Eighteen-shaft steering mechanism

Abstract

The invention relates to an eighteen-shaft steering mechanism which can be operated according to ball coordinate movement. How to avoid mutual interference and singular phenomena of mechanisms is an important subject, and various singular phenomena and corresponding geometric restrictions thereof are provided. The scheme is characterized in that a twelve-axis steering mechanism is changed into an eighteen-axis steering mechanism. Therefore, the eighteen torsions can be integrated and output through the parallel connection and series connection of the six arc rod groups, and can be applied to a multi-axis combined machining center machine or a multi-element detection measuring bed or an operation platform of an extreme motion simulator.

Description

Technical Field

[0001] The invention relates to an eighteen-axis steering mechanism which can be controlled according to spherical coordinate motion. Background Art

[0002] This case is based on four previous cases filed by the applicant of this case, namely the first previous case (US8579714B2), the second previous case (US9579786B2, EP2863102, CN104511903a, Special Application No. JP2014-196071), the third previous case (US9851045B2, EP3196532, CN107030682B, Special Application No. JP2017-005465) and the fourth previous case (US11904465B2).

[0003] This case inherits three previous cases in that the steering mechanism can be controlled according to the spherical coordinate motion. How to avoid mutual interference and strange phenomena is an important issue. The first previous case suggests various strange phenomena and their corresponding geometric limitations. The second previous case suggests various basic ring track patterns. This case inherits three previous cases and adds new features: the 12-axis steering mechanism is increased to an 18-axis steering mechanism, and six sets of intermediate transmission groups are added. Summary of the invention

[0004] The present invention is an eighteen-axis steering mechanism that can be controlled according to spherical coordinate motion. The claims include two independent claims: Independent claim 1 and Independent claim 8, wherein Independent claim 8 deletes six intermediate transmission groups compared to Independent claim 1, and the features defined in dependent claims 2-6 correspond to claims 9-13 respectively.

[0005] Independent claim 1 includes: a base frame group, a carrier frame group, six base arc rod groups, six carrier arc rod groups, six common rotation groups and six intermediate transmission groups. The technical solution is as follows:

[0006] An eighteen-axis steering mechanism, comprising:

[0007] A base frame assembly, the base frame assembly comprising a base frame structure and six base frame plates, the base frame structure is composed of a plurality of arc frames, so that the base frame structure is defined by a base frame geometric hexahedron, the six geometric centripetal lines of the base frame geometric hexahedron intersect at the center point of the base frame structure, the six base frame plates are respectively mounted on the six geometric end faces of the base frame structure, so that the geometric centripetal lines of the six base frame plates are respectively coincident with the six geometric centripetal lines of the base frame geometric hexahedron, wherein the included angle between the geometric centripetal lines of any two base frame plates is greater than 60 degrees and less than 120 degrees;

[0008] A frame assembly, the frame assembly comprising a frame structure and six frame plates, the frame structure being composed of a plurality of arc frames, so that the frame structure is defined by a frame geometric hexahedron, the six geometric centripetal lines of the frame geometric hexahedron intersecting at the center point of the frame structure, the six frame plates being respectively mounted on the six geometric end faces of the frame structure, so that the geometric centripetal lines of the six frame plates are respectively coincident with the six geometric centripetal lines of the frame geometric hexahedron, wherein the included angle between the geometric centripetal lines of any two frame plates is greater than 60 degrees and less than 120 degrees;

[0009] Six base-connected arc rod groups, each base-connected arc rod group includes a base-connected shaft group, a base-connected driven gear, a base-connected driving gear, a base-connected arc rod and at least one base-connected rotating element, the base-connected shaft group includes a base-connected frame disk bearing, a base-connected gear bearing and a base-connected shaft, the base-connected frame disk bearing is installed on the base-connected frame disk, the base-connected shaft has a frame connection end and a rod connection end, so that the frame connection end of the base-connected shaft is inserted into the base-connected frame disk bearing, wherein the axis of the base-connected shaft coincides with the geometric centripetal line of the base-connected frame disk, and the axis of the base-connected shaft normally points to the center point of the base frame structure, according to the preset gear reduction ratio, the base-connected driven gear and the base-connected driving gear are selected, the base-connected gear bearing is installed on the base-connected driven gear, so that the base-connected gear bearing is inserted into the base-connected shaft, The base-connected driven gear and the base-connected driving gear are meshed with each other and are installed on the base-connected frame disk, wherein the axial center distance between the base-connected driven gear and the base-connected driving gear is equal to the sum of the base radius of the two meshing gear pairs, the output shaft of the at least one base-connected rotating element passes through the base-connected frame disk and is coaxially locked to the base-connected driving gear, and the at least one base-connected rotating element is installed on the base-connected frame disk, so that the at least one base-connected rotating element synchronously rotates the base-connected driven gear through the base-connected driving gear, the base-connected arc rod has a frame-connected end and a rod-connected end, the frame-connected end of the base-connected arc rod is coaxially locked to the rod-connected end of the base-connected shaft, and the frame-connected end of the base-connected arc rod is coaxially locked to the base-connected driven gear, so that the base-connected driven gear coaxially rotates the base-connected arc rod ring track concentrically revolving around the center point of the base frame structure;

[0010] Six groups of arc rod groups, each group of arc rod groups includes a bearing shaft group, a driven gear, a driving gear, a bearing arc rod and at least one rotating element, the bearing shaft group includes a bearing frame plate bearing, a bearing gear bearing and a bearing shaft, the bearing frame plate bearing is installed on the bearing frame plate, the bearing shaft has a frame connection end and a rod connection end, the frame connection end of the bearing shaft is inserted into the bearing frame plate bearing, wherein the axis of the bearing shaft coincides with the geometric centripetal line of the bearing frame plate, and the axis of the bearing shaft normally points to the center point of the bearing frame structure, according to the preset gear reduction ratio, the driven gear and the driving gear are selected, the bearing gear bearing is installed on the bearing driven gear, the bearing gear bearing is inserted into the bearing shaft, The driven gear and the driving gear are meshed with each other and are installed on the supporting frame, wherein the axial center distance between the driven gear and the driving gear is equal to the sum of the base radius of the two meshing gear pairs, the output shaft of the at least one supporting rotating element passes through the supporting frame and is coaxially locked to the supporting driving gear, and the at least one supporting rotating element is installed on the supporting frame, so that the at least one supporting rotating element synchronously rotates the driven gear through the supporting driving gear, the supporting arc rod has a frame connection end and a rod connection end, the frame connection end of the supporting arc rod is coaxially locked to the rod connection end of the supporting shaft, and the frame connection end of the supporting arc rod is coaxially locked to the supporting driven gear, so that the supporting driven gear coaxially rotates the supporting arc rod ring track coaxially revolving around the center point of the supporting frame structure;

[0011] Six groups of common rotation groups, each group of common rotation groups includes a common shaft group and a common rotating element, the common shaft group includes a common bearing and a common shaft, the common bearing is installed on the rod connection end of the base arc rod, the common shaft has a base connection end and a load connection end, the base connection end of the common shaft is inserted into the common bearing, the load connection end of the common shaft is coaxially locked to the rod connection end of the load connection arc rod, wherein the axis of the common shaft normally points to the center point of the base frame structure, so that the rod connection end of the base arc rod and the rod connection end of the load connection arc rod are concentrically rotated via the common shaft coaxial ring track, the output shaft of the common rotating element is coaxially locked to the common shaft, wherein the common rotating element is between the rod connection end of the base arc rod and the rod connection end of the load connection arc rod;

