TWI428216B - Rotation mechanism and robot using the same - Google Patents
Rotation mechanism and robot using the same Download PDFInfo
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- TWI428216B TWI428216B TW98144041A TW98144041A TWI428216B TW I428216 B TWI428216 B TW I428216B TW 98144041 A TW98144041 A TW 98144041A TW 98144041 A TW98144041 A TW 98144041A TW I428216 B TWI428216 B TW I428216B
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Description
本發明涉及一種轉動機構，尤其涉及一種可擺動之轉動機構及使用該轉動機構之機器人。 The invention relates to a rotating mechanism, in particular to a swingable rotating mechanism and a robot using the same.
並聯機器人具有剛度大、承載能力強、精度高、自重負荷比小、動力性能好等一系列優點，與目前廣泛應用之串聯機器人於應用上構成互補關係，因而擴大了機器人之應用領域。三角架機器人(Delta Robot)係一種最典型之空間三自由度並聯機器人，其整體結構簡單、緊湊，具有良好之運動學和動力特性。 Parallel robots have a series of advantages such as high rigidity, high bearing capacity, high precision, small self-weight load ratio and good dynamic performance. They are complementary to the application of the currently widely used series robots, thus expanding the application field of robots. Delta Robot is one of the most typical space three-degree-of-freedom parallel robots. Its overall structure is simple and compact, with good kinematics and dynamic characteristics.
一種三角架機器人，包括支架、可動平台及連接支架與可動平台之一轉軸和三平移擺臂。轉軸兩端分別球鉸於該支架及該可動平台，並可實現獨立之旋轉運動，三平移擺臂可實現XYZ三維度之平移運動。工作時，電機或其他驅動器驅動三擺臂作一定角度之轉擺運動，並帶動轉軸作出相應角度之擺動，從而實現可動平台之三維運動。惟，受轉軸之長度所限，使得擺臂之平移距離受到限制，導致採用該機器人之運動靈活性較小。 A tripod robot includes a bracket, a movable platform and a connecting bracket and a movable platform and a three-translation swing arm. The two ends of the rotating shaft are respectively hinged on the bracket and the movable platform, and can realize independent rotating motion, and the three-translation swing arm can realize the translational movement of the XYZ three-dimensional degree. During operation, the motor or other driver drives the three swing arms to make a certain angle of the swing motion, and drives the shaft to swing at a corresponding angle, thereby realizing the three-dimensional motion of the movable platform. However, limited by the length of the rotating shaft, the translational distance of the swing arm is limited, resulting in less flexibility of movement using the robot.
有鑒於此，有必要提供一種運動靈活性較高之轉動機構及使用該機構之機器人。 In view of this, it is necessary to provide a rotating mechanism with high flexibility of movement and a robot using the same.
一種轉動機構，包括法蘭、主軸、第一擺動件、二第一轉軸、第 二擺動件及二第二轉軸。法蘭上開設有第一容置孔和二用於容置二第一轉軸之第一軸孔。第一擺動件位於第一容置孔內並藉由二第一轉軸轉動連接於法蘭。第一擺動件上開設有第二容置孔和二用於容置二第二轉軸之第二軸孔。第二擺動件位於該第二容置孔內並藉由二第二轉軸轉動連接於第一擺動件。二第二軸孔所共有之軸線與二第一軸孔所共有之軸線垂直。第二擺動件上開設有第三容置孔，主軸活動穿設於第三容置孔並隨第二擺動件一起轉動。主軸還可相對第二擺動件沿第三容置孔軸向運動。 A rotating mechanism includes a flange, a main shaft, a first swinging member, two first rotating shafts, and a first Two swinging members and two second rotating shafts. The flange is provided with a first receiving hole and two first shaft holes for accommodating the two first rotating shafts. The first oscillating member is located in the first accommodating hole and is rotatably connected to the flange by the two first rotating shafts. The first oscillating member is provided with a second accommodating hole and two second shaft holes for accommodating the two second rotating shafts. The second oscillating member is located in the second accommodating hole and is rotatably connected to the first oscillating member by two second rotating shafts. The axis shared by the second shaft holes is perpendicular to the axis common to the two first shaft holes. A third accommodating hole is defined in the second oscillating member, and the spindle is movably disposed in the third accommodating hole and rotates together with the second oscillating member. The main shaft is also axially movable relative to the second oscillating member along the third accommodating hole.
