201124241 六、發明說明： 【發明所屬之技術領域】 [0001] 本發明涉及，種似人之機财臂，尤其涉及該機械手 臂之組裝方法。 [0002] 〇 【先前技術】 "些生產需於高危' 高污染等惡劣環境中進行，可能 會造成對操作人員人身安全或身_康之危害，故常使 用機器人代替操作人員於此類生產環境中進行操作。機 械手臂為機器人實現各種操作動作之必要部件。 [0003] 一種機械手臂，包括相互框接之第一手臂及第-手臂。 使用聯軸器將第二手臂樞接至第一手臂上時，先用螺絲 將聯軸器之一端固定至第二手臂之一端，組成一組件， 再將聯軸器之另一端從第一手臂之—端插入第一手臂内 〇 ，並同時從第-手臂之另夕卜-端往第一手臂内安裝馬達 及減速器等元件，使聯轴器遠離第二手臂之一端固定於 減速器。組裝時，將聯軸器插入第一手臂之過程中，需 同時將轴承、油封及壓蓋等元件套設於聯軸器二端，並 同時保證該套設之複數元件之軸心重合，組裝難度較大 。該複數元件套設於聯軸器上後，需將聯軸器之一端和 減速器固定，因聯轴器與第二手臂組成之元件體積較大 ，且將聯軸器和第二手臂往第一手臂上組裝時，只可從 第二手臂處施力，而聯軸器遠離第二手臂處因和施力部 位距離較大’故和減速器固定時不好對準，組裝難度進 一步增大。該第一手臂内由於安裝了聯軸器、減速器、 馬達等元件’空間較小’組裝時操作較為不便。 099100446 表單編號A0101 第5頁/共21頁 0992000989-0 201124241 [0004] [0005] [0006] [0007] 099100446 若對S亥機械手臂之第二手臂進行維修時，需先從第 臂内拆卸聯軸器及馬達等元件，再將聯軸器和第二手^ 攸第手#上拆下’最後將聯轴器從第一手臂上拆下 才能對第二手臂進行維修。雖只需對第二手臂進行維各 ，然而需將整個機械手臂拆散，整個過程拆卸時間乒且 需拆卸元件多，妨礙正常生產使用。且維修好後， 對整個機械手臂進行組裝，費時費力。 雨 【發明内容】 單且維修方201124241 VI. Description of the Invention: [Technical Field of the Invention] [0001] The present invention relates to a humanoid arm, and more particularly to an assembly method of the robot arm. [0002] 先前 [Prior Art] "Some of the production needs to be carried out in harsh environments such as high-risk 'high pollution, which may cause personal injury to the operator or harm to the body. Therefore, robots are often used instead of operators in such production environments. Take action. The robotic arm is a necessary part of the robot to perform various operational actions. [0003] A robotic arm includes a first arm and a first arm that are framed to each other. When using the coupling to pivot the second arm to the first arm, first fix one end of the coupling to one end of the second arm with a screw to form a component, and then connect the other end of the coupling from the first arm. The end is inserted into the inner arm of the first arm, and at the same time, the motor and the reducer are mounted from the other end of the first arm to the first arm, so that the coupling is fixed to the reducer from one end of the second arm. During assembly, the coupling, the oil seal and the gland are placed on the two ends of the coupling at the same time, and the shafts of the plurality of components are overlapped and assembled. It is more difficult. After the plurality of components are sleeved on the coupling, one end of the coupling and the reducer need to be fixed, because the component composed of the coupling and the second arm is large, and the coupling and the second arm are When assembling on one arm, only the force can be applied from the second arm, and the distance between the coupling and the force-applying part of the coupling is far from the second arm. Therefore, it is not well aligned with the fixed speed of the reducer, and the assembly difficulty is further increased. . In the first arm, since the components such as the coupling, the speed reducer, and the motor are mounted with a small space, the operation is inconvenient. 099100446 Form No. A0101 Page 5 / Total 21 Pages 0992000989-0 201124241 [0004] [0005] [0006] [0007] 099100446 If the second arm of the S-Hai robot is to be repaired, it must first be disassembled from the arm. Components such as the shaft and the motor, then remove the coupling and the second hand ^ 攸 first hand 'to finally remove the coupling from the first arm to repair the second arm. Although it is only necessary to carry out the maintenance of the second arm, the entire mechanical arm needs to be disassembled, and the whole process is disassembled and the components need to be disassembled, which hinders normal production use. After the repair, the assembly of the entire robot arm takes time and effort. Rain [Summary] Single and maintenance
