bar (3o) to achieve the set ball coordinate steering angle and momentum. The inner frame structure (1o) can be designed as a closed-loop structure to strengthen the rigidity to avoid vibration or deformation, and the outer frame structure (4o) can be designed as an open-loop type. The structure, in order to reduce the movement of the ball coordinate steering mechanism, the terminal load (5e) and the outer frame structure (4o) may interfere. As shown in Figure 8.

The outer frame rotating device (4a) may be a torque output device or an angle detecting device, and the inner frame rotating device (1a) may be a torque output device or an angle detecting device, wherein the same group of inner and outer rail arc bar groups are connected in series The rotating device and the inner frame rotating device must have at least one torque output device. The torque output device can be a motor or a hydraulic rotary cylinder, and transmits the output torque or torque through the outer rail arc rod (3o) and the inner rail arc rod (2o) to actuate the inner frame on the inner frame bracket (1b). The outer frame carrier (4e) on the carrier (1e) or the outer frame bracket (4b) performs the ball coordinate steering motion. An angle detector such as an optical encoder measures the relative angular change of the inner rail arc (2o) and the inner frame structure (1o) or the outer rail arc (3o) and the outer frame structure (4o) for precision calibration The steering angle of the ball coordinate mechanism. The terminal rotating device (5a) is a torsion output device or a rotation fixing device to drive the terminal arc bar (5x) in time to reduce possible interference between the terminal bearing (5e) and the inner frame structure (1o) or the outer frame structure (4o). .

Two sets of terminal arc-rod assemblies can be installed in the inner frame or the outer frame type, and the outer frame structure (4o) and the inner frame structure (1o) can be designed to simplify the co-construction intermediate axis tetrahedral structure to reduce terminal load ( 5e) Possible interference with the inner frame structure (1o) or the outer frame structure (4o). Two sets of outer frame type, two terminal arc rods (5x) and two outer rail arc rods (3o) are coaxially mounted on any two end corners of the outer frame structure (4o), and run on any inner rail in a centripetal orbital manner. Between the arc rod (2o) and the inner frame structure (1o), the outer frame structure (4o) can be designed as a closed loop structure to strengthen the rigidity to avoid vibration or deformation, and the inner frame structure (1o) and the inner frame bracket (1b) can be The co-construction is designed as a central axis inner frame tetrahedral structure, as shown in Fig. 9.

Two sets of inner frame type, two terminal arc rods (5x) and two inner rail arc rods (2o) are coaxially mounted on any two end corners of the inner frame structure (1o), and run on any outer rail in a centripetal orbital manner. Between the arc rod (3o) and the outer frame structure (4o), the inner frame structure (1o) can be designed as a closed loop structure to strengthen the rigidity to avoid vibration or deformation, and the outer frame structure (4o) and the outer frame bracket (4b) can be The co-construction is designed as a mid-axis frame tetrahedral structure, as shown in Figure 10.

Compared with the single-group and one set of terminal arc-rod assemblies, the two-group steering mechanism is more likely to interfere with the inner and outer frame structures when moving, so the movement space is smaller, but the two-group is also due to a group of terminal arcs. The assembly has more applications. The following four embodiments are respectively introduced: a two-group outer frame type and a double set inner frame type, a double set middle axis outer frame type, and a double set middle axis inner frame type.

Two sets of outer frame type, two terminal arc rods (5x) and two outer rail arc rods (3o) are coaxially mounted on any two end corners of the outer frame structure (4o), and run on any inner rail in a centripetal orbital manner. Between the arc pole (2o) and the inner frame structure (1o), the two sets of terminal carrying (5e) can be installed as a lathe clamping module, and the two lathe clamping modules are remotely opposed to the outer frame structure (4o). The inner frame payload (1e) on the inner frame bracket (1b) can be equipped with a laser cutting or drilling spindle, which can be applied to a multi-axis composite processing machine, as shown in Figures 11, 12 and 13.

Two sets of inner frame type, two terminal arc rods (5x) and two inner rail arc rods (2o) are coaxially mounted on any two end corners of the inner frame structure (1o), and run on any outer rail in a centripetal orbital manner. Between the arc rod (3o) and the outer frame structure (4o), the two end bearing (5e) can be equipped with a lifting mechanism for the expansion and contraction of the force arm, and the second lifting mechanism is opposite to the inner frame structure (1o), and is balanced with each other. In order to reduce the torque variation, it can be applied to the handling robot with large inertia or large torque variation, as shown in Figures 14, 15, and 16.

