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公开(公告)号：US20150082934A1
公开(公告)日：2015-03-26
申请号：US14493414
申请日：2014-09-23
Applicant: Wen-Der Trui
Inventor： Wen-Der Trui , Shu-Ching Lin
CPC classification number: B25J9/0048 , F16M11/123 , F16M11/18 , Y10S901/15 , Y10S901/18 , Y10T74/20305
Abstract: A spherical coordinates manipulating mechanism for improving the utility of U.S. Pat. No. 8,579,714 B2 is provided. Four inner and outer arc-links are pivotally connected to the inner and outer frame respectively so as to carry out a three degrees-of-freedom steering motion. At least one effector arc-link set is selectively connected to the inner or outer frame so that the spherical coordinates manipulating mechanism can directly output force or torque.
Abstract translation: 一种用于提高美国专利的实用性的球面坐标操作机构。 提供了8,579,714 B2。 四个内外圆弧链分别枢转地连接到内框架和外框架上，以便执行三自由度的转向运动。 至少一个效应器电弧连杆组选择性地连接到内框架或外框架，使得球面坐标操纵机构可以直接输出力或扭矩。
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公开(公告)号：US11904465B2
公开(公告)日：2024-02-20
申请号：US17517965
申请日：2021-11-03
Applicant: Wen-Der Trui
Inventor： Wen-Der Trui , Shu-Ching Lin
CPC classification number: B25J9/045 , B25J9/0048 , B25J9/102 , B25J9/104 , B25J9/108 , B25J13/088
Abstract: A mechanism is constructed by twelve-axis geometry and controlled by spherical coordinate, so that all torques in twelve axes can be parallelly integrated. Timing belts, pulleys, hollow shafts, and spur gears onto four arc-link sets are included. Via these transmission components, base arc-links can be indirectly but synchronously rotated by base driving modules and terminal arc-links can be indirectly but synchronously rotated by terminal driving modules. The final output torque can be integrated via serial linking and parallel cooperating by the twelve rotating modules. Therefore, four arc-link sets work cooperatively and effectively in group but bear no burden each other. The mechanism can be applied to a multi-axis composite machining center machine or a multi-time element detection measuring bed and shoulder joints or hip joints corresponding to robots.
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Patent Agency Ranking
公开(公告)号：US09851045B2
公开(公告)日：2017-12-26
申请号：US15406841
申请日：2017-01-16
Applicant: Wen-Der Trui
Inventor： Wen-Der Trui , Shu-Ching Lin
CPC classification number: F16M11/123 , B23Q1/50 , B25J9/00 , B25J9/0048 , F16M11/18 , G01B5/004
Abstract: A mechanism geometrically constituted with twelve axes can be manipulated for spherical coordinate kinematics. Concerning the major improvement of the invention, one of the two geometric tetrahedron frames which were ever specified by our two pre-inventions (U.S. Pat. No. 8,579,714 B2/US20120083347A1 and US20150082934A1) is decoupled and reconstructed as two separated terminal frames which are constituted by two individual geometric arcs. The other one of the two geometric tetrahedron frames without changing its original geometric definition is inherited in the invention and renamed as a base frame. Comparing to the original single geometric tetrahedron, the mechanism newly developed by two individual geometric arcs is suffering fewer constraints and gaining more work space. If a terminal saddle is equipped onto a terminal frame, the newly developed mechanism can be increased extra payload capability. Therefore, this improvement is substantially extending the utility of twelve axes mechanism for spherical coordinate kinematics.
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公开(公告)号：US20170205022A1
公开(公告)日：2017-07-20
申请号：US15406841
申请日：2017-01-16
Applicant: Wen-Der Trui
Inventor： Wen-Der Trui , Shu-Ching Lin
CPC classification number: F16M11/123 , B23Q1/50 , B25J9/00 , B25J9/0048 , F16M11/18 , G01B5/004
Abstract: A mechanism geometrically constituted with twelve axes can be manipulated for spherical coordinate kinematics. Concerning the major improvement of the invention, one of the two geometric tetrahedron frames which were ever specified by our two pre-inventions (U.S. Pat. No. 8,579,714 B2/US20120083347A1 and US20150082934A1) is decoupled and reconstructed as two separated terminal frames which are constituted by two individual geometric arcs. The other one of the two geometric tetrahedron frames without changing its original geometric definition is inherited in the invention and renamed as a base frame. Comparing to the original single geometric tetrahedron, the mechanism newly developed by two individual geometric arcs is suffering fewer constraints and gaining more work space. If a terminal saddle is equipped onto a terminal frame, the newly developed mechanism can be increased extra payload capability. Therefore, this improvement is substantially extending the utility of twelve axes mechanism for spherical coordinate kinematics.
