201121741 六、發明說明： 【發明所屬之技術領域】 [0001] 本發明涉及一種並聯機構，特別涉及一種用於機器人中 之並聯機構。 【先前技術】 [〇〇〇2] 機器人中常採用並聯機構以實現多方位之快速運動，且 並聯機構相對於串聯機構具有剛度大、結構穩定、承載 能力強、精度高等優點，擴大了機器人之應用領域。 ❹ 〇 [0003] 一種並聯機構’包括固定平台、可勒平台以及連接於固 定平台與可動平台之間之三主動支鏈及一從動支鍵。主 動支鏈包括與ϋ定平台固定連接之驅動與可動平 台鉸接之第一連桿及鉸接於驅動裝置及第、一連桿之間之 第二連桿。驅動裝置包括伺服電機及減速器，藉由減速 器來調節主動支鏈中之第一連桿之轉動速度。然，減速 器之成本較高’故此種並聯機構之整體製作成本較高。 另’減速器結構較為複雜，不便 -hr %, < ? f ψ 【發明内容】 ' [0004]鑒於上述狀況，有必要提供一種結構簡單且成本較低之 並聯機構。 [0005] 一種並聯機構，包括固定平台、可動平台、連接於固定 平台與可動平台之間之平移支鏈及轉動支鍵以及固定平 台上之第一動力裝置及第二動力裝置，第一動力裝置提 供平移支鏈之運動動力，第二動力裝置提供轉動支鏈之 動力裝置’平移支鏈包括第一傳動件，該第一傳動件具 有傳動部，傳動部具有弧形邊緣，該弧形邊緣形成有齒 098144062 表單編號Α0101 第3頁/共15頁 0982075406-0 201121741 狀結構，第一動力裝置包括與傳動部之齒狀結構嚙合之 主動齒輪。 [0006] 上述並聯機構藉由採用互相嚙合之第一傳動件及主動齒 輪來改變第一動力裝置至平移支鏈之傳動比，生產成本 較低。另，並聯機構之平移支鏈之平移角度通常於一定 範圍内，故將第一傳動件之傳動部之弧形邊緣之角度根 據平移角度來設置，而無需採用圓形齒輪，節省了空間 ，減少了轉動慣量，使該並聯機構之結構簡單且具有較 高之傳動精度。 【實施方式】 [0007] 下面結合附圖及實施方式對本發明提供之並聯機構作進 一步詳細說明。 [0008] 請參閱圖1，本發明實施方式提供之並聯機構100包括固 定平台10、可動平台20、連接於固定平台10與可動平台 20之間之平移支鏈30及轉動支鏈40，及固定於固定平台 10上之第一動力裝置50及第二動力裝置60。 [0009] 固定平台10基本呈圓形，自固定平台10之邊緣向其中心 部分開設有三安裝口 11，該三安裝口 11基本均勻分佈於 固定平台上。每一安裝口 11之相對二側還形成有連接部 13，連接部13中安裝有支撐軸承131。固定平台10之中 心還貫通開設有安裝孔15。當然，固定平台10亦可為三 角形等其他形狀。 [0010] 請同時參閱圖1及圖2，可動平台20之週緣上凸出形成有 三連接部21，每一連接部21上開設有連接孔211。 098144062 表單編號A0101 第4頁/共15頁 0982075406-0 201121741 [0011] [0012] Ο [0013] Ο [0014] 098144062 0982075406-0 平移支鍵30數量為三，每一平移支鍵3〇包括第一傳動件 31及第二傳動件33。 第一傳動件31包括傳動部311、傳動捍313及轉軸315。 傳動部311基本呈扇形’其弧形邊緣形成有齒狀結構3111 。傳動桿313自扇形之圓心遠離傳動部311延伸形成，其 遠離傳動部311之一端開設有連接孔3131。轉軸315基本 垂直穿過傳動桿313。傳動部311之扇形角度根據並聯機 構100所需要之平移角度設置。 請同時參閱圊2至圖4，第二傳動件33為四連桿結構，包 括第一連桿331、第二連桿332及連接於第一連桿331及 第二連桿332間之第一樞轉組件333、第二掩轉組件334 、第三樞轉叙件335、第四框轉組件336及加強桿337。 四樞轉組件333、334、335 ' 366均包括轉動連接之第_ 轉動件3331及第二轉動件3333。第一、第二樞轉組件 333、 334藉由第一轉動件3331分別連接於第一連桿331 之二端，第三、第四柩轉組件3声5、336藉由第_轉動件 3331分別連接於第二連桿3^2冬二端《加強桿337用於連 接第一連桿331及第二連桿332，並可增加第一連桿331 及第二連桿332之連接強度及整個四連桿結構穩定性。本 實施方式中’第一、第一、第二、第四拖轉組件Mg 334、 335、336為球鉸鏈結構。 第一動力裝置50數量為三，分別安裝於固定平台丨〇之= 安裝口 11旁，以提供平移支鏈30之動力。第一動力裝置 50包括馬達51及與馬達51固定連接之主動齒輪53。主％ 齒輪53與第一傳動件31之傳動部311之齒狀結構3111嗜 表單編號Α0101 第5頁/共15頁 201121741 合’主動齒輪53之半徑小於第一傳動件31之傳動部311之 半徑，從而起到減速之作用。 [⑻15]第一動力裝置數量為一，安裝於固疋平口 之安震孔 15中，以提供轉動支鏈40之動力。第二動力裴置60包括 馬達61、與馬達61連接之主動齒輪（圖未不）及與主動 齒輪嚙合之傳動齒輪63。傳動齒輪63與轉動支鏈40活動 連接’從而驅動轉動支鏈40轉動。 [0016]請再次參閱囷i至圖4，組裝該並聯機構時，第—動力 裝置50及第二動力裝置6〇固定於固定平台1〇上。平移支 鏈3 0之第一傳羚件3!之轉軸3丨5之二端分別收容於固定平 台10之支撐軸承131内，以實’現轉動連接。第—傳動件31 之傳動部311自固定平台1〇乏安裝口丨1處伸出並與固定於 固定平台10上之主動齒輪53嚙合。第二傳動件33藉由第 二、第四柩轉組件334、336之第二轉糸件3333穿過第一 傳動件31之連接孔3131與第一傳動件31轉動連接。第一 、第三樞轉組件333、335之第二轉動件3333穿過可動平 台20之連接部21之連接孔211與可動平台20轉動連接。 轉動支鍵40 一端與可動平台20轉動連接，另-端穿過固 定平台10之安裝孔15與固定平台1〇轉動連接。201121741 VI. Description of the Invention: [Technical Field of the Invention] [0001] The present invention relates to a parallel mechanism, and more particularly to a parallel mechanism for use in a robot. [Prior Art] [〇〇〇2] Parallel mechanisms are often used in robots to achieve multi-directional fast motion, and the parallel mechanism has the advantages of high rigidity, stable structure, strong carrying capacity, high precision, etc., and expands the application of the robot. field. ❹ 〇 [0003] A parallel mechanism 'includes a fixed platform, a Keller platform, and three active branches and a driven branch connected between the fixed platform and the movable platform. The active branch includes a first link hingedly coupled to