201132473 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。 [先前技術] [0002] 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，可裝設夾具、切削工具及探測器等以執行各 種動作。每個機械臂藉由驅動元件實現繞單軸之旋轉。 驅動元件一般包括沿各機械臂之轉動軸線方向設置之電 機以及與電機相連接之減速機構’該減速機構一般選擇 〇 RV (rotate vector)減速機或HD (harin〇nic drive )減速機，減速機構之輸出端與另一機械臂相連接以驅 動並使該另一機械臂按照預設之轉速旋轉，故各機械臂 沿其轉動軸線方向之尺寸通常較大，不利於機器人在較 狹小操作空間中之應用，而且RV減速機及HD減速機一般 價格昂貴，使得製造成本較高。 【發明内容】 〇 闕料上述狀況’#必要提供—種成本㈣且整體尺寸較 小之機器人臂部件。 闺-種機以臂料，其包括第—機械臂及與該第一機械 臂轉動連接之第二機械臂，第一機械臂包括第一輸入軸 及套設於第—輸人轴上之H轴，第二機械臂包括 軸套及部分設置於轴套中之輸出轴，第—輸人轴藉由一 對錐齒輪帶動第二機械臂之轴套相對第—機械臂旋轉， 第二輸入轴藉由至少兩對錐齒輪帶動第二機械臂之輸出 軸相對軸套旋轉。 099109505 表單編號A0101 第3頁/共14頁 0992016887-0 201132473 [0005] [0006] 機器人臂部件之第-輸人軸及第二輪人轴輸人之動力係 藉由尺寸較小之錐齒輪傳遞至第二機械臂之軸套及輸出 軸之相對採用尺寸較大之減速機進行傳動，可使機器 人臂部件之尺寸減小，且生產成本也可大幅度降低。 【實施方式】 下面將結合附圖及實施例對本發明之機器人臂部件作進 一步詳細說明。 [0007] [0008] 請參閱圖1，本發明實施例提供—種機器人臂部件1〇，其 包括相互轉動連接之第一機械臂丨丨及第二機械臂13。 請同時參閱圖1至圖4，第一機械臂U包括第一軸套U1及 設置於第一軸套111中之第一輸入軸112、第二輸入軸 113、一對第一錐齒輪Η*及一對第二錐齒輪ns。 [0009] 第軸套111包括一直筒段1111及一連接於直筒段Hii 一端之弧形筒段1112，且直筒段11 η之表面開設有複數 安裝槽1113。第一輸入軸112藉由第厶軸承116可轉動連 接於直筒段mi内，第二輪入轴113籍由第二轴承117可 轉動地設置於第一輸入軸1丨2内，本實施例中，第一輸入 軸112及第二輪入轴113為中空轴。一第一錐齒輪114連 接於第一輸入軸112之末端，另一第一錐齒輪114藉由第 三轴承118設置於第一輸入轴112内，且與第一輸入轴 112末端之第一錐齒輪114相嚙合。該第三軸承118上固 定有連接板119。一第二錐齒輪115連接於第二輸入軸 113之末端，且部分位於第一輸入軸I〗？之末端之第一錐 齒輪114之内部。另一第二錐齒輪115部分設置於第三軸 承118上之第一錐齒輪ι14内部，且與第二輸入軸113之 099109505 表單編號A0101 第4頁/共14頁 0992016887-0 201132473 末柒之第二錐齒輪115相喃合。 闕帛二機械臂13包括第二軸套131及設置於第二轴套m中 之輸出軸132、—對第三錐齒輪133及端蓋134。 []帛-軸套131為弧形筒狀，其與第三抽承118上之第—雜 ω輪114固疋連接’以在第_輸人轴112帶動下相對第一 軸套in轉動。一第三錐齒輪133部分設置於第三軸承 U8上之第一錐齒輪114中，且與第一錐齒輪114中之第 二錐齒輪114固定連接。另一第三錐齒輪133藉由第四軸 〇 承135連接於第二軸套131之端部，且與第—錐齒輪114 中之第三錐齒輪133相互嗜合。端蓋134固定於第二袖套 131遠離第一轴套U1之一端，且中部開設有轴孔（圖未 払）。輸出轴132與第四軸承135上之第三錐齒輪133固 疋連接’且從端蓋134之轴孔穿出。 [0012]本實施例中，第_、第二第三錐齒輪114、⑴、⑶ 均為中空之錐齒輪。 〇 [〇〇13]工作時，第一輸入軸112及第二輸入軸113在外部動力裝 置（圖未示）之帶動下分別獨立旋轉。第二軸套131在一 對第一錐齒輪114之傳動下，跟隨第一輸入軸112進行旋 轉。輸出轴132在一對第二錐齒輪115及一對第三錐齒輪 133之傳動下，跟隨第二輸入轴113進行旋轉（如圖4所示 [0014]機器人臂部件10之第一輸入軸112套設於第二輸入軸113 上’一對第一錐齒輪114分別套設於一對第二錐齒輪115 上’且第一、第二、第三錐齒輪114、U5、133之尺寸 099109505 表單編號A0101 第5頁/共14頁 0992016887-0 201132473 相對減速機之尺寸要小得多，故機器人臂部件ίο之整體 尺寸較小，而且第一、第二、第三錐齒輪114、115、 133之成本遠低於減速機之成本，可大幅度降低機器人臂 部件10之成本。另，機器人臂部件10之連接線纜（圖未 示）可依次穿過第二輸入軸113，一對第二錐齒輪115、 一對第三錐齒輪133，最後從輸出轴132中穿出，即連接 線纜可設置於機器人臂部件10之内部，以避免機器人臂 部件10應用於喷塗等容易引起爆炸之環境時，因為連接 線纜漏電而引起爆炸。 [0015] 可以理解，第二輸入軸11也可根據第二機械臂之結構， 藉由兩對以上之錐齒輪帶動所述第二機械臂之輸出軸相 對軸套旋轉。 [0016] 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，以上該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】 [0017] 圖1係本發明實施方式之機器人臂部件之立體示意圖。 [0018] 圖2係圖1所示機器人臂部件去除第一軸套及第二軸套後 之立體示意圖。 [0019] 圖3係圖1所示機器人臂部件沿III-III線之剖面圖。 [0020] 圖4係圖2所示之第二輸入軸藉由錐齒輪傳動至輸出軸之 立體示意圖。 