一種機器人，包括支架、可動平台、連接支架與可動平台之擺臂、轉動機構及第一驅動件。轉動機構包括與第一驅動件驅動相連之法蘭、主軸、第一擺動件、二第一轉軸、第二擺動件及二第二轉軸。法蘭上開設有第一容置孔，第一擺動件位於該第一容置孔內並藉由二第一轉軸轉動連接於法蘭。第一擺動件上開設有第二容置孔，第二擺動件位於該第二容置孔內並藉由二第二轉軸轉動連接於第一擺動件。二第二轉軸所共有之軸線與二第一轉軸所共有之軸線垂直。第二擺動件上開設有第三容置孔，主軸活動穿設於第三容置孔並隨第二擺動件一起轉動。主軸還可相對第二擺動件沿第三容置孔軸向運動。 A robot includes a bracket, a movable platform, a swing arm connecting the bracket and the movable platform, a rotating mechanism and a first driving member. The rotating mechanism includes a flange connected to the first driving member, a main shaft, a first swinging member, two first rotating shafts, a second swinging member and two second rotating shafts. A first accommodating hole is defined in the flange, and the first oscillating member is located in the first accommodating hole and is rotatably connected to the flange by the two first rotating shafts. A second accommodating hole is defined in the first oscillating member, and the second oscillating member is located in the second accommodating hole and is rotatably connected to the first oscillating member by two second rotating shafts. The axis shared by the second rotating shaft is perpendicular to the axis shared by the two first rotating shafts. A third accommodating hole is defined in the second oscillating member, and the spindle is movably disposed in the third accommodating hole and rotates together with the second oscillating member. The main shaft is also axially movable relative to the second oscillating member along the third accommodating hole.
上述轉動機構之主軸相對法蘭朝四週作出靈活之擺動之同時還可隨法蘭一起轉動。另外，當三擺臂擺動並帶動可動平台於空間三維內運動時，主軸還可沿第三容置孔之軸向運動，從而延長可動平台移動之距離，使得機器人之工作空間變大，運動靈活性提高。 The main shaft of the above-mentioned rotating mechanism can flexibly rotate with the flange while being flexibly swinged toward the periphery of the flange. In addition, when the three swing arm swings and drives the movable platform to move in three dimensions in space, the main shaft can also move along the axial direction of the third receiving hole, thereby extending the moving distance of the movable platform, so that the working space of the robot becomes larger and the movement is flexible. Sexual improvement.
100‧‧‧轉動機構 100‧‧‧Rotating mechanism
10‧‧‧法蘭 10‧‧‧Flange
11‧‧‧第一容置孔 11‧‧‧First accommodating hole
13‧‧‧第一軸孔 13‧‧‧First shaft hole
15‧‧‧安裝孔 15‧‧‧Mounting holes
17、27‧‧‧鎖定孔 17, 27‧‧‧ Locking holes
19‧‧‧第一止動件 19‧‧‧First stop
20‧‧‧第一擺動件 20‧‧‧First swinging piece
21‧‧‧第二容置孔 21‧‧‧Second accommodating hole
23‧‧‧第二軸孔 23‧‧‧Second shaft hole
25、53‧‧‧軸孔 25, 53‧‧‧ shaft hole
28‧‧‧第二止動件 28‧‧‧Second stop
29‧‧‧第三止動件 29‧‧‧ Third stop
30‧‧‧第一轉軸 30‧‧‧First shaft
31、61‧‧‧卡合部 31, 61‧‧‧Clock Department
33、63‧‧‧轉動部 33, 63‧‧‧ Turning Department
40‧‧‧第一軸套 40‧‧‧First bushing
50‧‧‧第二擺動件 50‧‧‧Second swinging piece
51‧‧‧第三容置孔 51‧‧‧ third accommodating hole
511、83‧‧‧鍵槽 511, 83‧‧‧ keyway
60‧‧‧第二轉軸 60‧‧‧second shaft
70‧‧‧第二軸套 70‧‧‧Second bushing
80‧‧‧套筒 80‧‧‧ sleeve
71‧‧‧定位孔 71‧‧‧Positioning holes
811、91‧‧‧花鍵槽 811, 91‧‧‧ spline slots
85‧‧‧定位鍵 85‧‧‧Targeting keys
90‧‧‧主軸 90‧‧‧ spindle
200‧‧‧機器人 200‧‧‧ Robot
201‧‧‧支架 201‧‧‧ bracket
202‧‧‧齒輪 202‧‧‧ Gears
203‧‧‧可動平台 203‧‧‧ movable platform
205‧‧‧擺臂 205‧‧‧ swing arm
207‧‧‧第一驅動件 207‧‧‧First drive
209‧‧‧第二驅動件 209‧‧‧second drive
圖1係本發明實施方式機器人之立體組裝示意圖，該機器人包括轉動機構。 1 is a schematic perspective view of a robot assembled according to an embodiment of the present invention, the robot including a rotating mechanism.