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5.发明授权公开(公告)号：US08579714B2
公开(公告)日：2013-11-12
申请号：US13252835
申请日：2011-10-04
Applicant: Wen-Der Trui , Shu-Ching Lin
Inventor： Wen-Der Trui , Shu-Ching Lin
IPC: A63G31/00
CPC classification number: A63G31/00 , F16M11/123 , F16M11/18
Abstract: This new invented mechanism is geometrically defined by two concentric tetrahedrons. Four motors are mounted onto the four vertexes of an outer tetrahedron frame. Four outer arc-links which are driven by these motors are pivotally connected with another four inner arc-links which are pivoted by four vertexes of an inner tetrahedron frame. This mechanism not only extends the range in pitch, roll and yaw three rotational DoF for enlarging the limits of Stewart 6-axis motion platform but also increases two translational DoF for improving the shortage of gimbals type multi-ring mechanism. This mechanism can simulate high maneuvering motion (ex. Barrel roll or fast spin) as high-speed vehicles (ex. fighter or roller coaster) can to stimulate passengers with virtual-but-real and shocked-but-exciting sensation. This mechanism will be chosen as a motion platform or a space orientating mechanism for a theme park game machine or a military fighter trainer.
Abstract translation: 这个新发明的机构由几个同心的四面体几何定义。 四个电机安装在外四面体框架的四个顶点上。 由这些电动机驱动的四个外弧形链节与由内四面体框架的四个顶点枢转的另外四个内弧形链节枢转连接。 这种机制不仅扩大了俯仰，滚转和偏转三个旋转DoF的范围，扩大了斯图尔特6轴运动平台的极限，而且增加了两个平移DoF，以改善万向节型多环机构的不足。 这种机制可以模拟高机动（例如滚筒滚筒或快速旋转），因为高速车辆（例如战斗机或过山车）可以以虚拟但真实的和令人震惊的但令人兴奋的感觉刺激乘客。 该机制将被选为主题公园游戏机或军事战斗机教练的运动平台或空间定向机构。
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公开(公告)号：US12172302B2
公开(公告)日：2024-12-24
申请号：US18176674
申请日：2023-03-01
Applicant: Wen-Der Trui
Inventor： Wen-Der Trui , Shu-Ching Lin
Abstract: A mechanism is constructed by spherical concentric geometry and controlled by spherical coordinate kinematics. Transmission belts, pulleys, shafts, and spur gears are added onto three arc-link sets. Via these transmission components, base arc-links can be indirectly or directly but synchronously rotated by base driving modules and terminal arc-links can be indirectly or directly but synchronously rotated by terminal driving modules.
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公开(公告)号：US09579786B2
公开(公告)日：2017-02-28
申请号：US14493414
申请日：2014-09-23
Applicant: Wen-Der Trui
Inventor： Wen-Der Trui , Shu-Ching Lin
CPC classification number: B25J9/0048 , F16M11/123 , F16M11/18 , Y10S901/15 , Y10S901/18 , Y10T74/20305
Abstract: A spherical coordinates manipulating mechanism for improving the utility of U.S. Pat. No. 8,579,714 B2 is provided. Four inner and outer arc-links are pivotally connected to the inner and outer frame respectively so as to carry out a three degrees-of-freedom steering motion. At least one effector arc-link set is selectively connected to the inner or outer frame so that the spherical coordinates manipulating mechanism can directly output force or torque.
Abstract translation: 一种用于提高美国专利的实用性的球面坐标操作机构。 提供了8,579,714 B2。 四个内外圆弧链分别枢转地连接到内框架和外框架上，以便执行三自由度的转向运动。 至少一个效应器电弧连杆组选择性地连接到内框架或外框架，使得球面坐标操纵机构可以直接输出力或扭矩。
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