200930522 九、發明說明： 【發明所屬之技術領域】 本發明糊—物恤紅㈣姆端效能器之 具四自由度微操作機械手臂。 ' 【先前技術】 3相較於傳統工廠，微型工薇具減少所佔空間及所消耗之能 =以及使生產線更為彈料優點。但—般卫襲之機械手臂由 痒所佔工敝大且解析度不足，難耽合微虹細提供高解析 度之操作。 '現今桌上型機械手臂已被歧朗於微型讀、微組裝系統 m.4等，以移動末端效能關準確之位置進行其特定的 =乍如夾持、卸載或注射等。其體積小、耗能少、高解析度之優 點叉到大眾業者之歡迎。 【發明内容】 =明之目的在提供—種_於微型工廠、微組裝系統及微 …系統讀操作系統之具姐串、並聯式機構之麵手臂，除 可達南_度之定位外，體積小之設計使其可放在桌上使用/ 具ηΪ 了提供齡麟料m本糾之料聯式機構兼 及封_構鏈，結合了傳統串聯型及麟賴構之優點， 械手臂兼具紅作空間、高s活度、良好動畴應等特性。 200930522 最佳化方法“ 度之目的’桿件之長度係經由近 可透織__咖^^=^=^式安裝， 到零餘隙，使機械手臂達到高解析度此方式可触承與轴承間達 【實施方式】 兹配純讀本發明作較佳實施解域明如下。 參閱弟-圖，本發明微操作機械手臂實施例之立體圖。盆令 包含： 〃 :用作讀所有機構零件之底細；—連接於底㈣之線性 運動模、120 ’湘此線性運動模組2()可操控機械手臂上下移動， 以利機械手臂絲末毅能ϋ後，可簡魏行取放工作；一連 接於線性運動模組20之旋轉關節傳動機構3()，利用此傳動機構％ 可操控機械手臂作水平面三個自由度之移動，關機械手臂可順 利作各種靈巧之動作。 其中，該底座10提供線性運動模組20之平面乃由垂直板塊1〇3 所提供。垂直板塊103則與水平板塊ιοί於a處透過螺栓與螺孔接 合。水平板塊101之沉頭孔1011使微操作機械手臂能夠利用螺栓把 底座10固定於光學桌上。於一般桌子使用時，水平板塊可安裝腳 墊104來支撐低座10。一對三角板塊102利用螺栓孔1031與垂直板 塊103相連接，另外亦與水平板塊101於B處利用螺栓相連接，藉 6 200930522 此補強底座之強度，使應力不易集中於垂直板塊103則與水平板塊 101之接合位置。 線性運動模組20，係由線性機構201與伺服馬達202組成。伺 服馬達202提供旋轉動力以驅動線性機構内之螺桿，螺桿則帶動滑 塊2012於一對線性滑軌2011上作垂直運動，藉此伺服馬達之旋轉 運動經過線性機構201轉換成垂直運動。利用螺栓孔2〇13，線性運 動模組2GIU定於垂直板塊1〇3之垂直平面上。藉此機械手臂之垂直 運動完全與水平運絲g，糊於機财f之操控性及喊性能 ❹ 旋轉關節傳動機構30，係由連桿與旋轉關節組合而成。連接 方塊301為旋轉關節傳動機構3〇之基座，其透過螺栓孔3〇ιι與螺絲 固疋於線性;ffl2〇ll_L ’藉此線性運動模組2G可鶴旋轉關節傳 動機構30作垂直運動。連接方塊3(H、a連桿3〇2、B連桿3〇3、c連 桿3〇4與D連桿3〇5組成-並聯機構，提高了機械手臂之解析度。此200930522 IX. Description of the invention: [Technical field to which the invention pertains] The present invention is a four-degree-of-freedom micro-manipulation robot arm for a red-hearted (four) m-effector. '[Prior Art] 3 Compared with the traditional factory, the micro-worker reduces the space occupied and the energy consumed = and makes the production line more elastic. However, the mechanical arm of the general Guardian is occupied by the itch and the resolution is insufficient. It is difficult to combine the micro-red to provide high-resolution operation. 'Today's desktop robots have been arbitrarily used in micro-reading, micro-assembly systems, m.4, etc., to carry out their specific = such as clamping, unloading or injection, with the position of the moving end performance being accurate. Its small size, low energy consumption, and high resolution are popular with the masses. [Summary of the Invention] = The purpose of the Ming is to provide a kind of _ in the micro-factory, micro-assembly system and micro-system read system operating system with the sister string, parallel body arm, in addition to the South _ degree positioning, small size It is designed to be used on the table / η Ϊ 提供 提供 提供 提供 提供 提供 提供 m 本 本 本 本 本 本 本 本 本 本 本 本 本 本 本 本 本 本 本 本 本 本 , , , , , , , , , , , , , , Space, high s activity, good dynamic domain should be characterized. 