The two sets of the outer shaft frame type, with the middle shaft type inner frame tetrahedral structure (1o), the middle shaft type inner frame structure (1o) can reduce the interference with the terminal load (5e). The outer frame structure (4o) can be designed as a closed loop structure to strengthen the rigidity to avoid vibration or deformation. The two terminal bearers (5e) can be installed as a hemisphere screen frame, and the second hemisphere screen frame is relatively opposed to the outer frame structure (4o). The hemispherical screen frame is provided with a projection screen or a video wall. The inner frame carrier (1b) of the inner-axis inner frame bracket (1b) can be equipped with a driving simulation cockpit, which can be applied to an indoor space steering game or a fighter driving training machine, as shown in Figs. 17, 18, and 19.

The two-group inner shaft frame type is matched with the middle shaft type outer frame tetrahedral structure (4o), and the middle shaft type outer frame structure (4o) can be relieved from interference with the terminal load (5e). The inner frame structure (1o) can be designed as a closed loop structure to strengthen the rigidity to avoid vibration or deformation. The two terminal carrying (5e) can be installed as a hemisphere umbrella stand, and the second hemisphere umbrella stand is opposite to the inner frame structure (1o). The hemispherical umbrella stand can be provided with a multi-seat shared cabin or a large telescope. The center-axis frame bracket (4b) is designed to allow for very large inertia loads. It can be applied to multi-person outdoor space steering amusement facilities or large astronomical telescopes, as shown in Figures 20, 21 and 22.

(1)‧‧‧Inner frame structure assembly

(1o)‧‧‧Interframe tetrahedral structure

(1a)‧‧‧Inner frame turning device

(1b)‧‧‧Inner frame bracket

(1e)‧‧‧ inside frame payload

(2) ‧ ‧ inner rail arc group

(2o) ‧‧‧ inner rail arc

(2a)‧‧‧Inner shaft core

(3) ‧‧‧External rail arc group

(3o) ‧‧‧ outer rail arc

(3a)‧‧‧External shaft core

(3b) ‧‧‧Connected shaft core

(4) ‧‧‧Outer frame structure assembly

(4o) ‧‧‧ frame tetrahedral structure

(4a)‧‧‧Outer frame turning device

(4b)‧‧‧Front bracket

(4e) ‧ ‧ framed payload

(5) ‧‧‧ terminal arc rod assembly

(5x) ‧‧‧terminal arc

(5a) ‧‧‧Terminal turning device

(5e) ‧ ‧ terminal bearer

Figure 1 is a perspective view of a single set of outer frame ball coordinate steering mechanism components

Figure 2 Single-frame outer frame ball coordinate steering mechanism assembly configuration front, side view

Figure 3: Stereo view and geometric definition of the outer frame structure assembly

Figure 4: Stereoscopic view and geometric definition of four sets of inner and outer rail arcs

Figure 5: Internal view of the frame structure assembly and geometric definition

Figure 6 is a perspective view of the inner frame rotating device and the outer frame rotating device

Figure 7: Stereo view and geometric definition of a single set of outer frame type terminal arc assembly

Figure 8: Stereo view and geometric definition of a single-group inner-frame terminal arc-rod assembly

Fig.9 Stereo view and geometric definition of the inner frame structure and the two sets of terminal arcs in the outer frame of the two sets

Fig. 10 Stereo view and geometric definition of the axial outer frame structure and the two sets of terminal arc bars in the two-group inner shaft frame

Figure 11 is a perspective view of the assembly configuration of the two-group outer frame ball coordinate steering mechanism

Figure 12: Front view of the two-group outer frame ball coordinate steering mechanism component configuration

Figure 13 side view of the two-group outer frame ball coordinate steering mechanism component configuration

Figure 14 is a perspective view of the configuration of the two-group inner frame ball coordinate steering mechanism assembly

Figure 15 Front view of the two-group inner frame ball coordinate steering mechanism component configuration

Figure 16 is a side view of a dual-group inner frame ball coordinate steering mechanism assembly configuration

Figure 17 is a perspective view of the assembly of the two-group axial outer frame ball coordinate steering mechanism assembly

Figure 18: Front view of the assembly of the two-group shaft outer frame ball coordinate steering mechanism

Figure 19 is a side view of the assembly of the two-group axial outer frame ball coordinate steering mechanism

Figure 20 is a perspective view of the assembly of the two-group inner-axis frame ball coordinate steering mechanism

Figure 21: Front view of the two-group axial inner frame ball coordinate steering mechanism component configuration

Figure 22: Side view of the assembly of the two-group inner-axis frame ball coordinate steering mechanism