the stationary platform and a second link hinged between the drive and the first link. The driving device includes a servo motor and a speed reducer, and the speed of rotation of the first link in the active branch is adjusted by the speed reducer. However, the cost of the reducer is higher, so the overall manufacturing cost of such a parallel mechanism is higher. Further, the structure of the reducer is complicated, and it is inconvenient - hr %, < ? f ψ [Summary of the Invention] [0004] In view of the above circumstances, it is necessary to provide a parallel mechanism which is simple in structure and low in cost. [0005] A parallel mechanism includes a fixed platform, a movable platform, a translational branch and a rotating support connected between the fixed platform and the movable platform, and a first power device and a second power device on the fixed platform, the first power device Providing a moving power of the translational branch, the second power unit providing a rotating branch power unit 'the translational branch includes a first transmission member having a transmission portion having a curved edge, the curved edge forming Toothed 098144062 Form No. 1010101 Page 3 of 15 0982075406-0 201121741 The first power unit includes a driving gear that meshes with the toothed structure of the transmission. [0006] The parallel mechanism described above changes the transmission ratio of the first power unit to the translational branch by using the first transmission member and the driving gear that mesh with each other, and the production cost is low. In addition, the translation angle of the translational branch of the parallel mechanism is usually within a certain range, so the angle of the curved edge of the transmission portion of the first transmission member is set according to the translation angle, without using a circular gear, saving space and reducing The moment of inertia makes the parallel mechanism simple in structure and has high transmission accuracy. [Embodiment] The parallel mechanism provided by the present invention will be further described in detail below with reference to the accompanying drawings and embodiments. Referring to FIG. 1 , a parallel mechanism 100 according to an embodiment of the present invention includes a fixed platform 10 , a movable platform 20 , a translational branch 30 and a rotating branch 40 connected between the fixed platform 10 and the movable platform 20 , and fixed The first power unit 50 and the second power unit 60 are fixed on the platform 10. [0009] The fixed platform 10 is substantially circular, and three mounting openings 11 are formed from the edge of the fixed platform 10 toward the central portion thereof. The three mounting openings 11 are substantially evenly distributed on the fixed platform. A connecting portion 13 is formed on the opposite sides of each mounting opening 11, and a supporting bearing 131 is mounted in the connecting portion 13. A mounting hole 15 is also formed in the center of the fixed platform 10. Of course, the fixed platform 10 may also have other shapes such as a triangle. [0010] Referring to FIG. 1 and FIG. 2 simultaneously, three connecting portions 21 are formed on the periphery of the movable platform 20, and each connecting portion 21 is provided with a connecting hole 211. 