200930522 Optimization method "The purpose of the degree" is the length of the rod through the near-transparent weaving __咖^^=^=^, to the zero clearance, so that the robot arm achieves high resolution. Between the bearing and the embodiment of the present invention, the preferred embodiment of the present invention is as follows. Referring to the drawings, a perspective view of an embodiment of the micromanipulator of the present invention is provided. The potting includes: 〃: used to read all parts of the mechanism The bottom is fine; the linear motion module connected to the bottom (four), 120 'Xiang linear motion module 2 () can control the mechanical arm to move up and down, in order to facilitate the mechanical arm silk end of the ability to smash, can be used to pick up and release work; The rotary joint transmission mechanism 3 () connected to the linear motion module 20 can control the movement of the mechanical arm to three degrees of freedom in the horizontal plane by using the transmission mechanism %, and the mechanical arm can smoothly perform various dexterous actions. The plane providing the linear motion module 20 is provided by the vertical plate 1〇3. The vertical plate 103 is engaged with the horizontal plate ιοί at a through the bolt and the screw hole. The countersunk hole 1011 of the horizontal plate 101 enables the micromanipulator arm The base 10 is fixed to the optical table by bolts. When used in a general table, the horizontal plate can be mounted with a foot pad 104 to support the lower seat 10. The pair of triangular plates 102 are connected to the vertical plate 103 by bolt holes 1031, and are also horizontally The plate 101 is connected by bolts at B, and the strength of the reinforcing base is made by 6 200930522, so that the stress is not easily concentrated on the joint position of the vertical plate 103 and the horizontal plate 101. The linear motion module 20 is composed of a linear mechanism 201 and a servo motor. The servo motor 202 provides rotational power to drive the screw in the linear mechanism, and the screw drives the slider 2012 to move vertically on the pair of linear slides 2011, whereby the rotational motion of the servo motor is converted into vertical motion by the linear mechanism 201. Using the bolt hole 2〇13, the linear motion module 2GIU is fixed on the vertical plane of the vertical plate 1〇3. The vertical movement of the robot arm is completely parallel with the horizontal movement g, and the handling and shouting performance of the machine f旋转 Rotary joint transmission mechanism 30 is a combination of a connecting rod and a rotating joint. The connecting block 301 is a base of the rotating joint transmission mechanism 3 The bolt hole 3〇ιι and the screw are fixed in linear; ffl2〇ll_L 'by this linear motion module 2G can be rotated by the joint motion transmission mechanism 30. The connection block 3 (H, a link 3〇2, B link) 3〇3, c-link 3〇4 and D-link 3〇5 form a parallel mechanism, which improves the resolution of the robot arm.