馨於上述情況，有必要提供一種组.裝較為簡 便之機械手臂及其組裝方法V 一種機械手臂，其包括相互柩接之第一手臂和第_ 、樞接第一手臂和第二手臂之軸接組件及連接第二手= 和軸接組件之連接件，軸接組件收容於第一手臂内臂 -手臂上形成第一轴孔，第二手臂上形成第二軸孔，^ 二手臂上鄰近第二轴孔之部位具有開口 ’連接件包括相 連接之頭部及固定部，該頭部收容於第：手臂内^ 定部連接於第二手臂之一端及軸接組杯。 ^口In the above situation, it is necessary to provide a group of relatively simple mechanical arms and assembly methods thereof. A mechanical arm comprising a first arm and a _, a pivotal first arm and a second arm The connecting component and the connecting component of the second hand = and the shaft connecting component, the shaft connecting component is received in the first arm inner arm - the arm forms a first shaft hole, and the second arm forms a second shaft hole, and the second arm is adjacent to the arm The portion of the second shaft hole has an opening. The connecting member includes a connecting head and a fixing portion. The head is received in the arm: the inner portion is connected to one end of the second arm and the shafting cup. ^ mouth
:種機械手臂組裝方法，其包括以下步驟：提供第—号 :、第二手臂、轴接組件及連接件，第_手臂上開^ L第_手臂上開设第二軸孔，第二手臂上 二軸孔之部位具有開口；將軸接組件安裝於第—手 二=接組件之一端對準第一手臂上之第一軸孔;將第 :之第二軸孔對準第—手臂之第-轴孔；從第二^ 之開口處送入連接件，藉由連接件 輪接組件對準第-減之-端。將第—手臂固定至 第6頁/共21頁 表單編號ΛΟκπ 0992000989-0 201124241 [0008] 上述機械手臂於組裝過程中，將轴接組件裝於第一手臂 内後，再將第二手臂組裝至軸接組件，藉由此逐次安裝 方式，隨後安裝之元件只需以之前安裝之元件為基準安 . 裝即可，避免了先安裝第二手臂和軸接組件，再將第二 手臂和軸接組件整體安裝至第一手臂時需保證複數元件 協調配合之情況，組裝較為簡單。且因第二手臂上鄰近 第二軸孔之部位開設有開口，且第二手臂内未收容軸接 組件，空餘空間較大，故當從第二手臂上背離軸接組件 之一侧將第二手臂連接至軸接組件上時，安裝工具可有 〇 足夠之活動空間將連接件鎖緊。該機械手臂中，元件為 逐一安裝，當需要對第二手臂進行維修時，只需將該第 二手臂拆卸即可，而不需拆卸整個機械手臂，故維修方 便，且節省時間。 【實施方式】 [0009] 下面將結合附圖及具體實施方式對本發明之機械手臂及 其組裝方法作進一步之詳細說明。 [0010] 請一併參閱圖1和圖2，機械手臂100包括相樞接之第一手 臂10、第二手臂20、驅動組件30、軸接組件40 (見圖3 )、連接件50及線纜60。第一手臂10與第二手臂20相樞 接。驅動組件30收容於第一手臂10内，軸接組件40部分 地收容於第一手臂10内，連接件50收容於第二手臂20内 ，線纜60貫穿第一手臂10及第二手臂20相樞接之部位並 收容於第一手臂10和第二手臂20内。 [0011] 請一併參閱圖2和圖3，第一手臂10包括第一本體11、固 定於第一本體11上之後蓋13及形成於第一本體11内之第 099100446 表單編號A0101 第7頁/共21頁 0992000989-0 201124241 一固定座15和第二固定座17。該第一本體n遠離後蓋13 之一端開設有第一軸孔111。第一固定座15及第二固定座 17凸設於第一本體η内側。第一固定座15用於固定驅動 組件30，第二固定座〗7用於固定線纜6〇。本實施方式中 第手煮之第一本體π為鑄造一體成型，且其上開 没有軸線與第一軸孔111之軸線垂直之又一轴孔丨13。第 一固定座15與第一本體U為一體結構，當然，亦可為分 體結構，而藉由螺釘固定、焊接、膠接等方式固定於第 一本體11内。 [0012] [0013] 099100446 第一手臂包括第二本體21、形成於第二本體21内之第 二固定座23及設置於第二本體21内之墊圈25 ^第二本體 21上開設第二轴孔211和開口 213，並形成凸伸部21 5。 第二軸孔211與第一手臂丨〇上之第一軸孔1Η相對應設置 。開口 213開设於鄰近第二軸孔211之部位，此開口 21 3 可由側蓋（圖未示）遮蓋以使第二手臂2〇封閉。凸伸部 21 5形成於第二本體21上開設有第二軸孔211之一端。第 三固定座23形成於第二本體21内靠近第二軸孔211之部位 。墊圈25為環形，並貼合於第二本體21之第二轴孔211邊 緣。本實施方式中，開口213之數目為二，分別開設於第 二本體21之二側。 驅動組件30包括驅動件31及由該驅動件31帶動之減速器 33，該減速器33將動力傳遞至軸接組件4〇。本實施方式 中，減速器33為諧波減速器，驅動件31為馬達，該驅動 件31可為如氣缸、液壓缸等其他結構之驅動件。 軸接組件40包括聯軸器41、設置於聯轴器41 一端之第一 0992000989-0 表單編號Α0101 第8頁/共21頁 [0014] 201124241 G 轴承43、設置於聯軸器41另一端之第二軸承45和壓蓋47 及於聯輛器41二端均有設置之密封件49。聯軸器41包括 —端之第一連接部411、第二連接部413及位於第一連接 部411和第二連接部413之間之過渡部415。第二連接部 413上開設有通孔4131，過渡部415連接第一連接部411 和第二連接部413之同侧邊緣，故不會遮擋第二連接部 413上之通孔4131，並可使第一連接部與第二連接部 413之間形成—空間以方便線纜6〇通過。第二連接部413 朝向第一連接部411之一側繞通孔4131倒有圓角4133。 本實施方式中’第-麻43為球軸承，第二軸承45為推 力滾子軸承，當然，第一軸承43及第二軸承45亦可由其 他可同時承受轴向力和徑向力之軸承，如角接觸軸承、 滚針和推力圓柱滾子組合軸承、滾針和推力球組合軸承 、滾針和角接觸球組合軸承等組合輪承替代。