Spherical coordinate steering mechanism
By designing the base frame group, end frame group, arc bar group, and drive group of the spherical coordinate motion mechanism, interference and singularity between mechanisms were resolved, achieving stable and efficient spherical coordinate motion control.
Patent Information
- Authority / Receiving Office
- CN · China
- Patent Type
- Patents(China)
- Current Assignee / Owner
- 崔文德
- Filing Date
- 2023-03-01
- Publication Date
- 2026-06-26
AI Technical Summary
In existing technologies, spherical coordinate motion mechanisms are prone to mutual interference and singular phenomena, which are difficult to avoid effectively.
The design employs a base frame group, an end frame group, three arc rod groups, three base drive groups, and three end drive groups. By controlling the geometric relationship of each component and the coordination of the transmission components, interference and strange phenomena between mechanisms are avoided.
Stable operation of the spherical coordinate motion mechanism was achieved, avoiding interference and singularities between mechanisms, and improving the reliability and efficiency of the motion.
Smart Images
Figure CN116690614B_ABST
Abstract
Description
Technical Field
[0001] This invention is a mechanism whose geometric configuration is controlled by motion following spherical coordinates. Background Technology
[0002] This case references three prior cases filed by the applicant: the first prior case (US8579714B2), the second prior case (US9579786B2, EP2863102, CN104511903a, Special Appeal JP2014-196071), and the third prior case (US9851045B2, EP3196532, CN107030682B, Special Appeal JP2017-005465).
[0003] This case inherits the geometric configuration of the three preceding cases. The first preceding case suggests various strange phenomena and their corresponding geometric constraints. The second preceding case is a type II basic toroidal pattern.
[0004] This case inherits the new features of the three previous cases: the number of arc rods has been reduced to three groups, but new transmission components such as end-connected transmission cables and gears have been added. In principle, the drawing descriptions and component numbers in this case are the same as those in the third previous case, so as to facilitate easy analysis and comparison of the differences. Summary of the Invention
[0005] The present invention comprises: a base frame group, a end frame group, three arc rod groups, three base connection drive groups, and three end connection drive groups.
[0006] To make the objectives, features, and advantages of this invention more apparent, the geometric definitions, design specifications, and parameter limitations of each assembly are detailed below. Finally, embodiments are provided in conjunction with the accompanying drawings for detailed explanation. It should be noted that the modules in the drawings are for illustrative purposes only and are not drawn to scale. Attached Figure Description
[0007] Figures 1A-1B The geometric definition diagram and three-dimensional view of the ring track pattern 1 of the base frame structure are shown.
[0008] Figures 2A-2B The geometric definition diagram and three-dimensional view of the second type of ring track with a base frame structure are shown.
[0009] Figures 3A-3C The geometric definition diagram and three-dimensional view of the ring track pattern one of the arc rod group.
[0010] Figures 4A-4C The geometric definition diagram and three-dimensional view of the second type of ring track for the arc rod group.
[0011] Figures 5A-5C The geometric definition diagram and three-dimensional view of the ring track pattern one of the arc rod group.
[0012] Figures 6A-6CThe geometric definition diagram and three-dimensional view of the second type of ring track for the arc rod group.
[0013] Figures 7A-7B The geometric definition diagram and three-dimensional view of the ring track pattern 1 for the end frame structure are shown.
[0014] Figures 8A-8B The geometric definition diagram and three-dimensional view of the ring track pattern two for the end frame structure are shown.
[0015] Figures 9A-9D The three-view and three-dimensional view are for the first embodiment of the ring track pattern.
[0016] Figures 10A-10D These are the three-view and three-dimensional views of the second embodiment of the ring track pattern.
