201121739 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臂部件及採用該機器人臂部件之 機器人。 【先前技術】 [0002]圖1所示為一機器人之簡略示意圖。該機器人1〇〇為六轴 機器人，其包括基座11、可繞第一軸線161與基座u轉動 連接之機架12、可繞第二輛線162與機架12轉動連接之大 臂13、可繞第二轴線163與大臂13轉動連接之腕部η， 以及可繞第四軸線1M與腕部14可轉動連接之第四機械臂 〇 15。該機器人1〇〇還包括第玉機械臂及第六機械臂（圖未 示）。第五機械臂及第六機械臂可分别繞第五軸線165及 第六轴線166旋轉。其中，第六機械臂可合裝末端執行器 ，如刀具、夾具或感測器等，以執行相惠任務。 _]機器人100之第四機械臂15由電機以及減速機（圖未示）帶 動3減速機通常為RV (r〇tary vect〇r)減速機或者 HD (harmonic drive)減速機。RV減速機及肋減速機 ❹ 價格昂貴’且安襄時，Rv減速機、HD減速機及與之相連 之電機均需裝設於機器人1〇〇之殼體内，從而電機之連接 線規’如電源線、訊號線等需穿設至殼體内部，易與其 他構件纏繞或刮擦而損傷。 【發明内容】 剛料上述内容’有必要提供—種成本較低且可方便連接 線瘦佈汉之機器人臂部件及具有該機器人臂部件之機器 人0 098144063 表單編號Α0101 第4頁/共15頁 0982075407-0 201121739 [0005] —種機器人臂部件，包括腕部、與該腕部轉動連接之機 械臂、驅動該機械臂旋轉之驅動器及設於該機械臂與該 驅動器間之傳動機構，該驅動器具有輸出軸。該驅動器 安裝於該腕部上，該輸出軸可轉動地穿設於該腕部，該 傳動機構包括與該輸出軸固定連接之第一齒輪、固定套 設於該機械臂外週緣之第二齒輪、與第一齒輪嚙合之第 三齒輪以及與第二齒輪嚙合之第四齒輪，該第二齒輪及 第三齒輪相對固定。 ❹ [〇_ 一種機器人，其具有複數旋轉轴線，該工業機器人包括 可繞其中之一旋轉軸線旋轉之臂部件，該臂部件包括腕 部、與該腕部轉動連接之機械臂、驅動該機械臂旋轉之 驅動器及設於該機械臂與該驅動器間之傳動機構，該驅 動器具有一輸出軸。該驅動器安裝於該腕部上，該輸出 轴可轉動地穿設於該腕部，該傳動機構包括與該輸出轴 固定連接之第一齒輪、固定套設於該機械臂外週緣之第 二齒輪、與第一齒輪嚙合之第三齒輪以及與第二齒輪嚙 ❹ 合之第四齒輪，該第二齒輪及第三齒輪相對固定。 [0007] 上述機器人臂部件設置第一至第四齒輪對驅動器之輸出 進行減速，成本較低，且可承受較大之負載，易於滿足 剛性要求。同時，藉由將驅動器設置於腕部上，驅動器 之輸出軸穿設腕部與第一齒輪連接，從而驅動器之連接 線纜可從臂部件外部接入，可避免連接線纜與臂部件其 他構件纏繞或刮擦。 [0008] 【實施方式】 下面結合附圖及具體實施方式對本發明之機器人臂部件 098144063 表單編號A0101 第5頁/共15頁 0982075407-0 201121739 及採用該機器人臂部件之機器人作進一步之詳細說明。 [0009] 請同時參閱圖2及圖3，本發明實施方式之機器人臂部件 20包括腕部21、與腕部21轉動連接之機械臂22、驅動機 械臂22旋轉之驅動器23及設於機械臂22與驅動器23間用 於傳遞動力之傳動機構（圖未標）。 [0010] 腕部21包括第一支承部21 2及與第一支承部21 2固定連接 之第二支承部213。 [0011] 第一支承部212貫通開設一軸孔2121，軸孔2121之二端 分別設有第一軸承2123，用於滾動支承機械臂22。第一 支承部21 2鄰近軸孔2121之側部還形成有安裝孔2124， 用於將機器人臂部件20安裝至可帶動其旋轉之驅動機構 ，如機器人之另一機械臂上。 [0012] 第二支承部213包括一底壁21 31及由底壁21 31週緣向一 側延伸之週壁2132。底壁2131與週壁2132圍成一收容空 間2133。週壁2132遠離底壁21 31—侧與第一支承部212 藉由螺紋件固定連接。收容空間2133與第一支承部212之 軸孔2121相通。底壁2131上突設一用於連接驅動器23之 安裝座2134。安裝座2134開設一安裝孔2135。 [0013] 驅動器23具有一輸出軸231。驅動器23之安裝侧與安裝座 2134固定連接，輸出軸231穿設於安裝座2134之安裝孔 2135,從而驅動器23之連接線纜（圖未示），如電源線 及控制訊號線等，可從臂部件20外部接入，以避免連接 線纜與臂部件20之構件相互纏繞或者刮擦而損傷，還便 於檢修操作。本實施方式中，驅動器23為伺服電機。 098144063 表單編號A0101 第6頁/共15頁 0982075407- 201121739 [0014] 傳動機構包括第一至第四齒輪241、242、243、244以及 軸座245。第一齒輪241與第三齒輪243嚙合，第二齒輪 242與第四齒輪244嚙合，且第二齒輪242與第三齒輪243 相對固定。 [0015] 第一齒輪241與驅動器23之輸出軸231固定連接，第二齒 輪242與機械臂22伸入收容空間2133之端部外週緣固定 連接。軸座245設於收容空間2133内與第一支承部212固 定連接。轴座245貫通開設第二軸孔2451。第二軸孔 〇 2451内設有第二軸承2452及由第二轴承2452轉動支撐之 齒輪軸2453。第二齒輪242及第三齒輪243分別設於齒輪 軸2453二端》可以理解，齒輪軸2453亦可與第三齒輪 243或第四齒輪244—體成型。 [0016] 本實施方式中，第一至第四齒輪241、242、243、244均 為直齒漸開線齒輪。驅動器23之輸出轴231之旋轉轴線、 第二齒輪242與第三齒輪243之旋轉轴線以及機械臂22之 旋轉轴線基本平行且相互偏置.。第-一至第四齒輪241、 Ο 242、243、244均可採用普通齒輪'，相較於RV減速機或 HD減速機可降低成本，相較於HD減速機還可提高承受負 載能力，使臂部件20具有較佳剛性。傳動機構之總減速 比可為55，其中第一齒輪241與第三齒輪243嚙合實現之 減速比為11，該第四齒輪244與第二齒輪242嚙合實現之 減速比為5，採用上述減速比分配，可使傳動機構之整體 尺寸較小。可以理解，藉由選擇適當之第一至第四齒輪 241、242、243、244齒數，可得到其他需要之減速比。 請同時參見圖1，本發明實施方式之機器人（圖未示）為 098144063 表單編號A0101 第7頁/共15頁 0982075407-0 [0017] 201121739 六輪工業機器人，其與圖1所示之機器人100相似，其區 別在於：本發明實施方式之工業機器人採用上述臂部件 20，且臂部件20繞第四軸線164旋轉。其中，腕部U穿 設於臂部件2〇之第一支承部212部之安裝孔2124，敌由 緊固件（圖未示）與臂部件20固定連接，從而帶動臂部 件20繞第四軸線164旋轉。第五機械臂可轉動地設於璣械 臂22之前端。臂部件20之驅動器23及傳動機構承受機械 臂22 '第五機械臂、第六機械臂之重量及外加負载，其 總負載較大，因臂部件20之傳動機構可承受較大之外部 負栽，並具有較佳剛性，從而採用臂部件20之本發明實 施方式之機器人可提高其第四機械臂（機械臂22 )之定 位精度。 [0018] 綜上所述，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 J·" .! 5 ：· 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】 [0019] 圖1係一種機器人之簡略示意圖。 [0020] 圖2係本發明實施方式之機器人臂部件之立體組裝圖。 [0021] 圖3係圖2所示機器人臂部件沿111-111方向之剖面示意 圖。 【主要元件符號說明】 [°°22] 機器人100 098144063 表單編號A0101 第8頁/共I5頁 201121739 [0023] 基座 11 [0024] 第一軸線 1 61 [0025] 機架 12 [0026] 第二軸線 162 [0027] 大臂 13 [0028] 第三軸線163 [0029] 腕部 14、21 〇 [0030] 第四軸線164 [0031] 第四機械臂15 [0032] 第五軸線165 [0033] 第六軸線1 6 6201121739 VI. Description of the Invention: [Technical Field of the Invention] [0001] The present invention relates to a robot arm member and a robot using the same. [Prior Art] [0002] FIG. 1 is a schematic diagram of a robot. The robot 1 is a six-axis robot comprising a base 11, a frame 12 rotatably coupled to the base u about a first axis 161, and a boom 13 rotatably coupled to the frame 12 about a second line 162. A wrist η which is rotatably coupled to the boom 13 about the second axis 163, and a fourth robot arm 15 rotatably coupled to the wrist 14 about the fourth axis 1M. The robot 1 further includes a jade robot arm and a sixth robot arm (not shown). The fifth and sixth robot arms are rotatable about a fifth axis 165 and a sixth axis 166, respectively. The sixth robot arm can be equipped with an end effector such as a cutter, a clamp or a sensor to perform a benefit task. _] The fourth robot arm 15 of the robot 100 is driven by a motor and a speed reducer (not shown). The 3 speed reducer is usually an RV (r〇tary vect〇r) speed reducer or an HD (harmonic drive) speed reducer. RV reducer and rib reducer ❹ When the price is high, and the Rv reducer, HD reducer and the motor connected to it need to be installed in the housing of the robot, the connection gauge of the motor' If the power cable, signal cable, etc. need to be worn inside the casing, it is easy to be entangled or scratched with other components and damaged. [Summary of the Invention] It is just the above-mentioned content 'necessary to provide a kind of robot arm component which has a lower cost and can be easily connected to a thin wire and a robot having the robot arm component. 0 098144063 Form No. 1010101 Page 4 of 15 page 09820075407 -0 201121739 [0005] A robot arm member includes a wrist portion, a mechanical arm rotatably coupled to the wrist portion, a driver for driving the mechanical arm to rotate, and a transmission mechanism disposed between the mechanical arm and the driver, the driver having Output shaft. The driver is mounted on the wrist, and the output shaft is rotatably disposed on the wrist. The transmission mechanism includes a first gear fixedly coupled to the output shaft, and a second gear fixedly disposed on an outer circumference of the mechanical arm. a third gear meshed with the first gear and a fourth gear meshed with the second gear, the second gear and the third gear being relatively fixed. ❹ [〇_ A robot having a plurality of axes of rotation, the industrial robot comprising an arm member rotatable about one of the axes of rotation, the arm member