[0012] Six intermediate transmission groups, each intermediate transmission group includes an intermediate driven gear, an intermediate driving gear, at least one intermediate rotating element, a driving pulley, a driven pulley, a transmission belt and at least one pair of idler wheels, the intermediate driven gear runs through the base frame plate and the base driven gear, the intermediate driven gear is coaxially locked to the base shaft, the intermediate driven gear is meshed with the intermediate driving gear, wherein the axial center distance between the intermediate driven gear and the intermediate driving gear is equal to the sum of the base radii of the two meshing gear pairs, the output shaft of the at least one intermediate rotating element runs through the base frame plate and is coaxially locked to the intermediate driving gear, and the At least one intermediate rotating element is installed on the base frame plate, so that the at least one intermediate rotating element can synchronously rotate the intermediate driven gear through the intermediate driving gear, the driving pulley is coaxially locked to the end of the rod connection end of the base shaft, and the at least one pair of idle wheels are respectively borne on the two sides of the rod side of the base arc rod, one end of the transmission belt meshes with the driving pulley for rotation, and the other end of the transmission belt meshes with the driven pulley for rotation, and the driven pulley is coaxially locked to the end of the load-bearing end of the common shaft, so that the driving pulley drives the driven pulley through the transmission belt, so that the synchronously driven load-bearing arc rod ring track rotates concentrically around the center point of the frame structure.

[0013] Independent claim 8 includes: a base frame group, a carrier frame group, six base arc rod groups, six carrier arc rod groups and six common rotation groups. The technical solution is as follows:

[0014] An eighteen-axis steering mechanism, comprising:

[0015] A base frame assembly, the base frame assembly comprising a base frame structure and six base frame plates, the base frame structure is composed of a plurality of arc frames, so that the base frame structure is defined by a base frame geometric hexahedron, the six geometric centripetal lines of the base frame geometric hexahedron intersect at the center point of the base frame structure, the six base frame plates are respectively mounted on the six geometric end faces of the base frame structure, so that the geometric centripetal lines of the six base frame plates are respectively coincident with the six geometric centripetal lines of the base frame geometric hexahedron, wherein the angle between the geometric centripetal lines of any two base frame plates is greater than 60 degrees and less than 120 degrees;

[0016] A frame assembly, the frame assembly comprising a frame structure and six frame plates, the frame structure being composed of a plurality of arc frames, so that the frame structure is defined by a frame geometric hexahedron, the six geometric centripetal lines of the frame geometric hexahedron intersecting at the center point of the frame structure, the six frame plates being respectively mounted on the six geometric end faces of the frame structure, so that the geometric centripetal lines of the six frame plates are respectively coincident with the six geometric centripetal lines of the frame geometric hexahedron, wherein the included angle between the geometric centripetal lines of any two frame plates is greater than 60 degrees and less than 120 degrees;

[0017] Six base-connected arc rod groups, each base-connected arc rod group includes a base-connected shaft group, a base-connected driven gear, a base-connected driving gear, a base-connected arc rod and at least one base-connected rotating element, the base-connected shaft group includes a base-connected frame disk bearing, a base-connected gear bearing and a base-connected shaft, the base-connected frame disk bearing is installed on the base-connected frame disk, the base-connected shaft has a frame connection end and a rod connection end, so that the frame connection end of the base-connected shaft is inserted into the base-connected frame disk bearing, wherein the axis of the base-connected shaft coincides with the geometric centripetal line of the base-connected frame disk, and the axis of the base-connected shaft normally points to the center point of the base frame structure, according to the preset gear reduction ratio, the base-connected driven gear and the base-connected driving gear are selected, the base-connected gear bearing is installed on the base-connected driven gear, so that the base-connected gear bearing is inserted into the base-connected shaft, The base-connected driven gear and the base-connected driving gear are meshed with each other and are installed on the base-connected frame disk, wherein the axial center distance between the base-connected driven gear and the base-connected driving gear is equal to the sum of the base radius of the two meshing gear pairs, the output shaft of the at least one base-connected rotating element passes through the base-connected frame disk and is coaxially locked to the base-connected driving gear, and the at least one base-connected rotating element is installed on the base-connected frame disk, so that the at least one base-connected rotating element synchronously rotates the base-connected driven gear through the base-connected driving gear, the base-connected arc rod has a frame-connected end and a rod-connected end, the frame-connected end of the base-connected arc rod is coaxially locked to the rod-connected end of the base-connected shaft, and the frame-connected end of the base-connected arc rod is coaxially locked to the base-connected driven gear, so that the base-connected driven gear coaxially rotates the base-connected arc rod ring track concentrically revolving around the center point of the base frame structure;

[0018] Six groups of arc rod groups, each group of arc rod groups includes a bearing shaft group, a driven gear, a driving gear, a bearing arc rod and at least one rotating element, the bearing shaft group includes a bearing frame plate bearing, a bearing gear bearing and a bearing shaft, the bearing frame plate bearing is installed on the bearing frame plate, the bearing shaft has a frame connection end and a rod connection end, the frame connection end of the bearing shaft is inserted into the bearing frame plate bearing, wherein the axis of the bearing shaft coincides with the geometric centripetal line of the bearing frame plate, and the axis of the bearing shaft normally points to the center point of the bearing frame structure, according to the preset gear reduction ratio, the driven gear and the driving gear are selected, the bearing gear bearing is installed on the bearing driven gear, the bearing gear bearing is inserted into the bearing shaft, The driven gear and the driving gear are meshed with each other and are installed on the supporting frame, wherein the axial center distance between the driven gear and the driving gear is equal to the sum of the base radius of the two meshing gear pairs, the output shaft of the at least one supporting rotating element passes through the supporting frame and is coaxially locked to the supporting driving gear, and the at least one supporting rotating element is installed on the supporting frame, so that the at least one supporting rotating element synchronously rotates the driven gear through the supporting driving gear, the supporting arc rod has a frame connection end and a rod connection end, the frame connection end of the supporting arc rod is coaxially locked to the rod connection end of the supporting shaft, and the frame connection end of the supporting arc rod is coaxially locked to the supporting driven gear, so that the supporting driven gear coaxially rotates the supporting arc rod ring track coaxially revolving around the center point of the supporting frame structure;

[0019] There are six groups of common rotation groups, each group of common rotation groups includes a common shaft group and a common rotating element, the common shaft group includes a common bearing and a common shaft, the common bearing is installed on the rod connection end of the base arc rod, the common shaft has a base connection end and a load connection end, the base connection end of the common shaft is inserted into the common bearing, the load connection end of the common shaft is coaxially locked to the rod connection end of the load connection arc rod, wherein the axis line of the common shaft normally points to the center point of the base frame structure, so that the rod connection end of the base arc rod and the rod connection end of the load connection arc rod concentrically rotate through the common shaft coaxial ring track, the output shaft of the common rotating element is coaxially locked to the common shaft, wherein the common rotating element is located between the rod connection end of the base arc rod and the rod connection end of the load connection arc rod. BRIEF DESCRIPTION OF THE DRAWINGS

[0020] Figure.1-1-0 It is the geometric definition of frame group pattern one.

