Multi-axis carrying device

A multi-axis carrying device includes a base, first and second main moving units mounted to the base, a first platform connected to the first and second main moving units, and first and second driving units. The first driving unit has a first output structure coupled to the first main moving unit. The second driving unit has a second output structure coupled to the second main moving unit. When the first and second output structures move in a moving direction, the first and second main moving units are driven to move two opposite sides of the first platform in another direction perpendicular to the moving direction.

CROSS-REFERENCE TO RELATED APPLICATION

This application claims priority of Taiwanese Application No. 103143029, filed on Dec. 10, 2014.

FIELD

The disclosure relates to a carrying device, and more particularly to a multi-axis carrying device.

BACKGROUND

Referring toFIG. 1, Taiwanese Utility Model Patent No. M319503 discloses a conventional multi-axis carrying device that includes abase11, two first moving units12, two second moving units13, and a platform14connected to the first moving units12and the second moving units13. The first moving units12are mounted diagonally on the base11, and each includes a driving unit121mounted on the base11, a first horizontally movable component122that is driven by the driving unit121to move in an x-direction, an elastic second horizontally movable component123connected to the first horizontally movable component122, and a rotating unit124connected between the second horizontally movable component123and the platform14. The second moving units13are mounted diagonally on the base11, and each includes a driving unit131mounted on the base11, a first horizontally movable component132that is driven by the driving unit131to move in a y-direction perpendicular to the x direction, an elastic second horizontally movable component133connected to the first horizontally movable component132, and a rotating unit134connected between the second horizontally movable component133and the platform14.

Through appropriate operations of the driving units121,123, the platform14is able to be moved in the x-direction, the y-direction, or to be rotated about a rotating axis (R) that extends in a z-direction perpendicular to the x direction and the y-direction.

However, due to the configuration of the conventional multi-axis carrying device, the platform14can only be moved in the directions in which the first horizontally movable components122,132move (i.e., the x-direction and the y-direction), and cannot be moved in a z-direction that is perpendicular to the x-direction and the y-direction. Moreover, the platform14cannot be rotated about an axis that resides in the X-Y plane.

SUMMARY

Therefore, an object of the disclosure is to provide a multi-axis carrying device that can overcome at least one of the aforesaid drawbacks associated with the prior art.

According to the disclosure, the multi-axis carrying device includes a base, at least one first main moving unit, at least one second main moving unit, a first platform, a pair of first auxiliary moving units, a first driving unit and a second driving unit. The first main moving unit is mounted on the base. The second main moving unit is mounted on the base and spaced apart from the first main moving unit. The first platform is coupled to the first and second main moving units. The first auxiliary moving units are mounted on the base and are respectively coupled to two opposite sides of the first platform along a first rotating axis that extends in a y-direction such that the first platform is rotatable about the first rotating axis. The first driving unit is mounted on the base, and has a first output structure movable in an x-direction that is perpendicular to the y-direction and coupled to the first main moving unit for driving movement of a portion of the first main moving unit on the base. The second driving unit is mounted on the base, and has a second output structure movable in the x-direction and coupled to the second main moving unit for driving movement of a portion of the second main moving unit on the base. When the first output structure of the first driving unit and the second output structure of the second driving unit respectively move in opposite directions for the same distance, the first and second main moving units are driven to move the first platform in a z-direction that is perpendicular to the x-direction and the y-direction. When the first output structure of the first driving unit and the second output structure of the second driving unit move codirectionally for the same distance, the first and second main moving units are driven to rotate the first platform about the first rotating axis. When the first output structure of the first driving unit and the second output structure of the second driving unit move respectively for different distances, the first and second main moving units are driven to move the first platform in the z-direction and rotate the first platform about the first rotating axis.

DETAILED DESCRIPTION

Referring toFIGS. 2 to 4, a first embodiment of a multi-axis carrying device according to the disclosure includes a first platform module2. The first platform module2includes a base21, a pair of first main moving units22, a pair of second main moving units23, a pair of first auxiliary moving units24, a first platform25, a first driving unit26and a second driving unit27.

