SPHERICAL COORDINATES MANIPULATING MECHANISM FOR INNER FRAME PIVOTAL CONFIGURATION

Abstract

A spherical coordinates manipulating mechanism for inner frame pivotal configuration. There are total twelve axles in the mechanism for pivoting with four outer rotating members, four arc-link rotating members and four inner rotating members individually, and each axle of these rotating members is specifically directed into the center of the outer frame for concentrically rotating each arc-link set along a specified geometric orbit between the outer frame and inner frame. Therefore, the final output torque can be integrated via serial linking and parallel cooperating with the twelve axles. The mechanism can be equipped with single effector arc-link set or with double effector arc-link sets. In this divisional application. There are three embodiments for sufficiently introducing the spherical coordinates manipulating mechanism for inner frame pivotal configuration.

Description

FIELD OF THE INVENTION

This divisional application relates to a spherical coordinates manipulating mechanism capable of maneuvering payloads by carrying out multiple degrees-of-freedom.

BACKGROUND OF THE INVENTION

This divisional application is continued from our new allowed invention, which has received notice of allowance from USPTO (US20150082934A1). According to MPEP 201.06. The disclosure of a divisional application must be the same as the disclosure of the prior-filed application, or include at least that portion of the disclosure of the prior-field application, or include at least that portion of the disclosure of the prior-filed application that is germane to the invention claimed in the divisional application. The disclosure divisional application cannot include anything which would constitute new matter if inserted in the prior-filed application.

The new allowed invention is inherited the same twelve axles geometric configuration from our pre-inventions which has been issued by USPTO (U.S. Pat. No. 8,579,714B2/US20120083347A1). An important issue is how to make a twelve axles mechanism operate smoothly without mutual interference and/or singularity while contemplating practical design and regulating geometric limitation. The two geometric tetrahedron frames without changing its original geometric definition is inherited. “At least one” effector arc-link set is introduced in the new allowed invention. This improvement is substantially extending the utility of spherical coordinates manipulating mechanism for spherical coordinate kinematics.

According to the new allowed invention, the geometrical and symmetrical characters are classified as outer and inner configuration. Six embodiments can be classified as two groups of claims, claim 1˜claim 5 grouped for outer frame pivotal configuration are adapted in the new allowed invention, claim 6˜claim 10 grouped for inner frame pivotal configuration are continued in this divisional application. Three embodiments belong to outer frame pivotal configuration respectively demonstrated at FIG. 1/FIG. 11/FIG. 13. The other three embodiments belong to inner frame pivot configuration respectively demonstrated at FIG. 10/FIG. 12/FIG. 14 are continued and renamed as FIG. 1/FIG. 8/FIG. 9. For easier understanding geometrical definition and hierarchy relation and connecting method between each mechanical parts, a generic embodiment is specifically disassembled into elements level. These elements are continually demonstrated as FIG. 2˜FIG. 7.

Referring to the new allowed invention, the arc length of the effector arc-link is less than or equal to 90°, but arc length of the effector arc-link 5x being zero degree is still within the scope, shown as FIG. 15. It is similar to a folding fan when its spreading ribs fold together to form a single radial one. In this specific case, the effector arc-link whose two ends are aligned is folded as a radial link and thus there is no need of installing the end effector. It is easily violated the geometrical acknowledge of arc-link. For preventing confusion, FIG. 15 is deleted and the effector arc-link is suggested to suffer more restriction. In this divisional application, the arc length of effector arc-link is restricted as less than 90° but greater than 30°.

SUMMARY OF THE INVENTION

A spherical coordinates manipulating mechanism for inner frame pivotal configuration comprises an outer frame assembly, an inner frame assembly, four arc-link sets and at least one effector arc-link set. The outer frame assembly comprises an outer frame and four outer rotating members. The inner frame assembly comprises an inner frame and four inner rotating members installed into the inner frame. Each arc-link set comprises an outer arc-link, an inner arc-link and an arc-link rotating member. Each effector arc-link set comprises an effector arc-link, an effector rotating member and an end effector. There are total twelve axles in the mechanism for pivoting with four outer rotating members, four arc-link rotating members and four inner rotating members individually, and each axle of these rotating members is specifically directed into the center of the outer frame for concentrically rotating each arc-link set along a specified geometric orbit between the outer frame and inner frame. Therefore, the final output torque can be integrated via serial linking and parallel cooperating with the twelve axles.