comprising a wrist, a robot arm rotatably coupled to the wrist, driving the machine An actuator for rotating the arm and a transmission mechanism disposed between the arm and the driver, the driver having an output shaft. The driver is mounted on the wrist, and the output shaft is rotatably disposed on the wrist. The transmission mechanism includes a first gear fixedly coupled to the output shaft, and a second gear fixedly disposed on an outer circumference of the mechanical arm. a third gear meshed with the first gear and a fourth gear coupled to the second gear, the second gear and the third gear being relatively fixed. [0007] The above-described robot arm member is provided with the first to fourth gears to decelerate the output of the driver, has a low cost, and can withstand a large load, and is easy to meet the rigidity requirement. At the same time, by arranging the driver on the wrist, the output shaft of the driver is connected to the first gear through the wrist, so that the connecting cable of the driver can be accessed from the outside of the arm member, and the connecting cable and other components of the arm member can be avoided. Winding or scratching. [Embodiment] Hereinafter, a robot arm member 098144063 of the present invention, a form number A0101, a fifth page, a total of 15 pages 0982075407-0 201121739, and a robot using the robot arm member will be further described in detail with reference to the accompanying drawings and specific embodiments. 2 and FIG. 3, the robot arm member 20 of the embodiment of the present invention includes a wrist portion 21, a robot arm 22 rotatably coupled to the wrist portion 21, a driver 23 for driving the robot arm 22 to rotate, and a robot arm. A transmission mechanism for transmitting power between the driver 22 and the driver 23 (not shown). [0010] The wrist portion 21 includes a first support portion 21 2 and a second support portion 213 fixedly coupled to the first support portion 21 2 . [0011] The first support portion 212 extends through a shaft hole 2121, and the two ends of the shaft hole 2121 are respectively provided with a first bearing 2123 for rolling supporting the robot arm 22. The side of the first support portion 21 2 adjacent to the shaft hole 2121 is further formed with a mounting hole 2124 for mounting the robot arm member 20 to a drive mechanism that can rotate it, such as another robot arm of the robot. [0012] The second support portion 213 includes a bottom wall 21 31 and a peripheral wall 2132 extending from one side of the bottom wall 21 31 to one side. The bottom wall 2131 and the peripheral wall 2132 define a receiving space 2133. The peripheral wall 2132 is remote from the bottom wall 21 31 - the first support portion 212 is fixedly connected by a screw. The accommodating space 2133 communicates with the shaft hole 2121 of the first support portion 212. A mount 2134 for connecting the driver 23 is protruded from the bottom wall 2131. The mounting seat 2134 defines a mounting hole 2135. [0013] The driver 23 has an output shaft 231. The mounting