201144002 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，尤其涉及一種採用齒輪 傳動之機器人臂部件。 【先前技#ί】 [0002] 工業機器人通常包括複數分別繞不同旋轉轴線旋轉並依 次相連之機械臂。設置於末端之機械臂，如六軸機器人 之第六機械臂可裝設夾具、切削工具及探測器等以執行 各種動作。每一機械臂藉由驅動組件實現繞某一旋轉軸 線之轉動。驅動組件一般包括沿各機械臂旋轉轴線方向 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RV (rotate vector)減速機或HD (harmonic 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 ，各機械臂沿其旋轉軸線方向之尺寸通常較大，且RV減 速機及HD減速機一般價格昂貴，使得成本較高。且上述 機器人末端之二機械臂，其設置之驅動組件通常需鄰近 設置，造成沿各自旋轉軸線方向尺寸均較大，增加了機 器人整體結構及佔用空間，不利於機器人於較狭小操作 空間中之應用。 【發明内容】 [0003] 鑒於上述内容，有必要提供一種佔用空間較小，且傳動 性能較佳之機器人臂部件。 [0004] 一種機器人臂部件，包括第一輸入軸、與第一輸入軸同 軸設置之第二輸入軸、支撐臂、與支撐臂轉動連接之第 099117519 表單編號A0101 第4頁/共21頁 0992031128-0 201144002 一機械臂、與第一機械臂轉動連接之第二機械臂、與第 一輸入軸耦接以驅動第一機械臂之第一齒輪傳動組件， 以及與第二輸入軸耦接以驅動第二機械臂之第二齒輪傳 動組件。支撐臂包括齒輪安裝部，第一齒輪傳動組件包 括與第一輸入軸固定連接之第一輸入齒輪以及與第一輸 入齒輪嚙合之第二輸入齒輪，第二傳動組件包括與第二 輸入軸固定連接之第三輸入齒輪以及與第三輸入齒輪嚙 合之第四輸入齒輪，第二輸入齒輪及第四輸入齒輪安裝 於齒輪安裝部，第一、第二輸入軸之旋轉軸線與第二輸 入齒輪及第四輸入齒輪之旋轉轴線相互平行且不共面設 置。機器人臂部件還包括一用於調節第一、第二輸入軸 之旋轉軸線與第二輸入齒輪及第四輸入齒輪之旋轉軸線 間距離之調節機構。 [0005] 上述機器人臂部件採用齒輪傳動，可使結構緊湊、減小 佔用之空間，另，第一、第二輸入軸之旋轉軸線與第二 輸入齒輪及第四輸入齒輪之旋轉軸線相互平行且不共面 設置，利用調節機構可同時調節第一、第二輸入軸之旋 轉軸線與第二輸入齒輪及第四輸入齒輪之旋轉軸線間之 距離，從而調節第一輸入齒輪與第二輸入齒輪、第三輸 入齒輪及第四輸入齒輪間之側隙，提高傳動性能。 【實施方式】 [0006] 下面結合附圖及實施方式對本發明之機器人臂部件作進 一步之詳細說明。 [0007] 請同時參見圖1至圖3，本發明實施方式之機器人臂部件 100可應用於六軸工業機器人中，其包括支撐臂11、與支 099117519 表單編號A0101 第5頁/共21頁 0992031128-0 201144002 撐臂11轉動連接之第一機械臂12、與第一機械臂12轉動 連接之第二機械臂13、第一輸入軸14、與第一輸入轴14 同軸設置之第二輸入轴15、與第一輸入軸14耦接以驅動 第一機械臂12之第一齒輪傳動組件21，以及與第二輸入 軸15耦接以驅動第二機械臂13之第二齒輪傳動組件23。 本實施方式中，支撐臂11、第一機械臂12以及第二機械 臂13可分別繞旋轉軸線A、B、C旋轉。第二機械臂13之末 端可安裝如刀具、夾具或感測器等，以執行相應任務。 [0008] 第一輸入軸14套設於第二輸入轴15上，第一輸入軸14與 第二輸入軸15之間設有轴承141，以使第一輸入軸14可相 對第二輸入軸15轉動。第一輸入軸14及第二輸入軸15之 輸入端可分別耦接至一安裝於支撐臂11之馬達（圖未示 )，並將馬達之旋轉運動傳遞至第一機械臂12及第二機 械臂13。 [0009] 第一齒輪傳動組件21包括與第一輸入軸14固定連接之第 一輸入齒輪211、與第一輸入齒輪2110¾合之第二輸入齒 輪212、由第二輸入齒輪212帶動之一對第一輸出錐齒輪 213a、213b。第一輸出錐齒輪213b與第一機械臂12耦接 ，以帶動第一機械臂12繞旋轉軸線B旋轉。第一、第二輸 入齒輪211、212為圓柱齒輪，第一輸出錐齒輪213a、 213b為准雙曲面錐齒輪。 [0010] 第二齒輪傳動組件23包括依次設置於第二輸入軸15與第 二機械臂13間之第三輸入齒輪231、與第三輸入齒輪231 嚙合之第四輸入齒輪232、一對中間錐齒輪233a、233b 與一對第二輸出錐齒輪234a、234b。第三輸入齒輪231 099117519 表單編號A0101 第6頁/共21頁 0992031128-0 201144002 與第二輸入軸15固定連接，第二輸出錐齒輪234b與第二 機械413輕接，以帶動第一機械臂13繞旋轉轴線c旋轉。 第三輸入齒輪231及第四輸入齒輪232為圓柱齒輪，中間 錐齒輪233a、233b為准雙曲面錐齒輪。 [0011] 第 第一輪入齒輪211、231於第一輸入轴14之轴向偏 置。第一、第二輸入轴14、15之旋轉軸線與第二輸入齒 輪212及第四輸入齒輪232之旋轉轴線相互平行且不共面 設置。 〇 [0012] 凊同時參見圖4，支撐臂11包括安裝座112、與安裝座 112相連接之連接部113、從安裝座112冬相對二侧延伸 出之第一支撐部114及第二支撐部115。連锋部113及第 一、第二支擇部114、115分別設於安裝座112二側。第 一、第二支撐部114、115基本平行設置’並與安裝座 112共同圍成一 “U”型之容置部111。第一、第二支撐部 114、115分別開設一收容孔1141、1151。 [0013] ❹ 連接部113具有一沿其軸向之中空部1131 ^第一輸入轴 14及第二輪入轴15可轉動地穿設於中空部1131。第一輸 入軸14與連接部jig内壁間設有軸承142，以支撲第一輸 入軸14。 [0014] 安裝座112開設有一面向連接部113之容置槽1121，容置 槽1121之底壁開設有第一軸孔丨丨22以及第二轴孔1123。 安裝座112内固定設置有第一轴座1124以及第二轴座 1125。第二輪入齒輪212及第一輸出錐齒輪213a分別設 置於第一齒輪軸1127二端，第一齒輪轴1127穿設於第一 099117519 表單編號A0101 第7頁/共21頁 0992031128-0 201144002 軸孔11 22並由第一軸座11 24支撐。第四輸入齒輪232及 中間錐齒輪233a分別設於第二齒輪軸1128二端，第二齒 輪軸1128穿設於第二轴孔1123，並由第二軸座1125支撐 〇 [0015] 調節機構30用於調節第一、第二輸入軸14、15之旋轉軸 線與第二輸入齒輪212及第四輸入齒輪232之旋轉軸線間 之距離，從而調節第一輸入齒輪211與第二輸入齒輪212 ，第三輸入齒輪231與第四輸入齒輪232間之侧隙。本實 施方式中，調節機構30包括設於連接部113之過孔31，設 於安裝座112之螺紋孔32，以及穿設過孔31與螺紋孔32 螺接之鎖固件34。鎖固件34徑向可移動地收容於過孔31 内，並藉由與螺紋孔32螺接將安裝座112與連接部113鎖 緊。因第一、第二輸入轴14、15之旋轉抽線與第二輸入 齒輪212及第四輸入齒輪232之旋轉軸線相互平行且不共 面設置，安裝時調節連接部113與安裝座112之相對位置 ，即調節第一、第二輸入軸14、15與安裝座112之位置， 再鎖緊安裝座112與連接部113，可同時調節第一、第二 輸入軸14、15之旋轉軸線與第二輸入齒輪212及第四輸入 齒輪232之旋轉軸線間之距離。本實施方式中，鎖固件34 可為螺釘，圖中儘示出一鎖固件。 [0016] 請同時參見圖5，第一機械臂12大致呈柱狀，並開設有第 一安裝孔121及與第一安裝孔121垂直相交之第二安裝孔 122。第二安裝孔122大致設於第一機械臂12之軸向中部 。第一輸出錐齒輪213b固定套設於第一機械臂12之第一 端123，以帶動第一機械臂12繞旋轉軸線B旋轉。