The “at least one” effector arc-link set was emphasized by the new allowed invention that the quantity of the effector arc-link set can be optional. The mechanism can be equipped with single effector arc-link set or with double effector arc-link sets. In this divisional application. There are three embodiments for sufficiently introducing the spherical coordinates manipulating mechanism for inner frame pivotal configuration.

BRIEF DESCRIPTION OF THE DRAWINGS

FIG. 1A is a perspective view of single inner frame pivotal configuration;

FIG. 1B is a front view of FIG. 1A;

FIG. 1C is a side view of FIG. 1A;

FIG. 2A is a perspective view of the outer frame assembly;

FIG. 2B shows a geometric definition of FIG. 2A;

FIG. 2C is a perspective view of another type of the outer frame assembly;

FIG. 2D shows a geometric definition of FIG. 2C;

FIG. 3A is a perspective view of the inner frame assembly;

FIG. 3B shows a geometric definition of FIG. 3A;

FIG. 3C is a perspective view of another type of the inner frame assembly;

FIG. 3D shows a geometric definition of FIG. 3C;

FIG. 4A is a perspective view of outer rotating member inboard mounting;

FIG. 4B is a perspective view of inner rotating member outboard mounting;

FIG. 4C is a perspective view of another type of inboard mounting of FIG. 4A;

FIG. 4D is a perspective view of another type of outboard mounting of FIG. 4B;

FIG. 5A is a perspective view of the four arc-link sets;

FIG. 5B shows a geometric definition of FIG. 5A;

FIG. 6A is a perspective view of the inner frame pivotal configuration;

FIG. 6B is a focus view of an effector arc-link set of FIG. 6A;

FIG. 6C shows a geometric definition of FIG. 6A;

FIG. 7A is a perspective view of double inner frame pivotal configuration with yoke type outer frame;

FIG. 7B shows a geometric definition of FIG. 7A;

FIG. 7C is a side view of double inner frame pivotal configuration with yoke type outer frame;

FIG. 7D shows a geometric definition of FIG. 7C;

FIG. 8A is a perspective view of double inner frame pivotal configuration;

FIG. 8B is a front exploded view of FIG. 8A;

FIG. 8C is a side exploded view of FIG. 8A;

FIG. 9A is a perspective view of double inner frame pivotal configuration with yoke type outer frame;

FIG. 9B is a front exploded view of FIG. 9A;

FIG. 9C is a side exploded view of FIG. 9A.

DETAILED DESCRIPTION OF THE INVENTION

A spherical coordinates manipulating mechanism for inner frame pivotal configuration comprises an outer frame assembly, an inner frame assembly, four arc-link sets and at least one effector arc-link set, shown as FIG. 1A to 1C.

The outer frame assembly comprises an outer frame 4o, four outer rotating members 4a mounted to the outer frame 4o, an outer support 4b mounted on a bottom of the outer frame 4o, and an outer carrier 4c provided on the outer support 4b. The outer frame 4o is comprised of a plurality of brackets. The outer frame 4o has four vertexes, each denoted by u_i,i=1˜4, which are geometrically defined by an outer geometric tetrahedron. The four vertexes of the outer geometric tetrahedron are equidistant from the notional center of the outer frame 4o. The radius of a geometrical orbit of the outer frame 4o is denoted by r₄. The vertex-to-center lines of the outer geometric tetrahedron are coincided with the center of the outer frame 4o. Each outer rotating member 4a may be mounted on outboard of the outer frame 4o (see FIG. 2A and 2C) or on inboard of the outer frame 4o (see FIG. 4A and 4C). But axle of the outer rotating member 4a is required to coincide with a vertex-to-center line of the outer geometric tetrahedron. An angle between the vertex-to-center line u_i and the other vertex-to-center line u_j is represented by _ij, as shown in FIG. 2B and 2D.