[0021] Figure 1-1-1 It is a three-dimensional view of the outer frame group form one.

[0022] Figure.1-2-0 It is the geometric definition of the second form of the outer frame group.

[0023] Figure 1-2-1 This is a three-dimensional view of the second outer frame group.

[0024] Figure.1-3-0 It is the geometric definition of frame group pattern three.

[0025] Figure 1-3-1 It is a three-dimensional view of the outer frame group form three.

[0026] Figure.2-1-0 It is the geometric definition of inner frame group pattern one.

[0027] Figure 2-1-1 It is a three-dimensional view of inner frame group form one.

[0028] Figure.2-2-0 It is the geometric definition of inner frame group pattern 2.

[0029] Fig.2-2-1 This is a three-dimensional view of the inner frame group form 2.

[0030] Figure 2-3-0 It is the geometric definition of inner frame group pattern three.

[0031] Fig.2-3-1 This is a three-dimensional view of the inner frame group form three.

[0032] Figure 3-1-1 It is a geometric definition and cross-sectional view of a general configuration.

[0033] Figure 3-1-2It is the geometric definition and cross-sectional view of a special case of a configuration.

[0034] Figure 3-2-1 It is the geometric definition and cross-sectional view of a general example of configuration one.

[0035] Figure 3-2-2 It is the geometric definition and cross-sectional view of the special case of configuration one and configuration two.

[0036] Figure 4-1-1 It is the geometric definition and cross-sectional view of configuration two configuration one general example.

[0037] Figure 4-1-2 It is the geometric definition and cross-sectional view of the special case of configuration two configuration one.

[0038] Figure 4-2-1 It is the geometric definition and cross-sectional view of the two configurations and two general examples.

[0039] Figure 4-2-2 It is the geometric definition and cross-sectional view of the special case of configuration two and configuration two.

[0040] Figure.5-1-1 It is a front view of the first embodiment of configuration one.

[0041] Figure.5-1-2 1 is a perspective view of a first embodiment of configuration 1.

[0042] Figure.5-2-1 2 is a front view of a second embodiment of configuration 1.

[0043] Figure.5-2-2 1 is a perspective view of a second embodiment of the configuration.

[0044] Figure.5-3-1 It is a front view of the third embodiment of configuration one.

[0045] Figure.5-3-2 1 is a perspective view of a third embodiment of configuration 1.

[0046] Figure.5-4-1 It is a front view of a fourth embodiment of configuration one.

[0047] Figure.5-4-2 It is a three-dimensional view of a fourth embodiment of the configuration.

[0048] Figure 6-1-1 It is a front view of the first embodiment of configuration 2.

[0049] Figure 6-1-2 It is a stereoscopic view of the first embodiment of configuration two.

[0050] Figure 6-2-1 It is a front view of the second embodiment of configuration 2.

[0051] Fig.6-2-2It is a stereoscopic view of the second embodiment of configuration 2.

[0052] Figure 6-3-1 It is a front view of the third embodiment of configuration 2.

[0053] Figure 6-3-2 It is a stereoscopic view of the third embodiment of configuration 2.

[0054] Figure 6-4-1 It is a front view of the fourth embodiment of configuration two.

[0055] Fig. 6-4-2 is a stereoscopic view of the fourth embodiment of configuration 2.

[0056] Description of reference numerals:

[0057] Outer frame group: outer frame structure 1f, external frame plate 1d;

[0058] Inner frame group: inner frame structure 2f, inner frame plate 2d;

[0059] Circumscribed arc rod group: circumscribed shaft group 1a, circumscribed driven gear 1h, circumscribed driving gear 1g, circumscribed arc rod 1c, at least one circumscribed rotating element 1m;

[0060] Inscribed arc rod group: inscribed shaft group 2a, inscribed driven gear 2h, inscribed driving gear 2g, inscribed arc rod 2c, at least one inscribed rotating element 2m;

[0061] Co-connected rotating group: co-connected shaft group 3a, co-connected rotating element 3n;

[0062] Intermediate transmission group: intermediate driven gear 3h, intermediate driving gear 3g, at least one intermediate rotating element 3m, driving pulley 3p, driven pulley 3q, transmission belt 3b, at least one pair of idler wheels 3z. DETAILED DESCRIPTION

[0063] The present invention will be further described below in conjunction with the accompanying drawings and specific implementation methods and examples.

[0064] The present invention is an 18-axis steering mechanism that can be controlled according to spherical coordinate motion. The 18-axis steering mechanism includes: a base frame group, a carrier frame group, six base arc rod groups, six carrier arc rod groups, six common rotation groups and six intermediate transmission groups.

[0065] The present invention can be divided into configuration 1 and configuration 2:

[0066] Configuration 1: The minimum inner edge of the base frame group is greater than the maximum outer edge of any base arc rod group, and the minimum inner edge of any base arc rod group is greater than the maximum outer edge of any load-connected arc rod group, and the minimum inner edge of any load-connected arc rod group is greater than the maximum outer edge of the load-connected frame group.

[0067] Configuration 2: The maximum outer edge of the base frame group is smaller than the minimum inner edge of any base arc rod group, and the maximum outer edge of any base arc rod group is smaller than the minimum inner edge of any load-connected arc rod group, and the maximum outer edge of any load-connected arc rod group is smaller than the minimum inner edge of the load-connected frame group.

[0068] Configuration 1 is about a set of base frames:

[0069] The base frame group has a base frame structure and six base frame plates corresponding to an outer frame structure 1f and six outer frame plates 1d of the outer frame group respectively; the outer frame structure is composed of a plurality of arc frames, so that the outer frame structure is defined by an outer frame geometric hexahedron, and the six geometric centripetal lines of the outer frame geometric hexahedron intersect at the center point of the outer frame structure, which is marked as a unit vector Ui, wherein i=1~6, and the six outer frame plates are respectively installed on the six geometric end faces of the outer frame structure, so that the geometric centripetal lines of the six outer frame plates coincide with the six geometric centripetal lines of the outer frame geometric hexahedron, wherein the angle between the geometric centripetal lines of any two outer frame plates is greater than 60 degrees and less than 120 degrees, and the geometric marking is Λij=ArcCos(Ui·Uj), wherein i=1~6, j=1~6, and i≠j, that is, 60°<Λij<120°. The outer frame group is divided into pattern 1, pattern 2 and pattern 3; pattern 1, such as Figure.1-1-0 and Figure 1-1-1 As shown. Figure.1-2-0 and Figure 1-2-1 As shown. Pattern three, such as Figure.1-3-0 and Figure 1-3-1 shown.