099109505 表單編號A0101 第6頁/共14頁 0992016887-0 201132473 【主要元件符號說明】 [0021] 機器人臂部件10 [0022] 第一機械臂11 [0023] 第二機械臂13 [0024] 安裝板10 [0025] 第一軸套111 [0026] 第一輸入軸112 Ο [0027] 第二輸入軸113 [0028] 第一錐齒輪114 [0029] 第二錐齒輪115 [0030] 第一軸承116 [0031] 第二軸承117 [0032] 第三軸承118 ^ [0033] 連接板119 [0034] 直筒段1111 [0035] 弧形筒段1112 [0036] 安裝槽1113 [0037] 第二軸套131 [0038] 輸出軸132 [0039] 第三錐齒輪133 099109505 表單編號Α0101 第7頁/共14頁 0992016887-0 201132473 [0040] 端蓋 134 [0041] 第四轴承135 099109505 表單編號A0101 第8頁/共14頁 0992016887-0201132473 VI. Description of the Invention: [Technical Field of the Invention] [0001] The present invention relates to a robot arm component. [Prior Art] [0002] A robot generally includes a plurality of robot arms sequentially connected to each other, and a robot arm provided at an end thereof, and a jig, a cutting tool, a probe, and the like can be mounted to perform various operations. Each of the robot arms is rotated about a single axis by a drive element. The driving component generally includes a motor disposed along a rotation axis direction of each robot arm and a speed reduction mechanism connected to the motor. The speed reduction mechanism generally selects a RV (rotate vector) speed reducer or an HD (harin〇nic drive) speed reducer, and a speed reduction mechanism. The output end is connected to another mechanical arm to drive and rotate the other mechanical arm at a preset rotational speed, so that the size of each mechanical arm along its axis of rotation is generally large, which is disadvantageous for the robot in a narrow operating space. Applications, and RV reducers and HD reducers are generally expensive, resulting in higher manufacturing costs. SUMMARY OF THE INVENTION 〇 上述 上述 上述 # # # 必要 必要 必要 必要 必要 必要 必要 必要 必要 必要 必要 必要 必要 必要 必要 必要 必要 必要 必要 必要 必要 必要The seed machine is an arm material, and includes a first mechanical arm and a second mechanical arm rotatably coupled to the first mechanical arm, the first mechanical arm including the first input shaft and the H disposed on the first input shaft The second mechanical arm includes a sleeve and an output shaft partially disposed in the sleeve. The first input shaft drives the sleeve of the second mechanical arm to rotate relative to the first arm by a pair of bevel gears, and the second input shaft The output shaft of the second robot arm is rotated relative to the sleeve by at least two pairs of bevel gears. 099109505 Form No. A0101 Page 3 of 14 0992016887-0 201132473 [0005] [0006] The first-input shaft of the robot arm component and the power of the second-wheel man-in-the-wheel input are transmitted by the smaller-sized bevel gear. When the bushing and the output shaft of the second arm are driven by the larger-sized reducer, the size of the robot arm member can be reduced, and the production cost can be greatly reduced. [Embodiment] Hereinafter, a robot arm member of the present invention will be described in further detail with reference to the accompanying drawings and embodiments. [0008] Referring to FIG. 1, an embodiment of the present invention provides a robot arm assembly 1 that includes a first robot arm and a second robot 13 that are rotatably coupled to each other. Referring to FIG. 1 to FIG. 4 simultaneously, the first mechanical arm U includes a first sleeve U1 and a first input shaft 112, a second input shaft 113, and a pair of first bevel gears 设置* disposed in the first