圖2係圖1所示轉動機構之立體放大示意圖。 2 is a perspective enlarged view of the rotating mechanism shown in FIG. 1.
圖3係圖2所示轉動機構之立體分解示意圖。 3 is a perspective exploded view of the rotating mechanism shown in FIG. 2.
圖4係圖2沿IV-IV線之剖面示意圖。 Figure 4 is a schematic cross-sectional view taken along line IV-IV of Figure 2.
圖5係圖2沿V-V線之剖面示意圖。 Figure 5 is a schematic cross-sectional view taken along line V-V of Figure 2.
下面將結合附圖及實施方式對本發明之轉動機構及機器人作進一步詳細說明。 The rotating mechanism and the robot of the present invention will be further described in detail below with reference to the accompanying drawings and embodiments.
請參閱圖1，本發明實施方式之機器人200為四自由度並聯機器人，其包括一支架201、一可動平台203、三連接支架201與可動平台203之擺臂205及一轉動機構100。支架201上設有一第一驅動件207及一可被第一驅動件207帶動旋轉之齒輪202。轉動機構100包括與齒輪202固定相連之法蘭10及一端穿設於法蘭10且另一端活動相連於可動平台203之主軸90。每一擺臂205一端與支架201活動連接，另一端與可動平台203活動相連。機器人200還包括三與擺臂205驅動相連之第二驅動件209。工作時，第二驅動件209驅動三擺臂205作轉擺運動，以實現可動平台203沿圖示X、Y、Z三方向之平移運動。本實施方式中，第一驅動件207為伺服馬達。 Referring to FIG. 1 , the robot 200 of the embodiment of the present invention is a four-degree-of-freedom parallel robot, which includes a bracket 201 , a movable platform 203 , a three-way bracket 201 , a swing arm 205 of the movable platform 203 , and a rotating mechanism 100 . The bracket 201 is provided with a first driving member 207 and a gear 202 that can be rotated by the first driving member 207. The rotating mechanism 100 includes a flange 10 fixedly coupled to the gear 202 and a main shaft 90 having one end penetrating the flange 10 and the other end being movably coupled to the movable platform 203. One end of each swing arm 205 is movably connected to the bracket 201, and the other end is movably connected to the movable platform 203. The robot 200 also includes three second drive members 209 that are drivingly coupled to the swing arms 205. In operation, the second driving member 209 drives the three swing arms 205 to perform a swing motion to realize the translational movement of the movable platform 203 in the three directions of X, Y, and Z. In the present embodiment, the first driving member 207 is a servo motor.
請同時參閱圖2和圖3，轉動機構100還包括設於法蘭10內部之一第一擺動件20、二第一轉軸30、一第二擺動件50及二第二轉軸60。 Referring to FIG. 2 and FIG. 3 , the rotating mechanism 100 further includes a first swinging member 20 , two first rotating shafts 30 , a second swinging member 50 , and two second rotating shafts 60 disposed inside the flange 10 .
法蘭10大致為圓環形，其具有一用於容置第一擺動件20之圓形第一容置孔11。法蘭10沿圖示Y軸方向之兩側各開設有一可容置第一轉軸30並與第一容置孔11相通之圓形第一軸孔13。二第一軸孔13之軸線相重合。法蘭10之頂面上開設有複數均勻分佈之安裝孔15。複數螺釘(圖未示)可穿過安裝孔15而將法蘭10與齒輪202固定相連。法蘭10之頂面上對應第一軸孔13之部位還開設有二帶螺紋之鎖定孔17。鎖定孔17與第一軸孔13相通。 The flange 10 is substantially annular and has a circular first receiving hole 11 for receiving the first swinging member 20. The flange 10 defines a circular first shaft hole 13 accommodating the first rotating shaft 30 and communicating with the first receiving hole 11 on both sides of the Y-axis direction. The axes of the two first shaft holes 13 coincide. A plurality of evenly distributed mounting holes 15 are formed in the top surface of the flange 10. A plurality of screws (not shown) can be fixedly coupled to the gear 202 through the mounting holes 15. A threaded locking hole 17 is also formed in a portion of the top surface of the flange 10 corresponding to the first shaft hole 13. The locking hole 17 communicates with the first shaft hole 13.