收容孔 099117519 表單編號A0101 第8頁/共21頁 0992031128-0 201144002 [0017] Ο [0018]201144002 VI. Description of the Invention: [Technical Field] [0001] The present invention relates to a robot arm component, and more particularly to a robot arm component using a gear transmission. [Previous Technology #ί] [0002] Industrial robots typically include a plurality of mechanical arms that are respectively rotated about different axes of rotation and connected in sequence. A robot arm disposed at the end, such as a sixth robot arm of a six-axis robot, can be equipped with a jig, a cutting tool, a detector, and the like to perform various actions. Each of the robot arms is rotated about a rotation axis by a drive assembly. The drive assembly generally includes a motor disposed along a rotation axis direction of each arm and a speed reduction mechanism connected to the motor. The speed reduction mechanism generally selects an RV (rotate vector) reducer or an HD (harmonic drive) reducer, and an output end of the speed reduction mechanism It is connected to another mechanical arm to drive and rotate the other mechanical arm at a preset rotational speed. Therefore, the size of each mechanical arm in the direction of its rotation axis is generally large, and the RV reducer and the HD reducer are generally expensive. To make the cost higher. Moreover, the two robot arms at the end of the robot are generally disposed adjacent to each other, resulting in a large size along the respective rotation axes, which increases the overall structure and space of the robot, and is disadvantageous for the application of the robot in a narrow operation space. . SUMMARY OF THE INVENTION [0003] In view of the above, it is necessary to provide a robot arm component that occupies less space and has better transmission performance. [0004] A robot arm member includes a first input shaft, a second input shaft coaxially disposed with the first input shaft, a support arm, and a rotational connection with the support arm. No. 099117519 Form No. A0101 Page 4 / Total 21 Page 0992031128- 0 201144002 A mechanical arm, a second mechanical arm rotatably coupled to the first mechanical arm, coupled to the first input shaft to drive the first gear transmission assembly of the first mechanical arm, and coupled to the second input shaft to drive the first The second gear transmission assembly of the second robot arm. The support arm includes a gear mounting portion, the first gear transmission assembly includes a first input gear fixedly coupled to the first input shaft and a second input gear meshing with the first input gear, the second transmission assembly including a fixed connection with the second input shaft a third input gear and a fourth input gear meshed with the third input gear, the second input gear and the fourth input gear are mounted to the gear mounting portion, the rotation axes of the first and second input shafts and the second input gear and the The axes of rotation of the four input gears are parallel to each other and are not coplanar. The robot arm member further includes an adjustment mechanism for adjusting a distance between a rotation axis of the first and second input shafts and a rotation axis of the second input gear and the fourth input gear. [0005] The above-mentioned robot arm member adopts a gear transmission, which can make the structure compact and reduce the occupied space. Further, the rotation axes of the first and second input shafts are parallel to the rotation axes of the second input gear and the fourth input gear. The first