TWI652430B - Twelve axes mechanism for spherical coordinates orientating - Google Patents

Abstract

The invention can directly output the force or torque of the twelve-axis ball coordinate steering mechanism, and the technology is related to the robot movement or the stage control, and can be applied to the shoulder joint or the hip joint of the robot, and can also be applied to the multi-axis composite processing. The central machine or the multi-element detection bed can achieve the three-degree-of-freedom steering amount of the ball coordinate.

Description

 Twelve-axis ball coordinate steering mechanism  

The invention can directly output the force or torque of the twelve-axis ball coordinate steering mechanism, and the technology is related to the robot movement or the stage control, and can be applied to the shoulder joint or the hip joint of the robot, and can also be applied to the multi-axis composite processing. The central machine or the multi-element detection bed can achieve the three-degree-of-freedom steering amount of the ball coordinate.

The twelve-axis ball coordinate steering mechanism is constructed in the second inventor of the present invention (US20120083347A1 and US20150082934A1/EP2863102A1/CN104511904A), and the two sets of inner frame tetrahedral structure and outer frame tetrahedral structure of the second pre-case design are cancelled. The original tetrahedral geometry definition of the outer frame structure or the inner frame structure is updated to the two-end frame structure, and the remaining outer frame or inner frame structure is renamed to the base frame structure, but the original tetrahedral geometric definition is retained. The twelve axes of the four sets of inner rail and outer rail arcs are still defined as in the previous case, and the newly renamed ring-turning rod set of the present invention. In the previous case (US20150082934A1/EP2863102A1/CN104511904A), at least one set of terminal arc bar sets is added, and the present invention is updated to at most two sets of bearing arc bar sets. The various singularities discussed in the previous case (US20120083347A1) and the geometric limitations of their response, the present invention continues to be cited.

A twelve-axis ball coordinate steering mechanism of the present invention comprises: a set of base frame assemblies, the base frame assembly comprising a base frame structure 0c and a four-base frame rotating element 0a, the base frame structure 0c being composed of a plurality of arc frames The base frame structure 0c has a four-terminal angle, and a base frame geometric tetrahedron can be defined, and the four-corner core line of the tetrahedron is co-located to the center of the base frame structure, and the base frame structure 0c fixes the four-base frame rotation. Element 0a, the output axis of the four-base frame rotating element 0a, denoted as a unit vector U _i , where i = 1 ^~ 4 . The output axis defining the four-base frame rotating element 0a coincides with the four-corner line of the base frame geometric tetrahedron, and intersects the center of the base frame geometric tetrahedron, and the base frame structure 0c fixes the four-base frame rotating element 0a. The angle between any two output axes is geometrically labeled ∧ _ij =ArcCos(U _i ̇ U _j ) , where i≠j . The base frame rotating member 0a may be any one of a torque output device (such as a motor or a hydraulic rotary cylinder), an angle detector (such as an optical encoder), or a bearing. The geometry of the base frame structure is defined in Figures 1A, 2A, 3A and 4A.

According to the inventor's previous case (US20120083347A1), the geometric definition of the base frame structure 0c is a regular tetrahedron, and its single symmetrical characteristic is easier to parameter design and operation simulation. Thus, the six angles between the corner lines of the base frame structure 0c are equal to about 109.5°, that is, ∧ ₁₂ = ∧ ₁₃ = ∧ ₁₄ = ∧ ₂₃ = ∧ ₂₄ = ∧ ₃₄ ≒ 109.5 ° . However, it should be noted that the regular tetrahedron is most prone to singularity. To avoid singularities, the geometric definition of the base frame structure 0c need not be a regular tetrahedron. The base frame structure 0c can be roughly divided into four configurations, that is, the configuration 1 as shown in FIG. 1B, the configuration 2 as shown in FIG. 2B, the configuration 3 as shown in FIG. 3B, and the configuration 4 as shown in FIG. 4B. The base frame structure 0c can be designed as a closed loop or an open loop. The closed-loop design enhances rigidity to avoid vibration or deformation. Figure 1B. The open-loop design eliminates possible interference during operation, as shown in Figure 4B.