第一擺動件20大致為環形，其具有一大致為方形之第二容置孔21。第一擺動件20沿圖示Y軸方向之兩側各開設有一可容置第一轉軸30並與第二容置孔21相通之第二軸孔23。第一擺動件20沿圖示X軸方向之兩側還各開設有一可容置第二轉軸60並與第二容置孔21相通之圓形軸孔25。二軸孔25之軸線相重合。第一擺動件20之頂面上對應每第二軸孔23之部位還開設有一帶螺紋之鎖定孔27。鎖定孔27與第二軸孔23相通。第一擺動件20對應每軸孔25之部位也開設有一與軸孔25相通之鎖定孔27。為使第一擺動件20可於法蘭10之第一容置孔11繞第一轉軸30轉動，第一擺動件20沿圖示X軸方向之最大寬度小於第一容置孔11之孔徑。 The first oscillating member 20 is substantially annular and has a substantially rectangular second receiving hole 21. The first oscillating member 20 defines a second shaft hole 23 accommodating the first rotating shaft 30 and communicating with the second accommodating hole 21 on both sides of the Y-axis direction. The first oscillating member 20 further defines a circular shaft hole 25 accommodating the second rotating shaft 60 and communicating with the second accommodating hole 21 on both sides of the X-axis direction. The axes of the two axial holes 25 coincide. A threaded locking hole 27 is defined in a portion of the top surface of the first oscillating member 20 corresponding to each of the second shaft holes 23. The locking hole 27 communicates with the second shaft hole 23. The first oscillating member 20 also has a locking hole 27 communicating with the shaft hole 25 at a portion corresponding to each of the shaft holes 25. In order to rotate the first oscillating member 20 around the first accommodating hole 11 of the flange 10, the maximum width of the first oscillating member 20 in the X-axis direction is smaller than the diameter of the first accommodating hole 11.
第一轉軸30大致為兩段式圓柱形，其包括卡合部31和與其相連且直徑稍小之轉動部33。卡合部31可容置並固定於法蘭10之第一軸孔13內。為了防止卡合部31與法蘭10發生相對轉動，轉動機構100還包括二第一止動件19。第一止動件19可進入法蘭10之鎖定孔17而與第一轉軸30之卡合部31相抵。本實施方式中，第一止動件19為止轉螺絲。 The first rotating shaft 30 is substantially a two-stage cylindrical shape, and includes a engaging portion 31 and a rotating portion 33 connected thereto and having a slightly smaller diameter. The engaging portion 31 can be received and fixed in the first shaft hole 13 of the flange 10. In order to prevent the engaging portion 31 from rotating relative to the flange 10, the rotating mechanism 100 further includes two first stoppers 19. The first stopper 19 can enter the locking hole 17 of the flange 10 to abut against the engaging portion 31 of the first rotating shaft 30. In the present embodiment, the first stopper 19 rotates the screw.
轉動機構100還包括第一軸套40。第一軸套40可容置並固定於第 一擺動件20之第二軸孔23內，並可套設於第一轉軸30之轉動部33上並可相對轉動部33轉動。為了防止第一軸套40與第一擺動件20發生相對轉動，轉動機構100還包括二第二止動件28。第二止動件28大致與第一止動件19相同，其可進入第一擺動件20之鎖定孔27而與第一軸套40相抵。 The rotating mechanism 100 also includes a first bushing 40. The first sleeve 40 can be accommodated and fixed to the first The second shaft hole 23 of the oscillating member 20 is sleeved on the rotating portion 33 of the first rotating shaft 30 and rotatable relative to the rotating portion 33. In order to prevent the first sleeve 40 from rotating relative to the first swinging member 20, the rotating mechanism 100 further includes two second stoppers 28. The second stopper 28 is substantially the same as the first stopper 19 and can enter the locking hole 27 of the first swinging member 20 to abut against the first sleeve 40.