sleeve 111. And a pair of second bevel gears ns. The first bushing 111 includes a straight cylinder section 1111 and an arcuate cylinder section 1112 connected to one end of the straight cylinder section Hii, and the surface of the straight cylinder section 11 η is provided with a plurality of mounting grooves 1113. The first input shaft 112 is rotatably connected to the straight section mi by the second bearing 116, and the second wheel input shaft 113 is rotatably disposed in the first input shaft 1丨2 by the second bearing 117, in this embodiment The first input shaft 112 and the second wheel input shaft 113 are hollow shafts. A first bevel gear 114 is coupled to the end of the first input shaft 112, and the other first bevel gear 114 is disposed in the first input shaft 112 by the third bearing 118 and the first cone at the end of the first input shaft 112. The gears 114 mesh. A connecting plate 119 is fixed to the third bearing 118. A second bevel gear 115 is coupled to the end of the second input shaft 113 and is partially located on the first input shaft I? The inside of the first bevel gear 114 at the end. The other second bevel gear 115 is partially disposed inside the first bevel gear ι14 on the third bearing 118, and is 099109505 with the second input shaft 113. Form No. A0101 Page 4 / Total 14 Pages 0992016887-0 201132473 The bevel gear 115 is halved. The second robot arm 13 includes a second sleeve 131 and an output shaft 132 disposed in the second sleeve m, a pair of third bevel gears 133 and an end cover 134. [帛] The bushing 131 has an arcuate cylindrical shape that is fixedly coupled to the first miscellaneous ω wheel 114 on the third pumping 118 to rotate relative to the first bushing in with the _ input shaft 112. A third bevel gear 133 is partially disposed in the first bevel gear 114 on the third bearing U8 and is fixedly coupled to the second bevel gear 114 of the first bevel gear 114. The other third bevel gear 133 is coupled to the end of the second bushing 131 by the fourth shaft bearing 135, and is in contact with the third bevel gear 133 of the first bevel gear 114. The end cover 134 is fixed to the second sleeve 131 away from one end of the first sleeve U1, and a shaft hole is formed in the middle portion (not shown). The output shaft 132 is fixedly coupled to the third bevel gear 133 on the fourth bearing 135 and passes through the shaft hole of the end cap 134. [0012] In this embodiment, the first and second third bevel gears 114, (1), and (3) are hollow bevel gears. 