密封件4 9 為油封且數目為二，當然，該密封件4 9亦可為密封圈等 結構。 ,、 [0015] ◎ 連接件50數目為複數，其包括相連接之頭部51及固定部 53。本實施方式中，連接件50為螺絲，且數目為六。 [0016] 線纜60包括電缵線61、奩設於電纜線61外部之護線結構 63及用於固定電纜線61和護線結構63之線扣65。本實施 方式中，護線結構63為護線彈簧管’線扣65之數目為二 ，分別設置於電纜線61之兩端並固定至第一手臂1〇或第 二手臂20上。當然，護線結構63亦可為塑膠管等結構， 可保護電纜線61即可。 [0017] 組裝該機械手臂100時，將驅動組件3〇之減速器33固定於 099100446 表單編號A0101 第9頁/共21頁 0992000989-0 201124241 第一本體11内之第一固定座15上，並將驅動件31固定於 減速器33遠離第一本體11上之第一軸孔hi之一端。 [0018] [0019] [0020] [0021] 從第一手臂10之第一本體11之第一轴孔111處將軸接組件 40之第一軸承43、一密封件49及聯軸器41送入第一本體 11内，並將該第一軸承43及密封件49固定於第一本體u 内之第一固定座15。將聯軸器41之一端，即第一連接部 411插入該第一軸承43及一密封件49，並將聯軸器41之 該端連接至驅動組件30之減速器33遠離驅動件31之一端 ，聯軸器41尚未固定之一端，即第二連接部413則插設於 第一手臂ίο之第一.未.體11之.第一.轴孔η 1内。將第二轴承 45卡入第一手臂10之第一轴孔U1和聯轴器41之第二連 接部413之間，再將壓蓋47固定於第一手臂1〇上開設有第 一軸孔111之一端，並將另一密封件49嵌於壓蓋47内侧。 將第二手臂2〇開設有第二軸孔2Π之一端對準第—手臂1〇 開設有第一軸孔111之一端，將第二手臂2〇之第二本體21 所形成之凸伸部215插入壓蓋.47及..密攀件49内侧，並使第 二本體21之凸伸部215外側#第二軸承45之一端相卡合。 從第二手臂20之第二本體21上之開口 213處送入連接件 50 ’並於第二手臂2〇上繞第二轴孔211插設，使連接件 5〇之頭部51收容於第二手臂20内，連接件50之固定部53 連接於第二手臂20靠近聯軸器41之一端及軸接組件4〇之 聯轴器41，進而將第二手臂20從背離轴接組件4〇之一側 固定至軸接組件4〇之聯軸器41。 將線纜60裝入第一手臂10及第二手臂2〇。將電纜線61及 099100446 表單編號A0101 第10頁/共21頁 0992000989-0 201124241 護線結構63從第一手臂10之第一本體11之轴孔113，或 扣設後蓋13之部位穿入第一本體11，然後貫穿第一手臂 10之第一轴孔111、第二手臂20之第二軸孔211及聯軸器 41之通孔4131，進而穿入第二手臂20。將電纜線61及護 線結構63位於第一手臂10内之部分藉由一線扣65固定於 第一手臂10内之第二固定座17，將電纜線61及護線結構 63位於第二手臂20内之部分藉由另一線扣65固定於第二 手臂20内之第三固定座23。 [0022] Ο [0023] 將第一手臂10之後蓋13固定至第一本體11，完成該機械 手臂100之組裝。 ❾ 上述機械手臂100中，先將轴接組件40安裝到第一手臂10 上後，再將第二手臂20安裝至轴接組件40，元件逐一安 裝，逐一固定，無需於安裝聯軸器41時同時將複數元件 套至聯軸器41之二端，並同時保證該複數元件之之中心 對準，組裝難度較小。且該聯軸器41單個安裝時，便於 與驅動組件30對準，進一步降低了組裝難度。因第二手 臂20内未收容驅動組件30等元件，空餘空間較大，且第 二手臂20之第二本體21上開設靠近第二軸孔211之開口 213，可保證具有足夠之空間將連接件50從開口 213送至 第二軸孔211週圍，並可保證鎖緊連接件50時，鎖緊工具 ，如扳手等具有足夠之活動空間。該機械手臂100中，元 件逐一安裝，若需對第二手臂20進行維修，只需將第二 手臂20單個拆下，無需拆卸聯軸器41等其他元件，維修 方便，且維修完後重新組裝亦比較簡單，節省時間。 [0024] 該機械手臂100中，因連接件50從第二手臂20插入並固定 099100446 表單編號Α0101 第11頁/共21頁 0992000989-0 201124241 ，故無需考慮聯轴器41之第二連接部41 3朝向第一連接部 411之一側需形成足夠大之平面以安裝連接件50，故便於 在第二連接部41 3朝向第一連接部411之一側繞通孔41 31 倒圓角4133，圓角41 33則避免了電纜線61及護線結構63 被聯軸器41之第二連接部413磨損。而電纜線61及護線結 構63伸入第二手臂20之部分於穿過第二軸孔211時於第二 轴孔211附近即被線扣65固定於第二手臂20内之第三固定 座23，不會被第二軸孔211週圍之連接件50刮傷。 [0025] 電纜線61外套設之護線結構63可保護電纜線61免受損傷 〇 [0026] 該機械手臂100中，當將壓蓋47安裝於第一手臂10上時， 可直接用螺釘等連接件固定，而無需於將第二手臂20安 裝於聯軸器41上後，先旋轉第二手臂20將壓蓋47上之安 裝孔（圖未示），再將螺釘等連接件穿入該安裝孔内， 安裝較為方便。 [0027] 為了保證連接件50固定穩定，需保證固定連接件50之部 位平面度較好，藉由設置於第二手臂20内之墊圈25，既 可保證連接件50之安裝要求，又無需於第二手臂20内環 繞第二軸孔211之部位加工平面度要求較高之環形平面， 降低了成本。 [0028] 可理解，線纜60亦可於第二手臂20尚未連接至軸接組件 40上時先穿入第一手臂10，並從第一手臂10之第一軸孔 111和聯軸器41之通孔4131處伸出第一手臂10。於將第 二手臂20連接至軸接組件40時，將線纜60伸出第一手臂 099100446 表單編號A0101 第12頁/共21頁 0992000989-0 201124241 10之一段穿入第二手臂20。第二手臂20内之墊圈25亦可 省略，而將連接件50直接穿過第二手臂20之第二軸孔211 之週緣即可。 [0029] 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 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】 [0030] 圖1為本發明實施方式機械手臂之整體結構示意圖。 [0031] 圖2為圖1中機械手臂沿11 - 11處之剖視圖。 [0032] 圖3為圖1中機械手臂之零件分解圖。 【主要元件符號說明】 [0033] 機械手臂100 [0034] 第一手臂10 [0035] 第二手臂20 [0036] 驅動組件30 [0037] 軸接組件40 [0038] 連接件5 0 [0039] 線纜 60 [0040] 第一本體11 [0041] 後蓋 13 099100446 表單編號A0101 第13頁/共21頁 0992000989-0 201124241 [0042] 第一固定座1 5 [0043] 第二固定座17 [0044] 第一軸孔 111 [0045] 轴孔 11 3 [0046] 第二本體21 [0047] 第三固定座23 [0048] 墊圈 25 [0049] 第二軸孔 2 11 [0050] 開口 2 1 3 [0051] 凸伸部215 [0052] 驅動件31 [0053] 減速器33 [0054] 聯軸器41 [0055] 第一軸承43 [0056] 第二軸承45 [0057] 壓蓋 4 7 [0058] 密封件4 9 [0059] 第一連接部411 [0060] 第二連接部413 099100446 表單編號A0101 第14頁/共21頁 0992000989-0 201124241 [0061] 過渡部415 [0062] 通孔4131 [0063] 