201113131 六、發明說明： 【發明所屬之技術領域】 [0001] 本發明涉及一種機器人，尤其涉及一種採用多級齒輪傳 動之工業機器人。 【先前技術】 [0002] 工業機器人通常包括複數依次相連之機械臂，設置於其 末端之機械臂，如六軸機器人之第六旋轉軸可裝設夾具 、切削工具及探測器等以執行各種動作。每一機械臂藉 由驅動元件實現繞單轴之旋轉。該驅動元件包括沿各機 械臂之轉動轴向依次設置之電機以及舆電機相連接之減 速機元件’減速機元件驅動與其連接之另一機械臂運動 ，故各機械臂沿其轉動軸向之尺寸通常較大《對於位於 機器人末端之運動軸，比如六轴機器人之相互轉動連接 且垂直設置之第五旋轉轴及第六旋轉轴，其設置之驅動 元件常鄰近設置，易造成第五旋轉軸及第六旋轉輛沿各 自轉動轴向之尺寸均較大，增加f機器人整體結構及所 佔空間，不利於機器人於較狹小*作空間中之應用。 : :·-·, [發明内容】 [0003] 鑒於上述内容，有必要提供一種結構緊湊、佔用空間較 小之機器人。 [0004] /種機器人’包括基座、與該基座可轉動連接之支待臂 、相立 <轉動連接且基本垂直設置之第N(N 1，N為整數 )旋轉軸及第N + 1旋轉軸、用於驅動第N旋轉軸之第〜電機 及第〆齒輪機構、用於驅動第N+i旋轉軸之第二電機及第 二齒輪機構’以及控制裝置。該第N旋轉軸與支撐臂可轉 098134064 0982058314-0 表單煸號A0101 第4頁/共18頁 201113131 動連接。該第一齒輪機構及第二齒輪機構為具有至少一 對錐齒輪之多級齒輪傳動機構，且該第一齒輪機構包括 與該第N旋轉軸固定連接之錐齒輪，該第二齒輪機構包括 與該第N+1旋轉軸固定連接之錐齒輪，該控制裝置控制該 第一電機及第二電機分別動作，使該第一齒輪機構帶動 該第N旋轉軸繞該第N旋轉軸之軸線旋轉時，該第二齒輪 機構帶動第N + 1旋轉轴繞該第N + 1旋轉軸之軸線旋轉一定 角度以補償該第N+1旋轉軸之跟隨轉動誤差。 ^ [0005] 〇 上述機器人之第一齒輪機構及第二齒輪機構設置多級傳 動機構進行變速，並設置錐齒輪對改變運動傳遞之方向 ，從而第一電機及第二電機可不用分別直接設置於上述 二旋轉軸之轴線方向上，可減小第N旋轉轴及第N + 1旋轉 軸沿各自轴向之尺寸，使得機器人之結構緊湊，減小了 佔用空間。藉由控制裝置控制該第一電機及第二電機動 作，可使第一齒輪機構帶動該第一旋轉軸旋轉時，該第 二齒輪機構帶動第N + 1旋轉軸旋轉相應角度以補償跟隨轉 ❹ 動誤差，使第N + 1旋轉轴沿其自身旋轉方向處於預設之位 置上，以準確地對第N + 1旋轉軸之運動進行控制。另，上 述機器人之第一齒輪機構及第二齒輪機構可採用傳統之 齒輪結構，可降低製造成本。 [0006] 【實施方式】 下面結合附圖及實施例對本發明之機器人作進一步的詳 細說明，並以六轴工業機器人為例進行說明。 [0007] 圖1所示為本發明實施方式之機器人100之示意圖。機器 人100為六軸工業機器人，其包括基座11、可轉動地設置 098134064 表單編號A0101 第5頁/共18頁 0982058314-0 201113131 於基座li之機架η、可轉動地設置於機架ia之大臂η、 與大臂13可轉誠接之連接们5，以及與連騎15可轉 動連接之小f 14。基座11用於將機器人安裝至地面或基 座上，機架12能繞第-旋轉轴線161旋轉，大臂^能繞第 二旋轉轴線162旋轉’連接臂15能繞第三旋轉轴線163旋 轉’小臂14能繞第四旋轉轴線164旋轉。該六輪工業機器 人還包括165、166所表示之第五旋轉及第六旋轉軸。第 五旋轉軸165與第六旋轉軸166相互垂直設置。其中，可 於第六旋轉軸166上安裝夾具、刀具或者探測儀器等執行 裝置進行工作。 [0008] [0009] 圖2所示為機器人1〇〇所採用之臂部件2〇〇。臂部件2〇〇包 括小臂14、與小臂14旋轉速接之第五旋轉軸165、與第五 旋轉軸165旋轉連接之第六旋轉軸166、用於驅動第五旋 轉軸165之第一電機（圖未示）及第一齒輪機構21、用於 驅動第六旋轉轴166之第二電機（圖未示）及第二齒輪機 構23以及控制該第一電機和第二電機動作之控制裝置（ 圖未示）。 請同時參見圖3及圖4，小臂14包括支撲部142及連接部 144 ’其整體呈中空結構並大致形成叉形❶第一齒輪機構 21、第二齒輪機構2 3均設置於小臂14内部並由設置於小 臂14内之軸承（圖未標）支承。連接部144為沿直線延伸 之筒狀結構，其包括一個中空部1412。支撐部142大致呈 “门”型，其包括相對設置並朝同一方向平行延伸之第 一支撐壁1421及第二支撐壁1423。第一支撐壁1421形成 有向第二支撐壁1423—側延伸之連接座1424。 098134064 表單編號A0101 第6頁/共18頁 0982058314-0 201113131 [0010] [0011] ο [0012] [0013] [0014] [0015] 第五旋轉轴165具有一輸出座體1651。輸出座體1651之 旋轉軸線大致垂直於第一支撐壁1421及第二支撐壁1423 ，並開設有相互連通且垂直設置之第一軸孔1652及第二 軸孔1 653。第二轴孔1 653之中心軸線與輸出座體1651之 旋轉軸線重合。第五旋轉轴165與第一支撐壁1421之連接 座1424可轉動地連接，並由袖承1425可轉動支承。 第六旋轉軸166穿設第五旋轉軸165之第一軸孔1652 ’並 由軸承1661可轉動支承，如此第六旋轉軸I66可轉動地設 置於第一支撐壁1421與第二支撐壁1423間。 第一齒輪機構21設於第一電機與第五旋轉軸165間，其包 括順次連接之第一輸入齒輪212、第一傳動軸213、一對 第一圓柱齒輪214a ’ 214b，以及一對第一錐齒輪215a，215b。 第一傳動軸213呈内空之管狀結構’並穿設小臂14之中空 部1412。第一輸入齒輪212設置於小臂14遠離第五旋轉 軸165之一端，並與第一電機連接之輸入機構相連接。第 —錐齒輪215a與第一圓柱齒輪同轴設置，第一錐齒 輪215b與輸出座體1651固定連接’從而與第五旋轉軸 165連動。 第二齒輪機構23設於第二電機與第六旋轉軸166之間，其 包括順次連接之第二輸入齒輪232、第二傳動轴233、一 對第二圓柱齒輪234a，234b ’一對第二錐齒輪235a， 235b以及一對第三錐齒輪236a，236b。 第二傳動軸233可轉動地穿設第一傳動軸213並由設置於 098134064 表單編號A0101 第7頁/共18頁 0982058314-0 201113131 小臂14内部之轴承（圖未標）轉動支承。第二傳動轴233 二端分別伸出第一傳動軸213外。第二輸入齒輪232設置 於小臂14遠離第五旋轉轴165之一端並與第一輸入齒輪 212沿抽向間隔設置，第一電機及第二電機分別與第一輸 入齒輪212及第二輸入齒輪232相連接，且分別設置於第 一傳動軸213沿轴向之相對二側。第二圓柱齒輪234a， 234b與第一圓柱齒輪214a，214b亦沿轴向間隔設置，第 二錐齒輪235a與第二圓柱齒輪241b同軸設置，第二錐齒 輪235a與第一錐齒輪215a分別設置於第二傳動軸233之 相對二側。第二錐齒輪235b與第三錐齒輪236a同轴設置 ，第二錐齒輪236b與第六旋轉軸166固定連接，並設置於 第一軸孔1652内與第六旋轉軸連動。 [0016] [0017] 上述各輸^輪212 '第—圓柱齒輪214a， 214b、第一錐齒輪215a、第二輪入齒輪232、第二圓枉 齒輪2如，23413、第二錐齒輪2351 2351)及第三錐齒 輪236a均由設置於小臂14内之輛承轉動支承 . .. .... ； 上述機器人1GG之第-電機及第二電機設置於小㈣之一 端並安裝於小们4上’第—絲機構⑽^齒輪機構 23藉由設置多級傳動機構進行減逮，iMl㈣置_輪 對改《動傳遞^向’從而第1機及第二電機不用 分別設置於第五旋轉軸165及第六旋轉轴166之滅方向 上’減輕了第五旋轉軸165之負栽’便於對第五旋轉軸 165及第六旋轉轴166進行控制，且使得第五旋轉袖165 及第六旋轉韻6沿各自軸向之尺寸均較小臂部件2〇〇 之結構緊湊，減小了臂部件2〇〇所佔用空間。3，第一齒 098134064 表單编號A0101 第8頁/共18頁 0982058314- 201113131 輪機構21及第二齒輪機構23基本設置於小臂14内部，可 充分利用小臂14内部空間。藉由將第二輸入齒輪232與第 一輸入齒輪21、第二圓柱齒輪234a，234b與第一圓柱齒 輪214a，214b沿軸向間隔設置，可進一步縮小臂部件 200之整體尺寸。上述機器人100之第一齒輪機構21及第 二齒輪機構23，可採用傳統之齒輪結構，可降低製造成 本。 [0018] Ο 以下僅介紹臂部件200之動作情況，機器人100其餘機構 ，例如機架12、大臂13之動作情況與現有機器人相似。 控制裝置中預設有控制指令，當第一電機於控制指令之 控制下轉動時，第一電機之旋轉運動藉由第一齒輪機構 21傳遞至第五旋轉軸165，帶動第五旋轉軸165繞第五旋 轉軸165之旋轉軸線轉動。與此同時，因第六旋轉軸166 繞第五旋轉軸165之旋轉軸線轉動時，第三錐齒輪236a、 ο 236b相互嚙合，第六旋轉軸166將繞其自身之軸線轉動一 定角度（在此稱其為跟隨轉動誤差）。為防止第六旋轉轴 166因跟隨第五旋轉軸165之轉動而失去定位之基準，控 制裝置於控制第五旋轉軸165旋轉之同時產生控制指令控 制第二電機連動，即控制指令控制第二電機驅動第六旋 轉軸166繞其自身之軸線旋轉相應角度以補償上述跟隨轉 動誤差，從而使第五旋轉軸165旋轉時，第六旋轉軸166 繞其自身軸向仍保持於當前位置。當需要單獨調整第六 旋轉軸166之繞其自身軸向之旋轉角度時，控制裝置再次 發出控制指令使第六旋轉轴166轉動至預設之角度，第六 旋轉軸166之運動不會影響第五旋轉軸165之動作。 098134064 表單編號A0101 第9頁/共18頁 0982058314-0 201113131 [0019] 可以理解，機器人100之第一齒輪機構21及第二齒輪機構 23還可進一步增減傳動之級數以獲得需要之減速比。另 外’亦可將第二傳動軸233設為空心之管狀結構，而將第 一傳動軸213可轉動地穿設第二傳動轴233。 [0020] 可以理解，本發明之機器人100不限於為六轴機器人，其 還可為四轴或者五軸機器人等，此時，臂部件200設置於 δ玄四料或者五轴機器人之末端。201113131 VI. Description of the Invention: [Technical Field] The present invention relates to a robot, and more particularly to an industrial robot employing multi-stage gear transmission. [Prior Art] [0002] Industrial robots usually include a plurality of mechanical arms connected in series, and a mechanical arm disposed at the end thereof, such as a sixth rotating shaft of a six-axis robot, can be equipped with a jig, a cutting tool, a detector, etc. to perform various actions. . Each of the arms is rotated about a single axis by a drive element. The driving component comprises a motor arranged in sequence along the rotational axis of each robot arm and a speed reducer component to which the motor is connected. The speed reducer component drives another mechanical arm connected thereto, so that the size of each mechanical arm along its rotation axis Usually larger "for the movement axis at the end of the robot, such as the six-axis robot, the fifth rotation axis and the sixth rotation axis that are vertically connected and vertically set, the driving elements are often disposed adjacent to each other, which is easy to cause the fifth rotation axis and The size of the sixth rotating vehicle along the respective rotation axes is large, which increases the overall structure and space occupied by the f robot, which is not conducive to the application of the robot in a narrow space. : :·-·, [Summary of the Invention] [0003] In view of the above, it is necessary to provide a robot that is compact in structure and small in space. [0004] The robot 'includes a base, a support arm rotatably coupled to the base, and a Nth (N 1, N is an integer) rotation axis and a N+ that are rotationally coupled and substantially vertically disposed. A rotating shaft, a first motor for driving the Nth rotating shaft, a second