[0070] Configuration 1 is about a set of carrier frames:

[0071] The frame carrier group has a frame carrier structure and six frame carrier plates corresponding to an inner frame structure 2f and six inner frame plates 2d of the inner frame group respectively; the inner frame structure is composed of a plurality of arc frames, so that the inner frame structure is defined by an inner frame geometric hexahedron, and the six geometric centripetal lines of the inner frame geometric hexahedron intersect at the center point of the inner frame structure, which is marked as a unit vector Vi, wherein i=1~6, and the six inner frame plates are respectively installed on the six geometric end faces of the inner frame structure, so that the geometric centripetal lines of the six inner frame plates coincide with the six geometric centripetal lines of the inner frame geometric hexahedron, wherein the angle between the geometric centripetal lines of any two inner frame plates is greater than 60 degrees and less than 120 degrees, and the geometric marking is λij=ArcCos(Vi·Vj), wherein i=1~6, j=1~6, and i≠j, that is, 60°<λij<120°. The inner frame group is divided into pattern 1, pattern 2 and pattern 3; pattern 1, such as Figure.2-1-0 and Figure 2-1-1 As shown. Figure.2-2-0 and Fig.2-2-1 As shown. Pattern three, such as Figure 2-3-0 and Fig.2-3-1 shown.

[0072] Configuration 2 is about a set of base frame groups:

[0073] The base frame group has a base frame structure and six base frame plates corresponding to an inner frame structure 2f and six inner frame plates 2d of the inner frame group respectively; the inner frame structure is composed of a plurality of arc frames, so that the inner frame structure is defined by an inner frame geometric hexahedron, and the six geometric centripetal lines of the inner frame geometric hexahedron intersect at the center point of the inner frame structure, which is marked as a unit vector Vi, wherein i=1~6, and the six inner frame plates are respectively installed on the six geometric end faces of the inner frame structure, so that the geometric centripetal lines of the six inner frame plates coincide with the six geometric centripetal lines of the inner frame geometric hexahedron, wherein the angle between the geometric centripetal lines of any two inner frame plates is greater than 60 degrees and less than 120 degrees, and the geometric marking is λij=ArcCos(Vi·Vj), wherein i=1~6, j=1~6, and i≠j, that is, 60°<λij<120°. The inner frame group is divided into pattern 1, pattern 2 and pattern 3; pattern 1, such as Figure.2-1-0 and Figure 2-1-1 As shown. Pattern 2, as Figure.2-2-0 and Fig.2-2-1 As shown. Pattern three, such as Figure 2-3-0 and Fig.2-3-1 shown.

[0074] Configuration 2: Regarding a frame group:

[0075] The frame carrier group has a frame carrier structure and six frame carrier plates corresponding to an outer frame structure 1f and six outer frame plates 1d of the outer frame group respectively; the outer frame structure is composed of a plurality of arc frames, so that the outer frame structure is defined by an outer frame geometric hexahedron, and the six geometric centripetal lines of the outer frame geometric hexahedron intersect at the center point of the outer frame structure, which is marked as a unit vector Ui, wherein i=1~6, and the six outer frame plates are respectively installed on the six geometric end faces of the outer frame structure, so that the geometric centripetal lines of the six outer frame plates coincide with the six geometric centripetal lines of the outer frame geometric hexahedron, wherein the angle between the geometric centripetal lines of any two outer frame plates is greater than 60 degrees and less than 120 degrees, and the geometric marking is Λij=ArcCos(Ui·Uj), wherein i=1~6, j=1~6, and i≠j, that is, 60°<Λij<120°. The outer frame group is divided into pattern 1, pattern 2 and pattern 3; pattern 1, such as Figure.1-1-0 and Figure 1-1-1 As shown. Pattern 2, as Figure.1-2-0 and Figure 1-2-1 As shown. Pattern three, such as Figure.1-3-0 and Figure 1-3-1 shown.

[0076] Six base-connected arc rod groups, each base-connected arc rod group includes a base-connected shaft group, a base-connected driven gear, a base-connected driving gear, a base-connected arc rod and at least one base-connected rotating element, the base-connected shaft group includes a base-connected frame disk bearing, a base-connected gear bearing and a base-connected shaft, the base-connected frame disk bearing is installed on the base-connected frame disk, the base-connected shaft has a frame connection end and a rod connection end, so that the frame connection end of the base-connected shaft is inserted into the base-connected frame disk bearing, wherein the axis of the base-connected shaft coincides with the geometric centripetal line of the base-connected frame disk, and the axis of the base-connected shaft normally points to the center point of the base frame structure, according to the preset gear reduction ratio, the base-connected driven gear and the base-connected driving gear are selected, the base-connected gear bearing is installed on the base-connected driven gear, so that the base-connected gear bearing is inserted into the base-connected shaft, the base-connected driven gear and the base-connected driving gear The gear pairs are meshingly mounted on the base connection frame disk, wherein the axial center distance between the base connection driven gear and the base connection driving gear is equal to the sum of the base radii of the two meshing gear pairs, the output shaft of the at least one base connection rotating element passes through the base connection frame disk and is coaxially locked to the base connection driving gear, and the at least one base connection rotating element is mounted on the base connection frame disk, wherein any base connection rotating element can be a motor, a torque output device or an angle detector, so that the at least one base connection rotating element synchronously rotates the base connection driven gear through the base connection driving gear, the base connection arc rod has a frame connection end and a rod connection end, the frame connection end of the base connection arc rod is coaxially locked to the rod connection end of the base connection shaft, and the frame connection end of the base connection arc rod is coaxially locked to the base connection driven gear, so that the base connection driven gear coaxially rotates the base connection arc rod ring track concentrically revolving around the center point of the base frame structure.

[0077] Six groups of carrying arc rod groups, each group of carrying arc rod groups includes a carrying shaft group, a carrying driven gear, a carrying driving gear, a carrying arc rod and at least one carrying rotating element, the carrying shaft group includes a carrying frame disk bearing, a carrying gear bearing and a carrying shaft, the carrying frame disk bearing is installed on the carrying frame disk, the carrying shaft has a frame connection end and a rod connection end, so that the frame connection end of the carrying shaft is inserted into the carrying frame disk bearing, wherein the axis centerline of the carrying shaft coincides with the geometric centripetal line of the carrying frame disk, and the axis centerline of the carrying shaft normally points to the center point of the carrying frame structure, according to the preset gear reduction ratio, the carrying driven gear and the carrying driving gear are selected, the carrying gear bearing is installed on the carrying driven gear, so that the carrying gear bearing is inserted into the carrying shaft, the carrying driven gear and the carrying driving gear The gear pairs are meshingly mounted on the supporting frame, wherein the axial center distance between the supporting driven gear and the supporting driving gear is equal to the sum of the reference radii of the two meshing gear pairs, the output shaft of the at least one supporting rotating element passes through the supporting frame and is coaxially locked to the supporting driving gear, and the at least one supporting rotating element is mounted on the supporting frame, wherein any one of the supporting rotating elements may be a motor, a torque outputter or an angle detector, so that the at least one supporting rotating element synchronously rotates the supporting driven gear through the supporting driving gear, the supporting arc rod has a frame-connected end and a rod-connected end, the frame-connected end of the supporting arc rod is coaxially locked to the rod-connected end of the supporting shaft, and the frame-connected end of the supporting arc rod is coaxially locked to the supporting driven gear, so that the supporting driven gear coaxially rotates the supporting arc rod ring track concentrically revolving around the center point of the supporting frame structure.