[0017] Explanation of reference numerals in the attached drawings: base frame rotation module 0a, outer tube shaft of base frame rotation module 0a1, inner tube shaft of base frame rotation module 0a2, base frame structure 0c, base-connected arc rod 1c, base-connected drive gear 1g, base-connected driven gear 1h, base-connected drive module 1m, arc rod rotation module 2a, end-connected transmission cable 2b, end-connected arc rod 2c, end-connected drive gear 2g, end-connected driven gear 2h, end-connected drive module 2m, base-connected transmission pulley 2p, end-connected transmission pulley 2q, end-connected idler wheel 2z, end frame rotation module 3a and end frame structure 3c. Detailed Implementation
[0018] This case inherits the geometric configuration of the two previous cases. How to avoid interference between mechanisms and singularities is an important issue. This case refers to the various singularities and corresponding geometric constraints mentioned in the first previous case. Combining the aforementioned circular track of the arc rod group rotating around the same center point between the base frame structure 0c and the two sets of end frame structures 3c, and the aforementioned arrangement of the base arc rod 1c and end arc rod 2c of the same arc rod group rotating around the same geometric track from the same center point, this case is divided into two types of circular track patterns. Type 1 circular track pattern: The track radius of the base frame structure 0c is "greater than" the track radius of the end frame structure 3c, and the track radius of each base arc rod 1c is "greater than" the track radius of each end arc rod 2c, that is: r 0 > r 1 > r 2 > r 3 ,like Figure 1A , Figure 3A , Figure 5A and Figure 7A Type II ring track configuration: The track radius of the base frame structure 0c is "less than" the track radius of the end frame structure 3c, and the track radius of each base connecting arc rod 1c is "less than" the track radius of each end connecting arc rod 2c, that is: r 0 <r 1 < r 2 < r 3 ,like Figure 2A , Figure 4A , Figure 6A and Figure 8A .
[0019] This invention relates to a mechanism that can be controlled by spherical coordinate motion, comprising: a base frame group, a set of end frame groups, three sets of arc rod groups, three sets of base drive groups, and three sets of end drive groups.
[0020] A set of base frames includes a base frame structure 0c composed of several arc frames and three base frame rotation modules 0a installed on the base frame structure 0c. Each base frame rotation module 0a includes an outer tube shaft 0a1 and an inner tube shaft 0a2, so that the outer tube shaft 0a1 and the inner tube shaft 0a2 of the base frame rotation module 0a rotate coaxially. The outer tube shaft 0a1 is divided into a driving end and a driven end, and the inner tube shaft 0a2 is divided into a driving end and a driven end.
[0021] The base frame structure 0c has a base frame geometric triangle with three definable end angles, which defines the output axes of the three base frame rotation modules 0a, and is labeled as a unit vector. U i ,in i=1~3 Each of these points coincides with the center line of the triangle formed by the geometric triangle of the base frame, and the centripetal intersection of these center lines is located at the center point of the base frame structure 0c. The base frame structure 0c is fixedly equipped with three base frame rotation modules 0a. The included angle between the output axes of any two base frame rotation modules 0a is geometrically denoted as... Λ ij = ArcCos(U i •U j ) ,in i=1~3 , j=1~3 ,and i≠j The angle between the output axes of any two base frame rotation modules 0a is greater than 75 degrees and less than 150 degrees, that is: 75°<Λ ij <150° The geometric definition of the base frame structure is as follows: Figures 1A-1B and Figures 2A-2B The geometric orbital radius of the base frame structure 0c is indicated as follows: r 0 ,like Figure 1A and Figure 2A .
[0022] A set of end frames includes an end frame structure 3c composed of several arc frames and three end frame rotation modules 3a mounted on the end frame structure 3c. The end frame structure 3c has a three-end frame geometric triangle with definable end angles, which defines the output axes of the three end frame rotation modules 3a, denoted as unit vectors. V i ,in i=1~3 Each of these points coincides with the center line of the triangle formed by the geometric triangle of the end frame, and the centripetal intersection of these center lines is located at the center point of the end frame structure 3c. The end frame structure 3c is fixedly equipped with three end frame rotation modules 3a. The included angle between the output axes of any two end frame rotation modules 3a is geometrically denoted as... λ ij = ArcCos (V i •V j ) ,in i=1~3 , j=1~3 ,and i≠j The angle between the output axes of any two end frame rotation modules 3a is greater than 75 degrees and less than 150 degrees, that is: 75°<λ ij <150° The geometric definition of the end frame structure is as follows: Figures 7A-7B and Figures 8A-8B The geometric orbital radius of the end frame structure 3c is indicated as follows: r 3 ,like Figure 7A and Figure 8A .