gear mechanism, a second motor for driving the N+i rotating shaft, a second gear mechanism, and a control device. The Nth rotating shaft and the support arm can be turned 098134064 0982058314-0 Form nickname A0101 Page 4 of 18 201113131 Connected. The first gear mechanism and the second gear mechanism are multi-stage gear transmission mechanisms having at least one pair of bevel gears, and the first gear mechanism includes a bevel gear fixedly coupled to the Nth rotation shaft, the second gear mechanism including The first N+1 rotating shaft is fixedly connected to the bevel gear, and the control device controls the first motor and the second motor to respectively operate, so that the first gear mechanism rotates the Nth rotating shaft about the axis of the Nth rotating shaft The second gear mechanism rotates the N+1 rotation axis about an axis of the N+1 rotation axis by a certain angle to compensate for the following rotation error of the N+1th rotation axis. [0005] The first gear mechanism and the second gear mechanism of the robot are provided with a multi-stage transmission mechanism for shifting, and a bevel gear pair is set to change the direction of motion transmission, so that the first motor and the second motor can be directly disposed on the first motor and the second motor, respectively. In the axial direction of the two rotating shafts, the size of the Nth rotating shaft and the N+1 rotating shaft along the respective axial directions can be reduced, so that the robot has a compact structure and reduces the occupied space. When the first gear mechanism drives the first rotating shaft to rotate by the control device, the second gear mechanism drives the N+1 rotating shaft to rotate the corresponding angle to compensate for the following switching. The dynamic error causes the N+1 rotation axis to be at a preset position along its own rotation direction to accurately control the movement of the N+1 rotation axis. In addition, the first gear mechanism and the second gear mechanism of the above robot can adopt a conventional gear structure, which can reduce the manufacturing cost. [Embodiment] Hereinafter, the robot of the present invention will be further described in detail with reference to the accompanying drawings and embodiments, and a six-axis industrial robot will be described as an example. 1 is a schematic diagram of a robot 100 according to an embodiment of the present invention. The robot 100 is a six-axis industrial robot including a base 11, rotatably provided 098134064, form number A0101, page 5/18 pages 0982058314-0, 201113131, on the base η of the base η, rotatably set in the rack ia The boom η, the connecting arm 5 with the boom 13 and the small f 14 rotatably connected to the slinger 15. The base 11 is used to mount the robot to the ground or the base, the frame 12 is rotatable about the first-rotation axis 161, and the boom can be rotated about the second axis of rotation 162. The connecting arm 15 is rotatable about the third axis of rotation. Line 163 is rotated 'the arm 14 is rotatable about a fourth axis of rotation 164. The six-wheel industrial