The geometric definition of each assembly of the ball coordinate steering mechanism of the present invention is described below. The geometry of the outer frame structure (4o) is defined as a tetrahedron, and the core wires of the four sets of outer frame rotating devices (4a) must coincide with the angular line of the outer frame tetrahedron. The body of the outer frame tetrahedron is marked as O _u , the corner line of the outer frame tetrahedron is indicated as the unit vector u _i , and the angle between the corner lines of each corner is marked as Λ _ij , as shown in Fig. 3. If the outer frame structure is just a regular tetrahedron, the angle between the six corners of each corner is equal to about 109.5°, ie: Λ ₁₂ = Λ ₁₃ = Λ ₁₄ = Λ ₂₃ = Λ ₂₄ = Λ ₃₄ 109.5°. If the outer frame structure is a regular tetrahedron, it is easier to parameter design and operation simulation because of its single symmetry. However, it must be noted that the regular tetrahedron must have the singularity of the four-axis collinearity. Therefore, the outer frame design must conform to the tetrahedral geometry definition without having to be a regular tetrahedron. The geometric definition of the single-frame outer frame type arc-arc assembly and the outer frame structure is shown in Fig. 7. The central axis outer frame tetrahedral structure and the two sets of terminal arc bar geometry are defined as shown in Fig. 10.

The geometric definition of four sets of outer rail arc set (3) and four sets of inner rail arc set (2): the four outer rails (3o) have equal radii, and the four inner rails (2o) have equal radii. In order to avoid the singular phenomenon: the arc lengths of the four outer rails (3o) are not necessarily equal, and the arc lengths of the four inner rails (2o) are not necessarily equal. The four sets of inner and outer rail arcs must be concentric with each other, that is, four sets of external shaft cores (3a), medium joint shaft cores (3b) and inner joint shaft cores (2a) can follow the inner frame structure (1o) The posture of the change, but the axis must point to the body of the tetrahedron of the frame is marked as O _v . The unit vector of the i-th external core (3a) is denoted as u _i , the unit vector of the i-th core (3b) is denoted as W _i , and the unit vector of the i-th inner core (2a) is denoted as V _i . The radius of the four outer rails (3o) is denoted by r _u , and the radius of the four inner rails (2o) is denoted by r _v . The arc length of the i-th outer rail arc bar (3o) is denoted by α _i and is defined as the angle between the i-th outer shaft core (3a) and the ith intermediate shaft core (3b). The arc length of the i-th inner rail arc (2o) is denoted as β _i and is defined as the angle between the ith inner core (2a) and the ith intermediate core (3b), as shown in Fig. 4.

The geometry of the inner frame structure (1o) is defined as a tetrahedron, and the core wire of the outer frame rotating device (4a) must coincide with the angular line of the inner frame tetrahedron, as shown in Fig. 5. The body of the inner frame tetrahedron is marked as the unit vector of the corner of the inner frame tetrahedron, and the angle between the corners of the inner frame structure is indicated by Ω _ij , as shown in Fig. 5. If the frame structure is exactly the six tetrahedral angle between the center line of each of its corners are equal to about 109.5 °, that _{is: Ω 12 = Ω 13 = Ω} 14 = Ω 23 = Ω 24 = Ω 34 109.5°. If the inner frame structure is a regular tetrahedron, it is easier to design and simulate the parameters because of its single symmetry. However, it should be noted that the regular tetrahedron must have the singularity of the four-axis collinearity, so the inner frame design must conform to the tetrahedral geometric definition without having to be a regular tetrahedron. The geometric definition of the single-group inner-frame terminal arc-rod assembly and the inner frame structure is shown in Fig. 8. The inner-axis inner frame tetrahedral structure and the two sets of terminal bearing geometric definitions are shown in Fig. 9.

(1)‧‧‧Inner frame structure assembly

(2) ‧ ‧ inner rail arc group

(3) ‧‧‧External rail arc group

(4) ‧‧‧Outer frame structure assembly

(5) ‧‧‧ terminal arc rod assembly

Claims (4)

