200806442 九、發明說明： 【發明所屬之技術領域】 由产關於—種調整機構，詳而言之，尤指—種具有三個旋轉自 大腿之球關節控制i其===器t之姿態角度調整、模擬手臂及 要轉動至或維持在特定姿態角=：：=敏天線、砲塔及穩定平台等需 〜月復％合之機器人姿態角度調整機構。 【先前技術】 ^wwfl$fIJ, 態一穩==== 強产度較弱（剛性弱），易變形；⑵串聯機構欲增加 機:無i二:Ϊ:=不：精度較差以及能源的消耗;(3)串聯 再進一步騎、努力機構設計儒界或有智之士應 基於前述機構考量，㈣式輕機構若改良為並聯式|«機構·， 、隹1工f 4谢貝τ，達到易控制、高負荷、高精度的目的等優點，且若 機構，則更可將熱變形有效抵消，增加其運動之 旦幾器人姿態角度調整之水平調 希望茫二理想之事實，本案發明人乃著手研發構思聽決方案，200806442 IX. Description of the invention: [Technical field to which the invention pertains] The production mechanism relates to an adjustment mechanism, in particular, a posture of a ball joint having three rotations from the thigh, i === t Adjust and simulate the arm and the robot attitude angle adjustment mechanism that needs to be rotated or maintained at a specific attitude angle =::==sensitive antenna, turret and stable platform. [Prior Art] ^wwfl$fIJ, state-stable ==== strong production is weak (stable stiffness), easy to deform; (2) series mechanism wants to increase machine: no i two: Ϊ:= no: poor precision and energy Consumption; (3) series and further riding, hard work mechanism design Confucianism or intellectuals should be based on the consideration of the above-mentioned institutions, (4) light body improved to parallel | «机构·, 隹1工 f 4 谢贝τ, reached The advantages of easy control, high load, high precision, etc., and if the mechanism, the hot deformation can be effectively offset, and the fact that the movement angle of the person's posture is adjusted to the desired level, the inventor of the case Is working on a research and development plan,
=匕汗χ出種更符合操控便利性、機構優異性之機器人姿態角度調整 ι冓’以促進此業之發展，遂經多時之構思而有本發明之產生。X 5 200806442 【發明内容】 旋轉姿態角度調整機構’其能具有三個 膨模擬手臂及大腿:====之= ς平台等需要轉動或維持在特定姿態角度場合之機器人姿態角二』 本發明之再-目的係在提供_種機器人姿態角 並聯式水平調整機構 又°正猶’，、此利用 減低慣量，^ 細胸，料_化， ’、、、 有效將熱變形抵消，進而增加其運動之精度者。 -可目__之技術手段’主要係包括有—機座平台； 機座平a =桿組及第三制動伸縮連桿組，該侷限連桿-端係固結於該 ί = 連桿另端係設有—球接頭，賴該可動平台相連接；該 :純、·？倍連:組係包括有一第一電動缸及被該第一電動缸所驅動之第 、梓，5亥第一電動缸係以一第一虎克接頭連接該機座平台，爷 第—球接頭，用與該可動平台相連接；該第二制_ =、、 且係包括有-第二電動缸及被該第二電動缸所驅動之第二致動連桿， 電動缸係以—第二虎克接頭連接該機座平台，該第二致動連桿二 接頭，賴該可動平台相連接；該第三制動伸縮連桿組係包ς 二一第二電動缸及被該第三電動缸所驅動之第三致動連桿，該第三電動缸 係以-第二錢接頭連接該機座平台，該第三致動連桿齡有—第三球接 頭’用與該可動平台相連接；，該第—電動缸、第二電動紅及第三電動紅係 6 200806442 ’㈣達輪—紙屬—細_桿組、 it 鮮三觸伽連桿_崎舰稍為中心而 對稱佈，又於《座平台與該承載平台之外環側部位。 依據前述結構，其中該侷限連桿 旋轉接頭來纽者。 4接雜可為-虎克接頭加上- 頭加上一旋轉接頭 依據前述結構’其中該第一球接頭係可為一 來實現者。 來實結構，其中該第4接頭係可為—虎克接頭加上—旋轉接頭 來實述結構，其中該第三球接頭係可為―虎克接頭加上—旋轉接頭 而該可動平』有 之睁Ξίϊ/輕韻縣發明之技雜徵及所達紅功效更有進一步 人^ ’謹伽較佳之實施麵及配合詳蚊_，說明如後： 【實施方式】 可動本發’人姿態角度調整機構包括有-機座平台1。、 平台20口係作為3〇」該機座平台10係用以設置該連桿組30 ;該可動 模擬手臂及切結平台’用⑽為齡人之姿態肖度調整、 台。 求關即控制，或如搜索雷達、衛星天線等之承載基準平 省連才于組30係設於該機座平台1〇與可動平台⑼… ^伸Ϊ連^組30包括有—侷限連桿31及第一制動伸縮連桿組32 2 5 ^ W31 固結之該端係 1不_1央部位’亦即該侷限連桿31與該機座平台1〇 動狀恶，邊侷限連桿31 3端係設有一球接頭31卜用輿 7 200806442 該可動平台2G相連接，由於該球接頭311係為習知—穩定之機構，故在此 贅述(下同）’而在較佳實施射，該球接頭川係可以―虎克_(萬向接 頭)加〃上-旋機縣實現該球_ 311;鱗—織伸縮連桿組32係包括 有第電動缸321及被該第一電動缸321所驅動之第一致動連桿，嗲 第:電動&：321係以-第-虎克接頭323(萬向接頭)連接該機座平台ι〇，= 匕 χ χ χ 机器人 机器人 机器人 机器人 机器人 机器人 机器人 机器人 机器人 机器人 机器人 机器人 机器人 机器人 机器人 机器人 机器人 机器人 机器人 机器人 机器人 机器人 机器人 机器人 机器人 机器人 机器人 机器人 机器人 机器人 机器人 机器人 机器人 机器人 机器人 机器人 机器人 机器人 机器人X 5 200806442 [Summary of the Invention] The rotary attitude angle adjustment mechanism can have three expansion simulation arms and thighs: ===== ς platform, etc. robot