The first main moving units22are mounted on the base21, and are spaced apart from each other in a y-direction (Y). Each of the first main moving units22includes a first bottom plate221that is fixed to the base21, a first horizontally movable block222that is movable relative to the first bottom plate221in an x-direction (X) perpendicular to the y-direction (Y), that is in the shape of a trapezoid, and that has an inclined first cam surface226, a first follower block223that is movable relative to the first horizontally movable block222along the first cam surface226, and a first pivoting block224that is pivoted to the first follower block223. Each of the first main moving units22further includes a plurality of first linear guiding components225that are connected between the first bottom plate221and the first horizontally movable block222of a corresponding one of the first main moving units22for guiding the movement of the first horizontally movable block222relative to the first bottom plate221, and between the first horizontally movable block222and the first follower block223of the corresponding one of the first main moving units22for guiding the movement of the first follower block223relative to the first horizontally movable block222.

The second main moving units23are mounted on the base21, and are spaced apart from each other in the y-direction (Y). Each of the second main moving units23includes a second bottom plate231that is fixed to the base21, a second horizontally movable block232that is movable relative to the second bottom plate231in the x-direction (X), that is in the shape of a trapezoid, and that has an inclined second cam surface236, a second follower block233that is movable relative to the second horizontally movable block232along the second cam surface236, and a second pivoting block234that is pivoted to the second follower block233. Each of the second main moving units23further includes a plurality of second linear guiding components235that are connected between the second bottom plate231and the second horizontally movable block232of a corresponding one of the second main moving units23for guiding the movement of the second horizontally movable block232relative to the second bottom plate231, and between the second horizontally movable block232and the second follower block233of the corresponding one of the second main moving units23for guiding the movement of the second follower block233relative to the second horizontally movable block232.

The first platform25is coupled to the first and second main moving units22,23. In this embodiment, the first pivoting block224of each of the first main moving units22and the second pivoting block234of each of the second main moving units23are connected fixedly to a bottom surface of the first platform25.

The first auxiliary moving units24are mounted on the base21, and are spaced apart from each other in the y-direction (Y). The first main moving units22are located at one side of the first auxiliary moving units24opposite to the second main moving units23. Each of the first auxiliary moving units24includes a first upright stand241that is fixed to the base21, a first guide rail242that is disposed on the first upright stand241and that extends in a z-direction (Z) perpendicular to the x-direction (X) and the y-direction (Y), a first sliding block243that engages the first guide rail242and that is movable along the first guide rail242, a first rotating shaft244that is mounted rotatably to the first sliding block243, and a pair of reinforcing plates245that are respectively and perpendicularly connected to two opposite sides of the first upright stand241for supporting the first upright stand241. The first rotating shafts244of the first auxiliary moving units24are respectively coupled to two opposite sides of the first platform25along a first rotating axis (R1) that extends in the y-direction (Y), so that the first platform25is rotatable about the first rotating axis (R1) and movable in the z-direction (Z).

The first driving unit26includes a first driving source261, a first connecting plate262, a first positioning seat263and a first output shaft264. The first positioning seat263is mounted fixedly on the base21. The first connecting plate262is connected co-movably to the first horizontally movable blocks222of the first main moving units22. The first output shaft264is movable relative to the base21in the x-direction (X), is connected co-movably to a middle portion of the first connecting plate262, and extends movably into the first positioning seat263. The first driving source261is mounted on the base21for driving movements of the first output shaft264, the first connecting plate262and the first horizontally movable blocks222in the x-direction (X) relative to the base21. The first output shaft264and the first connecting plate262cooperatively serve as a first output structure of the first driving unit26.

The second driving unit27includes a second driving source271, a second connecting plate272, a second positioning seat273and a second output shaft274. The second positioning seat273is mounted fixedly on the base21. The second connecting plate272is connected co-movably to the second horizontally movable blocks232of the second main moving units23. The second output shaft274is movable relative to the base21in the x-direction (X), is connected co-movably to a middle portion of the second connecting plate272, and extends movably into the second positioning seat273. The second driving source271is mounted on the base21for driving movements of the second output shaft274, the second connecting plate272and the second horizontally movable blocks232in the x-direction (X) relative to the base21. The second output shaft274and the second connecting plate272cooperatively serve as a second output structure of the second driving unit27. Each of the first and second follower blocks223,233moves along a corresponding one of the first and second cam surfaces226,236for driving the rotational and linear movements of the first platform25relative to the base21upon the movement of the first output structure of the first driving unit26and the movement of the second output structure of the second driving unit27.