圓角4133 [0064] 頭部51 [0065] 固定部5 3 [0066] 電纜線61 [0067] 護線結構63 Ο [0068] 線扣6 5 〇 099100446 表單編號Α0101 第15頁/共21頁 0992000989-0The method for assembling a mechanical arm comprises the steps of: providing a number: a second arm, a shaft joint assembly and a connecting member, and opening a second shaft hole on the first arm of the first arm, the second arm The upper shaft hole has an opening; the shaft assembly is mounted on the first hand=the one end of the assembly is aligned with the first shaft hole on the first arm; and the second shaft hole is aligned with the first arm a first-axis hole; a connector is fed from the opening of the second opening, and the first-minus end is aligned by the connector wheel assembly. Fix the first arm to page 6/total 21 page form number ΛΟκπ 0992000989-0 201124241 [0008] During the assembly process, the arm assembly is assembled in the first arm and the second arm is assembled to The shaft joint assembly, by means of this successive installation method, the components to be subsequently installed need only be installed on the basis of the previously installed components, thereby avoiding the installation of the second arm and the shaft joint assembly, and then connecting the second arm and the shaft. When the assembly is integrally mounted to the first arm, it is necessary to ensure the coordination of the plurality of components, and the assembly is relatively simple. And because the second arm has an opening adjacent to the second shaft hole, and the second arm does not receive the shaft assembly, the vacant space is large, so when the second arm is away from the side of the shaft assembly, the second When the arm is attached to the pivot assembly, the mounting tool can have enough moving space to lock the connector. In the robot arm, the components are installed one by one. When the second arm needs to be repaired, the second arm can be disassembled without disassembling the entire robot arm, so that the maintenance is convenient and the time is saved. [Embodiment] The mechanical arm of the present invention and the assembling method thereof will be further described in detail below with reference to the accompanying drawings and specific embodiments. [0010] Referring to FIG. 1 and FIG. 2 together, the robot arm 100 includes a first arm 10, a second arm 20, a drive assembly 30, a shaft assembly 40 (see FIG. 3), a connector 50, and a line that are pivotally connected. Cable 60. The first arm 10 is pivotally coupled to the second arm 20. The driving assembly 30 is received in the first arm 10, the pivoting assembly 40 is partially received in the first arm 10, the connecting member 50 is received in the second arm 20, and the cable 60 is inserted through the first arm 10 and the second arm 20 The pivoted portion is received in the first arm 10 and the second arm 20. 