Six-axis correction device

Abstract

The present disclosure provides a six-axis correction device, which includes a base, a platform, six linear buffers and a load compensator. The platform is arranged parallel to the base, and a central axis is defined on the center line of the platform and the base. The linear buffers are arranged around the central axis, and each of the linear buffers is provided with a universal joint at two ends thereof to pivotally connect the base and the platform, respectively. The load compensator is connected to the base and the platform, respectively, and is arranged along a predetermined working direction to be able to resist the force between the base and the platform in the predetermined working direction.

Description

Technical Field

[0001] This disclosure relates to a six-axis alignment device, and more particularly to a six-axis alignment device with a load-bearing compensator. Background Technology

[0002] The six-axis correction device is a Stewart platform (synergistic motion platform; hexapod) structure composed of six elastic bodies. The difference between it and the Stewart platform is that the Stewart platform is an active actuation device composed of six actuators and is difficult to be driven by external forces; the six-axis correction device is a passive device. When it is subjected to force, it can generate corresponding resistance in each direction through the elastic force of the elastic body deformation to balance the force.

[0003] Six-axis alignment devices can be used for parts assembly, as they possess degrees of freedom in all directions to absorb misalignment deviations. However, if the elastomers deform under stress due to the weight of the parts, the deformable space of each elastomer decreases, thus reducing the overall absorbable deviation value of the six-axis alignment device. Therefore, the applicable alignment range of existing six-axis alignment devices often fails to meet the designed predetermined capacity.

[0004] In view of this, the inventor has devoted himself to researching and applying theoretical principles to address the aforementioned problems in the prior art, which is the target of the inventor's improvement. Summary of the Invention

[0005] This disclosure provides a six-axis correction device with a load-bearing compensator.

[0006] This disclosure provides a six-axis calibration device, comprising a base, a platform, six linear dampers, and a load-bearing compensator. The platform and the base are arranged side by side, and a central axis is defined on the line connecting the center of the platform and the base. The linear dampers are arranged around the central axis, and each linear damper has a universal joint at both ends for pivotally connecting to the base and the platform, respectively. The load-bearing compensator includes at least one linear elastic element that connects to the base and the platform, respectively. When a force is applied between the base and the platform, the at least one linear elastic element can elastically deform to generate a compensating force along a predetermined working direction.

[0007] In one embodiment of this disclosure, at least one linear elastic element is arranged along the central axis.

[0008] In one embodiment of this disclosure, the load-bearing compensator includes a plurality of linear elastic elements arranged coaxially along the central axis.

[0009] In one embodiment of this disclosure, linear elastic elements are arranged in a nested configuration.

[0010] In one embodiment of this disclosure, the load-bearing compensator includes a plurality of linear elastic elements arranged around the central axis.

[0011] In one embodiment of this disclosure, each of the linear elastic elements is arranged parallel to the central axis.

[0012] In one embodiment of this disclosure, each of the linear elastic elements is arranged at an angle.

[0013] In one embodiment of this disclosure, each of the linear elastic elements is tilted in the same direction in the circumferential direction of the arrangement of the linear elastic elements.

[0014] In one embodiment of this disclosure, the at least one linear elastic element is arranged eccentrically relative to the central axis.

[0015] In one embodiment of this disclosure, the load-bearing compensator includes a plurality of linear elastic elements, which include a first linear elastic element and a second linear elastic element with different elastic coefficients, and the first linear elastic element and the second linear elastic element are respectively disposed on opposite sides of the central axis.

[0016] In one embodiment of this disclosure, the load-bearing compensator includes a second sub-base and a second sub-base. The first sub-base is detachably connected to one of the base and the platform, and the second sub-base is detachably connected to the other of the base and the platform. The at least one linear elastic element is connected to the first sub-base and the second sub-base respectively.