The inner frame assembly comprises an inner frame 1o, four inner rotating members 1a, an inner support 1b, and an inner carrier 1c. The inner frame 1o is comprised of a plurality of brackets. The inner frame 1o has four vertexes, each denoted by v_i, i=1˜4, which are geometrically defined by an inner geometric tetrahedron. The four vertexes of the inner geometric tetrahedron are equidistant from the notional center of inner frame 1o. The radius of a geometrical orbit of the inner frame 1o is denoted by r₁. The vertex-to-center lines of the inner geometric tetrahedron are coincided with the center of the inner frame 1o denoted by o_v. Each inner rotating member 1a may be mounted on an inboard of the inner frame 1o (see FIG. 3A and 3C) or on an outboard of the inner frame 1o (see FIG. 4B and 4D). But axle of the inner rotating member is required to coincide with a vertex-to-center line of the inner geometric tetrahedron. An angle between the vertex-to-center line v_i and the other vertex-to-center line v_j is represented by Ω_ij, as shown in FIGS. 3B and 3D.

The outer frame 4o or the inner frame 1o can be designed as closed-loop structure or open-loop structure. Closed-loop design can enhance rigidity to avoid vibration or deformation. Open-loop design can reduce interference caused by arc-link sets. (see FIG. 4A-4C).

As referred to our pre-invention, if the outer frame 4o or the inner frame 1o is geometrically shaped as a regular geometric tetrahedron, the regular geometric tetrahedron frame may be easily designed and simulated due to its simple and symmetry. Thus, six angles defined by each pair of vertex-to-center lines of the outer frame 4o are equal, approximately 109.5°, that is, ₁₂=₁₃=₁₄=₂₃=₂₄=₃₄≈109.5°. The six angles defined by each pair of vertex-to-center lines of the inner frame 1o are equal, approximately 109.5°, that is, Ω₁₂=Ω₁₃=Ω₁₄=Ω₂₃=Ω₂₄=Ω₃₄≈109.5°. It is to be noted that the regular geometric tetrahedron is a configuration most likely to have singularities. Therefore, for avoiding the singularities, it is preferred that neither the outer frame 4o nor the inner frame lo is defined as a regular geometric tetrahedron.

According to FIG. 12-FIG. 15 referring to our pre-invention, these four figures and related descriptions are introduced for clearly proving that the operating range of an angle between any two vertex-to-center lines of a movable frame defined by flexible geometric tetrahedron which was ever tested and verified for or singularity avoidance can be determined by proper parametric design. Evidently, the mentioned operating range which is proved between 75° and 150°.

The four arc-link sets, each arc-link set includes an outer arc-link 3o, an inner arc-link 2o and an arc-link rotating member 2a, an end of the outer arc-link 3o is pivotally connected with an end of the inner arc-link 2o through an axle of arc-link rotating member 2a, the other end of outer arc-link 3o is pivotally connected with an axle 4e of outer rotating member 4a, and the other end of inner arc-link 2o is pivotally connected with an axle 1e of inner rotating member 1a, each axle of arc-link rotating member 2a, is normally directed into the center of the outer frame 4o for concentrically rotating each arc-link set along specified geometric orbit between the outer frame 4o and the inner frame 1o. The radius of each outer arc-link's geometric orbit is denoted by r₃. The radius of each inner arc-link's geometric orbit is denoted by r₂.

Arc-length of an outer arc-link 3o, geometrically represented by α_i, is defined as an angle between two axles of the outer rotating member 4a and the arc-link rotating member 2a. Arc-length of an inner arc-link 2c, geometrically represented by β_i, is defined as an angle between two axles of inner rotating member 4a and the arc-link rotating member 2a. There are total twelve axles in these four arc-link sets for pivoting including four outer rotating members 4a, four arc-link rotating members 2a and four inner rotating members 1a individually. All these axles must be concentric to ensure the outer frame 4o and the inner frame 1o to be concentric, therefore the final output torque can be integrated via serial linking and parallel cooperating with the twelve rotating members. as shown in FIG. 5A and FIG. 5B.