-並聯機制以串聯之方式連接末端連桿3〇7，以利增大機械手臂 之工作空間及靈活度。 U 參閱第二圖’本發明微操作機械手臂之旋轉關節傳動機構如 前半部分之立體圖。 旋轉關節傳動機構30前半部分主要實現了 A連桿3〇2盘連接方 塊則、B連桿3G3與連接錢謝之旋轉關節。—對軸承则及另 一對轴承3G31分別隔離了連接方塊3G1#A連桿搬、b連桿則之 運動’形成了基本旋棚節之結構。連接板塊3陶㈣螺检穿透 7 200930522 螺枝孔3015而與連接方塊3〇1結合。另外，利用螺栓穿透螺栓孔 3〇17從而使預壓方塊3〇16以定位之方式施壓於一對軸承3〇21及另 一對軸承3〇31上，從而增加軸承之剛性及減少餘隙，提高機械手 臂之解析度。固定於連接方塊3〇1之一對伺服馬達3〇12提供A連桿 302與B連桿303動力來源。一對伺服馬達3〇12之輸出軸則利用螺栓 孔3022與螺絲分別固定於a連桿3〇2與3連桿3〇3上。為了預防機構 於操作不當之情況下產生碰撞，小型方塊搬會遮斷光遮斷器 3〇13所輸出之光線，此時光遮斷器3〇13會輸出訊號並可由控制器 停止機械手臂的運動。 〃芩閱第二圖，本發明微操作機械手臂之旋轉關節傳動機構3〇 後半部分之立體圖。 〇 旋轉關節傳動機構30後半部分主要實現了c連桿3〇4、D連桿 ^與前半部分之連接以及末端連桿3G7之旋麵節。C連桿綱^ 月"而A連桿观於!)處以一對軸承綱連接，利用螺栓观作為軸 β屯成了—被動的旋侧節。螺帽3〇做合螺栓綱予以軸承 =。D連桿爾前端Β連桿期於咖用軸承则以類似的方 式連接。C連桿綱與D連桿3〇5以一對轴承趣相連接 相隔部分以隔離環聽隔離。同軸套祕以螺栓及螺栓孔之^ 固:於D連桿本體，藉此紅連桿綱助連桿3〇5連接成一 ^關節。墊_52減少了伽連娜之間的磨擦，及 ^此二連桿。同軸套筒306内部則安裝了一對隔離環3061及 8 200930522 -對軸承3%2，#歧雜雜3〇63與_套筒3_彡成—旋轉關 節。伺服馬達3054用以提供動力予同軸連桿期。同車由連桿搬 於F處穿越末端連桿3〇7 ’並以螺栓與螺检孔之方式固^，藉此形 成了一_的旋轉_，舰馬達贿可獨立驅動末端連桿L旋 轉各種之末^效此器可利用圓孔3〇71來固定於末端連桿奶7上， 達到各式各樣之用途。 【圖式簡單說明】 第一圖係本發明微操作機械手臂之立體圖。 第二圖係本發明微操领械手狀鋪__機獅半部分之 爆炸圖。 第二圖係本發明微操作賊手狀旋麵節雜機構後半部分之 爆炸圖。 【圖式中之參照號數】 10底座 101水平板塊 102三角板塊 1(B垂直板塊 104 腳墊 1011沉頭孔 1031螺栓孔 2〇2伺服馬達 20線性運動模組 201線性機構 200930522 2011線性滑軌2012滑塊 2013螺栓孔 30旋轉關節傳動機構 303 B連桿 306同轴套筒 301連接方塊 302 A連桿 304 C連桿 305 D連桿 307末端連桿 ❹ 3011 螺栓孔 3012 3014 連接板塊 3015 3017 螺栓孔 3021 3031 軸承 3032 3042 螺帽 3043 3045 隔離環 3051 3061 隔離環 3062 3071 圓孔 伺服馬達 3013 光遮斷器 螺栓孔 3016 預壓方塊 轴承 3022 螺栓孔 小型方塊 3041 螺栓 軸承 3044 溥型軸承 薄型軸承 3052 墊圈 小型軸承 3063 同軸連桿- The parallel mechanism connects the end links 3〇7 in series to increase the working space and flexibility of the robot arm. U Referring to the second figure, a perspective view of the rotary joint transmission mechanism of the micromanipulator arm of the present invention is as shown in the front half. The first half of the rotary joint transmission mechanism 30 mainly realizes the A-link 3〇2 disc connection block, the B-link 3G3 and the connection joint of Qian Xie. - For the bearing and the other pair of bearings 3G31, the connection block 3G1#A linkage and the b-link movement are isolated, respectively, forming the structure of the basic rotary joint. Connecting plate 3 pottery (four) screw inspection penetration 7 200930522 screw hole 3015 and combined with the connection block 3〇1. In addition, the bolts are penetrated through the bolt holes 3〇17 to press the pre-pressing blocks 3〇16 in a positioning manner on the pair of bearings 3〇21 and the other pair of bearings 3〇31, thereby increasing the rigidity of the bearing and reducing the remaining Gap, improve the resolution of the robot arm. One of the connection blocks 3〇1 is provided to the servo motor 3〇12 to provide a power source for the A link 302 and the B link 303. The output shafts of the pair of servo motors 3〇12 are fixed to the a link 3〇2 and the 3 link 3〇3 by bolt holes 3022 and screws, respectively. In order to prevent the collision of the mechanism in the case of improper operation, the small square will block the light output from the photointerrupter 3〇13, and the photointerrupter 3〇13 will output a signal and the robot can stop the movement of the robot arm. . Referring to the second figure, a perspective view of the rear half of the rotary joint transmission mechanism 3 of the micromanipulator arm of the present invention.