A ball coordinate steering mechanism comprises: an outer frame structure assembly, an outer frame structure defined by a plurality of brackets, and four outer frame rotating devices disposed at preset positions of the outer frame structure, each outer frame rotating device The output axis defines an outer frame geometric tetrahedron, the output axis of each outer frame rotating device intersects at a central position of the outer frame structure and a predetermined outer frame structure; and an inner frame structural assembly, which is defined by a plurality of brackets An inner frame structure and four inner frame rotating devices disposed at preset positions of the inner frame structure, wherein an output axis of each inner frame rotating device defines an inner frame geometric tetrahedron, and an output axis of each inner frame rotating device Co-intersecting the inner frame structure with a preset inner frame structure center position, and the inner frame center position coincides with the outer frame center position; an outer rail arc bar group including four outer rail arc bars, each of which is outside the arc bar The ends are respectively connected by an external shaft core and the outer frame rotating device, and the inner end of the outer rail arc rod and the outer end of an inner rail arc rod are respectively connected by a middle connecting shaft core, and the outer shaft core and the middle joint are connected The axis normal points to the center of the outer frame structure An inner rail arc bar group includes four inner rail arc bars, and inner ends of the inner rail arc bars are respectively axially connected with the inner frame rotating device by an inner connecting shaft core, and the inner connecting shaft core normally points to the center of the inner frame structure The sum of the arc lengths of any two outer rail arcs is greater than or equal to the sum of the angles of the two corners corresponding to the outer frame structure, and the arc length of any two inner rail arcs The sum is greater than or equal to the sum of the angles of the two corners corresponding to the inner frame structure; at least one terminal arc set, the terminal arc set has a terminal arc bar, and the two ends are respectively connected to a terminal rotating device and a terminal bearing The terminal arc rod and any inner rail arc rod are coaxially arranged on a corner line of the inner frame structure, so that the terminal arc rod runs concentrically between the outer frame structure and each outer rail arc rod, and the terminal rotating device extends the terminal arc The shaft end of the rod is sleeved through the inner shaft core so that the end rod of the extension terminal is rotated or fixed relative to the end angle of the inner frame structure, the terminal bearing is mounted on the outer side of the suspension end of the terminal arc rod, and the terminal rotation device is mounted on the terminal arc rod The outer side of the shaft end is axially coupled to the terminal bearing, wherein the arc length of the terminal arc is less than or equal to 90 degrees. A ball coordinate steering mechanism comprises: an outer frame structure assembly, an outer frame structure defined by a plurality of brackets, and four outer frame rotating devices disposed at preset positions of the outer frame structure, each outer frame rotating device The output axis defines an outer frame geometric tetrahedron, the output axis of each outer frame rotating device intersects at a central position of the outer frame structure and a predetermined outer frame structure; and an inner frame structural assembly, which is defined by a plurality of brackets An inner frame structure and four inner frame rotating devices disposed at preset positions of the inner frame structure, wherein an output axis of each inner frame rotating device defines an inner frame geometric tetrahedron, and an output axis of each inner frame rotating device Co-intersecting the inner frame structure with a preset inner frame structure center position, and the inner frame center position coincides with the outer frame center position; an outer rail arc bar group, including four outer rail arc bars, each outer rail arc bar End, respectively An external shaft core is axially connected to the outer frame rotating device, and an inner end of the outer rail arc rod and an outer end of an inner rail arc rod are respectively connected by a middle connecting shaft core, and the outer shaft core and the middle connecting shaft core are normally pointed The outer frame center; an inner rail arc bar group, comprising four inner rail arc bars, the inner ends of the inner rail arc bars are respectively connected by an inner connecting shaft core and the inner frame rotating device, and the inner connecting shaft core is normally pointed The center of the inner frame structure; the sum of the arc lengths of any two outer rail arcs is greater than or equal to the sum of the angles of the two corners corresponding to the outer frame structure, wherein the sum of the arc lengths of any two inner rail arcs is greater than Or the sum of the angles of the two corners corresponding to the inner frame structure; at least one terminal arc bar group, the terminal arc bar group has a terminal arc bar, the two ends are respectively connected to a terminal rotating device and a terminal bearing, and the terminal arc bar Cooperating with any outer rail arc rod on the corner line of the outer frame structure, so that the terminal arc rod runs concentrically between the inner frame structure and each inner rail arc rod, and the terminal rotating device connects the shaft of the extended terminal arc rod Ending and inserting the outer shaft core so that the extended terminal arc rod is opposite to the outer frame structure The angle is rotated or fixed, the terminal bearing is installed on the inner side of the suspension end of the terminal arc rod, and the terminal rotating device is installed on the inner side of the terminal shaft end of the terminal shaft and is connected with the terminal bearing radial shaft, wherein the arc length of the terminal arc rod is less than or equal to 90 degrees. For the ball coordinate steering mechanism of claim 1 or item 2, the outer frame structure may be provided with an outer frame bracket, and the outer frame carrier may be provided with an outer frame payload; the inner frame structure may be provided with an inner frame bracket, the inner frame bracket A frame payload can be set on it. For the ball coordinate steering mechanism of claim 1 or item 2, the inner frame rotating device may be a torque output device and an angle detecting device; the outer frame rotating device may be a torque output device and an angle detecting device; and the terminal rotating device may be a torque output device. Or turn the holder.