Triaxial motion device

Patent metadata

Field	Value
Publication number	US-10856944-B2
Application number	US-201816180152-A
Country	US
Kind code	B2
Filing date	Nov 5, 2018
Priority date	Nov 5, 2018
Publication date	Dec 8, 2020
Grant date	Dec 8, 2020

Abstract

A triaxial motion device includes first, second and third bases, first and second power sources, and a workpiece positioning member. The first power source is disposed on the first base and has a first driving shaft. The second base is connected with the first driving shaft through a cannular rotary shaft in a way that the second base is rotatable about a first axis. The second power source is disposed on the first base and has a second driving shaft penetrating through the cannular rotary shaft. The third base is connected with the second driving shaft in a way that the third base is rotatable about a second axis perpendicular to the first axis. The workpiece positioning member is disposed on the third base and rotatable about a third axis perpendicular to the second axis. Therefore, the triaxial motion device has small volume and performs highly precise motion.

First claim

What is claimed is:

1. A triaxial motion device comprising:
a first base having a first arm and a second arm having an end connected with an end of the first arm; wherein the second arm is provided from a top to a bottom thereof with a first supporting plate, a second supporting plate and a third supporting plate in order;
a first power source having a first motor, a first decelerator and a first driving shaft, wherein the first motor is disposed on the first supporting plate and has a first outputting shaft connected with the first decelerator; the first decelerator is disposed on the second supporting plate and has a first transmission shaft connected with the first driving shaft coaxially;
a cannular rotary shaft rotatably penetrating through the third supporting plate and connected with the first driving shaft of the first power source in a way that the cannular rotary shaft is capable of being driven by the first driving shaft to rotate synchronously with the first driving shaft;
a second base connected with the cannular rotary shaft in a way that the second base is capable of being driven by the cannular rotary shaft to rotate relative to the first base about a first axis;
a second power source disposed on the first base and having a second driving shaft rotatably penetrating through the cannular rotary shaft;
a third base connected with the second driving shaft of the second power source in a way that the third base is capable of being driven by the second driving shaft of the second power source to rotate relative to the second base about a second axis perpendicular to the first axis; and
a rotary unit disposed on the third base and having a workpiece positioning member rotatable relative to the third base about a third axis perpendicular to the second axis.

2. The triaxial motion device as claimed in claim 1 , wherein the first power source and the second power source are located on a same side of the first base.

3. The triaxial motion device as claimed in claim 2 , wherein the first driving shaft of the first power source is connected with the cannular rotary shaft through a first transmission unit; the first transmission unit has a first transmission pulley, a second transmission pulley and a first transmission belt; the first transmission pulley is disposed on the first base and connected with the first driving shaft coaxially; the second transmission pulley is disposed on the first base and connected with the cannular rotary shaft coaxially; the first transmission belt is wound around the first transmission pulley and the second transmission pulley.

4. The triaxial motion device as claimed in claim 2 , wherein the second driving shaft of the second power source is connected with the third base through a second transmission unit; the second transmission unit has a third transmission pulley, a fourth transmission pulley and a second transmission belt; the third transmission pulley is disposed on a top end of the second base and connected with the second driving shaft coaxially; the fourth transmission pulley is disposed on a bottom end of the second base and connected with the third base; the second transmission belt is wound around the third transmission pulley and the fourth transmission pulley.

5. The triaxial motion device as claimed in claim 4 , wherein the second power source further has a second motor and a second decelerator; the second motor has a second outputting shaft connected with the second decelerator; the second decelerator has a second transmission shaft connected with the second driving shaft coaxially.

6. The triaxial motion device as claimed in claim 2 , wherein an included angle between the first arm and the second arm is ranged from 90 to 180 degrees; the first power source and the second power source are both disposed on the second arm.

7. The triaxial motion device as claimed in claim 1 , wherein the first driving shaft is parallel to the first axis.

8. The triaxial motion device as claimed in claim 7 , wherein the second driving shaft is coaxial with the first axis.

9. The triaxial motion device as claimed in claim 1 , wherein the third base has an accommodating recess; the rotary unit further has a bearing, a top cap, a key and an elastic member; the bearing is disposed in the accommodating recess; the top cap covers the accommodating recess and has a top hole axially communicating with the accommodating recess and a key hole radially communicating with the accommodating recess; the workpiece positioning member is disposed on the top cap; a top end of the workpiece positioning member protrudes out of the top hole; a bottom end of the workpiece positioning member is connected with the bearing; the key is disposed in the key hole of the top cap movably between a first position and a second position; when the key is located at the first position, the key is positioned on the third base to disable the rotary unit to rotate relative to the third base; when the key is located at the second position, the key is separated from the third base to enable the rotary unit to rotate relative to the third base; the elastic member is disposed between the workpiece positioning member and the key for keeping the key located at the first position.

10. The triaxial motion device as claimed in claim 1 , wherein the second driving shaft is coaxial with the first axis.

11. The triaxial motion device as claimed in claim 1 , wherein the first driving shaft of the first power source is connected with the cannular rotary shaft through a first transmission unit; the first transmission unit has a first transmission pulley, a second transmission pulley and a first transmission belt; the first transmission pulley is disposed on the first base and connected with the first driving shaft coaxially; the second transmission pulley is disposed on the first base and connected with the cannular rotary shaft coaxially; the first transmission belt is wound around the first transmission pulley and the second transmission pulley.

12. The triaxial motion device as claimed in claim 1 , wherein the second driving shaft of the second power source is connected with the third base through a second transmission unit; the second transmission unit has a third transmission pulley, a fourth transmission pulley and a second transmission belt; the third transmission pulley is disposed on a top end of the second base and connected with the second driving shaft coaxially; the fourth transmission pulley is disposed on a bottom end of the second base and connected with the third base; the second transmission belt is wound around the third transmission pulley and the fourth transmission pulley.

13. The triaxial motion device as claimed in claim 1 , wherein an included angle between the first arm and the second arm is ranged from 90 to 180 degrees; the first power source and the second power source are both disposed on the second arm.

Assignees

• Hiwin Tech Corp

Inventors

• Chu Yu-Lin

Classifications

• A61B34/71

  Manipulators operated by drive cable mechanisms · CPC title

• A61B34/30 Primary

  Surgical robots · CPC title

• B25J9/126

  Rotary actuators · CPC title

• F16H19/005

  for conveying oscillating or limited rotary motion · CPC title

• B25J18/007

  the end effector rotating around a fixed point · CPC title