2 and FIG. 3, the first arm 10 includes a first body 11, a cover 13 fixed to the first body 11, and a 099100446 form number A0101 formed on the first body 11. / Total 21 pages 0992000989-0 201124241 A fixed seat 15 and a second fixed seat 17. A first shaft hole 111 is defined in one end of the first body n away from the rear cover 13 . The first fixing base 15 and the second fixing base 17 are protruded from the inner side of the first body n. The first mount 15 is for securing the drive assembly 30 and the second mount 7 is for securing the cable 6. In the present embodiment, the first body π which is firstly boiled is integrally formed by casting, and the other axis hole 13 having no axis perpendicular to the axis of the first shaft hole 111 is opened. The first fixing base 15 is integrally formed with the first body U. Of course, it may be a separate structure, and is fixed in the first body 11 by screw fixing, welding, gluing or the like. [0013] 099100446 The first arm includes a second body 21, a second fixing seat 23 formed in the second body 21, and a washer 25 disposed in the second body 21. The second body 21 defines a second axis. The hole 211 and the opening 213 form a projection 21 5 . The second shaft hole 211 is disposed corresponding to the first shaft hole 1 丨〇 on the first arm 丨〇. The opening 213 is opened at a portion adjacent to the second shaft hole 211. The opening 21 3 can be covered by a side cover (not shown) to close the second arm 2 . The protrusion 21 2 is formed on the second body 21 and has one end of the second shaft hole 211. The third fixing seat 23 is formed in the second body 21 at a portion close to the second shaft hole 211. The washer 25 is annular and is attached to the edge of the second shaft hole 211 of the second body 21. In the present embodiment, the number of the openings 213 is two, which are respectively opened on the two sides of the second body 21. The drive assembly 30 includes a drive member 31 and a speed reducer 33 driven by the drive member 31, and the speed reducer 33 transmits power to the shaft assembly 4. In the present embodiment, the speed reducer 33 is a harmonic reducer, the drive member 31 is a motor, and the drive member 31 can be a drive member of other structures such as a cylinder or a hydraulic cylinder. The shaft assembly 40 includes a coupling 41 and a first 0992000989-0 disposed at one end of the coupling 41. Form number Α0101 Page 8 of 21 [0014] 201124241 G bearing 43, disposed at the other end of the coupling 41 The second bearing 45 and the gland 47 and the seal 49 are disposed at both ends of the coupler 41. The coupling 41 includes a first connecting portion 411 at the end, a second connecting portion 413, and a transition portion 415 between the first connecting portion 411 and the second connecting portion 413. The second connecting portion 413 is provided with a through hole 4131. The transition portion 415 connects the same side edge of the first connecting portion 411 and the second connecting portion 413, so that the through hole 4131 on the second connecting portion 413 is not blocked. A space is formed between the first connecting portion and the second connecting portion 413 to facilitate passage of the cable 6〇. The second connecting portion 413 is rounded with a rounded corner 4133 around the through hole 4131 toward one side of the first connecting portion 411. In the present embodiment, the first bearing 43 is a ball bearing, and the second bearing 45 is a thrust roller bearing. Of course, the first bearing 43 and the second bearing 45 may be other bearings that can simultaneously receive axial and radial forces. Such as angular contact bearings, needle roller and thrust cylindrical roller combination bearings, needle roller and thrust ball combination bearings, needle roller