098144062 Form No. A0101 Page 4 / Total 15 Page 0992075406-0 201121741 [0012] [0013] Ο [0014] 098144062 0982075406-0 The number of translational keys 30 is three, and each translational key 3 includes A transmission member 31 and a second transmission member 33. The first transmission member 31 includes a transmission portion 311, a transmission yoke 313, and a rotating shaft 315. The transmission portion 311 is substantially fan-shaped, and its curved edge is formed with a toothed structure 3111. The transmission rod 313 is formed from the center of the fan shape away from the transmission portion 311, and a connection hole 3131 is formed away from one end of the transmission portion 311. The rotating shaft 315 passes through the transmission rod 313 substantially vertically. The fan angle of the transmission portion 311 is set according to the translation angle required for the fabric 100. Please refer to 圊2 to FIG. 4 at the same time, the second transmission member 33 is a four-link structure, including a first link 331, a second link 332 and a first connection between the first link 331 and the second link 332. The pivoting assembly 333, the second obscuring assembly 334, the third pivoting member 335, the fourth frame rotating assembly 336, and the reinforcing rod 337. The four pivoting assemblies 333, 334, 335 '366 each include a first rotating member 3331 and a second rotating member 3333 that are rotationally coupled. The first and second pivoting members 333 and 334 are respectively connected to the two ends of the first connecting rod 331 by the first rotating member 3331, and the third and fourth rotating member 3 are sounded 5, 336 by the first rotating member 3331. Connected to the second link 3^2, the second end of the second link, the reinforcing rod 337 is used to connect the first link 331 and the second link 332, and the connection strength between the first link 331 and the second link 332 can be increased. The stability of the entire four-bar linkage structure. In the present embodiment, the first, first, second, and fourth dragging assemblies Mg 334, 335, and 336 are ball hinge structures. The first power units 50 are three in number and are mounted next to the fixed platform = = mounting port 11 to provide the power to translate the branches 30. The first power unit 50 includes a motor 51 and a driving gear 53 fixedly coupled to the motor 51. The main % gear 53 and the toothed structure 3111 of the transmission portion 311 of the first transmission member 31 are in the form number Α0101. Page 5/15 pages 201121741 The radius of the 'drive gear 53 is smaller than the radius of the transmission portion 311 of the first transmission member 31. , thus playing a role in slowing down. [(8)15] The first power unit has a number of one and is mounted in the anchoring hole 15 of the fixed flat opening to provide the power for rotating the branch 40. The second power unit 60 includes a motor 61, a driving gear coupled to the motor 61 (not shown), and a transmission gear 63 meshing with the driving gear. The drive gear 63 is movably coupled to the rotating branch 40 to drive the rotating branch 40 to rotate. [0016] Referring again to FIG. 