第二擺動件50大致為環形，其具有一圓形之第三容置孔51。第三容置孔51之側壁上還開沿軸向開設有一鍵槽511。第二擺動件50沿圖示X軸方向之兩側各開設有一可容置第二轉軸60並與第三容置孔51相通之軸孔53。為使第二擺動件50可於第一擺動件20之第二容置孔21繞第二轉軸60轉動，第二擺動件50沿圖示Y軸方向之寬度小於第二容置孔21之孔徑。 The second oscillating member 50 is substantially annular and has a circular third accommodating hole 51. A key groove 511 is defined in the sidewall of the third receiving hole 51 in the axial direction. The second oscillating member 50 defines a shaft hole 53 accommodating the second rotating shaft 60 and communicating with the third accommodating hole 51 on both sides of the X-axis direction. In order to rotate the second oscillating member 50 around the second accommodating hole 21 of the first oscillating member 20, the width of the second oscillating member 50 in the Y-axis direction is smaller than the diameter of the second accommodating hole 21. .
第二轉軸60與第一轉軸30大致相同，其包括卡合部61和與其相連且直徑稍小之轉動部63。卡合部61可容置於第一擺動件20之軸孔25內。為了防止卡合部61與第一擺動件20發生相對轉動，轉動機構100還包括二第三止動件29。第三止動件29大致與第一止動件19相同，其可進入第一擺動件20之鎖定孔27而與卡合部61相抵。 The second rotating shaft 60 is substantially the same as the first rotating shaft 30, and includes an engaging portion 61 and a rotating portion 63 connected thereto and having a slightly smaller diameter. The engaging portion 61 can be received in the shaft hole 25 of the first swinging member 20. In order to prevent the engaging portion 61 from rotating relative to the first swinging member 20, the rotating mechanism 100 further includes two third stoppers 29. The third stopper 29 is substantially the same as the first stopper 19, and can enter the locking hole 27 of the first swinging member 20 to abut against the engaging portion 61.
轉動機構100還包括二第二軸套70。第二軸套70與第一軸套40大致相同，其可容置並固定於第二擺動件50之軸孔53內，並可套設於第二轉軸60之轉動部63上並可相對轉動部63轉動。 The rotating mechanism 100 further includes two second sleeves 70. The second sleeve 70 is substantially the same as the first sleeve 40. The second sleeve 70 can be received and fixed in the shaft hole 53 of the second swinging member 50, and can be sleeved on the rotating portion 63 of the second rotating shaft 60 and can be rotated relative to each other. The portion 63 rotates.
轉動機構100還包括可容置並固定於第二擺動件50之第三容置孔51之套筒80。套筒80具有圓形定位孔81，定位孔81之側壁上開設有沿軸向之花鍵槽811。套筒80之外側壁上還開設有鍵槽83。轉動機構100還包括定位鍵85。定位鍵85可進入第二擺動件50之鍵槽511與套筒80之鍵槽83所形成之容置空間(未標示)內，以防止 套筒80與第二擺動件50之間發生相對轉動。 The rotating mechanism 100 further includes a sleeve 80 that can be received and fixed to the third receiving hole 51 of the second swinging member 50. The sleeve 80 has a circular positioning hole 81, and a sidewall of the positioning hole 81 is provided with an axially-shaped spline groove 811. A key groove 83 is also formed on the outer side wall of the sleeve 80. The rotation mechanism 100 also includes a positioning key 85. The positioning key 85 can enter the accommodating space (not labeled) formed by the key groove 511 of the second oscillating member 50 and the key groove 83 of the sleeve 80 to prevent A relative rotation occurs between the sleeve 80 and the second swinging member 50.
主軸90大致為可活動穿設於套筒80之長桿，其表面沿軸向開設有可與套筒80之定位孔81之花鍵槽811相配合之花鍵槽91。故主軸90可隨套筒80一起轉動，同時還可沿套筒80軸向滑動。 The main shaft 90 is substantially a long rod movablely disposed on the sleeve 80, and a surface thereof is axially provided with a spline groove 91 which is engageable with the spline groove 811 of the positioning hole 81 of the sleeve 80. Thus, the spindle 90 can rotate with the sleeve 80 while also sliding axially along the sleeve 80.
請一併參閱圖4和圖5，組裝時，首先套筒80進入第二擺動件50之第三容置孔51內，並藉由定位鍵85將二者固定。二第二軸套70進入並固定於第二擺動件50之軸孔53內。 Referring to FIG. 4 and FIG. 5 together, when assembling, the sleeve 80 first enters the third accommodating hole 51 of the second oscillating member 50, and is fixed by the positioning key 85. The second sleeve 70 enters and is fixed in the shaft hole 53 of the second swinging member 50.