robot also includes a fifth rotation and a sixth rotation axis represented by 165 and 166. The fifth rotating shaft 165 and the sixth rotating shaft 166 are disposed perpendicular to each other. Among them, an actuator such as a jig, a cutter or a detecting instrument can be mounted on the sixth rotating shaft 166 to operate. [0009] FIG. 2 shows an arm member 2〇〇 used in the robot 1〇〇. The arm member 2 includes an arm 14 , a fifth rotating shaft 165 that is rotationally coupled to the arm 14 , a sixth rotating shaft 166 that is rotatably coupled to the fifth rotating shaft 165 , and a first one for driving the fifth rotating shaft 165 . a motor (not shown) and a first gear mechanism 21, a second motor (not shown) for driving the sixth rotating shaft 166, a second gear mechanism 23, and a control device for controlling the actions of the first motor and the second motor (Figure not shown). Referring to FIG. 3 and FIG. 4 simultaneously, the arm 14 includes a baffle portion 142 and a connecting portion 144' which has a hollow structure as a whole and generally forms a fork-shaped first gear mechanism 21, and the second gear mechanism 23 is disposed on the arm. The inside of the 14 is supported by a bearing (not shown) provided in the arm 14 . The connecting portion 144 is a cylindrical structure extending in a straight line and includes a hollow portion 1412. The support portion 142 is generally of a "door" type including a first support wall 1421 and a second support wall 1423 which are disposed opposite to each other and extend in parallel in the same direction. The first support wall 1421 is formed with a connecting seat 1424 that extends to the side of the second supporting wall 1423. 098134064 Form No. A0101 Page 6 of 18 0982058314-0 201113131 [0011] [0012] [0015] [0015] The fifth rotating shaft 165 has an output base 1651. The rotation axis of the output base 1651 is substantially perpendicular to the first support wall 1421 and the second support wall 1423, and the first shaft hole 1652 and the second shaft hole 1 653 which are vertically connected to each other are opened. The central axis of the second shaft hole 1 653 coincides with the rotation axis of the output base 1651. The fifth rotating shaft 165 is rotatably coupled to the connecting seat 1424 of the first supporting wall 1421 and rotatably supported by the sleeve 1425. The sixth rotating shaft 166 passes through the first shaft hole 1652' of the fifth rotating shaft 165 and is rotatably supported by the bearing 1661. The sixth rotating shaft I66 is rotatably disposed between the first supporting wall 1421 and the second supporting wall 1423. . The first gear mechanism 21 is disposed between the first motor and the fifth rotating shaft 165, and includes a first input gear 212, a first transmission shaft 213, a pair of first spur gears 214a' 214b, and a pair of first Bevel gears 215a, 215b. The first drive shaft 213 has an inner hollow tubular structure' and extends through the hollow portion 1412 of the arm 14. The first input gear 212 is disposed at one end of the arm 14 away from the fifth rotating shaft 165 and