4, when the parallel mechanism is assembled, the first power unit 50 and the second power unit 6 are fixed to the fixed platform 1A. The two ends of the rotating shaft 3丨5 of the first translating member 3 of the translating chain 30 are respectively received in the supporting bearing 131 of the fixed platform 10, and are connected in real rotation. The transmission portion 311 of the first transmission member 31 projects from the lacking mounting port 1 of the fixed platform 1 and meshes with the driving gear 53 fixed to the fixed platform 10. The second transmission member 33 is rotatably coupled to the first transmission member 31 through the connecting hole 3131 of the first transmission member 31 by the second transfer member 3333 of the second and fourth twisting assemblies 334,336. The second rotating member 3333 of the first and third pivoting members 333, 335 is rotatably coupled to the movable platform 20 through the connecting hole 211 of the connecting portion 21 of the movable platform 20. One end of the rotating key 40 is rotatably connected to the movable platform 20, and the other end is rotatably connected to the fixed platform 1 through the mounting hole 15 of the fixing platform 10.
[0017] 098144062 工作時’千移支鏈3。之第1動 之驅動下繞固定平台10之連 =置5。 動件33實現平移、轉料運動，Π3轉動’並帶動第二傳 相對固定平台10於空間内移勤，從而實現平移支鏈30之 固定平台1G於空間㈣三維冑並帶動可動平台20相對 力裝置60之驅動下相對固定平^轉動支鍵40於第二動 第6頁/共15/10轉動’並帶動可動平 表單編號Α0101 0982075406-0 201121741 m 台2G内部轉動。從而實M動+σ2()相對时平台l〇之 平移及可動平台20内部之轉動 [0018] 本發明實施方式之旅聯機搆1〇〇藉由互相嚙合之主動齒輪 53及第一傳動件31之齒狀結構3111來改變第一傳動件31 之轉動速度，而無需採用滅速器等結構複雜、不便於維 修之機構，故成本較低。另，因第一傳動件31之傳動部 311採用扇形結構，扇形之角度可根據並聯機構1〇〇所需 要之移動角度來設置，而無需採用圓形齒輪，可節省空 〇 間，使結構簡單。扇形結構之傳動部311所需要之驅動力 亦較圓形齒輪小，故轉動過程中之轉動慣量亦較小，可 提高傳動精度。 [0019] 可以理解，第一傳動件31之傳動，部311亦.可不為扇形，如 圓環形等，僅需其具有弧形邊緣即可。 [0020] 綜上所述，本發明確已符合發明專利之要件，遂依法提 出專利申請。惟，以上所述者僅為米發明之較佳實施方 Q 式，自不能以此限制本案之申請專利叙圍《舉凡熟悉本 案技藝之人士援依未發明之精神所作之等效修飾或變化 ，皆應涵蓋於以下申請專利範圍内。 【圖式簡單說明】 [0021] 圖1係本發明實施方式之並聯機構之立體組合圖。 [0022] 圖2係圖1所示並聯機構之另一視角之局部立體分解圖》 [0023] 圖3係圖1所示並聯機構之第二傳動件之立體分解圖。 [0024] 圖4係圖2所示並聯機構IV處之放大結構圖。 098144062 表單編號Α0101 第7頁/共15頁 0982075406-0 201121741 【主要元件符號說明】 [0025] 並聯機構100 [0026] 固定平台10 [0027] 可動平台20 [0028] 平移支鏈30 [0029] 轉動支鏈40 [0030] 第一動力裝置50 [0031] 第二動力裝置60 [0032] 安裝口 11 [0033] 連接部13、21 [0034] 支撐軸承131 [0035] 安裝孔15 [0036] 連接孔211、3131 [0037] 第一傳動件31 [0038] 第二傳動件33 [0039] 傳動部311 [0040] 傳動桿313 [0041] 轉軸315 [0042] 齒狀結構3111 [0043] 第一連桿331 098144062 表單編號A0101 第8頁/共15頁 0982075406-0 201121741 [0044] 第二連桿332 [0045] 第一樞轉組件 333 [0046] 第二樞轉組件 334 [0047] 第三樞轉組件 335 [0048] 第四樞轉組件 336 [0049] 加強桿337 [0050] 第一轉動件3331 [0051] 第二轉動件3333 [0052] 馬達51、61 [0053] 主動齒輪53 [0054] 傳動齒輪63 098144062[0017] 098144062 Working at the 'thousand shifting branch 3. The connection of the fixed platform 10 under the driving of the first motion = set 5. The moving member 33 realizes the translation and the feeding movement, and the Π3 rotates 'and drives the second transmission to move relative to the fixed platform 10 in the space, thereby realizing the fixed platform 1G of the translational branch 30 in the space (4) three-dimensional 胄 and driving the relative force of the movable platform 20 Under the driving of the device 60, the fixed flat rotation key 40 is rotated on the second movement 6th page/total 15/10' and drives the movable flat form number Α0101 