[0017] In summary, the six-axis correction device disclosed herein has a load compensator that can provide a specific upward compensating force to resist the gravity of its load-bearing object in order to reduce the preload of the linear buffer, thereby increasing the correction range applicable to the six-axis correction device. Attached Figure Description

[0018] Figure 1 This is an exploded perspective view of the six-axis calibration device according to the first embodiment of the present invention;

[0019] Figure 2 This is a perspective view of the six-axis calibration device according to the first embodiment of the present invention;

[0020] Figure 3 This is a top view of the six-axis calibration device according to the first embodiment of the present invention;

[0021] Figure 4A This is a side view of the six-axis calibration device according to the first embodiment of the present invention;

[0022] Figure 4B This is a schematic diagram of another embodiment of the linear buffer of the six-axis calibration device of the first embodiment disclosed herein;

[0023] Figure 5This is a schematic diagram of the six-axis calibration device disclosed herein in use.

[0024] Figure 6 This is a schematic diagram of another usage state of the six-axis calibration device disclosed herein;

[0025] Figure 7 This is another schematic diagram of the six-axis calibration device disclosed herein in use;

[0026] Figure 8 This is a perspective view of the six-axis calibration device according to the second embodiment of the present invention;

[0027] Figure 9A This is a top view of the six-axis calibration device according to the second embodiment of the present invention;

[0028] Figure 9B This is a schematic diagram of another embodiment of the linear buffer of the six-axis correction device of the second embodiment disclosed herein;

[0029] Figure 10 This is a perspective view of the six-axis calibration device according to the third embodiment of the present invention;

[0030] Figure 11A This is a top view of the six-axis calibration device according to the third embodiment of this disclosure;

[0031] Figure 11B This is a schematic diagram of another embodiment of the linear buffer of the six-axis correction device of the third embodiment disclosed herein;

[0032] Figure 12 This is a perspective view of the six-axis calibration device according to the fourth embodiment of the present invention;

[0033] Figure 13A This is a top view of the six-axis calibration device according to the fourth embodiment of this disclosure;

[0034] Figure 13B This is a schematic diagram of another embodiment of the six-axis correction device with linear buffer, which is the basis for the first embodiment of the present invention.

[0035] Explanation of icon numbers

[0036] 10: Transfer device

[0037] 11:Claws

[0038] 12: Arms

[0039] 21: Parts

[0040] 22: Opposite parts

[0041] 23:Object

[0042] 101: Central Axis

[0043] 110: Base

[0044] 120: Platform

[0045] 200: Linear Buffer

[0046] 201: Telescopic pole

[0047] 210, 220: Universal joint

[0048] 300: Load-bearing compensator

[0049] 301: First Constellation

[0050] 302: Second Virgo

[0051] 303: Planned Work Direction

[0052] 310: Linear elastic element

[0053] 321: First linear elastic element

[0054] 322: Second linear elastic element

[0055] 330: Linear elastic element Detailed Implementation

[0056] In the description of this disclosure, it should be understood that the terms "front side", "rear side", "left side", "right side", "front end", "rear end", "end", "longitudinal", "lateral", "vertical", "top", "bottom", etc., indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings, and are only for the convenience of describing this disclosure and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation, and therefore should not be construed as a limitation of this disclosure.

[0057] Unless otherwise defined, terms such as "substantially" and "approximately" are used to describe and narrate small changes. When used in connection with an event or situation, these terms may include the exact moment the event or situation occurred, or an approximate point in time. For example, when used in connection with a numerical value, these terms may include a range of variation less than or equal to ±10% of that value, such as less than or equal to ±5%, less than or equal to ±4%, less than or equal to ±3%, less than or equal to ±2%, less than or equal to ±1%, less than or equal to ±0.5%, less than or equal to ±0.1%, or less than or equal to ±0.05%.

[0058] The detailed description and technical content of this disclosure will be explained below with reference to the accompanying drawings. However, the drawings are for illustrative purposes only and are not intended to limit the scope of this disclosure.

[0059] Figure 1This is an exploded perspective view of the six-axis calibration device according to the first embodiment of this invention. Figure 2 This is a perspective view of the six-axis calibration device according to the first embodiment of the present invention. Figure 3 This is a top view of the six-axis calibration device according to the first embodiment of the present invention. Figure 4A This is a side view of the six-axis correction device according to the first embodiment of the present invention.

[0060] See Figures 1 to 4A The first embodiment disclosed herein provides a six-axis calibration device, which includes a base 110, a platform 120, six linear buffers 200 and a load compensator 300.