[0023] Three sets of arc rods, each set including a base arc rod 1c, an end arc rod 2c, an arc rod rotation module 2a, a base transmission pulley 2p, an end transmission pulley 2q, an end transmission belt 2b, and at least one pair of end idler pulleys 2z; the base arc rod can be divided into a base end and an end end, and the end arc rod can be divided into a base end and an end end. The end end of the base arc rod 1c and the base end of the end arc rod 2c rotate coaxially via the arc rod rotation module 2a, so that the base end of the base arc rod 1c is coaxially locked to the drive end of the outer tube shaft 0a1 of the base frame rotation module 0a. The end end of the end arc rod 2c rotates coaxially with an end frame rotation module 3a.
[0024] The output axis of the arc rod rotation module 2a is indicated as a unit vector. W i ,in i=1~3 The axis of rotation is normally oriented towards the center point of the end frame, so that the circular track of the arc rod group rotates around the center point between the base frame structure 0c and the two end frame structures 3c. The geometric trajectory radius of the base arc rod 1c is indicated as follows: r 1The geometric trajectory radius of the end-connected arc rod 2c is indicated as follows: r 2 .
[0025] The arc length of the base-connected arc rod 1c is defined as the angle between the base frame rotation module 0a and the arc rod rotation module 2a, and its geometric designation is as follows: α i = ArcCos(U i •W i ) The arc length of the end-connecting arc rod 2c is defined as the angle between the end frame rotation module 3a and the arc rod rotation module 2a, and its geometric representation is as follows: β i = ArcCos(V i •W i ) .
[0026] Referring to the various singularities and corresponding geometric constraints mentioned in the first precedent, the included angle between the output axes of any two base frame rotation modules 0a is less than or equal to the sum of the arc lengths of the corresponding two base-connected arc rods 1c, that is: Λ ij ≤α i +α j ,in i=1~3 , j=1~3 ,and i≠j The included angle between the output axes of the two end frame rotation modules 3a of any end frame is less than or equal to the sum of the arc lengths of the corresponding two end-connecting arc rods 2c, that is: λ ij ≤β i +β j .
[0027] The base drive pulley 2p is coaxially locked to the drive end of the inner tube shaft 0a2 of the base frame rotating module 0a; the end drive pulley 2q is coaxially locked to the base end of the end arc rod 2c, and the end drive pulley 2q is coaxially connected to the arc rod rotating module 2a; the at least one pair of end idler wheels 2z are respectively bearing on both sides of the rod side of the base arc rod 1c, and the wheel edges of the at least one pair of end idler wheels 2z do not exceed the outer edge of the rod arc of the base arc rod 1c; one end of the end drive cable 2b engages and rotates with the base drive pulley 2p, and the other end of the end drive cable 2b engages and rotates with the end drive pulley 2q, and the direction and tension of the end drive cable 2b are adjusted by the at least one pair of end idler wheels 2z; so that the base drive pulley 2p drives the end drive pulley 2q through the end drive cable 2b, and rotates the end arc rod 2c synchronously; Figure 3B , Figure 4B , Figure 5B and Figure 6B .
[0028] Three sets of base drive groups, each set including a base drive module 1m, a base drive gear 1g, and a base driven gear 1h. Based on a preset gear reduction ratio, the base drive gear 1g and the base driven gear 1h are selected; the base drive gear 1g is locked to the output shaft end of the base drive module 1m; the base driven gear 1h is coaxially locked to the driven end of the outer tube shaft 0a1 of the base frame rotating module 0a; the center distance between the base drive gear 1g and the base driven gear 1h is equal to the sum of the two gear reference radii, and the base drive gear 1g and the base driven gear 1h mesh, so that the base drive module 1m synchronously rotates the base driven gear 1h through the base drive gear 1g; for example... Figures 5B-5C , Figures 6B-6C , Figures 9C-9D and Figures 10C-10D The center distance between the base drive gear 1g and the base driven gear 1h can be zero, meaning that the base drive gear 1g and the base driven gear 1h can be ignored, so that the base drive module 1m is coaxially locked to the driven end of the outer tube shaft 0a1 of the base frame rotating module 0a. For example... Figures 3B-3C , Figures 4B-4C , Figures 9A-9B and Figures 10A-10B .