Our new allowed invention is inherited the same twelve axles geometric configuration from our pre-invention. An important issue is how to make a twelve axles mechanism operate smoothly without mutual interference and/or singularity while contemplating practical design and regulating geometric limitation. The sum of the arc lengths of any two of the outer arc-links 3o must be greater than or equal to an angle between their corresponding vertex-to-center lines of the outer geometric tetrahedron, namely α_i+α_j≧_ij. The sum of the arc lengths of any two of the inner arc-links 2o must be equal to or greater than an angle between their corresponding vertex-to-center lines of the inner geometric tetrahedron, namely β_i+β_j≧Ω_ij. For the sake of avoiding singularities, arc lengths of four outer arc-links 3o are not required to be equal, and arc lengths of four inner arc-links 2o are not required to be equal.

The at least one effector arc-link set is comprised of an effector arc-link 5x, an effector rotating member 5a and an end effector 5e. An end of the effector arc-link 5x is mounted an end effector 5e which is radially extended opposite side relative to the inner frame 1o. The other end of the effector arc-link 5x is pivoted through an axle of outer rotating member 4a and installed into the effector arc-link rotating member 5a, opposite side relative to the inner frame 1o. The radius of each effector arc-link's geometric orbit is denoted by G. The effector arc-link 5x can be concentrically rotated along a geometric orbit between outer arc-link 3o and outer frame 4o, i.e. r₃<r_x<r₄. Arc-length of effector arc-link 5x, geometrically represented by δ_i, is defined as an angle between the axle of outer rotating member 5a and the extending line of the end effector 5e mounted onto the same effector arc-link 5x. Arc-length of the effector arc-link 5x is greater than 30° but less than 90° and is denoted by δ_i, that is 30°≦δ_i≦90°.

The end effector 5e can be actuated by an effector rotating member 5a to avoid being interfered by any inner arc-link 2o or any outer arc-link 3o. Thus, motion angle and moment of a spherical coordinate can be carried out. The effector rotating member 5a can be a torque output device or a device for fastening rotational member so as to fasten the effector arc-link 5x and prevent the inner frame 1o or the outer frame 4o from being interfered by the effector arc-link 5x.

The end effector 5e can be provided with a clamp or an extending mechanism having an extendable piston rod as implemented in pneumatic cylinders, hydraulic cylinders or electric threaded rod for carrying payload.

As shown in FIG. 6A-6C, the effector arc-link set can be provided in either a single installation or double installation. The single installation has only one effector arc-link set and the double installation has two effector arc-link sets. While the double installation may cause the spherical coordinates manipulating mechanism be interfered by either the inner frame lo or the outer frame 4o, resulting in a reduction of motion space, but it may induce more applications due to the provision of an extra effector arc-link set.

The outer frame 4o and the outer support 4b can be employed to constitute a yoke type outer frame (see FIG. 7A and 7C). The geometric definition of the yoke type outer frame and two effector arc-links 5x is shown in FIG. 7B and 7D.

The mechanism of our new allowed invention can be implemented as either outer frame pivotal configuration or inner frame pivotal configuration. For this divisional application, the geometric definition is chosen as inner frame pivotal configuration, i.e. r₃<r_x<r₄.

Referring to FIG. 1A to 1C, a first embodiment, namely: single inner frame pivotal configuration is shown. This embodiment is directed to an effector arc-link set 5 pivotally connected to an inner frame 1o. The effector arc-link 5x is orbited between the outer frame 4o and each outer arc-links 3o, i.e. r₃<r_x<r₄. The inner frame 1o can be designed as a closed-loop structure to enhance rigidity to avoid vibration or deformation. The outer frame 4o can be designed as an open-loop structure to reduce interference by the effector arc-link 5x when the outer frame 4o rotates. An inner support 1b is provided on the inner frame 1o, and an inner carrier 1c is provided on the inner support 1b. The inner carrier 1c can be weight plate for balance and reducing moment variation as applied in robot's shoulder joint and hip joint.