It is noted that the first connecting plate262may be connected co-movably to only one of the first horizontally movable blocks222of the first main moving units22, and the second connecting plate272may be connected co-movably to only one of the second horizontally movable blocks232of the second main moving units23for driving movements of the first platform25. With the abovementioned configuration, the other one of the first horizontally movable blocks222of the first main moving units22and the other one of the second horizontally movable blocks232of the second main moving units23are driven movably in response to the movements of the first platform25.

Referring toFIG. 5, the first embodiment of this disclosure is in an initial state, where the first platform25is kept at a horizontal position.

Referring further toFIG. 6, when the first driving source261drives the first output structure of the first driving unit26to move in an S1-direction (S1, negative x-direction) for a distance and the second driving source271drives the second output structure of the second driving unit27to move in an S4-direction (S4, positive x-direction) for a distance the same as that of the first output structure, the first horizontally movable blocks222and the second horizontally movable blocks232are moved in opposite directions (i.e., S1-direction and S4-direction) for the same distance. Since the first linear guiding components225limit the linear relative movement between the first follower block223and the first horizontally movable block222of each of the first main moving units22, the second linear guiding components235limit the relative linear movement between the second follower block233and the second horizontally movable block232of each of the second main moving units23, and the first auxiliary moving units24limit the linear and rotatable movement of the first platform25relative to the base21, the first follower block223of each of the first main moving units22is moved in an S2-direction (S2) relative to the first horizontally movable block222of a corresponding one of the first main moving units22and the second follower block233of each of the second main moving units23is moved in an S7-direction (S7) relative to the second horizontally movable block232of a corresponding one of the second main moving units23, so as to move the first platform25and the first sliding block243and the first rotating shaft244of each of the first auxiliary moving units24in an S3-direction (S3, negative z-direction).

On the contrary, when the first driving source261drives the first output structure of the first driving unit26to move in the S4-direction (S4) for a distance and the second driving source271drives the second output structure of the second driving unit27to move in the S1-direction (S1) for a distance the same as that of the first output structure, the first follower block223of each of the first main moving units22is moved in an S5-direction (S5) relative to the first horizontally movable block222of the corresponding one of the first main moving units22and the second follower block233of each of the second main moving units23is moved in an S8-direction (S8) relative to the second horizontally movable block232of the corresponding one of the second main moving units23, so as to move the first platform25and the first sliding block243and the first rotating shaft244of each of the first auxiliary moving units24in an S6-direction (S6, positive z-direction).

Referring further toFIG. 7, when the first driving source261drives the first output structure of the first driving unit26to move in the S1-direction (S1) and the second driving source271does not drive movement of the second output structure of the second driving unit27, the first horizontally movable blocks222are moved in the S1-direction (S1). By virtue of the configurations of the first linear guiding components225, the second linear guiding components235and the first auxiliary moving units24, the first follower block223of each of the first main moving units22is moved in the S2-direction (S2) relative to the first horizontally movable block222of the corresponding one of the first main moving units22, so as to rotate the first platform25about the first rotating axis (R1, seeFIG. 2), and to move the first platform25and the first sliding block243and the first rotating shaft244of each of the first auxiliary moving units24in the S3-direction (S3).

Referring further toFIG. 8, when the first driving source261does not drive movement of the first output structure of the first driving unit26and the second driving source271drives the second output structure of the second driving unit27to move in the S4-direction (S4), the second horizontally movable blocks232are moved in the S4-direction (S4). By virtue of the configurations of the first linear guiding components225, the second linear guiding components235and the first auxiliary moving units24, the second follower block233of each of the second main moving units23is moved in the S7-direction (S7) relative to the second horizontally movable block232of the corresponding one of the second main moving units23, so as to rotate the first platform25about the first rotating axis (R1, seeFIG. 2), and to move the first platform25and the first sliding block243and the first rotating shaft244of each of the first auxiliary moving units24in the S3-direction (S3).