Two sets of end frames, each set of end frames comprising an end frame structure 4c and a two end frame rotating element 4a having a double end angle, the end frame structure fixing the two end frame rotating elements 4a. The output axes defining the two end frame rotating elements 4a respectively coincide with the two-corner lines of the end frame geometry, and intersect centripetally at the center of the base frame geometric tetrahedron so that the end frame group ring tracks are concentrically rotated. The output axes of the two end frame rotating elements 0a of the first set of end frame structures are indicated as unit vectors V ₁ and V ₂ , and the angle between the output axes of the rotating elements 0a of the two end frames is geometrically labeled as λ ₁₂ =ArcCos (V ₁ ̇ V ₂ ) . The output axes of the two end frame rotating elements 0a of the second group end frame structure are indicated as unit vectors V ₃ and V ₄ , and the angle between the output axes of the rotating elements 0a of the two end frames is geometrically marked as λ ₃₄ =ArcCos (V ₃ ̇ V ₄ ) . The angle between the output axes of the end frame rotating elements of each group of end frames is greater than 90 degrees and less than 150 degrees, namely: 90° < λ ₁₂ < 150 ° and 90 ° < λ ₃₄ < 150 ° . The end frame rotating member 4a may be any one of a torque output device (such as a motor or a hydraulic rotary cylinder), an angle detector (such as an optical encoder), or a bearing. The geometry of the end frame structure is defined in Figures 5A, 6A, 7A and 8A.

The four sets of ring-turning arc bar sets each of which includes a base connecting rod 1c, an end connecting rod 2c and a middle connecting rotating element 2a. The connecting rod end of the base connecting rod 1c and the connecting end of the connecting rod 2c are axially connected by the intermediate rotating element 2a, and the intermediate rotating element 2a is denoted as a unit vector W _i , wherein i=1 ^~ 4 . The base frame end of the base connecting rod 1c is pivotally coupled to a base frame rotating element 1a (the front vector is labeled U _i , where i = 1 ^to 4 ). The end frame end of the terminating arc bar is pivoted with the end frame rotating element 4a (the front vector is labeled V _i , where i=1 ^~ 4 ). The intermediate rotating element 2a outputs an axis, and the normal direction points to the center of the base frame geometric tetrahedron, so that the ring rotating rod set ring track is concentrically rotated between the base frame assembly and the two sets of end frame groups. The intermediate rotating member 2a may be any one of a torque output device (for example, a motor or a hydraulic rotary cylinder), an angle detector (for example, an optical encoder), or a bearing.

The base arc bar 1c arc length is defined as the angle between the base frame rotating element 0a and the intermediate connecting rotating element 2a, and is geometrically labeled as α _i =ArcCos(U _i ̇ W _i ) . The arc length of the terminating arc bar 2c is defined as the angle between the end frame rotating element 4a and the intermediate rotating element 2a, and is geometrically labeled β _i =ArcCos(V _i ̇ W _i ) . The output shaft angle of any two base frame rotating elements 0a is less than or equal to the sum of the arc lengths of the corresponding two base arcing rods 1c, namely: ∧ _ij α _i +α _j , where i≠j . The angle between the output axes of the two end frame rotating elements 4a of any end frame is less than or equal to the sum of the arc lengths of the corresponding two end connecting rods 2c, namely: λ ₁₂ β ₁ +β ₂ or λ ₃₄ β ₃ +β ₄ .

The four sets of ring-turning rod groups are respectively connected with the base frame structure 0c and the end frame structure 4c, and the twelve axes respectively rotate the component 0a with the base frame (as previously indicated as the unit vector U _i , where i=1 ^~ 4 ), The middle rotating element 2a (as previously indicated as unit vector W _i , where i = 1 ^~ 4 ) and the end frame rotating element 4a (as previously indicated as unit vector V _i , where i = 1 ^~ 4 ) are axially coupled. The end frame structure 4c of the two end frame groups is arranged such that a payload carrier 4s is disposed on the side of the payload end of the terminating arc bar to install the payload. The 4s can be a lifting mechanism for the telescopic arm, such as a pneumatic cylinder, a hydraulic cylinder or an electric auger, which can be applied to the shoulder joint or hip joint of the robot to achieve the three-degree-of-freedom steering actuation amount of the ball coordinate. .