[0061] The stage 120 and the base 110 can both be flat plates, but this disclosure is not limited to this. Other additional structures can also be provided on the flat plates as needed. Moreover, the stage 120 and the base 110 are arranged side by side (in this case, for flat plates). In general use, the stage 120 is positioned above the base 110, but this is not limited to different usage methods.

[0062] Each linear buffer 200 is connected between the base 110 and the platform 120. A central axis 101 is defined on the line connecting the centers of the platform 120 and the base 110 to describe the configuration of the six linear buffers 200. The six linear buffers 200 are arranged around the central axis 101. Each linear buffer 200 has a universal joint (210, 220) at both ends, and each universal joint (210, 220) is pivotally connected to the base 110 and the platform 120, thereby connecting the linear buffer 200 between the base 110 and the platform 120. Each linear buffer 200 shown in this embodiment includes a telescopic rod 201, and the linear buffer 200 extends and retracts along the axial direction of the telescopic rod 201. In this embodiment... Figures 1 to 4A The telescopic rod 201 shown is an active telescopic buffer element, which can actively extend and retract according to the force to buffer the force between the base 110 and the platform 120 caused by external forces. The telescopic rod 201 may be a pneumatic cylinder, hydraulic cylinder, or electric cylinder, etc. However, this disclosure is not limited to this. Figure 4B This is a schematic diagram of another embodiment of the six-axis correction device with a linear buffer, as disclosed in the first embodiment. Figure 4B The buffer 200 shown includes a telescopic rod 202, which is a passive telescopic buffer element. It extends and retracts to change its length due to force in order to buffer the force between the base 110 and the platform 120 caused by external force. The telescopic rod 202 may be a column spring, a hydraulic buffer rod, or a pneumatic buffer rod.

[0063] The load-bearing compensator 300 is connected to the base 110 and the platform 120 respectively and is configured along a predetermined working direction 303 to resist the force between the base 110 and the platform 120 in this predetermined working direction 303. Specifically, the predetermined working direction 303 is generally determined according to the preset main load-bearing direction of the six-axis correction device.

[0064] For example, in this embodiment, the positive direction of the platform 120 is assumed to be the primary load-bearing direction, therefore the predetermined working direction 303 is defined along the central axis 101, but this disclosure is not limited to this. The load-bearing compensator 300 includes a plurality of linear elastic elements 310 arranged around the central axis 101. Specifically, these linear elastic elements 310 are identical columnar springs. When the aforementioned linear elastic elements 310 are subjected to a force in the primary load-bearing direction, they can elastically deform to generate an elastic force along the central axis 101, thereby providing a compensating force along the central axis 101. Moreover, when the platform 120 deflects relative to the base 110, these linear elastic elements 310 can still provide a compensating force on the side of their deflection.

[0065] In this embodiment, the load-bearing compensator 300 may include a second sub-base 301 and a second sub-base 302. The linear elastic element 310 is connected to the first sub-base 301 and the second sub-base 302 respectively. The first sub-base 301 can be detachably connected to one of the base 110 and the platform 120, and the second sub-base 302 can be detachably connected to the other of the base 110 and the platform 120. This facilitates the assembly of the load-bearing compensator 300 between the base 110 and the platform 120, and also facilitates the disassembly of the load-bearing compensator 300 to replace another load-bearing compensator 300 according to different usage methods.

[0066] Figure 5 This is a schematic diagram of the six-axis calibration device disclosed herein in use. In this embodiment, a part 21 is assembled onto its counterpart 22 using a transfer device. The transfer device shown in this embodiment is in the form of a robotic arm, which has a claw 11 and multiple movably connected arms 12. The claw 11 is connected to one of the arms 12. A platform 120 is fixedly installed. The part 21 is held by the claw 11 of the robotic arm and can be moved by actuating the arms 12. The counterpart 22 is supported on the platform 120. The counterpart 22 may be directly connected to the platform 120 or indirectly connected to the platform 120, for example, indirectly connected to the platform 120 through a second sub-base 302.