input gear and the second input gear are adjusted by adjusting the distance between the rotation axes of the first and second input shafts and the rotation axes of the second input gear and the fourth input gear by using the adjustment mechanism. The backlash between the third input gear and the fourth input gear improves the transmission performance. [Embodiment] The robot arm member of the present invention will be further described in detail below with reference to the accompanying drawings and embodiments. Referring to FIG. 1 to FIG. 3 simultaneously, the robot arm component 100 of the embodiment of the present invention can be applied to a six-axis industrial robot, which includes a support arm 11, and a support 099117519. Form No. A0101 Page 5 / 21 pages 0992031128 -0 201144002 The first arm 12 to which the arm 11 is rotatably coupled, the second arm 13 rotatably coupled to the first arm 12, the first input shaft 14, and the second input shaft 15 coaxially disposed with the first input shaft 14 The first input shaft 14 is coupled to drive the first gear assembly 21 of the first robot arm 12 and to the second input shaft 15 to drive the second gear assembly 23 of the second robot arm 13. In the present embodiment, the support arm 11, the first robot arm 12, and the second mechanical arm 13 are rotatable about the rotation axes A, B, and C, respectively. The end of the second robot arm 13 can be mounted such as a cutter, a jig or a sensor to perform a corresponding task. The first input shaft 14 is sleeved on the second input shaft 15, and a bearing 141 is disposed between the first input shaft 14 and the second input shaft 15 so that the first input shaft 14 is opposite to the second input shaft 15 Turn. The input ends of the first input shaft 14 and the second input shaft 15 are respectively coupled to a motor (not shown) mounted on the support arm 11 and transmit the rotational motion of the motor to the first mechanical arm 12 and the second mechanical mechanism. Arm 13. The first gear transmission assembly 21 includes a first input gear 211 fixedly coupled to the first input shaft 14, a second input gear 212 coupled to the first input gear 21102, and a second pair of input gears 212. An output bevel gear 213a, 213b. The first output bevel gear 213b is coupled to the first robot arm 12 to drive the first robot arm 12 to rotate about the rotation axis B. The first and second input gears 211, 212 are cylindrical gears, and the first output bevel gears 213a, 213b are hypoid bevel gears. [0010] The second gear transmission assembly 23 includes a third input gear 231 sequentially disposed between the second input shaft 15 and the second mechanical arm 13, a fourth input gear 232 meshing with the third input gear 231, and a pair of intermediate cones Gears 233a, 233b and a pair of second output bevel gears 234a, 234b. The third input gear 231 099117519 Form No. A0101 Page 6 / Total 21 page 0992031128-0 201144002 is fixedly connected with the second input shaft 15, the second output bevel gear 234b is lightly connected with the second machine 413 to drive the first mechanical arm 13 Rotate about the axis of rotation c. The third input gear 231 and the fourth input gear 232 are cylindrical gears, and the intermediate bevel gears 233a, 233b are hypoid bevel gears. [0011] The first wheel-in gears 211, 231 are axially offset from the first input shaft 14. The axes of rotation of the first and second input shafts 14, 15 are parallel to the axes of rotation of the second input gear 212 and the fourth input gear 232 and are not coplanar.