[0078] Configuration 1 is about six groups of base-connected arc rods:

[0079] The base arc rod group has a base shaft group, a base driven gear, a base driving gear, a base arc rod and at least one base rotating element, which respectively correspond to an external shaft group 1a, an external driven gear 1h, an external driving gear 1g, an external arc rod 1c and at least one external rotating element 1m. If the axial center distance between the base driven gear and the base driving gear is greater than zero, it is a general rule, as shown in Figures. 3-3-1 and 3-3-2. If the axial center distance between the base driven gear and the base driving gear is equal to zero, it is a special case, that is, the base driven gear and the base driving gear can be omitted, as shown in Figures. 3-4-1 and 3-4-2.

[0080] Configuration 1 is about six sets of arc rods:

[0081] The arc rod group has a bearing shaft group, a bearing driven gear, a bearing driving gear, a bearing arc rod and at least one bearing rotating element, which respectively correspond to an inscribed shaft group 2a, an inscribed driven gear 2h, an inscribed driving gear 2g, an inscribed arc rod 2c and at least one inscribed rotating element 2m. If the axial center distance between the bearing driven gear and the bearing driving gear is greater than zero, it is a general rule, as shown in Fig. 4-3-1 and Fig. 4-3-2. If the axial center distance between the bearing driven gear and the bearing driving gear is equal to zero, it is a special case, that is, the bearing driven gear and the bearing driving gear can be omitted, as shown in Fig. 4-4-1 and Fig. 4-4-2.

[0082] Configuration 2 is about six groups of base-connected arc rods:

[0083] The base arc rod group has a base shaft group, a base driven gear, a base driving gear, a base arc rod and at least one base rotating element, which correspond to an inscribed shaft group 2a, an inscribed driven gear 2h, an inscribed driving gear 2g, an inscribed arc rod 2c and at least one inscribed rotating element 2m. If the axial center distance between the base driven gear and the base driving gear is greater than zero, it is a general rule, as shown in Figures. 4-3-1 and 4-3-2. If the axial center distance between the base driven gear and the base driving gear is equal to zero, it is a special case, that is, the base driven gear and the base driving gear can be omitted, as shown in Figures. 4-4-1 and 4-4-2.

[0084] Configuration 2 is about six groups of arc rods:

[0085] The arc rod group has a bearing shaft group, a bearing driven gear, a bearing driving gear, a bearing arc rod and at least one bearing rotating element, which respectively correspond to an external shaft group 1a, an external driven gear 1h, an external driving gear 1g, an external arc rod 1c and at least one external rotating element 1m. If the axial distance between the bearing driven gear and the bearing driving gear is greater than zero, it is a general rule, as shown in Figures. 3-3-1 and 3-3-2. If the axial distance between the bearing driven gear and the bearing driving gear is equal to zero, it is a special case, that is, the bearing driven gear and the bearing driving gear can be omitted, as shown in Figures. 3-4-1 and 3-4-2.

[0086] Six sets of joint rotation groups, each set of joint rotation groups includes a joint shaft group and a joint rotating element, the joint shaft group includes a joint bearing and a joint shaft, the joint bearing is installed on the rod connection end of the base arc rod, the joint shaft has a base connection end and a load connection end, the base connection end of the joint shaft is inserted into the joint bearing, the load connection end of the joint shaft is coaxially locked to the rod connection end of the load connection arc rod, wherein the axis line of the joint shaft normally points to the center point of the base frame structure, marked as a unit vector Wi, wherein i=1~6, so that the rod connection end of the base arc rod and the rod connection end of the load connection arc rod are concentrically rotated through the joint shaft coaxial ring track, the output shaft of the joint rotating element is coaxially locked to the joint shaft, wherein the joint rotating element is between the rod connection end of the base arc rod and the rod connection end of the load connection arc rod. Any of the joint rotating elements can be an extension shaft, a torque output device or an angle detector.

[0087] Configuration 1 is about six groups of co-connected rotation groups:

[0088] The co-connected rotation group has a co-connected axis group and a co-connected rotating element, which respectively correspond to a co-connected axis group 3a and a co-connected rotating element 3n. The axis centerline of the co-connected rotating element 3n normally points to the center point of the base frame structure, which is marked as a unit vector Wi, wherein i=1~6. The arc length of the base arc rod is defined as the angle between the geometric centripetal line of the base frame disk and the axis centerline of the co-connected axis, which is geometrically marked as αi=ArcCos(Ui·Wi). The arc length of the carrier arc rod is defined as the angle between the geometric centripetal line of the carrier frame disk and the axis centerline of the co-connected axis, which is geometrically marked as βi=ArcCos(Vi·Wi). Figure 3-1-1 , Figure 3-1-2 , Figure 3-2-1 , Figure 3-2-2 , Figure 3-3-1, Figure 3-3-2, Figure 3-4-1 and Figure 3-4-2.

[0089] Configuration 2 is about six groups of co-rotating groups:

[0090] The co-connected rotation group has a co-connected axis group and a co-connected rotating element, which respectively correspond to a co-connected axis group 3a and a co-connected rotating element 3n. The axis centerline of the co-connected rotating element 3n normally points to the center point of the base frame structure, which is marked as a unit vector Wi, where i=1~6. The arc length of the base arc rod is defined as the angle between the geometric centripetal line of the base frame disk and the axis centerline of the co-connected axis, which is geometrically marked as βi=ArcCos(Vi·Wi). The arc length of the carrier arc rod is defined as the angle between the geometric centripetal line of the carrier frame disk and the axis centerline of the co-connected axis, which is geometrically marked as αi=ArcCos(Ui·Wi). Figure 4-1-1 , Figure 4-1-2 , Figure 4-2-1 , Figure 4-2-2 , Figure 4-3-1, Figure 4-3-2, Figure 4-4-1 and Figure 4-4-2.

[0091] Six sets of intermediate transmission groups, each set of intermediate transmission groups includes a intermediate driven gear, a intermediate driving gear, at least one intermediate rotating element, a driving pulley, a driven pulley, a transmission belt and at least one pair of idler wheels, the intermediate driven gear runs through the base frame plate and the base driven gear, the intermediate driven gear is coaxially locked to the base shaft, the intermediate driven gear and the intermediate driving gear are meshed with each other, wherein the axial center distance between the intermediate driven gear and the intermediate driving gear is equal to the sum of the base radius of the two meshing gear pairs, the output shaft of the at least one intermediate rotating element runs through the base frame plate and is coaxially locked to the intermediate driving gear, and the at least one intermediate rotating element is installed on the base frame plate, so that the at least one intermediate The rotating element rotates the intermediate driven gear synchronously through the intermediate driving gear, the driving pulley is coaxially locked at the end of the rod connection of the base connection shaft, the at least one pair of idler wheels are respectively borne on the two sides of the rod of the base connection arc rod, and the wheel edge of the at least one pair of idler wheels does not exceed the outer edge of the rod arc of the base connection arc rod, one end of the transmission belt meshes with the driving pulley for rotation, and the other end of the transmission belt meshes with the driven pulley for rotation, and the direction and tension of the transmission belt are adjusted by the at least one pair of idler wheels, the driven pulley is coaxially locked at the end of the load connection of the common connection shaft, so that the driving pulley drives the driven pulley through the transmission belt, so that the synchronous drive load connection arc rod ring track is concentrically rotated around the center point of the frame structure. Any of the intermediate rotating elements can be a motor, a torque output device or an angle detector. Any of the driving pulleys may be a synchronous timing pulley, a groove pulley, a cable pulley or a sprocket; any of the driven pulleys may be a synchronous timing pulley, a groove pulley, a cable pulley or a sprocket; any of the transmission belts may be a synchronous timing belt, a belt, a cable, a belt or a chain.