and angular contact ball combination bearings and other combination wheel bearing replacement. The sealing member 4 9 is an oil seal and the number is two. Of course, the sealing member 49 can also be a structure such as a sealing ring. [0015] ◎ The number of the connecting members 50 is plural, and includes the connected head portion 51 and the fixing portion 53. In the present embodiment, the connector 50 is a screw and the number is six. The cable 60 includes an electric wire 61, a retaining wire structure 63 disposed outside the cable 61, and a wire buckle 65 for fixing the cable 61 and the retaining wire structure 63. In the present embodiment, the retaining wire structure 63 is a wire retaining spring tube. The number of the wire buckles 65 is two, which are respectively disposed at both ends of the cable wire 61 and fixed to the first arm 1 or the second arm 20. Of course, the retaining wire structure 63 can also be a plastic tube or the like, and the cable wire 61 can be protected. [0017] When the robot arm 100 is assembled, the speed reducer 33 of the drive unit 3 is fixed to 099100446 Form No. A0101, page 9 / 21 pages, 0992000989-0, 201124241, on the first fixed seat 15 in the first body 11, and The driving member 31 is fixed to one end of the first shaft hole hi of the speed reducer 33 away from the first body 11. [0019] [0021] The first bearing 43, the sealing member 49 and the coupling 41 of the shaft assembly 40 are sent from the first shaft hole 111 of the first body 11 of the first arm 10 The first body 11 and the sealing member 49 are fixed to the first fixing seat 15 in the first body u. One end of the coupling 41, that is, the first connecting portion 411 is inserted into the first bearing 43 and a sealing member 49, and the end of the coupling 41 is connected to the speed reducer 33 of the driving assembly 30 away from one end of the driving member 31. The coupling 41 is not fixed at one end, that is, the second connecting portion 413 is inserted into the first shaft hole η 1 of the first arm of the first arm ίο. The second bearing 45 is inserted between the first shaft hole U1 of the first arm 10 and the second connecting portion 413 of the coupling 41, and the pressing cover 47 is fixed to the first arm 1〇 to open the first shaft hole. One end of 111 and another seal 49 are embedded inside the gland 47. The second arm 2 is opened and provided with one end of the second shaft hole 2Π. The first arm 1 is opened, and one end of the first shaft hole 111 is opened, and the protrusion 215 formed by the second body 21 of the second arm 2 is formed. The inside of the gland .47 and the cleat 49 are inserted, and one end of the second bearing 45 of the convex portion 215 of the second body 21 is engaged. The connecting member 50' is fed from the opening 213 of the second body 21 of the second arm 20 and inserted around the second shaft hole 211 on the second arm 2〇, so that the head 51 of the connecting member 5 is received in the first portion In the two arms 20, the fixing portion 53 of the connecting member 50 is connected to the second arm 20 near one end of the coupling 41 and the coupling 41 of the shaft assembly 4, thereby moving the second arm 20 away from the shaft assembly 4〇. One side is fixed to the coupling 41 of the shaft assembly 4〇. The cable 60 is