Referring further toFIG. 9, when the first driving source261drives the first output structure of the first driving unit26to move in the S4-direction (S4) for a distance and the second driving source271drives the second output structure of the second driving unit27to move in the S4-direction (S4) for a distance the same as that of the first output structure, the first horizontally movable blocks222and the second horizontally movable blocks232are moved codirectionally (i.e., in the S4-direction) for the same distance. By virtue of the configurations of the first linear guiding components225, the second linear guiding components235and the first auxiliary moving units24, the first follower block223of each of the first main moving units22is moved in the S5-direction (S5) relative to the first horizontally movable block222of the corresponding one of the first main moving units22, and the second follower block233of each of the second main moving units23is moved in the S7-direction (S7) relative to the second horizontally movable block232of the corresponding one of the second main moving units23, so as to rotate the first platform25about the first rotating axis (R1, seeFIG. 2).

It is noted that, a variation of the first embodiment may include a first platform module2that includes only one first main moving unit22and only one second main moving unit23. In this variation, the first connecting plate262and the first positioning seat263of the first driving unit26are omitted, and the first output shaft264is connected directly and co-movably to the first horizontally movable block222of the first main moving unit22. Similarly, the second connecting plate272and the second positioning seat273of the second driving unit27are omitted, and the second output shaft274is connected directly and co-movably to the second horizontally movable block232of the second main moving unit23.

The operation of the first embodiment can be summarized as follows: when the first output structure of the first driving unit26and the second output structure of the second driving unit27move in opposite directions for the same distance, the first and second main moving units22,23are driven to move the first platform25in the z-direction (Z); when the first output structure of the first driving unit26and the second output structure of the second driving unit27move codirectionally for the same distance, the first and second main moving units22,23are driven to rotate the first platform25about the first rotating axis (R1); and when the first output structure of the first driving unit26and the second output structure of the second driving unit27move respectively for different distances, the first and second main moving units22,23are driven to move the first platform25in the z-direction (Z) and rotate the first platform25about the first rotating axis (R1).

To sum up, through the configurations of the first and second main moving units22,23of this disclosure, the first platform25can be moved in a direction (i.e., the z-direction) perpendicular to the moving directions of the first output structure of the first driving unit26and the second output structure of the second driving unit27(i.e., the x-direction and the y-direction), and can be rotated about an axis (i.e., the first rotating axis) that resides in the X-Y plane.

Referring toFIGS. 10 to 12, a second embodiment of the multi-axis carrying device according to the disclosure includes a first platform module2and a second platform module3. The first platform module2of the second embodiment is configured to be the same as that of the first embodiment. The second platform module3includes a pair of third main moving units31, a pair of fourth main moving units32, a pair of second auxiliary moving units33, a second platform34and a third driving unit35.

The third main moving units31are mounted on the first platform25, and are spaced apart from each other in the x-direction (X). Each of the third main moving units31includes a third bottom plate311that is fixed to the first platform25, a third horizontally movable block312that is movable relative to the third bottom plate311in the y-direction (Y), that is in the shape of a trapezoid, and that has an inclined third cam surface316, a third follower block313that is movable relative to the third horizontally movable block312along the third cam surface316, and a third pivoting block314that is pivoted to the third follower block313. Each of the third main moving units31further includes a plurality of third linear guiding components315that are connected between the third t bottom plate311and the third horizontally movable block312of a corresponding one of the third main moving units31for guiding the movement of the third horizontally movable block312relative to the third bottom plate311, and between the third horizontally movable block312and the third follower block313of the corresponding one of the third main moving units31for guiding the movement of the third follower block313relative to the third horizontally movable block312.

The fourth main moving units32are mounted on the first platform25, and are spaced apart from each other in the x-direction (X). Each of the fourth main moving units32includes a fourth bottom plate321that is fixed to the first platform25, a fourth horizontally movable block322that is movable relative to the fourth bottom plate321in the y-direction (Y), that is in the shape of a trapezoid, and that has an inclined fourth cam surface325, a fourth follower block323that is movable relative to the fourth horizontally movable block322along the fourth cam surface325, and a fourth pivoting block324that is pivoted to the fourth follower block323. Each of the fourth main moving units32further includes a plurality of fourth linear guiding components (not shown) that are connected between the fourth bottom plate321and the fourth horizontally movable block322of a corresponding one of the fourth main moving units32for guiding the movement of the fourth horizontally movable block322relative to the fourth bottom plate321, and between the fourth horizontally movable block322and the fourth follower block323of the corresponding one of the fourth main moving units32for guiding the movement of the fourth follower block323relative to the fourth horizontally movable block322.