is coupled to the input mechanism to which the first motor is coupled. The first bevel gear 215a is disposed coaxially with the first spur gear, and the first bevel gear 215b is fixedly coupled to the output base 1651 so as to be interlocked with the fifth rotary shaft 165. The second gear mechanism 23 is disposed between the second motor and the sixth rotating shaft 166, and includes a second input gear 232, a second transmission shaft 233, and a pair of second spur gears 234a, 234b' Bevel gears 235a, 235b and a pair of third bevel gears 236a, 236b. The second transmission shaft 233 is rotatably threaded through the first transmission shaft 213 and is rotatably supported by a bearing (not shown) disposed inside the arm 14 of 098134064 Form No. A0101, page 7 of 18, 0982058314-0, 201113131. The two ends of the second transmission shaft 233 respectively protrude outside the first transmission shaft 213. The second input gear 232 is disposed at one end of the arm 14 away from the fifth rotating shaft 165 and is spaced apart from the first input gear 212. The first motor and the second motor are respectively coupled to the first input gear 212 and the second input gear. The 232 are connected to each other and disposed on opposite sides of the first transmission shaft 213 in the axial direction. The second spur gear 234a, 234b is also axially spaced from the first spur gear 214a, 214b, the second bevel gear 235a is disposed coaxially with the second spur gear 241b, and the second bevel gear 235a and the first bevel gear 215a are respectively disposed on The opposite sides of the second transmission shaft 233. The second bevel gear 235b is disposed coaxially with the third bevel gear 236a, and the second bevel gear 236b is fixedly coupled to the sixth rotating shaft 166 and disposed in the first shaft hole 1652 in conjunction with the sixth rotating shaft. [0017] [0017] Each of the above-mentioned power wheel 212' first-cylindrical gears 214a, 214b, first bevel gear 215a, second wheel-in gear 232, second round-wheel gear 2, such as 23413, second bevel gear 2351 2351 And the third bevel gear 236a is rotatably supported by the vehicle seat disposed in the arm 14 . . . . . . The first motor and the second motor of the robot 1GG are disposed at one end of the small (four) and are installed on the small ones. 4 'The first wire mechanism (10) ^ gear mechanism 23 is set by multi-stage transmission mechanism, iMl (four) set _ wheel set to change "moving transmission ^ direction" so that the first machine and the second motor are not separately set to the fifth rotation The rotation of the shaft 165 and the sixth rotation shaft 166 'reduced the load of the fifth rotation shaft 165' facilitates control of the fifth rotation shaft 165 and the sixth rotation shaft 166, and causes the fifth rotation sleeve 165 and the sixth The rotation rhymes 6 are smaller in size in the respective axial directions, and the arm members 2 are compact in structure, reducing the space occupied by the arm members 2〇〇. 3, the first tooth 098134064 Form No. A0101 Page 8 of 18 0982058314-201113131 The wheel mechanism 21 