Multi-degree-of-freedom positioning mechanism

• US 5,746,138 A
• Filed: 07/30/1996
• Issued: 05/05/1998
• Est. Priority Date: 07/31/1995
• Status: Expired due to Fees

• Current Assignee: Hihasuto Seiko Company Limited
• Original Assignee: Hihasuto Seiko Company Limited
• Inventors: Hirose, Kazuya
• Primary Examiner(s): Chen, Jose V.
• Application Number:
  US08/681,994
• Time in Patent Office: 644 Days
• Field of Search: 108/145, 108/147, 108/144, 108/143, 254/122, 254/126, 248/421
• US Class Current: 108/145
• CPC Class Codes: A47B 2200/0056 with a motor, e.g. an electric motor
• CPC Class Codes: B25J 9/106 with articulated links

Abstract

There is provided a multi-degree-of-freedom positioning mechanism having a guide shaft and first and second moving members movably mounted on the guide shaft. Each drive is connected with the first and second moving members so as to allow the moving members to travel along the guide shaft. The machanism has a pair of foldably joined equally long links, which are pivotally rotatably engaged with the first and second moving members by first and second couplings. Furthermore, one edge of a table is pivotally rotatably engaged with the joint between the mating links of the foldably joined equally long links, to displaceably support the table.

Claims

1. A multi-degree-of-freedom positioning mechanism, comprising first and second guide shafts and first and second moving members movably mounted on each of the first and second guide shafts;

one each drive, being connected with the respective first and second moving members, to allow said respective first and second moving members to travel on said first and second guide shafts individually;

two pairs of foldably joined equally long links having mating links and two ends, said ends being pivotally rotatable engaged with the respective first and second moving members through respective first and second couplings;

two joints, each of said joints connected to a pair of mating links of said foldably joined equally long links; and

two opposite edges of a table, being pivotally rotatable engaged with the two joints between the mating links of respective pairs of joints to displaceably support the table,

each of the second couplings being provided with a rotation arrester in which an arbor having two ends is rotatably mounted in a bracket provided on the second moving member, with both ends of the arbor protruding from the bracket, and said arbor having one end rotatably engaged with one end of the link, to prevent the rotation of the arbor around itself.

2. A multi-degree-of-freedom positioning mechanism, comprising first and second guide shafts and first and second moving members movably mounted on each of the first and second guide shafts;

one each drive, being connected with the respective first and second moving members, to allow the respective first and second moving members to travel on the first and second guide shafts individually;

two pairs of equally long links having ends and connected to foldably joined equally long mating links;

the ends, on one side, of two pairs of equally long links mutually pivotally rotatably connected in cross at their intermediate points, being engaged with the respective first and second moving members through respective first and second couplings;

the ends, on the other side, of said two pairs of links, being pivotally rotatably engaged with the ends of a respectively corresponding pair of foldably joined equally long mating links; and

two opposite edges of a table, being pivotally rotatably engaged with two joints between mating links of respective pairs, to displaceably support the table.

3. A multi-degree-of-freedom mechanism, comprising first and second guide shafts and first and second moving members movably mounted on each of the first and second guide shafts;

one each drive, being connected with the respective first and second moving members, to allow the respective first and second moving members to travel on the first and second guide shafts individually;

two pairs of equally long links having mating links and ends, the ends, on one side, of two pairs of equally long links mutually pivotally rotatable connected in cross at their intermediate points, being engaged with the respective first and second moving members through respective first and second couplings;

the ends, on the other side, of said two pairs of links, being pivotally rotatable engaged with the ends of a respectively corresponding pair of foldably joined equally long mating links; and

two opposite edges of a table, being pivotally rotatable engaged with two joints between mating links of the respective pairs, to displaceably support the table,

each of the second couplings being provided with a rotation arrester in which an arbor having two ends is rotatably mounted in a bracket provided on the second moving member, with both ends of the arbor protruding from the bracket, and having one end of said arbor rotatably engaged with one end of an equally long link, to prevent rotation of the arbor around itself.

4. A multi-degree-of-freedom mechanism, comprising first, second and third guide shafts and first and second moving members movably mounted on each of the first, second and third guide shafts;

one each drive, being connected with the respective first and second moving members, to allow the respective first and second moving members to travel on the first, second and third guide shafts individually;

three pairs of foldably joined equally long links each having mating links and ends, the ends of three pairs of foldably joined equally long links, being pivotally rotatably engaged with the respective first and second moving members, through respective first and second couplings;

said mating links of each of said three pair of said foldably joined equally long links being connected at opposite ends to joints; and

three edges of a table, being pivotally rotatably engaged with three joints between the mating links of the respective pairs, to displaceably support the table.

5. A multi-degree-of-freedom mechanism, according to claim 4, wherein each of the second couplings is provided with a rotation arrester in which an arbor having two ends is rotatably mounted in a bracket provided on the second moving member, with both ends of the arbor protruding from the bracket, and having one end of said arbor rotatably engaged with an end of a foldably joined equally long link, to prevent the rotation of the arbor around itself.

6. A multi-degree-of-freedom mechanism, comprising first, second and third guide shafts and first and second moving members movably mounted on each of the first, second and third guide shafts;

one each drive, being connected with the respective first and second moving members, to allow the respective first and second moving members to travel on the first, second and third guide shafts individually;

three pairs of equally long links having ends and mating links;

the ends, on one side, of three pairs of equally long links mutually pivotally rotatably connected in cross at their intermediate points, being engaged with the respective first and second moving members through respective first and second couplings;

the ends, on the other side, of said three pairs of links, being pivotally rotatably engaged with the ends of a respectively corresponding pair of foldably joined equally long mating links;

each of three pairs of mating links being connected to a joint; and

each of three edges of a table, being pivotally rotatably engaged with one of said joints between the mating links of the respective pairs, to displaceably support the table.

7. A multi-degree-of-freedom mechanism, according to claim 6, wherein each of the second couplings is provided with a rotation arrester in which an arbor having two ends is rotatably mounted in a bracket provided on the second moving member, with both ends of the arbor protruding from the bracket, and having one end of said arbor rotatably engaged with an end of an equally long link, to prevent the rotation of the arbor around itself.