[0067] During the process of the transfer device assembling part 21 onto the counterpart part 22, if part 21 is misaligned relative to counterpart part 22, resistance is generated on the six-axis alignment device when part 21 contacts counterpart part 22. This resistance causes the six linear buffers 200 to generate different deformations and exert forces on counterpart part 22 in different directions, thereby deflecting counterpart part 22 to align with part 21.

[0068] In this embodiment, when the opponent 22 is supported on the stage 120, its weight pre-presses the linear buffers 200 along the predetermined working direction 303, thus pre-occupying the movable stroke of the linear buffers 200 in the predetermined working direction 303. The load-bearing compensator 300 is configured along the predetermined working direction 303 to resist the gravity of the opponent 22, thereby releasing the movable stroke of the linear buffers 200 in the predetermined working direction 303. This increases the correctable range of the six-axis correction device in each direction.

[0069] Figure 6 This is a schematic diagram illustrating another usage configuration of the six-axis calibration device disclosed herein. This disclosure is not limited to the aforementioned usage methods, for example… Figure 6 As shown, the six-axis correction device can also be configured as a section of a robotic arm. That is, the base 110 and platform 120 of the six-axis correction device are respectively connected to two parts of the robotic arm (for example, respectively connected to the claw 11 and the arm 12, or connected between the two arm parts 12). Therefore, the predetermined working direction 303 may vary depending on the configuration position of the six-axis correction device, its usage, or the object 23 it carries.

[0070] Figure 7 This is another schematic diagram showing the six-axis calibration device disclosed herein in use. (See diagram below.) Figure 7 As shown, the six-axis alignment device can also be in the form of a track hoist to be suitable for moving heavier objects 23, with claws 11 below the transfer device to hold the object 23.

[0071] Figure 8 This is a perspective view of the six-axis calibration device according to the second embodiment of the present invention. Figure 9A This is a top view of the six-axis calibration device according to the second embodiment of this disclosure. See also... Figure 8 and Figure 9A The second embodiment disclosed herein provides a six-axis calibration device, which includes a base 110, a platform 120, six linear buffers 200, and a load-bearing compensator 300. The base 110, platform 120, and six linear buffers 200 are constructed and arranged as in the first embodiment described above. The linear buffers 200 can be configured as follows: Figure 8 The telescopic rod 201 shown is an active telescopic buffer element. Figure 9B This is a schematic diagram of another embodiment of the six-axis correction device with its linear buffer, as disclosed in the second embodiment of the present invention. Figure 9B As shown, the linear buffer 200 can also be configured as follows: Figure 9B The telescopic rod 202 shown is a passive telescopic buffer element, and its similarities to the first embodiment will not be repeated here. The difference between this embodiment and the first embodiment lies in the construction of the load-bearing compensator 300, which will be described in detail below.

[0072] In this embodiment, the predetermined working direction 303 is defined along the central axis 101, and the load-bearing compensator 300 includes at least one linear elastic element arranged along the central axis 101, such as a first linear elastic element 321 or a second linear elastic element 322 as shown in the figure. In the simplest implementation, the predetermined effect of this embodiment can be achieved by using only a single linear elastic element (first linear elastic element 321 or second linear elastic element 322). In this embodiment, the load-bearing compensator 300 includes a plurality of linear elastic elements arranged coaxially along the central axis 101, and these linear elastic elements are stacked.

[0073] Specifically, these linear elastic elements are all columnar springs, including a first linear elastic element 321 and a second linear elastic element 322 with different diameters. The first linear elastic element 321 and the second linear elastic element 322 may have the same or different elastic coefficients. The first linear elastic element 321 and the second linear elastic element 322 are coaxially arranged along a predetermined working direction 303 (i.e., along the central axis 101), and the second linear elastic element 322 passes through the first linear elastic element 321 for more efficient space utilization. When the aforementioned first elastic element 321 and the second linear elastic element 322 are subjected to a force in the main load-bearing direction, they can elastically deform and generate elastic forces on their respective central axes 101, thereby providing a compensating force along the central axis 101.