and the second gear mechanism 23 are basically disposed inside the arm 14, and the internal space of the arm 14 can be fully utilized. The axial size of the arm member 200 can be further reduced by axially spacing the second input gear 232 from the first input gear 21, the second spur gear 234a, 234b and the first cylindrical gears 214a, 214b. The first gear mechanism 21 and the second gear mechanism 23 of the robot 100 described above can adopt a conventional gear structure, which can reduce the manufacturing cost. [0018] Only the operation of the arm member 200 will be described below, and the rest of the mechanism of the robot 100, such as the frame 12 and the boom 13, be similar to the existing robot. A control command is preset in the control device. When the first motor rotates under the control of the control command, the rotational motion of the first motor is transmitted to the fifth rotating shaft 165 by the first gear mechanism 21, and the fifth rotating shaft 165 is driven to rotate. The rotation axis of the fifth rotation shaft 165 is rotated. At the same time, as the sixth rotating shaft 166 rotates about the rotation axis of the fifth rotating shaft 165, the third bevel gears 236a, 236b are engaged with each other, and the sixth rotating shaft 166 will rotate about its own axis by a certain angle (here) Call it the following rotation error). In order to prevent the sixth rotating shaft 166 from losing the positioning reference due to the rotation of the fifth rotating shaft 165, the control device generates a control command to control the second motor linkage while controlling the rotation of the fifth rotating shaft 165, that is, the control command controls the second motor. The sixth rotating shaft 166 is driven to rotate about a respective angle about its own axis to compensate for the above-described following rotational error, so that when the fifth rotating shaft 165 is rotated, the sixth rotating shaft 166 remains in the current position about its own axial direction. When it is necessary to separately adjust the rotation angle of the sixth rotating shaft 166 about its own axial direction, the control device again issues a control command to rotate the sixth rotating shaft 166 to a preset angle, and the movement of the sixth rotating shaft 166 does not affect the first The action of the five rotating shafts 165. 098134064 Form No. A0101 Page 9 of 18 0982058314-0 201113131 [0019] It can be understood that the first gear mechanism 21 and the second gear mechanism 23 of the robot 100 can further increase or decrease the number of transmissions to obtain the required reduction ratio. . Alternatively, the second transmission shaft 233 can be configured as a hollow tubular structure, and the first transmission shaft 213 can be rotatably passed through the second transmission shaft 233. [0020] It can be understood that the robot 100 of the present invention is not limited to a six-axis robot, and may be a four-axis or five-axis robot or the like. At this time, the arm member 200 is disposed at the end of the δ mystery or five-axis robot.