Referring to FIG. 8A to 8C, a second embodiment, namely: double inner frame pivotal configuration is shown. This embodiment is directed to two effector arc-links 5x pivotally connected to the inner frame 1o. The inner frame 1o can be designed as closed-loop and the outer frame 4o can be designed as open-loop. The two effector arc-links 5x are orbited between the outer frame 4o and each outer arc-link 3o. The geometric orbit definition is still r₃<r_x<r₄. The two end effectors 5e are opposite to each other in the inner frame 1o. The outer carrier 4c on the outer support 4b can be mounted with two opposite lifting mechanisms for balance and decreasing torque variation. It has applications for moving objects which requires large inertia or great torque variations.

Referring to FIG. 9A to 9C, a third embodiment, namely: double inner frame pivotal configuration with yoke type outer frame is shown. The provision of the yoke type frame can prevent the outer frame 4o from being interfered by the end effectors 5e especially in the double installation. This embodiment is directed to two effector arc-links 5x pivotally connected to the inner frame 1o with yoke type outer frame 4o. The geometric orbit definition is still r₃<r_x<r₄. The open-loop design of the yoke type outer frame 4o can prevent the invention from being interfered by the end effectors 5e. The two end effectors 5e are opposite to each other in the inner frame 1o. The end effectors 5e can be provided with a half-spherical umbrella-shaped holder with a multi-passenger chamber or a large telescope provided thereon. The outer carrier 4c on the outer support 4b can be mounted with a cabin for amusement ride or a large telescope supporting base.

Claims

1. A spherical coordinates manipulating mechanism for inner frame pivotal configuration, comprising: an outer frame assembly comprising an outer frame including a plurality of brackets and four outer rotating members installed into the outer frame, the outer frame being configured with four vertexes which can be used to constitute an outer geometric tetrahedron, each axle of the outer rotating member being individually coincided with a vertex-to-center line of the outer geometric tetrahedron, and these four vertex-to-center lines being coincided with the center of the outer frame;an inner frame assembly comprising an inner frame including a plurality of brackets and four inner rotating members installed into the inner frame, the inner frame being configured with four vertexes which can be used to constitute an inner geometric tetrahedron, each axle of the inner rotating member being individually coincided with a vertex-to-center line of the inner geometric tetrahedron, and these four vertex-to-center lines being coincided with the center of the inner frame;four arc-link sets, each arc-link set comprising an outer arc-link, an inner arc-link and an arc-link rotating member, an end of the outer arc-link being pivotally connected with an end of the inner arc-link through an axle of arc-link rotating member, the other end of the outer arc-link being pivotally connected with an axle of the outer rotating member, and the other end of the inner arc-link being pivotally connected with an axle of the inner rotating member, each axle of the arc-link rotating members being normally directed into the center of the outer frame for concentrically rotating each arc-link set along specified geometric orbit between the outer frame and the inner frames, wherein sum of arc-lengths of any two of the outer arc-links is greater than or equal to an angle between their corresponding vertex-to-center lines of the outer geometric tetrahedron; wherein sum of arc-lengths of any two of the inner arc-links is greater than or equal to an angle between their corresponding vertex-to-center lines of the inner geometric tetrahedron;the at least one effector arc-link set comprising an effector arc-link, about an effector rotating member and an end effector, an end of the effector arc-link is mounted an end effector which is radially extended opposite side relative to the inner frame, the other end of the effector arc-link is pivoted through an axle of inner rotating member and installed into the effector rotating member opposite side relative to the inner frame, and the effector arc-link can be concentrically rotated along a geometric orbit between the outer arc-link and the outer frame, wherein the arc-length of the effector arc-link is greater than 30° but less than 90°.

2. The mechanism according to claim 1, wherein the inner frame can be designed as closed-loop structure or open-loop structure, wherein the outer frame can be designed as open-loop structure or closed-loop structure.

3. The mechanism according to claim 1, wherein the outer rotating member can be a torque output device or an angle sensor or a bearing with an axle, the arc-link rotating member can be assembled by a torque output device and/or an angle sensor or a bearing with an axle, the inner rotating member can be a torque output device or an angle sensor or a bearing with an axle, the effector rotating member is a torque output device or a device for fastening rotational member.

4. The mechanism according to claim 1, wherein the outer frame assembly further comprising an outer support disposed on the outer frame, and an outer carrier disposed on the outer support, wherein the inner frame assembly further comprising an inner support disposed on the inner frame, and an inner carrier disposed on the inner support.