attitude angles that need to be rotated or maintained at a specific attitude angle. The re-purpose is to provide the robot's attitude angle parallel type horizontal adjustment mechanism and then to reduce the inertia, ^ thin chest, material _,,,,, effectively offset the thermal deformation, and then increase its The accuracy of the movement. - The technical means of the main __ mainly includes a platform for the base; the base flat a = the rod set and the third brake telescopic link set, the limited link - end is fixed to the ί = the other link The end system is provided with a ball joint, and the movable platform is connected; the: pure, ·?倍连: The group includes a first electric cylinder and a first and second cymbal driven by the first electric cylinder, and the first electric cylinder is connected to the base platform by a first hook joint, and the ball joint Connected to the movable platform; the second system _ =, and includes a second electric cylinder and a second actuating link driven by the second electric cylinder, the electric cylinder is - second a hook joint is connected to the base platform, the second actuating link two joints are connected to the movable platform; the third brake telescopic link set is a second electric cylinder and the third electric cylinder a third actuating link driven, the third electric cylinder is connected to the base platform by a second money joint, and the third actuating link is connected with the movable platform ;, the first - electric cylinder, the second electric red and the third electric red series 6 200806442 '(four) up to the wheel - paper genus - fine _ rod group, it fresh three-touch _ link _ Saki ship slightly centered and symmetrical cloth, and On the seat platform and the outer side of the bearing platform. According to the foregoing structure, the confinement link rotary joint is new. The fourth junction can be a - a hook connector plus a head plus a rotary joint. The first ball joint can be implemented in accordance with the foregoing structure. The solid structure, wherein the fourth joint can be a Hook joint plus a rotary joint to describe the structure, wherein the third ball joint can be a Hook joint plus a rotary joint and the movable joint has睁Ξ ϊ ϊ 轻 轻 轻 轻 轻 轻 发明 发明 发明 发明 发明 发明 发明 发明 发明 发明 发明 发明 发明 发明 发明 发明 发明 发明 发明 发明 发明 发明 发明 发明 发明 发明 发明 发明 发明 发明 发明 发明 发明 发明 发明 发明 发明 发明 发明 发明 发明 发明 发明The adjustment mechanism includes a platform platform 1. The platform 20 is used as the 3"". The platform 10 is used to set the link set 30. The movable simulation arm and the cutting platform are adjusted (10) for the posture of the aged person. Seeking to control, or the load-bearing reference such as search radar, satellite antenna, etc. is only in the group 30 is set on the platform platform 1〇 and the movable platform (9)... ^ΪΪ连^ group 30 includes - limited link 31 and the first brake telescopic link set 32 2 5 ^ W31 The end portion 1 of the consolidation is not the central portion ', that is, the confinement link 31 and the base platform 1 are squirming, and the boundary link 31 is The 3 end is provided with a ball joint 