It is noted that the first, second, third and fourth main moving units22,23,31,32of this embodiment are configured to be similar to each other, so that the configuration of the fourth linear guiding components of each of the fourth main moving units32can be illustrated byFIG. 3.

The second platform34is coupled to the third and fourth main moving units31,32. In this embodiment, the third pivoting block314of each of the third main moving units31and the fourth pivoting block324of each of the fourth main moving units32are connected fixedly to a bottom surface of the second platform34.

The second auxiliary moving units33are mounted on the first platform25, and are spaced apart from each other in the x-direction (X). The third main moving units31are located at one side of the second auxiliary moving units33opposite to the fourth main moving units32. Each of the second auxiliary moving units33includes a second upright stand331that is fixed to the first platform25, a second rotating shaft332that is mounted rotatably to the second upright stand331, and a reinforcing plate333that is connected between the second upright stand331and the first platform25for supporting the second upright stand331. The second rotating shafts332of the second auxiliary moving units33are respectively coupled to two opposite sides of the second platform34along a second rotating axis (R2) that extends in the x-direction (X), so that the second platform34is rotatable about the second rotating axis (R2).

The third driving unit35includes a third output shaft351, a third driving source352, a third connecting plate353, a pair of connecting rods354and a third positioning seat355. The third positioning seat355is mounted fixedly on the first platform25. Each of the connecting rods354interconnects co-movably the third horizontally movable block312of a respective one of the third main moving units31and the fourth horizontally movable block322of a respective one of the fourth main moving units32. The third connecting plate353is connected co-movably to the connecting rods354, and is located between the fourth horizontally movable blocks322of the fourth main moving units32. The third output shaft351is movable relative to the first platform25in the y-direction (Y), is connected co-movably to a middle portion of the third connecting plate353, and extends movably into the third positioning seat355. The third driving source352is mounted on the first platform25for driving movements of the third output shaft351, the third connecting plate353, the connecting rods354and the third and fourth horizontally movable blocks312,322in they-direction (Y). The third output shaft351, the third connecting plate353and the connecting rods354cooperatively serve as a third output structure of the third driving unit35. Each of the third and fourth follower blocks313,323moves along a corresponding one of the third and fourth cam surfaces316,325for rotating the second platform34about the second rotating axis (R2) upon the movement of the third output structure of the third driving unit35relative to the first platform25.

It is noted that the third connecting plate353may be connected co-movably to only one of the connecting rods354for driving linear and rotational movements of the second platform34. With the abovementioned configuration, the other one of the connecting rods354and the third and fourth horizontally movable blocks312,322that are connected co-movably to the other one of the connecting rods354are driven movably in response to the movement of the second platform34.

Referring further toFIG. 13, when the third driving source352drives the third output structure of the third driving unit35to move in the y-direction (Y), the third horizontally movable blocks312and the fourth horizontally movable blocks2322are moved codirectionally (i.e., in the y-direction) for the same distance. Since the third linear guiding components315limit the relative linear movement between the third follower block313and the third horizontally movable block312of each of the third main moving units31, since the fourth linear guiding components limit the relative linear movement between the fourth follower block323and the fourth horizontally movable block322of each of the fourth main moving units32, and since the second auxiliary moving units33limit the linear and rotational movements of the second platform34relative to the first platform25, the third follower block313of each of the third main moving units31is moved relative to the third horizontally movable block312of the corresponding one of the third main moving units31, and the fourth follower block323of each of the fourth main moving units32is moved relative to the fourth horizontally movable block322of the corresponding one of the fourth main moving units32, so as to rotate the second platform34about the second rotating axis (R2, seeFIG. 10).

Since the second embodiment of this disclosure combines the first and second platform modules2,3, the second platform34can be operated to move in the z-direction (Z) and rotate about the first and second rotating axes (R1, R2). Each of the first and second platform modules2,3can be used solely or be combined with additional first and second platform modules2,3to provide additional degrees of freedom for different demands. Moreover, since the first and second platform modules2,3of the second embodiment respectively carry out independent and particular motions of the carrying device, the whole action of the carrying device can be controlled easily and precisely.