〇 [〇〇13] When operating, the first input shaft 112 and the second input shaft 113 are independently rotated by an external power unit (not shown). The second bushing 131 is rotated by a pair of first bevel gears 114 following the first input shaft 112. The output shaft 132 is rotated by the pair of second bevel gears 115 and the pair of third bevel gears 133, and follows the second input shaft 113 (as shown in FIG. 4 [0014] the first input shaft 112 of the robot arm member 10 Nested on the second input shaft 113, 'a pair of first bevel gears 114 are respectively sleeved on a pair of second bevel gears 115' and the dimensions of the first, second, and third bevel gears 114, U5, 133 are 099109505. No. A0101 Page 5 of 14 0992016887-0 201132473 The size of the relative reducer is much smaller, so the overall size of the robot arm part ίο is smaller, and the first, second and third bevel gears 114, 115, 133 The cost is much lower than the cost of the reducer, and the cost of the robot arm member 10 can be greatly reduced. In addition, the connecting cable (not shown) of the robot arm member 10 can sequentially pass through the second input shaft 113, a pair of second The bevel gear 115 and the pair of third bevel gears 133 are finally passed out from the output shaft 132, that is, the connecting cable can be disposed inside the robot arm member 10 to prevent the robot arm member 10 from being sprayed and the like to cause an explosion. In the environment, because the connection cable is leaking [0015] It can be understood that the second input shaft 11 can also rotate the output shaft of the second robot arm relative to the sleeve by two or more pairs of bevel gears according to the structure of the second robot arm. In summary, the present invention has indeed met the requirements of the invention patent, and has filed a patent application according to law. However, the above is only a preferred embodiment of the present invention, and it is not possible to limit the scope of the patent application in this case. The equivalent modifications or variations of the skilled person in the spirit of the present invention are intended to be included in the scope of the following claims. [FIG. 1] FIG. 1 is a perspective view of a robot arm member according to an embodiment of the present invention. 2 is a perspective view of the robot arm member shown in FIG. 1 after removing the first sleeve and the second sleeve. [0019] FIG. 3 is a cross-sectional view of the robot arm member shown in FIG. 1 along line III-III. 4 is a perspective view showing the second input shaft shown in FIG. 2 driven by a bevel gear to an output shaft. 099109505 Form No. A0101 Page 6 of 14 0992016887-0 201132473 [Main component symbol description [0021] Robot Arm Member 10 [0022] First Robot Arm 11 [0023] Second Robot Arm 13 [0024] Mounting Plate 10 [0025] First Bushing 111 [0026] First Input Shaft 112 [0027] Two input shaft 113 [0028] first bevel gear 114 [0029] second bevel gear 115 [0030] first bearing 116 [0031] second bearing 117 [0032] third bearing 118 ^ [0033] connecting plate 119 [0034 ] Straight section 1111 [0035] Curved section 1112 [0036] Mounting groove 1113 [0037] Second sleeve 131 [0038] Output shaft 132 [0039] Third bevel gear 133 099109505 Form number Α 0101 Page 7 of 14 Page 0992016887-0 201132473 [0040] End cap 134 [0041] Fourth bearing 135 099109505 Form number A0101 Page 8 of 14 0992016887-0