[0092] Configuration 1 for six intermediate transmission groups:

[0093] The intermediate transmission group has an intermediate driven gear, an intermediate driving gear, at least one intermediate rotating element, a driving pulley, a driven pulley, a transmission belt and at least one pair of idler wheels, which respectively correspond to an intermediate driven gear 3h, an intermediate driving gear 3g, at least one intermediate rotating element 3m, a driving pulley 3p, a driven pulley 3q, a transmission belt 3b and at least one pair of idler wheels 3b. If the axial center distance between the intermediate driven gear and the intermediate driving gear is greater than zero, it is a general rule, such as Figure 3-1-1 and Figure 3-1-2 If the axial center distance between the intermediate driven gear and the intermediate driving gear is zero, it is a special case, that is, the intermediate driven gear and the intermediate driving gear can be omitted, such as Figure 3-2-1 and Figure 3-2-2 shown.

[0094] Configuration 2 for six intermediate transmission groups:

[0095] The intermediate transmission group has an intermediate driven gear, an intermediate driving gear, at least one intermediate rotating element, a driving pulley, a driven pulley, a transmission belt and at least one pair of idler wheels, which respectively correspond to an intermediate driven gear 3h, an intermediate driving gear 3g, at least one intermediate rotating element 3m, a driving pulley 3p, a driven pulley 3q, a transmission belt 3b and at least one pair of idler wheels 3b. If the axial center distance between the intermediate driven gear and the intermediate driving gear is greater than zero, it is a general rule, such as Figure 4-1-1 and Figure 4-1-2 If the axial center distance between the intermediate driven gear and the intermediate driving gear is zero, it is a special case, that is, the intermediate driven gear and the intermediate driving gear can be omitted, such as Figure 4-2-1 and Figure 4-2-2 shown.

[0096] The present invention can be divided into configuration 1 and configuration 2, and the outer frame group and the inner frame group are further divided into form 1, form 2 and form 3. The claims are divided into two independent items: independent claim 1 and independent claim 8. The difference lies in whether there are six sets of intermediate transmission groups, so it can be further divided into configuration 1 with intermediate transmission groups and configuration 2 without intermediate transmission groups. Therefore, the present invention divides the embodiments into four embodiments of configuration 1 and four embodiments of configuration 2, as follows:

[0097] Configuration 1 The first embodiment is an outer frame configuration and an inner frame configuration. Figure.5-1-1 and Figure.5-1-2 As shown; the second embodiment of the configuration is a special case of the outer frame state and the inner frame state. Figure.5-2-1 and Figure.5-2-2 As shown; the third embodiment of the configuration is an outer frame state and an inner frame state. The second configuration is a general example. Figure.5-3-1 and Figure.5-3-2 As shown; the fourth embodiment of the configuration is an outer frame state and an inner frame state. The second special case of the configuration is as follows: Figure.5-4-1 and Figure.5-4-2 As shown; the first embodiment of the second configuration is a general example of the outer frame state two inner frame state three configurations, such as Figure 6-1-1 and Figure 6-1-2 As shown; the second embodiment of the second configuration is a special case of the outer frame state two inner frame state three configurations, such as Figure 6-2-1 and Figure 6-2-2 As shown; the third embodiment of the configuration is a second outer frame pattern and a third inner frame pattern. Figure 6-3-1 and Figure 6-3-2 As shown; the fourth embodiment of the configuration 2 is a special case of the outer frame state 2 inner frame state 3 configuration 2, such as Figure 6-4-1 As shown in Fig.6-4-2.

[0098] The above contents are further detailed descriptions of the present invention in combination with specific preferred embodiments, and it cannot be determined that the specific implementation of the present invention is limited to these descriptions. For those skilled in the art of the present invention, several equivalent substitutions or obvious variations can be made without departing from the concept of the present invention, and the performance or use is the same, which should be regarded as belonging to the protection scope of the present invention.