[0074] In this embodiment, the load-bearing compensator 300 may include a second sub-base 301 and a second sub-base 302. A linear elastic element is connected to the first sub-base 301 and the second sub-base 302 respectively. The first sub-base 301 can be detachably connected to one of the base 110 and the platform 120, and the second sub-base 302 can be detachably connected to the other of the base 110 and the platform 120. This facilitates the assembly of the load-bearing compensator 300 between the base 110 and the platform 120, and also facilitates the disassembly of the load-bearing compensator 300 to replace another load-bearing compensator 300 according to different usage methods.

[0075] Figure 10 This is a perspective view of the six-axis calibration device according to the third embodiment of this disclosure. Figure 11A This is a top view of the six-axis calibration device according to the third embodiment of this disclosure. See also... Figure 10 and Figure 11A The third embodiment disclosed herein provides a six-axis calibration device, which includes a base 110, a platform 120, six linear buffers 200, and a load-bearing compensator 300. The base 110, platform 120, and six linear buffers 200 are constructed and arranged as in the first embodiment described above. The linear buffers 200 can be configured as follows: Figure 8The telescopic rod 201 shown is an active telescopic buffer element. Figure 11B This is a schematic diagram of another embodiment of the six-axis correction device with a linear buffer according to the third embodiment of the present disclosure. The linear buffer 200 can also be configured as follows: Figure 11B The telescopic rod 202 shown is a passive telescopic buffer element, and its similarities to the first embodiment will not be repeated here. The difference between this embodiment and the first embodiment lies in the construction of the load-bearing compensator 300, which will be described in detail below.

[0076] In this embodiment, the predetermined working direction 303 is defined as an angle deflection relative to the central axis 101. This may be due to the non-uniform structure of the load on the platform 120 causing one side to be heavier, or the six-axis correction device being assembled on the robotic arm in a non-perpendicular direction, causing the six-axis correction device to bear the weight laterally. In this embodiment, the load-bearing compensator 300 includes at least one linear elastic element arranged along the central axis 101, such as a first linear elastic element 321 or a second linear elastic element 322 as shown in the figure, and at least one linear elastic element is eccentrically arranged relative to the central axis 101. Specifically, the load-bearing compensator 300 includes a first linear elastic element 321 and a second linear elastic element 322 with different elastic coefficients, and the first linear elastic element 321 and the second linear elastic element 322 are respectively arranged on opposite sides of the central axis 101. When the base 110 and the platform 120 are subjected to force, the linear elastic elements 310 can elastically deform and the resultant force of the elastic force generated therefrom constitutes a compensating force along the aforementioned predetermined working direction 303.

[0077] In this embodiment, the load-bearing compensator 300 may include a second sub-base 301 and a second sub-base 302. The linear elastic element 310 is connected to the first sub-base 301 and the second sub-base 302 respectively. The first sub-base 301 can be detachably connected to one of the base 110 and the platform 120, and the second sub-base 302 can be detachably connected to the other of the base 110 and the platform 120. This facilitates the assembly of the load-bearing compensator 300 between the base 110 and the platform 120, and also facilitates the disassembly of the load-bearing compensator 300 to replace another load-bearing compensator 300 according to different usage methods.

[0078] Figure 12 This is a perspective view of the six-axis calibration device according to the fourth embodiment of this invention. Figure 13A This is a top view of the six-axis calibration device according to the fourth embodiment of this disclosure. See also... Figure 12 and Figure 13AThe fourth embodiment disclosed herein provides a six-axis calibration device, which includes a base 110, a platform 120, six linear buffers 200, and a load-bearing compensator 300. The base 110, platform 120, and six linear buffers 200 are constructed and arranged as in the first embodiment described above. The linear buffers 200 can be configured as follows: Figure 10 The telescopic rod 201 shown is an active telescopic buffer element. Figure 13B This is a schematic diagram of another embodiment of the six-axis correction device of the fourth embodiment disclosed herein, wherein the linear buffer 200 can also be configured as follows: Figure 13B The telescopic rod 202 shown is a passive telescopic buffer element, and its similarities to the first embodiment will not be repeated here. The difference between this embodiment and the first embodiment lies in the construction of the load-bearing compensator 300, which will be described in detail below.