[0021] 综上所述，本發明確已符合發明專利之要件，遂依法提 出專利申請。惟，以上所述者僅為本發明之較佳實施方 式’自不能以此限制本案之申請專利範圍。舉凡熟悉本 案技藝之人士援依本發明之精神所作之等效修飾或變化 ’皆應涵蓋於以下申請專利範圍内。 【圖式簡單說明】 [0022] 圖1係本發明實施例之機器人之示意圖。 [0023] 圖2係圖1所示之機器人所採用之臂部件之立體組裝圖。[0021] In summary, the present invention has indeed met the requirements of the invention patent, and the patent application is filed according to law. However, the above description is only a preferred embodiment of the present invention, which is not intended to limit the scope of the patent application of the present invention. Equivalent modifications or variations made by persons skilled in the art in light of the present invention are intended to be included within the scope of the following claims. BRIEF DESCRIPTION OF THE DRAWINGS [0022] FIG. 1 is a schematic view of a robot according to an embodiment of the present invention. 2 is a perspective assembled view of an arm member used in the robot shown in FIG. 1.
_]圖3係圖2所示臂部件沿η ! 1 w方扁之剖面示意圖。 [0025]圖4係圖3所示臂部件之局部放大圖β 【主要元件符號說明】 [0026] 機器人 ：100 [0027] 基座： 11 [0028] 機架： 12 [0029] 大臂： 13 098134064 表單編號Α0101 第10頁/共18頁 0982058314-0 201113131 [0030] 連接臂：15 [0031] 小臂：14 [0032] 第一旋轉軸線：1 61 [0033] 第二旋轉軸線：162 [0034] 第三旋轉轴線：163 [0035] 第四旋轉軸線：164 [0036] 〇 [0037] 第五旋轉轴：165 第六旋轉軸：166 [0038] 臂部件：200 [0039] 第一齒輪機構：21 [0040] 第二齒輪機構：23 [0041] 連接部：144 [0042] π 支撐部：142 [0043] 中空部：1412 [0044] 第一支撐壁：1421 [0045] 第二支撐壁：1423 [0046] 連接座：1424 [0047] 輸出座體：1651 [0048] 第一軸孔：1652 098134064 表單編號A0101 第11頁/共18頁 0982058314-0 201113131 [0049] 第二 轴孔：1 6 5 3 [0050] 轴承 ：1425 ' 1661 [0051] 第一 輸入齒輪：212 [0052] 第一 傳動軸：213 [0053] 第一 圓柱齒輪：214 a 、214a [0054] 第一 錐齒輪：215a、 215b [0055] 第二輸入齒輪：232 [0056] 第二 傳動軸：233 [0057] 第二 圓柱齒輪：234a 、234b [0058] 第二錐齒輪：235a、 235b [0059] 第三錐齒輪：236a、 236b 098134064 表單編號A0101 第12頁/共18頁 0982058314-0_] Figure 3 is a schematic cross-sectional view of the arm member shown in Figure 2 along η ! 1 w square. 4 is a partial enlarged view of the arm member shown in FIG. 3 [Description of main component symbols] [0026] Robot: 100 [0027] Base: 11 [0028] Rack: 12 [0029] Boom: 13 098134064 Form number Α0101 Page 10/18 page 0982058314-0 201113131 [0030] Connecting arm: 15 [0031] Arm: 14 [0032] First axis of rotation: 1 61 [0033] Second axis of rotation: 162 [0034 Third axis of rotation: 163 [0035] Fourth axis of rotation: 164 [0036] 〇 [0037] Fifth axis of rotation: 165 Sixth axis of rotation: 166 [0038] Arm member: 200 [0039] First gear mechanism : 21 [0040] Second gear mechanism: 23 [0041] Connection portion: 144 [0042] π Support portion: 142 [0043] Hollow portion: 1412 [0044] First support wall: 1421 [0045] Second support wall: 1423 [0046] Connector: 1424 [0047] Output Seat: 1651 [0048] First Axis Hole: 1652 098134064 Form No. A0101 Page 11 / Total 18 Page 0982058314-0 201113131 [0049] Second Axis Hole: 1 6 5 3 [0050] Bearing: 1425 ' 1661 [0051] First input gear: 212 [0052] First drive shaft: 213 [0053] Cylindrical gear: 214 a , 214a [0054] First bevel gear: 215a, 215b [0055] Second input gear: 232 [0056] Second drive shaft: 233 [0057] Second spur gear: 234a, 234b [0058] Second bevel gear: 235a, 235b [0059] Third bevel gear: 236a, 236b 098134064 Form number A0101 Page 12/18 pages 0982058314-0