Claims

1. An 18-axis steering mechanism, characterized in that: Include: A base frame assembly, the base frame assembly comprising a base frame structure and six base frame plates, the base frame structure is composed of a plurality of arc frames, so that the base frame structure is defined by a base frame geometric hexahedron, the six geometric centripetal lines of the base frame geometric hexahedron intersect at the center point of the base frame structure, the six base frame plates are respectively mounted on the six geometric end faces of the base frame structure, so that the geometric centripetal lines of the six base frame plates are respectively coincident with the six geometric centripetal lines of the base frame geometric hexahedron, wherein the angle between the geometric centripetal lines of any two base frame plates is greater than 60 degrees and less than 120 degrees; A frame assembly, the frame assembly comprising a frame structure and six frame plates, the frame structure being composed of a plurality of arc frames, so that the frame structure is defined by a frame geometric hexahedron, the six geometric centripetal lines of the frame geometric hexahedron intersecting at the center point of the frame structure, the six frame plates being respectively mounted on the six geometric end faces of the frame structure, so that the geometric centripetal lines of the six frame plates are respectively coincident with the six geometric centripetal lines of the frame geometric hexahedron, wherein the included angle between the geometric centripetal lines of any two frame plates is greater than 60 degrees and less than 120 degrees; Six base-connected arc rod groups, each base-connected arc rod group includes a base-connected shaft group, a base-connected driven gear, a base-connected driving gear, a base-connected arc rod and at least one base-connected rotating element, the base-connected shaft group includes a base-connected frame disk bearing, a base-connected gear bearing and a base-connected shaft, the base-connected frame disk bearing is installed on the base-connected frame disk, the base-connected shaft has a frame connection end and a rod connection end, so that the frame connection end of the base-connected shaft is inserted into the base-connected frame disk bearing, wherein the axis of the base-connected shaft coincides with the geometric centripetal line of the base-connected frame disk, and the axis of the base-connected shaft normally points to the center point of the base frame structure, according to the preset gear reduction ratio, the base-connected driven gear and the base-connected driving gear are selected, the base-connected gear bearing is installed on the base-connected driven gear, so that the base-connected gear bearing is inserted into the base-connected shaft, The base-connected driven gear and the base-connected driving gear are meshed with each other and are installed on the base-connected frame disk, wherein the axial center distance between the base-connected driven gear and the base-connected driving gear is equal to the sum of the base radius of the two meshing gear pairs, the output shaft of the at least one base-connected rotating element passes through the base-connected frame disk and is coaxially locked to the base-connected driving gear, and the at least one base-connected rotating element is installed on the base-connected frame disk, so that the at least one base-connected rotating element synchronously rotates the base-connected driven gear through the base-connected driving gear, the base-connected arc rod has a frame-connected end and a rod-connected end, the frame-connected end of the base-connected arc rod is coaxially locked to the rod-connected end of the base-connected shaft, and the frame-connected end of the base-connected arc rod is coaxially locked to the base-connected driven gear, so that the base-connected driven gear coaxially rotates the base-connected arc rod ring track concentrically revolving around the center point of the base frame structure; Six groups of arc rod groups, each group of arc rod groups includes a bearing shaft group, a driven gear, a driving gear, a bearing arc rod and at least one rotating element, the bearing shaft group includes a bearing frame plate bearing, a bearing gear bearing and a bearing shaft, the bearing frame plate bearing is installed on the bearing frame plate, the bearing shaft has a frame connection end and a rod connection end, the frame connection end of the bearing shaft is inserted into the bearing frame plate bearing, wherein the axis of the bearing shaft coincides with the geometric centripetal line of the bearing frame plate, and the axis of the bearing shaft normally points to the center point of the bearing frame structure, according to the preset gear reduction ratio, the driven gear and the driving gear are selected, the bearing gear bearing is installed on the bearing driven gear, the bearing gear bearing is inserted into the bearing shaft, The driven gear and the driving gear are meshed with each other and are installed on the supporting frame, wherein the axial center distance between the driven gear and the driving gear is equal to the sum of the base radius of the two meshing gear pairs, the output shaft of the at least one supporting rotating element passes through the supporting frame and is coaxially locked to the supporting driving gear, and the at least one supporting rotating element is installed on the supporting frame, so that the at least one supporting rotating element synchronously rotates the driven gear through the supporting driving gear, the supporting arc rod has a frame connection end and a rod connection end, the frame connection end of the supporting arc rod is coaxially locked to the rod connection end of the supporting shaft, and the frame connection end of the supporting arc rod is coaxially locked to the supporting driven gear, so that the supporting driven gear coaxially rotates the supporting arc rod ring track coaxially revolving around the center point of the supporting frame structure; Six groups of common rotation groups, each group of common rotation groups includes a common shaft group and a common rotating element, the common shaft group includes a common bearing and a common shaft, the common bearing is installed on the rod connection end of the base arc rod, the common shaft has a base connection end and a load connection end, the base connection end of the common shaft is inserted into the common bearing, the load connection end of the common shaft is coaxially locked to the rod connection end of the load connection arc rod, wherein the axis of the common shaft normally points to the center point of the base frame structure, so that the rod connection end of the base arc rod and the rod connection end of the load connection arc rod are concentrically rotated via the common shaft coaxial ring track, the output shaft of the common rotating element is coaxially locked to the common shaft, wherein the common rotating element is between the rod connection end of the base arc rod and the rod connection end of the load connection arc rod; Six intermediate transmission groups, each intermediate transmission group includes an intermediate driven gear, an intermediate driving gear, at least one intermediate rotating element, a driving pulley, a driven pulley, a transmission belt and at least one pair of idler wheels, the intermediate driven gear runs through the base frame plate and the base driven gear, the intermediate driven gear is coaxially locked to the base shaft, the intermediate driven gear is meshed with the intermediate driving gear, wherein the axial center distance between the intermediate driven gear and the intermediate driving gear is equal to the sum of the base radii of the two meshing gear pairs, the output shaft of the at least one intermediate rotating element runs through the base frame plate and is coaxially locked to the intermediate driving gear, and the At least one intermediate rotating element is installed on the base frame plate, so that the at least one intermediate rotating element can synchronously rotate the intermediate driven gear through the intermediate driving gear, the driving pulley is coaxially locked to the end of the rod connection end of the base shaft, and the at least one pair of idle wheels are respectively borne on the two sides of the rod side of the base arc rod, one end of the transmission belt meshes with the driving pulley for rotation, and the other end of the transmission belt meshes with the driven pulley for rotation, and the driven pulley is coaxially locked to the end of the load-bearing end of the common shaft, so that the driving pulley drives the driven pulley through the transmission belt, so that the synchronously driven load-bearing arc rod ring track rotates concentrically around the center point of the frame structure.

2. The 18-axis steering mechanism according to claim 1, characterized in that: One base frame structure and six base connecting frame plates of the base frame group correspond to one outer frame structure and six outer frame plates, and one carrier frame structure and six carrier frame plates of the carrier frame group correspond to one inner frame structure and six inner frame plates; or, one base frame structure and six base connecting frame plates of the base frame group correspond to one inner frame structure and six inner frame plates, and one carrier frame structure and six carrier frame plates of the carrier frame group correspond to one outer frame structure and six outer frame plates.

3. The 18-axis steering mechanism according to claim 1, characterized in that: One base-connected shaft group, one base-connected driven gear, one base-connected driving gear, one base-connected arc rod and at least one base-connected rotating element of the six base-connected arc rod groups correspond to an external shaft group, an external driven gear, an external driving gear, an external arc rod and at least one external rotating element, and one bearing shaft group, one bearing driven gear, one bearing driving gear, one bearing arc rod and at least one bearing rotating element of the six bearing arc rod groups correspond to an internal shaft group, an internal driven gear, an internal driving gear, an internal arc rod and at least one internal rotating element; or In other words, a base-connected shaft group, a base-connected driven gear, a base-connected driving gear, a base-connected arc rod and at least one base-connected rotating element of the six groups of base-connected arc rod groups correspond to an internal shaft group, an internal driven gear, an internal driving gear, an internal arc rod and at least one internal rotating element, and a carrying shaft group, a carrying driven gear, a carrying driving gear, a carrying arc rod and at least one carrying rotating element of the six groups of carrying arc rod groups correspond to an external shaft group, an external driven gear, an external driving gear, an external arc rod and at least one external rotating element.

4. The 18-axis steering mechanism according to claim 1, characterized in that: The axial center distance between the base driven gear and the base driving gear of any base arc rod group is zero, so that the output shaft of at least one base rotating element of the base arc rod group is coaxially locked to the frame connection end of the base shaft of the base arc rod group.

5. The 18-axis steering mechanism according to claim 1, characterized in that: The axial center distance between the driven gear and the driving gear of any arc rod group is zero, so that the output shaft of at least one rotating element of the arc rod group is coaxially locked to the frame-connected end of the shaft of the arc rod group.

6. The 18-axis steering mechanism according to claim 1, characterized in that: At least one base rotating element of any base arc rod group is a motor, a torque output device or an angle detector; at least one carrier rotating element of any carrier arc rod group is a motor, a torque output device or an angle detector; the common rotating element of any common rotating group is an extension shaft, a torque output device or an angle detector; at least one intermediate rotating element of any intermediate transmission group is a motor, a torque output device or an angle detector.

7. The 18-axis steering mechanism according to claim 1, characterized in that: The driving pulley of any intermediate transmission group is a synchronous timing pulley, a groove pulley, a cable pulley or a sprocket; the driven pulley of any intermediate transmission group is a synchronous timing pulley, a groove pulley, a cable pulley or a sprocket; the transmission belt of any intermediate transmission group is a synchronous timing belt, a belt, a cable, a belt or a chain.