31 and the 舆 7 200806442. The movable platform 2G is connected. Since the ball joint 311 is a conventional-stable mechanism, it is described here (the same below) and is preferably executed. The ball joint Chuan system can realize the ball _ 311 by the 虎 _ _ (universal joint) twisting up-rotating machine county; the scale-woven telescopic link set 32 includes the first electric cylinder 321 and the first electric cylinder The first actuating link driven by 321 , the first: electric & 321 is connected to the platform ι by a -h-hook joint 323 (universal joint),
邊第-致動連桿322係設有-第-球接頭324，用與該可動平台⑼相連接。 —承接上述，該第二制動伸縮連桿組33係包括有一第二電動&剡及被 該第二電動缸331所驅動之第二致動連桿微，該第二電動&咖係以一第 二虎級頭333(萬向接頭)連接該機座平台1〇，該第二致動連桿332係設 有-/第二球接頭334，用與該可動平台2G相連接；該第三制動伸縮連桿= 34係包括有一第二電動缸341及被該第三電動紅341所驅動之第三致動連 =42，該第三電動缸341係以一第三虎克接頭⑽（萬向接頭)連接該機座 平口 1〇，該第三致動連桿342係設有一第三球接頭344，用與該可動平台 20相連接；該第-電動缸32卜第二電躲331及第三電動紅341係分二 為:馬達所驅動（未圖示），如無刷直流馬達，各該馬達係連接_電腦，因 此藉該電腦來分別驅動該第一電動缸32卜第二電動缸331及第三電動缸 341，而使該第-致動連桿322、第二致動連桿微及第三致動雜撕產 生伸縮作動，用以控制並調整該需要之姿態角度。 W迷該第-制動伸縮連桿組32、第二制動伸縮連桿組沿及第三制動伸 縮連桿組34躺⑽侷限連桿31為中心而對稱佈設於該機座平α 1〇鱼可 動平台2G之外環側部位。而在較佳實施例中，該第—球接頭辦、第二球 ，頭33^及第^球接頭344係可以一虎克接頭（萬向接頭)加上一旋轉接頭 來分別貫現該等球形接頭。 、 再者’該機座平台1G及承載平台2G上係進_步設有_肖度感測哭… 42(如陀獅’藉該角度感測器4卜42可連結電腦而感測該機座平台 所處的位置驗及該可動平台2〇相應之位置角度，以自動控制雛盆水平 角度，進而使維持在固定水平角度範圍内，而適用於機器人之姿態角度調 200806442 擬手臂及大腿之球，控制，或搜索料、衛星天線、砲塔及穩定 #要轉動至或轉在蚊絲角度之場合。 之攻能ί圖係、本毛明之應用範園示意圖，如圖所示，當應用於機器人 tTm ： A' ^MkUp b ^ mmm 侧L射祕烟1節轉’模娜嶋A、模擬手臂_β、模擬腰 掸^且ΐ=大腿關節D即本發明之角度調整機構，而使機器人整體之 餘?工更具里活性、細微性與精準性。 二 ^本發明全系統示意方塊圖，如圖所示，該電腦51控制該 3_日士 桿組(水平調整機構)53，該連桿組 至忒甩細51，以進行判斷而控制該馬達組52。 惟=戶=trr已符合發明專利之要件，爰依法提_申請。 ιπ ^ 發雜佳實關耐，麟絲限林發明實施之 之均錢化與修飾，均應包括於本發明之申請專利範圍内。祷所為 【圖式簡單說明】 第1圖係本發明之結構示意圖； 第2圖係本發明應用範圍示意圖；以及 第3圖係本發明全系統示意方塊圖。 【主要元件符號說明】 10 機座平台 20 可動平台 30 連桿組 31 侷限連桿 32 第一制動伸縮連桿組 9 200806442The side-actuating link 322 is provided with a - ball joint 324 for connection to the movable platform (9). In the above, the second brake telescopic link set 33 includes a second electric motor & and a second actuating link micro-driven by the second electric cylinder 331, the second electric & a second tiger-level head 333 (universal joint) is connected to the base platform 1 , and the second actuation link 332 is provided with a second ball joint 334 for connecting with the movable platform 2G; The third brake telescopic link=34 includes a second electric cylinder 341 and a third actuation linkage 42 driven by the third electric red 341, and the third electric cylinder 341 is a third Hooke joint (10) ( The universal joint) is connected to the flat end of the base, and the third actuating link 342 is provided with a third ball joint 344 for connecting with the movable platform 20; the first electric cylinder 32 is electrically shielded. And the third electric red 341 is divided into two parts: a motor driven (not shown), such as a brushless DC motor, each of which is connected to a computer, so the computer is used to drive the first electric cylinder 32, respectively. The electric cylinder 331 and the third electric cylinder 341 cause the first actuation link 322, the second actuation link micro and the third actuation miscellaneous tear to generate expansion and