In order to avoid the singularity phenomenon, according to the present inventor's previous case (US20150082934A1/EP2863102A1/CN104511904A), the radius of each base connecting rod 1c can be larger or smaller than the radius of each end connecting rod 2c, and the radius of each base connecting rod 1c The radius of each of the end arcs 2c is not necessarily equal. Therefore, the twelve-axis shaft connection can be divided into four configurations, that is, the configuration is as shown in FIG. 5B, the configuration is as shown in FIG. 6B, the configuration is as shown in FIG. 7B, and the configuration is as shown in FIG. 8B.

Up to two sets of load-bearing arc rod sets, each set of load-bearing arc-rod sets comprises a load-bearing arc bar 3c and a load-bearing rotating element 3a. The base frame end of the carrying arch 3c and the base frame end of a base connecting rod 1c are coaxially provided with a base frame rotating element 0a, so that the carrying arch 3c can be concentrically rotated around the track. The bearing rotating member 3a is overlapped on the end side of the distal base frame structure 0c of the supporting arch 3c, and is coaxially fitted to the base frame rotating member 0a. The carrying rotating member 3a can drive the carrying arch 3c to avoid the base. The frame structure 0c may interfere with any of the base connecting rods 1c. The bearing end of the carrier rod arc output axis, labeled unit vector N _i, where i = 1 ^~ 2. The arc length of the arc carrier rod 3c is defined as a rotation angle of the base frame carrying the output end of the axis of the carrier member 0a arc strokes, geometric denoted _{δ i = ArcCos (U i ˙} N i), where i = 1 ^~ 2. The arc length of the load bearing rod 3c is less than or equal to 90 degrees, namely: δ _i 90° , where i=1 ^~ 2 . The load bearing rotary member 3a may be any one of a torque output device (for example, a motor or a hydraulic rotary cylinder), an angle detector (for example, an optical encoder), or a bearing. The geometric definition of at most two sets of load bearing arc sets is shown in Figures 9A and 10A.

Up to two sets of load-bearing arc rods 3c carrying the arc-rod group, such that the bearing end 3s is disposed far away from the bearing end side of the base frame structure to install the carrier. The carrier 3s can be a holding device, for example, a clamping module of the machine tool, which can be applied to a multi-axis composite machining center machine or a multi-element detection measuring bed, to achieve a three-degree-of-freedom steering amount of the ball coordinate, and at most two groups of bearing rods. The manner in which the group is coupled to the base frame structure 0c is as shown in Figs. 9B and 10B.

Referring to the second inventors of the present invention (US20120083347A1 and US20150082934A1/EP2863102A1/CN104511904A), the embodiment of the twelve-axis ball coordinate steering mechanism of the present invention can be a twelve-axis shaft-connecting configuration and a matching bearing-arc shaft coupling configuration. The spherical coordinate steering mechanism of the assembled group, the stereoscopic view is as shown in FIG. 11A, the front view is as shown in FIG. 11B and the side view is shown in FIG. 11C, and the twelve-axis axial configuration can be used to match the bearing shaft of the arc-shaft. Steering mechanism, the stereoscopic view is as shown in Fig. 12A, the front view is as shown in Fig. 12B and the side view is shown in Fig. 12C, which can be a twelve-axis shaft-constructed three-matching bearing-arc shaft-aligning configuration, a constituting ball-coordinate steering mechanism, and a stereoscopic view 13A, a front view of FIG. 13B, and a side view of FIG. 13C, which may be a twelve-axis shaft-constructed four-position bearing-arc shaft-arranged configuration, and a two-frame ball coordinate steering mechanism, and the perspective view is as shown in FIG. 14A. Figure 14B and side view are shown in Figure 14C.

0a‧‧‧Base frame rotating element

0c‧‧‧Base frame structure

1c‧‧‧Based arc

2a‧‧‧Chinese rotating element

2c‧‧‧Terminal arc

3a‧‧‧ Carrying rotating elements

3c‧‧‧bearing arc

3s‧‧‧ bearing seat

4a‧‧‧End frame rotating element

4c‧‧‧End frame structure

4s‧‧‧

Figure 1 is a geometrical definition and perspective view of the pivotal configuration of the base frame structure

Figure 2 is a geometrical definition and perspective view of the pivotal configuration of the base frame structure

Figure 3 is a geometrical definition and perspective view of the pivotal configuration of the base frame structure

Figure 4 is a geometrical definition and perspective view of the four-frame structure of the framing structure

Figure 5 is a geometrical definition and perspective view of the axial configuration of the twelve-axis mechanism

Figure 6 is a geometrical definition and perspective view of the axial configuration of the twelve-axis mechanism

Figure 7 is a geometrical definition and perspective view of the axial configuration of the twelve-axis mechanism.