8. An 18-axis steering mechanism, characterized in that: Include: A base frame assembly, the base frame assembly comprising a base frame structure and six base frame plates, the base frame structure is composed of a plurality of arc frames, so that the base frame structure is defined by a base frame geometric hexahedron, the six geometric centripetal lines of the base frame geometric hexahedron intersect at the center point of the base frame structure, the six base frame plates are respectively mounted on the six geometric end faces of the base frame structure, so that the geometric centripetal lines of the six base frame plates are respectively coincident with the six geometric centripetal lines of the base frame geometric hexahedron, wherein the angle between the geometric centripetal lines of any two base frame plates is greater than 60 degrees and less than 120 degrees; A frame assembly, the frame assembly comprising a frame structure and six frame plates, the frame structure being composed of a plurality of arc frames, so that the frame structure is defined by a frame geometric hexahedron, the six geometric centripetal lines of the frame geometric hexahedron intersecting at the center point of the frame structure, the six frame plates being respectively mounted on the six geometric end faces of the frame structure, so that the geometric centripetal lines of the six frame plates are respectively coincident with the six geometric centripetal lines of the frame geometric hexahedron, wherein the included angle between the geometric centripetal lines of any two frame plates is greater than 60 degrees and less than 120 degrees; Six base-connected arc rod groups, each base-connected arc rod group includes a base-connected shaft group, a base-connected driven gear, a base-connected driving gear, a base-connected arc rod and at least one base-connected rotating element, the base-connected shaft group includes a base-connected frame disk bearing, a base-connected gear bearing and a base-connected shaft, the base-connected frame disk bearing is installed on the base-connected frame disk, the base-connected shaft has a frame connection end and a rod connection end, so that the frame connection end of the base-connected shaft is inserted into the base-connected frame disk bearing, wherein the axis of the base-connected shaft coincides with the geometric centripetal line of the base-connected frame disk, and the axis of the base-connected shaft normally points to the center point of the base frame structure, according to the preset gear reduction ratio, the base-connected driven gear and the base-connected driving gear are selected, the base-connected gear bearing is installed on the base-connected driven gear, so that the base-connected gear bearing is inserted into the base-connected shaft, The base-connected driven gear and the base-connected driving gear are meshed with each other and are installed on the base-connected frame disk, wherein the axial center distance between the base-connected driven gear and the base-connected driving gear is equal to the sum of the base radius of the two meshing gear pairs, the output shaft of the at least one base-connected rotating element passes through the base-connected frame disk and is coaxially locked to the base-connected driving gear, and the at least one base-connected rotating element is installed on the base-connected frame disk, so that the at least one base-connected rotating element synchronously rotates the base-connected driven gear through the base-connected driving gear, the base-connected arc rod has a frame-connected end and a rod-connected end, the frame-connected end of the base-connected arc rod is coaxially locked to the rod-connected end of the base-connected shaft, and the frame-connected end of the base-connected arc rod is coaxially locked to the base-connected driven gear, so that the base-connected driven gear coaxially rotates the base-connected arc rod ring track concentrically revolving around the center point of the base frame structure; Six groups of arc rod groups, each group of arc rod groups includes a bearing shaft group, a driven gear, a driving gear, a bearing arc rod and at least one rotating element, the bearing shaft group includes a bearing frame plate bearing, a bearing gear bearing and a bearing shaft, the bearing frame plate bearing is installed on the bearing frame plate, the bearing shaft has a frame connection end and a rod connection end, the frame connection end of the bearing shaft is inserted into the bearing frame plate bearing, wherein the axis of the bearing shaft coincides with the geometric centripetal line of the bearing frame plate, and the axis of the bearing shaft normally points to the center point of the bearing frame structure, according to the preset gear reduction ratio, the driven gear and the driving gear are selected, the bearing gear bearing is installed on the bearing driven gear, the bearing gear bearing is inserted into the bearing shaft, The driven gear and the driving gear are meshed with each other and are installed on the supporting frame, wherein the axial center distance between the driven gear and the driving gear is equal to the sum of the base radius of the two meshing gear pairs, the output shaft of the at least one supporting rotating element passes through the supporting frame and is coaxially locked to the supporting driving gear, and the at least one supporting rotating element is installed on the supporting frame, so that the at least one supporting rotating element synchronously rotates the driven gear through the supporting driving gear, the supporting arc rod has a frame connection end and a rod connection end, the frame connection end of the supporting arc rod is coaxially locked to the rod connection end of the supporting shaft, and the frame connection end of the supporting arc rod is coaxially locked to the supporting driven gear, so that the supporting driven gear coaxially rotates the supporting arc rod ring track coaxially revolving around the center point of the supporting frame structure; There are six groups of common rotation groups, each group of common rotation groups includes a common shaft group and a common rotating element, the common shaft group includes a common bearing and a common shaft, the common bearing is installed on the rod connection end of the base arc rod, the common shaft has a base connection end and a load connection end, the base connection end of the common shaft is inserted into the common bearing, the load connection end of the common shaft is coaxially locked to the rod connection end of the load connection arc rod, wherein the axis line of the common shaft normally points to the center point of the base frame structure, so that the rod connection end of the base arc rod and the rod connection end of the load connection arc rod concentrically rotate through the common shaft coaxial ring track, the output shaft of the common rotating element is coaxially locked to the common shaft, wherein the common rotating element is located between the rod connection end of the base arc rod and the rod connection end of the load connection arc rod.

9. The 18-axis steering mechanism according to claim 8, characterized in that: One base frame structure and six base connecting frame plates of the base frame group correspond to one outer frame structure and six outer frame plates, and one carrier frame structure and six carrier frame plates of the carrier frame group correspond to one inner frame structure and six inner frame plates; or, one base frame structure and six base connecting frame plates of the base frame group correspond to one inner frame structure and six inner frame plates, and one carrier frame structure and six carrier frame plates of the carrier frame group correspond to one outer frame structure and six outer frame plates.

10. The 18-axis steering mechanism according to claim 8, characterized in that: One base-connected shaft group, one base-connected driven gear, one base-connected driving gear, one base-connected arc rod and at least one base-connected rotating element of the six base-connected arc rod groups correspond to an external shaft group, an external driven gear, an external driving gear, an external arc rod and at least one external rotating element, and one bearing shaft group, one bearing driven gear, one bearing driving gear, one bearing arc rod and at least one bearing rotating element of the six bearing arc rod groups correspond to an internal shaft group, an internal driven gear, an internal driving gear, an internal arc rod and at least one internal rotating element; or In other words, a base-connected shaft group, a base-connected driven gear, a base-connected driving gear, a base-connected arc rod and at least one base-connected rotating element of the six groups of base-connected arc rod groups correspond to an internal shaft group, an internal driven gear, an internal driving gear, an internal arc rod and at least one internal rotating element, and a carrying shaft group, a carrying driven gear, a carrying driving gear, a carrying arc rod and at least one carrying rotating element of the six groups of carrying arc rod groups correspond to an external shaft group, an external driven gear, an external driving gear, an external arc rod and at least one external rotating element.

11. The 18-axis steering mechanism according to claim 8, characterized in that: The axial center distance between the base driven gear and the base driving gear of any base arc rod group is zero, so that the output shaft of at least one base rotating element of the base arc rod group is coaxially locked to the frame connection end of the base shaft of the base arc rod group.

12. The 18-axis steering mechanism according to claim 8, characterized in that: The axial center distance between the driven gear and the driving gear of any arc rod group is zero, so that the output shaft of at least one rotating element of the arc rod group is coaxially locked to the frame-connected end of the shaft of the arc rod group.

13. The 18-axis steering mechanism according to claim 8, characterized in that: At least one base rotating element of any base arc rod group is a motor, a torque output device or an angle detector; at least one carrier rotating element of any carrier arc rod group is a motor, a torque output device or an angle detector; and the common rotating element of any common rotating group is an extension shaft, a torque output device or an angle detector.

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