第二擺動件50進入第一擺動件20之第二容置孔21內，二第二轉軸60沿圖示X軸方向依次穿過二第二軸套70、第一擺動件20之二軸孔25後，進入第二擺動件50之軸孔53。二第三止動件29分別進入第一擺動件20之鎖定孔27而與二第二轉軸60卡合部61相抵。由此，第二擺動件50藉由第二轉軸60樞接於第一擺動件20並可於第二容置孔21內繞第二轉軸60之軸線旋轉。 The second oscillating member 50 enters the second accommodating hole 21 of the first oscillating member 20, and the second rotating shaft 60 sequentially passes through the second shaft sleeve 70 and the two shaft holes of the first oscillating member 20 in the X-axis direction. After 25, the shaft hole 53 of the second swinging member 50 is entered. The second third stoppers 29 respectively enter the locking holes 27 of the first swinging member 20 and abut against the engaging portions 61 of the second second rotating shafts 60. The second swinging member 50 is pivotally connected to the first swinging member 20 by the second rotating shaft 60 and rotatable about the axis of the second rotating shaft 60 in the second receiving hole 21 .
第一擺動件20進入法蘭10之第一容置孔11內，二第一轉軸30沿圖示Y軸方向依次穿過二第一軸套40、法蘭10之第一軸孔13後，進入第一擺動件20之二第二軸孔23。二第二止動件28分別進入第一擺動件20之鎖定孔27而與第一軸套40相抵，二第一止動件19進入法蘭10之鎖定孔17而與第一轉軸30之卡合部31相抵。由此，第一擺動件20藉由第一轉軸30樞接於法蘭10並可於第一容置孔11內繞第一轉軸30旋轉。主軸90穿設於套筒80之定位孔81中。轉動機構100組裝完畢。 The first oscillating member 20 enters the first accommodating hole 11 of the flange 10, and the two first rotating shafts 30 sequentially pass through the first shaft sleeve 40 and the first shaft hole 13 of the flange 10 in the Y-axis direction. The second shaft hole 23 of the first swinging member 20 is entered. The second stoppers 28 respectively enter the locking holes 27 of the first oscillating member 20 to abut against the first sleeve 40. The two first stoppers 19 enter the locking holes 17 of the flange 10 and are coupled to the first shaft 30. The joint 31 is offset. The first swinging member 20 is pivotally connected to the flange 10 by the first rotating shaft 30 and can rotate around the first rotating shaft 30 in the first receiving hole 11 . The main shaft 90 is bored in the positioning hole 81 of the sleeve 80. The rotating mechanism 100 is assembled.
當需將轉動機構100安裝於機器人200上時，可將轉動機構100之法蘭10固定於齒輪202上，並將主軸90之底端與可動平台203活動 相連。 When the rotating mechanism 100 is to be mounted on the robot 200, the flange 10 of the rotating mechanism 100 can be fixed to the gear 202, and the bottom end of the main shaft 90 and the movable platform 203 can be moved. Connected.
下面簡要敍述機器人200之使用方法。當機器人200處於圖1所示之初始狀態時，可動平台203位於支架201之正下方，此時主軸90與法蘭10所於平面垂直。工作時，三擺臂205於三第二驅動件209之驅動下發生擺動，使可動平台203相對支架201發生移動，從而使主軸90相對法蘭10所於平面發生傾斜。此時第一擺動件20和第二擺動件50可分別繞X軸及Y軸方向旋轉，使主軸90相對於法蘭10進行擺動。同時，主軸90還可於套筒80內進行滑動，從而補償可動平台203運動後其與法蘭10之間距離之變化。第一驅動件207驅動齒輪202旋轉，從而帶動法蘭10旋轉，進而帶動第一擺動件20、第二擺動件50、套筒80及位於套筒80內之主軸90一起旋轉，以將動力輸出到安裝到可動平台203之末端執行器(圖未示)上。 The method of using the robot 200 will be briefly described below. When the robot 200 is in the initial state shown in FIG. 1, the movable platform 203 is located directly below the bracket 201, at which time the spindle 90 is perpendicular to the plane of the flange 10. In operation, the three swing arms 205 are oscillated by the three second driving members 209 to move the movable platform 203 relative to the bracket 201, thereby tilting the main shaft 90 relative to the plane of the flange 10. At this time, the first swinging member 20 and the second swinging member 50 are rotatable about the X-axis and the Y-axis, respectively, so that the spindle 90 is swung relative to the flange 10. At the same time, the spindle 90 can also slide within the sleeve 80 to compensate for the change in distance between the movable platform 203 and the flange 10 after movement. The first driving member 207 drives the gear 202 to rotate, thereby driving the flange 10 to rotate, thereby driving the first swinging member 20, the second swinging member 50, the sleeve 80 and the spindle 90 located in the sleeve 80 to rotate together to output the power. To the end effector (not shown) mounted to the movable platform 203.