[0029] Three sets of end-connected drive groups, each set including an end-connected drive module 2m, an end-connected drive gear 2g, and an end-connected driven gear 2h. According to a preset gear reduction ratio, the end-connected drive gear 2g and the end-connected driven gear 2h are selected and matched; the end-connected drive gear 2g is locked to the output shaft end of the end-connected drive module 2m, and the end-connected driven gear 2h is coaxially locked to the driven end of the inner tube shaft 0a2 of the base frame rotating module 0a; the center distance between the end-connected drive gear 2g and the end-connected driven gear 2h is equal to the sum of the two gear reference radii, and the end-connected drive gear 2g and the end-connected driven gear 2h mesh, so that the end-connected drive module 2m synchronously rotates the end-connected driven gear 2h through the end-connected drive gear 2g; for example... Figures 5B-5C , Figures 6B-6C , Figures 9C-9D and Figures 10C-10D The center distance between the end-connecting drive gear 2g and the end-connecting driven gear 2h can be zero, that is, the end-connecting drive gear 2g and the end-connecting driven gear 2h can be ignored, so that the end-connecting drive module 2m is coaxially locked to the driven end of the inner tube shaft 0a2 of the base frame rotating module 0a. For example... Figures 3B-3C , Figures 4B-4C , Figures 9A-9B and Figures 10A-10B .
[0030] The design of the base frame structure 0c in this case can be divided into closed or open-loop types. A closed design enhances rigidity to prevent vibration or deformation. An open-loop design avoids potential interference with the operation of the arc-shaped rod assembly.
[0031] The design of the end frame structure 3c in this case can be divided into closed or open-loop types. The closed design is to enhance rigidity and prevent vibration or deformation. The open-loop design is to avoid potential interference with the operation of the arc rod assembly.
[0032] Regarding the three sets of arc rods in this case, the end-connected transmission cable can be a timing belt, belt, cable, cable belt or chain, wherein the transmission pulley can be a timing pulley, grooved pulley, cable pulley or sprocket.
[0033] Regarding the various rotating modules in this case, the base frame rotating module 0a can be composed of a torque output device, an angle detector, a shaft, and a bearing, or one of the three. The arc rod rotating module 2a can be composed of a torque output device, an angle detector, a shaft, and a bearing, or one of the three. The end frame rotating module 3a can be composed of a torque output device, an angle detector, a shaft, and a bearing, or one of the three. The end frame rotating module 3a can be composed of a torque output device, an angle detector, a shaft, and a bearing, or one of the three. The driven object of the torque output device of the end frame rotating module 1a can be the base arc rod 1c, the driven object of the torque output device of the arc rod rotating module 2a can be the base arc rod 1c or the end arc rod 2c, the driven object of the end frame rotating module 3a can be the end arc rod 2c, and the driven object of the torque output device of the end frame rotating module 3a can be an arc-shaped crank.
[0034] This case can be illustrated with two embodiments. The first embodiment is the ring track pattern one, such as... Figures 9A-9D The second embodiment is the second type of ring track, such as... Figures 10A-10D .
[0035] The above embodiments are merely illustrative examples for ease of explanation. Although they may be modified by those skilled in the art, they will not depart from the scope of protection as described in the claims.
Claims
1. A mechanism operable according to spherical coordinates, characterized in that, Include: A set of base frames includes a base frame structure composed of several arc frames and three base frame rotation modules mounted on the base frame structure. The base frame structure has a base frame geometric triangle with three definable end angles. The output axes of the three base frame rotation modules are respectively coincident with the center line of the triangular body of the base frame geometric triangle, and the centripetal intersection of the center lines of the triangular bodies is at the center of the base frame structure. The included angle between the output axes of any two base frame rotation modules is greater than 75 degrees and less than 150 degrees. Each base frame rotation module includes an outer tube shaft and an inner tube shaft, which are coaxially rotated. The outer tube shaft is divided into a driving end and a driven end, and the inner tube shaft is divided into a driving end and a driven end. An end frame group includes an end frame structure composed of several arc frames and three end frame rotation modules mounted on the end frame structure. The end frame structure has a three-corner definable end frame geometric triangle. The output axes of the three end frame rotation modules are respectively coincident with the center line of the triangular body of the end frame geometric triangle, and the centripetal intersection of the center lines of the triangular bodies is at the center of the end frame structure. The included angle between the output axes of any two end frame rotation modules is greater than 75 degrees and less than 150 degrees. Three sets of arc rods, each set comprising a base arc rod, an end arc rod, an arc rod rotation module, a base transmission pulley, an end transmission pulley, an end transmission belt, and at