[0079] In this embodiment, the predetermined working direction 303 is defined circumferentially relative to the central axis 101. This is likely because the six-axis correction device is mounted on a robotic arm for rotational assembly. In this embodiment, the load-bearing compensator 300 includes a plurality of linear elastic elements 330 arranged around the central axis 101; specifically, these linear elastic elements 330 are identical columnar springs. Each linear elastic element 330 is inclined. Each linear elastic element 330 is inclined in the same direction circumferentially in the arrangement of these linear elastic elements 330. When the aforementioned load-bearing compensator 300 is subjected to torque, each linear elastic element 330 can elastically deform and generate an elastic force in the circumferential direction of the central axis 101, thereby providing a compensating force along the circumferential direction of the central axis 101. Simultaneously, the elastic force generated by each linear elastic element 330 has a component force in the direction parallel to the central axis 101, and the resultant force of these components parallel to the central axis 101 can also provide a compensating force on the central axis 101.

[0080] In this embodiment, the load-bearing compensator 300 may include a second sub-base 301 and a second sub-base 302. The linear elastic element 330 is respectively connected to the first sub-base 301 and the second sub-base 302. The first sub-base 301 can be detachably connected to one of the base 110 and the platform 120, and the second sub-base 302 can be detachably connected to the other of the base 110 and the platform 120. This facilitates the assembly of the load-bearing compensator 300 between the base 110 and the platform 120. Since the load-bearing compensator 300 is not directly connected to the linear buffer 200 and the base 110 or the platform 120, the base 110 and the platform 120 are still fixed by the linear buffer 200 when the load-bearing compensator 300 is assembled or disassembled. Therefore, it is also convenient to disassemble the load-bearing compensator 300 to replace another load-bearing compensator 300 according to different usage methods.

[0081] In summary, the six-axis correction device disclosed herein has a load compensator 300 that can provide a specific upward compensating force to resist the gravity of its load to reduce the preload of the linear buffer 200, thereby increasing the correction range applicable to the six-axis correction device.

[0082] The above description is merely a preferred embodiment of the present invention and is not intended to limit the scope of the claims of the present invention. Other equivalent variations that utilize the spirit of the claims of the present invention should all fall within the scope of the claims of the present invention.

Claims

1. A six-axis calibration device, comprising: Base; A platform is arranged side by side with the base, and a central axis is defined on the line connecting the centers of the platform and the base; Six linear buffers are arranged around the central axis, and each linear buffer has universal joints at both ends to pivotally connect to the base and the platform, respectively; and A load-bearing compensator includes at least one linear elastic element that is respectively connected to the base and the platform. When the base and the platform are subjected to force, the at least one linear elastic element can elastically deform to generate a compensating force along a predetermined working direction.

2. The six-axis correction device according to claim 1, wherein the at least one linear elastic element is arranged along the central axis.

3. The six-axis correction device according to claim 2, wherein the load-bearing compensator comprises a plurality of linear elastic elements coaxially arranged along the central axis.

4. The six-axis correction device according to claim 3, wherein the plurality of linear elastic elements are nested.

5. The six-axis correction device according to claim 1, wherein the load-bearing compensator comprises a plurality of linear elastic elements arranged around the central axis.

6. The six-axis correction device according to claim 5, wherein each of the linear elastic elements is arranged parallel to the central axis.

7. The six-axis correction device according to claim 5, wherein each of the linear elastic elements is arranged at an angle.

8. The six-axis correction device according to claim 7, wherein each of the linear elastic elements is inclined in the same direction in the circumferential direction of the arrangement of the plurality of linear elastic elements.

9. The six-axis correction device according to claim 1, wherein the at least one linear elastic element is eccentrically arranged relative to the central axis.

10. The six-axis correction device according to claim 1, wherein the load-bearing compensator comprises a plurality of linear elastic elements, the plurality of linear elastic elements comprising a first linear elastic element and a second linear elastic element having different elastic coefficients, and the first linear elastic element and the second linear elastic element are respectively disposed on opposite sides of the central axis.

11. The six-axis correction device according to claim 1, wherein the load-bearing compensator comprises a first sub-base and a second sub-base, the first sub-base being detachably connected to one of the base and the platform, the second sub-base being detachably connected to the other of the base and the platform, and the at least one linear elastic element being respectively connected to the first sub-base and the second sub-base.

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