由於轉動機構100之主軸90不僅可隨法蘭10一起轉動，還可相對法蘭10朝四週作出靈活之擺動，還可沿套筒80之軸向運動，使得機器人200之可動平台203相對支架201可移動之範圍更大，運動靈活性得以提高。同時，主軸90及套筒80為通用零件，製造、更換較為容易，壽命高、精度可靠。 Since the main shaft 90 of the rotating mechanism 100 can not only rotate together with the flange 10, but also can flexibly swing to the periphery of the flange 10, and can also move along the axial direction of the sleeve 80, so that the movable platform 203 of the robot 200 is opposite to the bracket 201. The range of movement is larger and the flexibility of movement is improved. At the same time, the main shaft 90 and the sleeve 80 are common parts, which are easy to manufacture and replace, and have high life and high accuracy.
可理解，第一止動件19、第二止動件28、第三止動件29及定位鍵85也可省略。第一軸套40和第二軸套70也可換作軸承或者省略。若將套筒80更換為直線軸承，則主軸90上開設之花鍵槽91也可省卻。若花鍵槽直接開設於第二擺動件50之第三容置孔51內，則套筒80也可省卻，此時主軸90活動穿設於第三容置孔51內並可隨第二擺動件50一起轉動。第一驅動件207驅動法蘭10之方式也不限於齒輪傳動、例如可為皮帶傳動等方式。 It can be understood that the first stopper 19, the second stopper 28, the third stopper 29 and the positioning key 85 can also be omitted. The first bushing 40 and the second bushing 70 can also be replaced with bearings or omitted. If the sleeve 80 is replaced with a linear bearing, the spline grooves 91 provided on the main shaft 90 can also be omitted. If the spline groove is directly opened in the third accommodating hole 51 of the second oscillating member 50, the sleeve 80 can also be omitted. At this time, the main shaft 90 is movably disposed in the third accommodating hole 51 and can follow the second oscillating member. 50 rotate together. The manner in which the first drive member 207 drives the flange 10 is also not limited to gear transmission, such as belt drive.
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，以上所述者僅為本發明之較佳實施方式，自不能以此限制本案之申請專利範圍。舉凡熟悉本案技藝之人士援依本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內。 In summary, the present invention has indeed met the requirements of the invention patent, and has filed a patent application according to law. However, the above description is only a preferred embodiment of the present invention, and it is not possible to limit the scope of the patent application of the present invention. Equivalent modifications or variations made by persons skilled in the art in light of the spirit of the invention are intended to be included within the scope of the following claims.
100‧‧‧轉動機構 100‧‧‧Rotating mechanism
10‧‧‧法蘭 10‧‧‧Flange
20‧‧‧第一擺動件 20‧‧‧First swinging piece
30‧‧‧第一轉軸 30‧‧‧First shaft
50‧‧‧第二擺動件 50‧‧‧Second swinging piece
80‧‧‧套筒 80‧‧‧ sleeve
90‧‧‧主軸 90‧‧‧ spindle
Claims (17)
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| TW98144041A TWI428216B (en) | 2009-12-22 | 2009-12-22 | Rotation mechanism and robot using the same |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| TW98144041A TWI428216B (en) | 2009-12-22 | 2009-12-22 | Rotation mechanism and robot using the same |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| TW201121734A TW201121734A (en) | 2011-07-01 |
| TWI428216B true TWI428216B (en) | 2014-03-01 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| TW98144041A TWI428216B (en) | 2009-12-22 | 2009-12-22 | Rotation mechanism and robot using the same |
Country Status (1)
| Country | Link |
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| TW (1) | TWI428216B (en) |
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2009
- 2009-12-22 TW TW98144041A patent/TWI428216B/en not_active IP Right Cessation
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| TW201121734A (en) | 2011-07-01 |
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