contraction To control and adjust the required angle of attitude. The first brake-bounce link group 32 and the second brake telescopic link set are symmetrically disposed on the base of the third brake squirrel link 34 along the third brake link group 34 (10). The outer side of the platform 2G. In a preferred embodiment, the first ball joint, the second ball, the head 33^ and the ball joint 344 can be respectively connected by a hook joint (universal joint) and a rotary joint. Ball joint. Furthermore, 'the platform of the base 1G and the platform of the load-bearing platform 2G are equipped with _ Xiao degree sensing cry... 42 (such as the lion's can use the angle sensor 4 42 to connect to the computer and sense the machine The position of the platform is checked with the corresponding position angle of the movable platform 2 to automatically control the horizontal angle of the cub, so as to maintain the fixed horizontal angle range, and is suitable for the posture angle adjustment of the robot 200806442, the arm and the thigh Ball, control, or search material, satellite antenna, turret and stability # to turn to or turn to the angle of the mosquito. The attack can be used to map the application of this model, as shown in the figure, when applied Robot tTm : A' ^MkUp b ^ mmm side L shot secret cigarette 1 section turn 'model Na嶋 A, simulated arm _β, simulated waist 掸 ^ and ΐ = thigh joint D is the angle adjustment mechanism of the present invention, and the robot Overall, the work is more active, subtle and precise. 2. The whole system schematic block diagram of the present invention, as shown in the figure, the computer 51 controls the 3_Japanese pole group (horizontal adjustment mechanism) 53, which The link set to the shank 51 controls the motor unit 52 for determination. Only = household = trr has met the requirements of the invention patent, 提 _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ In the scope of the present invention, Fig. 1 is a schematic view of the structure of the present invention; Fig. 2 is a schematic diagram of the application range of the present invention; and Fig. 3 is a schematic block diagram of the whole system of the present invention. 10 base platform 20 movable platform 30 connecting rod set 31 limited link 32 first brake telescopic link set 9 200806442
33 第二制動伸縮連桿組 34 第三制動伸縮連桿組 311 球接頭 321 第一電動缸 322 第一致動連桿 323 第一虎克接頭 324 第一球接頭 331 第二電動缸 332 第二致動連桿 333 第二虎克接頭 334 第二球接頭 341 第三電動缸 342 第三致動連桿 343 第三虎克接頭 344 第三球接頭 41 角度感測器 42 角度感測器 51 電腦 52 馬達組 53 連桿組 54 角度感測器 A 模擬頸部關節 B 模擬手臂關節 C 模擬腰部關節 D 模擬大腿關節 1033 second brake telescopic link set 34 third brake telescopic link set 311 ball joint 321 first electric cylinder 322 first actuating link 323 first hook joint 324 first ball joint 331 second electric cylinder 332 second Actuating link 333 Second hook connector 334 Second ball joint 341 Third electric cylinder 342 Third actuating link 343 Third hook connector 344 Third ball joint 41 Angle sensor 42 Angle sensor 51 Computer 52 Motor Group 53 Link Set 54 Angle Sensor A Simulated Neck Joint B Simulated Arm Joint C Simulated Lumbar Joint D Simulated Thigh Joint 10