least one pair of end idler pulleys; the base arc rod can be divided into a base end and an end end, and the end arc rod can also be divided into a base end and an end end. The end end of the base arc rod and the base end of the end arc rod rotate coaxially via the arc rod rotation module, so that the base end of the base arc rod is coaxially locked to the drive end of the inner tube shaft of the base frame rotation module; the end end of the end arc rod rotates coaxially with an end frame rotation module, and the output axis of the arc rod rotation module normally points towards the center of the base frame structure, so that the ring rail of the arc rod set rotates around the center point between the base frame structure and the end frame structure, wherein the included angle between the output axes of any two base frame rotation modules is less than or equal to the sum of the arc lengths of the corresponding two base arc rods. The included angle between the output axes of any two end frame rotating modules is less than or equal to the sum of the arc lengths of the corresponding two end-connected arc rods; the base connection transmission pulley is coaxially locked to the drive end of the inner tube shaft of the base frame rotating module; the end connection transmission pulley is coaxially locked to the base end of the end-connected arc rod, and the end connection transmission pulley is coaxially connected to the arc rod rotating module; the at least one pair of end-connected idler wheels are respectively bearing on both sides of the rod side of the base-connected arc rod, and the wheel edges of the at least one pair of end-connected idler wheels do not exceed the outer edge of the rod arc of the base-connected arc rod; one end of the end-connected transmission cable engages and rotates with the base connection transmission pulley, and the other end of the end-connected transmission cable engages and rotates with the end-connected transmission pulley, and the direction and tension of the end-connected transmission cable are adjusted by the at least one pair of end-connected idler wheels; so that the base connection transmission pulley drives the end-connected transmission pulley through the end-connected transmission cable, and the end-connected arc rod rotates synchronously. Three sets of base drive groups, each set including a base drive module, a base drive gear, and a base driven gear; the base drive gear is locked to the output shaft end of the base drive module; the base driven gear is coaxially locked to the driven end of the outer tube shaft of the base frame rotating module; the center distance between the base drive gear and the base driven gear is the sum of the reference radii of the two gears, and the base drive gear and the base driven gear mesh, so that the base drive module synchronously rotates the base driven gear through the base drive gear; and Three sets of end-connection drive groups, each set including an end-connection drive module, an end-connection drive gear, and an end-connection driven gear; the end-connection drive gear is locked to the output shaft end of the end-connection drive module, and the end-connection driven gear is coaxially locked to the driven end of the inner tube shaft of the base frame rotating module; the center distance between the end-connection drive gear and the end-connection driven gear is the sum of the reference radii of the two gears, and the end-connection drive gear and the end-connection driven gear mesh, so that the end-connection drive module can synchronously rotate the end-connection driven gear through the end-connection drive gear.
2. The mechanism as described in claim 1, characterized in that, The center distance between the base drive gear and the base driven gear in each base drive group is zero, so that the base drive module is coaxially locked to the driven end of the outer tube shaft of the base frame rotating module.
3. The mechanism as described in claim 1, characterized in that, The center distance between the end drive gear and the end driven gear of each end drive group is zero, so that the end drive module is coaxially locked to the driven end of the inner tube shaft of the base frame rotating module.
4. The mechanism as described in claim 1, characterized in that, The end-connected transmission cable of each group of arc rods is a synchronous timing belt, belt, cable, cable belt or chain; wherein the transmission pulley is a synchronous timing pulley, grooved pulley, cable pulley or sprocket.
5. The mechanism as described in claim 1, characterized in that, The base frame rotation module is a combination of a torque output device, an angle detector, a shaft core, and a bearing, or one of the three; the end frame rotation module is a combination of a torque output device, an angle detector, a shaft core, and a bearing, or one of the three; the arc rod rotation module is a combination of a torque output device, an angle detector, a shaft core, and a bearing, or one of the three.
6. The mechanism as described in claim 1, characterized in that, The base frame structure of this base frame assembly is either a closed design to enhance rigidity and prevent vibration or deformation, or an open-loop design to avoid potential interference with the operation of the arc rod assembly.
7. The mechanism as described in claim 1, characterized in that, The end frame structure of this end frame assembly is either a closed design to enhance rigidity and prevent vibration or deformation, or an open-loop design to avoid potential interference with the operation of the arc rod assembly.