Referring toFIG. 14, a third embodiment of the multi-axis carrying device according to the disclosure is similar to the first embodiment. In the third embodiment, the first upright stand241of each of the first auxiliary moving units24includes a first seat246that is fixed to the base21, and a first slider247that is movable relative to the first seat246in the x-direction (X) and that is provided with the first guide rail242of a corresponding one of the first auxiliary moving units24. Each of the first auxiliary moving units24further includes a fifth linear guiding unit249that is connected between the first seat246and the first slider247of the corresponding one of the first auxiliary moving units24for guiding the movement of the first slider247relative to the first seat246, and a first braking device248that is operable to permit or prevent the movement of the first slider247relative to the first seat246. With the abovementioned configuration, when the first braking device248of each of the first auxiliary moving units24prevents the relative movement between the first slider247and the first seat246of the corresponding one of the first auxiliary moving units24, the first platform25is rotated about the first rotating axis (R1, referring toFIG. 2) upon the codirectional and equidistant movements of the first and second horizontally movable blocks222,232. When the first braking device248of each of the first auxiliary moving units24permits the relative movement between the first slider247and the first seat246of the corresponding one of the first auxiliary moving units24, the first platform25is moved in the x-direction (X) upon the codirectional and equidistant movements of the first and second horizontally movable blocks222,232.

It is noted that the fifth linear guiding unit249of each of the first auxiliary moving units24may include a guide rod and sleeve that are movable relative to each other and that are respectively connected to the first slider247and the first seat246of the corresponding one of the first auxiliary moving units24, or may include a groove and an engaging block that engage slidably each other and that are respectively provided on the first slider247and the first seat246of the corresponding one of the first auxiliary moving units24.

Referring toFIG. 15, a fourth embodiment of the multi-axis carrying device according to the disclosure is similar to the second embodiment. In the fourth embodiment, the first upright stand241of each of the first auxiliary moving units24is configured to be similar to that of the third embodiment. Moreover, each of the second auxiliary moving units33includes a second upright stand331that is fixed to the first platform25, a second guide rail337that is disposed on the second upright stand331and that extends in the z-direction (Z), a second sliding block338that engages the second guide rail337and that is movable along the second guide rail337, a second rotating shaft332that is mounted rotatably to the second sliding block338, and a pair of reinforcing plates330that are respectively and perpendicularly connected to two opposite sides of the second upright stand331for supporting the second upright stand331. The second rotating shafts332of the second auxiliary moving units33are respectively coupled to two opposite sides of the second platform34along the second rotating axis (R2), so that the second platform34is rotatable about the second rotating axis (R2) and movable relative to the first platform25in the z-direction (Z). The second upright stand331of each of the second auxiliary moving units33includes a second seat334that is fixed to the first platform25, and a second slider335that is movable relative to the second seat334in the y-direction (Y) and that is provided with the second rotating shaft332of the corresponding one of the second auxiliary moving units33. Each of the second auxiliary moving units33further includes a sixth linear guiding unit330that is connected between the second seat334and the second slider335of the corresponding one of the second auxiliary moving units33for guiding the movement of the second slider335relative to the second seat334, and a second braking device336that is operable to permit or prevent the movement of the second slider335relative to the second seat334. With the abovementioned configuration, when the second braking device336of each of the second auxiliary moving units33prevents the relative movement between the second slider335and the second seat334of the corresponding one of the second auxiliary moving units33, the second platform34is rotated about the second rotating axis (R2) upon the codirectional and equidistant movements of the third and fourth horizontally movable blocks312,322. Moreover, when the second braking device336of each of the second auxiliary moving units33permits the relative movement between the second slider335and the second seat334of the corresponding one of the second auxiliary moving units33, the second platform34is moved in the y-direction (Y) upon the codirectional and equidistant movements of the third and fourth horizontally movable blocks312,322.

It is noted that the sixth linear guiding unit330of each of the second auxiliary moving units33may include a guide rod and sleeve that are movable relative to each other and that are respectively connected to the second slider335and the second seat334of the corresponding one of the second auxiliary moving units33, or may include a groove and an engaging block that engage slidably each other and that are respectively provided on the second slider335and the second seat334of the corresponding one of the second auxiliary moving units33.

By virtue of the configurations of the first and second auxiliary moving units24,33of the fourth embodiment of this disclosure, the second platform34can be operated to move in the x-direction (X), the y-direction (Y), and can still be operated to move in the z-direction (Z), and to rotate about the first and second rotating axes (R1, R2).