后 The rear half of the rotary joint transmission mechanism 30 mainly realizes the connection of the c-link 3〇4, the D-link ^ to the front half, and the rotary joint of the end link 3G7. The C-linkage class ^ month " and the A-link view!) is connected by a pair of bearing elements, and the bolt view is used as the axis β屯 becomes the passive side joint. The nut 3 is used as a bearing bolt to be bearing =. The D-link front end Β connecting rod is connected to the coffee bearing in a similar manner. The C-link and D-links 3〇5 are connected by a pair of bearings. The separated parts are isolated by the isolation ring. The coaxial sleeve is made of bolts and bolt holes: on the D link body, whereby the red link link 3〇5 is connected into a joint. Pad _52 reduces the friction between Galena, and ^ the two links. A pair of spacer rings 3061 and 8 200930522 are mounted inside the coaxial sleeve 306 - the pair of bearings 3%2, #杂杂3〇63 and the _sleeve 3_彡-rotation joint. The servo motor 3054 is used to provide power to the coaxial link period. The same car is moved from the connecting rod to the F through the end link 3〇7' and is fixed by bolts and threaded holes, thereby forming a rotation of _, and the ship motor can independently drive the end link L to rotate Various kinds of end effects can be fixed on the end link milk 7 by using a round hole 3〇71 for various purposes. BRIEF DESCRIPTION OF THE DRAWINGS The first figure is a perspective view of the micromanipulator arm of the present invention. The second figure is an exploded view of the micro-manipulator hand-pull __ machine lion half of the present invention. The second figure is an exploded view of the latter half of the micro-operation thief hand-shaped knob joint mechanism of the present invention. [Reference number in the figure] 10 base 101 horizontal plate 102 triangular plate 1 (B vertical plate 104 foot pad 1011 countersunk hole 1031 bolt hole 2〇2 servo motor 20 linear motion module 201 linear mechanism 200930522 2011 linear slide 2012 slider 2013 bolt hole 30 rotary joint transmission mechanism 303 B link 306 coaxial sleeve 301 connection block 302 A link 304 C link 305 D link 307 end link ❹ 3011 bolt hole 3012 3014 connection plate 3015 3017 bolt Hole 3021 3031 bearing 3032 3042 nut 3043 3045 isolation ring 3051 3061 isolation ring 3062 3071 round hole servo motor 3013 light interrupter bolt hole 3016 pre-pressed square bearing 3022 bolt hole small square 3041 bolt bearing 3044 溥 type bearing thin bearing 3052 washer Small bearing 3063 coaxial connecting rod