loaded into the first arm 10 and the second arm 2''. The cable 61 and the 099100446 form number A0101 page 10 / 21 pages 0992000989-0 201124241 the wire structure 63 penetrates from the shaft hole 113 of the first body 11 of the first arm 10 or the portion of the back cover 13 A body 11 then penetrates the first shaft hole 111 of the first arm 10, the second shaft hole 211 of the second arm 20, and the through hole 4131 of the coupling 41, and then penetrates the second arm 20. The portion of the cable 61 and the retaining wire structure 63 located in the first arm 10 is fixed to the second fixing seat 17 in the first arm 10 by a buckle 65, and the cable 61 and the retaining wire structure 63 are located in the second arm 20 The inner portion is fixed to the third fixing seat 23 in the second arm 20 by another wire buckle 65. [0022] [0023] The first arm 10 rear cover 13 is fixed to the first body 11, completing the assembly of the robot arm 100. ❾ In the above robot arm 100, after the shaft assembly 40 is first mounted on the first arm 10, the second arm 20 is mounted to the shaft assembly 40, and the components are mounted one by one, one by one, without the need to mount the coupling 41. At the same time, the plurality of components are sleeved to the two ends of the coupling 41, and at the same time, the center of the plurality of components is aligned, and assembly difficulty is small. Moreover, when the coupling 41 is mounted in a single state, it is easy to align with the driving assembly 30, which further reduces assembly difficulty. Because the second arm 20 does not accommodate the components such as the driving component 30, the vacant space is large, and the opening 213 of the second body 21 of the second arm 20 is adjacent to the second shaft hole 211, thereby ensuring sufficient space for the connector. 50 is sent from the opening 213 to the periphery of the second shaft hole 211, and it is ensured that a locking tool such as a wrench has sufficient living space when the connector 50 is locked. In the robot arm 100, the components are installed one by one. If the second arm 20 needs to be repaired, the second arm 20 can be removed individually without disassembling the other components such as the coupling 41, and the maintenance is convenient, and the assembly is reassembled after the repair. It is also relatively simple and saves time. [0024] In the robot arm 100, since the connector 50 is inserted and fixed from the second arm 20 by 099100446, the form number Α0101, page 11 / 21 pages 0992000989-0 201124241, there is no need to consider the second connection portion 41 of the coupling 41. 3 is formed on a side of the first connecting portion 411 to form a sufficiently large plane to mount the connecting member 50, so that it is convenient to round the hole 4133 around the through hole 41 31 at the side of the second connecting portion 41 3 toward the first connecting portion 411. The rounded corners 41 33 prevent the cable 61 and the retaining wire structure 63 from being worn by the second connecting portion 413 of the coupling 41. The cable 61 and the retaining wire structure 63 extend into the second arm 20 and are fixed to the third seat in the second arm 20 by the buckle 65 near the second shaft hole 211 when passing through the second shaft hole 211. 