side of the driver 23 is fixedly connected to the mounting seat 2134, and the output shaft 231 is disposed through the mounting hole 2135 of the mounting base 2134, so that the connecting cable (not shown) of the driver 23, such as the power line and the control signal line, can be The arm member 20 is externally accessed to prevent the connecting cable from being entangled or scratched by the members of the arm member 20, and is also easy to perform an inspection operation. In the present embodiment, the driver 23 is a servo motor. 098144063 Form No. A0101 Page 6 of 15 0982075407- 201121739 [0014] The transmission mechanism includes first to fourth gears 241, 242, 243, 244 and a shaft seat 245. The first gear 241 is meshed with the third gear 243, the second gear 242 is meshed with the fourth gear 244, and the second gear 242 is fixed relative to the third gear 243. [0015] The first gear 241 is fixedly coupled to the output shaft 231 of the actuator 23, and the second gear 242 is fixedly coupled to the outer periphery of the end portion of the mechanical arm 22 that projects into the accommodating space 2133. The shaft seat 245 is provided in the accommodating space 2133 and fixedly connected to the first support portion 212. The shaft seat 245 opens through the second shaft hole 2451. A second bearing 2452 and a gear shaft 2453 rotatably supported by the second bearing 2452 are disposed in the second shaft hole 〇 2451. The second gear 242 and the third gear 243 are respectively disposed at the two ends of the gear shaft 2453. It can be understood that the gear shaft 2453 can also be integrally formed with the third gear 243 or the fourth gear 244. [0016] In the present embodiment, the first to fourth gears 241, 242, 243, and 244 are all straight tooth involute gears. The rotation axis of the output shaft 231 of the driver 23, the second gear 242 and the rotation axis of the third gear 243, and the rotation axis of the robot arm 22 are substantially parallel and mutually offset. The first to fourth gears 241, 242 242, 243, and 244 can be used with ordinary gears, which can reduce the cost compared with the RV reducer or the HD reducer. Compared with the HD reducer, the load capacity can be increased. Component 20 has a preferred stiffness. The total reduction ratio of the transmission mechanism may be 55, wherein the reduction ratio of the first gear 241 and the third gear 243 is 11. The reduction ratio of the fourth gear 244 and the second gear 242 is 5, and the reduction ratio is adopted. The distribution allows the overall size of the transmission to be small. It will be appreciated that by selecting the appropriate number of teeth of the first to fourth gears 24, 242, 243, 244, other desired reduction ratios can be obtained. Referring to FIG. 1 at the same time, the robot (not shown) of the embodiment of the present invention is 098144063, form number A0101, page 7 / total 15 page 0982075407-0 [0017] 201121739 six-wheel industrial robot, which is similar to the robot 100 shown in FIG. The difference is that the