Figure 8 is a geometrical and stereoscopic view of the axial configuration of the twelve-axis mechanism.

Figure 9 is a geometrical definition and a perspective view of the bearing shaft of the bearing shaft

Figure 10 is a geometric definition and a perspective view of the bearing arrangement of the bearing shaft

Figure 11 is a perspective view, front view and side view of a twelve-axis shaft-connected configuration with a coupled-arc shaft steering configuration

Figure 12 is a perspective view, front view and side view of a two-frame ball coordinate steering mechanism with a twelve-axis shaft-connected configuration and a two-armed axle-axis configuration.

Figure 13 is a perspective view, front view and side view of a twelve-axis shaft-constructed three-matched bearing-arc axle configuration

Figure 14 is a perspective view, front view and side view of a two-frame ball-coordinate steering mechanism of a twelve-axis shaft-conducting four-matched bearing shaft-axis configuration.

Claims (4)

A twelve-axis ball coordinate steering mechanism comprising: a set of base frame assemblies, the base frame assembly comprising a base frame structure and a four-base frame rotating element, the base frame structure being composed of a plurality of arc frames, the base frame structure Having a four-end angle, a base frame geometric tetrahedron can be defined such that the four-corner core of the tetrahedron is co-located to the center of the base frame structure, and the base frame structure fixes the four-base frame rotating element to define the rotation of the four-base frame The output axis of the component coincides with the four-corner line of the geometrical tetrahedron of the base frame, and intersects the center of the geometrical tetrahedron of the base frame; the two sets of end frame groups each end frame group includes one end frame structure and two end frame rotation An end frame structure having two end angles, the end frame structure fixing the two end frame rotating elements, and defining an output axis of the two end frame rotating elements respectively coincide with a dihedral line of the end frame geometry, and The heart meets at the center of the geometrical tetrahedron of the frame frame, so that the end frame group ring tracks are concentrically rotated, wherein the angle between the output axes of the end frame rotating elements of each group of end frame groups is greater than 90 degrees and less than 150 degrees; Rotating rod group, each group of rotating rods a base connecting rod, one end connecting the arc rod and a middle connecting rotating element, wherein the connecting rod end of the base connecting rod and the connecting rod end of the end connecting rod are axially connected by the middle connecting rotating element, the base connecting rod The base frame end is axially coupled to a base frame rotating member, the end frame end of the terminating arc bar is pivoted to the end frame rotating member, and the output axis of the intermediate rotating member is normally directed to the center of the base frame geometric tetrahedron, so that The loop The rod group ring rail is concentrically wound between the base frame assembly and the two sets of end frame groups, wherein an angle of an output shaft of any two base frame rotating elements is less than or equal to a sum of arc lengths of the corresponding two base arcing rods, wherein The output shaft of the two-end frame rotating element of any end frame is less than or equal to the sum of the arc lengths of the corresponding two-end arc-connecting rods; at most two sets of supporting arc-rod groups, each set of supporting arc-rod groups includes a bearing arc rod and a bearing a rotating component, the base frame end of the supporting arc bar and the base frame end of a base connecting arc bar are coaxially arranged on a base frame rotating component, so that the supporting arc bar can be concentrically rotated around the track, and the bearing rotating component is overlapped And the coaxial rotating member is disposed on the end side of the supporting arching member, and the supporting rotating member can timely drive the bearing arc avoiding base frame structure to interfere with any of the base connecting rods. The arc length of the load bearing rod is less than or equal to 90 degrees. The mechanism of claim 1, wherein the two sets of end frame groups are arranged such that the end frame structure is disposed on a side of the end of the end of the arcing pole to provide a payload. The mechanism of claim 1, wherein the at least two groups of carrying the arc bar group have a bearing rod disposed on the bearing end side of the base frame structure to mount the carrier. The mechanism of claim 1, wherein the base frame rotating element is any one of a torque output device, an angle detector, or a bearing, wherein the end frame rotating element is a torque output device, an angle detector, or a bearing Any one, wherein the intermediate rotating element is any one of a torque output device, an angle detector, or a bearing, wherein the bearing The rotating element is any one of a torque output, an angle detector, or a bearing.