23, it will not be scratched by the connecting member 50 around the second shaft hole 211. [0025] The cable structure 61 of the cable 61 is provided to protect the cable 61 from damage. [0026] In the robot arm 100, when the gland 47 is mounted on the first arm 10, screws or the like can be directly used. The connecting member is fixed, and after the second arm 20 is not mounted on the coupling 41, the second arm 20 is first rotated to mount the mounting hole (not shown) on the gland 47, and the connecting member such as a screw is inserted into the connector. It is convenient to install in the mounting hole. [0027] In order to ensure that the connecting member 50 is fixed and stable, it is necessary to ensure that the flat portion of the fixed connecting member 50 is flat. By the washer 25 disposed in the second arm 20, the installation requirement of the connecting member 50 can be ensured without The portion of the second arm 20 that surrounds the second shaft hole 211 is processed to form a circular plane having a higher flatness, which reduces the cost. [0028] It can be understood that the cable 60 can also penetrate the first arm 10 when the second arm 20 is not connected to the shaft assembly 40, and the first shaft hole 111 and the coupling 41 from the first arm 10 The first arm 10 is extended from the through hole 4131. When the second arm 20 is coupled to the pivot assembly 40, the cable 60 is extended into the first arm 099100446 Form No. A0101 Page 12 of 21 Page 0992000989-0 201124241 10 One section penetrates the second arm 20. The washer 25 in the second arm 20 can also be omitted, and the connector 50 can be directly passed through the periphery of the second shaft hole 211 of the second arm 20. [0029] 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, and it is not possible 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 spirit of the invention are intended to be included within the scope of the following claims. BRIEF DESCRIPTION OF THE DRAWINGS [0030] FIG. 1 is a schematic view showing the overall structure of a robot arm according to an embodiment of the present invention. 2 is a cross-sectional view of the robot arm of FIG. 1 taken along 11-11. 3 is an exploded view of the mechanical arm of FIG. 1. [Main Component Symbol Description] [0033] Robotic Arm 100 [0034] First Arm 10 [0035] Second Arm 20 [0036] Drive Assembly 30 [0037] Shaft Assembly 40 [0038] Connector 5 0 [0039] Cable 60 [0040] First body 11 [0041] Rear cover 13 099100446 Form number A0101 Page 13 / Total 21 page 0992000989-0 201124241 [0042] First mount 1 5 [0043] Second mount 17 [0044] First shaft hole 111 [0045] shaft hole 11 3 [0046] second body 21 [0047] third fixing seat 23 [0048] washer 25 [0049] second shaft hole 2 11 [0050] opening 2 1 3 [0051 ] Projection 215 [0052] Drive 31 [0053] Reducer 33 [0054] First Bearing 43 [0056] Second Bearing 45 [0057] Gland 4 7 [0058] Seal 4 9 [0059] First connection portion 411 [0060] Second connection portion 413 099100446 Form number A0101 Page 14 / Total 21 page 0992000989-0 201124241 [0061] Transition portion 415 [0062] Through hole 4131 [0063] Rounded corners 4133 [0064] Head 51 [0065] Fixing portion 5 3 [0066] Cable wire 61 [0067] Wire retaining structure 63 Ο [0068] Wire buckle 6 5 〇 099100446 Form number Α 0101 Page 15 / Total 21 page 0992000989-0