industrial robot of the embodiment of the present invention employs the above-described arm member 20, and the arm member 20 rotates about the fourth axis 164. The arm portion U is disposed through the mounting hole 2124 of the first support portion 212 of the arm member 2, and the enemy fastener (not shown) is fixedly coupled to the arm member 20, thereby driving the arm member 20 around the fourth axis 164. Rotate. The fifth robot arm is rotatably disposed at the front end of the arm 22 . The driver 23 and the transmission mechanism of the arm member 20 are subjected to the weight of the fifth arm, the sixth arm, and the external load of the mechanical arm 22', and the total load thereof is large, because the transmission mechanism of the arm member 20 can withstand a large external load. The robot of the embodiment of the present invention employing the arm member 20 can improve the positioning accuracy of the fourth robot arm (the robot arm 22). [0018] In summary, the present invention has indeed met the requirements of the invention patent 遂 提 patent application. However, the above description is only a preferred embodiment of the present invention, and it is not possible to limit the scope of the patent application of the present invention. Equivalent modifications or variations made by those skilled in the art to those skilled in the art will be covered by the following claims. BRIEF DESCRIPTION OF THE DRAWINGS [0019] FIG. 1 is a schematic diagram of a robot. 2 is a perspective assembled view of a robot arm member according to an embodiment of the present invention. 3 is a schematic cross-sectional view of the robot arm member shown in FIG. 2 taken along the direction of 111-111. [Description of main component symbols] [°°22] Robot 100 098144063 Form No. A0101 Page 8/Total I5 page 201121739 [0023] Base 11 [0024] First axis 1 61 [0025] Rack 12 [0026] Second Axis 162 [0027] Boom 13 [0028] Third axis 163 [0029] Wrist 14, 21 〇 [0030] Fourth axis 164 [0031] Fourth arm 15 [0032] Fifth axis 165 [0033] Six axes 1 6 6
[0034] 臂部件2 0 [0035] 機械臂22 ❹ [0036] 驅動器23 [0037] 第一支承部212 [0038] 第二支承部213 [0039] 轴孔 2121 [0040] 第一軸承 21 2 3 [0041] 安裝孔 2124、2135 098144063 表單編號A0101 第9頁/共15頁 0982075407-0 201121739 [0042] [0043] [0044] [0045] [0046] [0047] [0048] [0049] [0050] [0051] [0052] [0053] [0054] 底壁2131 週壁2132 收容空間2133 安裝座2134 輸出軸231 第一齒輪241 第二齒輪242 第三齒輪243 第四齒輪244 軸座245 第二軸孔2451 第二軸承2452 齒輪軸2453[0034] Arm member 2 0 [0035] Robot arm 22 驱动 [0036] Driver 23 [0037] First support portion 212 [0038] Second support portion 213 [0039] Shaft hole 2121 [0040] First bearing 21 2 3 [0041] Mounting Holes 2124, 2135 098144063 Form No. A0101 Page 9 / Total 15 Page 0992075407-0 201121739 [0044] [0045] [0049] [0049] [0050] [0054] [0054] bottom wall 2131 peripheral wall 2132 receiving space 2133 mount 2134 output shaft 231 first gear 241 second gear 242 third gear 243 fourth gear 244 shaft seat 245 second shaft hole 2451 second bearing 2452 gear shaft 2453
098144063 表單編號A0101 第10頁/共15頁 0982075407-0098144063 Form No. A0101 Page 10 of 15 0982075407-0