0982075406-0 201121741 m 2G internal rotation. Therefore, the translation of the platform M〇 and the rotation of the movable platform 20 in the relative movement of the real M++2() are performed by the intermeshing driving gear 53 and the first transmission member 31. The tooth structure 3111 changes the rotational speed of the first transmission member 31, and the mechanism is complicated and the maintenance is not required, and the cost is low. In addition, since the transmission portion 311 of the first transmission member 31 adopts a fan-shaped structure, the angle of the fan shape can be set according to the moving angle required by the parallel mechanism 1〇〇, without using a circular gear, which can save space and make the structure simple. . The driving force required for the transmission portion 311 of the sector structure is also smaller than that of the circular gear, so the moment of inertia during the rotation is also small, and the transmission accuracy can be improved. [0019] It can be understood that the transmission of the first transmission member 31, the portion 311 may not be a fan shape, such as a circular ring or the like, and only needs to have a curved edge. [0020] In summary, the present invention has indeed met the requirements of the invention patent, and the patent application is filed according to law. However, the above-mentioned ones are only the preferred implementer of the invention of the meter, and it is not possible to limit the patent application of the case to the equivalent modification or change of the person who is familiar with the skill of the case. All should be covered by the following patent application. BRIEF DESCRIPTION OF THE DRAWINGS [0021] FIG. 1 is a perspective assembled view of a parallel mechanism according to an embodiment of the present invention. 2 is a partially exploded perspective view of another perspective view of the parallel mechanism shown in FIG. 1. [0023] FIG. 3 is an exploded perspective view of the second transmission member of the parallel mechanism shown in FIG. 1. 4 is an enlarged structural view of the parallel mechanism IV shown in FIG. 2. 098144062 Form No. 1010101 Page 7 / Total 15 Page 0992075406-0 201121741 [Main Component Symbol Description] [0025] Parallel Mechanism 100 [0026] Fixed Platform 10 [0027] Movable Platform 20 [0028] Translational Chain 30 [0029] Rotation Branch 40 [0030] First power unit 50 [0031] Second power unit 60 [0032] Mounting port 11 [0033] Connecting portion 13, 21 [0034] Support bearing 131 [0035] Mounting hole 15 [0036] Connecting hole 211, 3131 [0037] first transmission member 31 [0038] second transmission member 33 [0039] transmission portion 311 [0040] transmission rod 313 [0041] shaft 315 [0042] tooth structure 3111 [0043] first link 331 098144062 Form No. A0101 Page 8 of 15 0982075406-0 201121741 [0044] Second Link 332 [0045] First Pivoting Assembly 333 [0046] Second Pivoting Assembly 334 [0047] Third Pivoting Assembly 335 [0048] Fourth pivoting assembly 336 [0049] Reinforcing rod 337 [0050] First rotating member 3331 [0051] Second rotating member 3333 [0052] Motor 51, 61 [0053] Driving gear 53 [0054] Transmission gear 63 098144062
表單編號A0101 第9頁/共15頁 0982075406-0Form No. A0101 Page 9 of 15 0982075406-0