凊[0012] Referring to FIG. 4 at the same time, the support arm 11 includes a mounting seat 112, a connecting portion 113 connected to the mounting seat 112, and a first supporting portion 114 and a second supporting portion extending from opposite sides of the mounting seat 112 in winter. 115. The joint portion 113 and the first and second branch portions 114 and 115 are respectively disposed on both sides of the mount 112. The first and second support portions 114, 115 are disposed substantially in parallel and together with the mounting seat 112 define a "U" shaped receiving portion 111. The first and second supporting portions 114 and 115 respectively define a receiving hole 1141 and 1151. [0013] The connecting portion 113 has a hollow portion 1131 along its axial direction. The first input shaft 14 and the second wheel-in shaft 15 are rotatably inserted through the hollow portion 1131. A bearing 142 is provided between the first input shaft 14 and the inner wall of the connecting portion jig to slap the first input shaft 14. The mounting seat 112 defines a receiving slot 1121 facing the connecting portion 113. The bottom wall of the receiving slot 1121 defines a first shaft hole 22 and a second shaft hole 1123. A first axle seat 1124 and a second axle seat 1125 are fixedly disposed in the mounting seat 112. The second wheel-in gear 212 and the first output bevel gear 213a are respectively disposed at two ends of the first gear shaft 1127, and the first gear shaft 1127 is disposed at the first 099117519. Form No. A0101 Page 7 / 21 pages 0992031128-0 201144002 Axis The bore 11 22 is supported by the first axle mount 11 24 . The fourth input gear 232 and the intermediate bevel gear 233a are respectively disposed at two ends of the second gear shaft 1128. The second gear shaft 1128 is disposed through the second shaft hole 1123 and supported by the second shaft seat 1125. [0015] The adjustment mechanism 30 For adjusting the distance between the rotation axes of the first and second input shafts 14, 15 and the rotation axes of the second input gear 212 and the fourth input gear 232, thereby adjusting the first input gear 211 and the second input gear 212, A backlash between the three input gear 231 and the fourth input gear 232. In the embodiment, the adjusting mechanism 30 includes a through hole 31 provided in the connecting portion 113, a threaded hole 32 provided in the mounting seat 112, and a locking member 34 through which the through hole 31 and the threaded hole 32 are screwed. The lock member 34 is radially movably received in the through hole 31, and the mount 112 is locked to the joint portion 113 by screwing with the screw hole 32. Since the rotation lines of the first and second input shafts 14, 15 and the rotation axes of the second input gear 212 and the fourth input gear 232 are parallel to each other and are not coplanar, the connection portion 113 and the mounting seat 112 are adjusted during installation. Positioning, that is, adjusting the positions of the first and second input shafts 14, 15 and the mounting seat 112, and then locking the mounting seat 112 and the connecting portion 113, simultaneously adjusting the rotation axes of the first and second input shafts 14, 15 and The distance between the axes of rotation of the two input gears 212 and the fourth input gear 232. In this embodiment, the lock 34 can be a screw, and a lock is shown in the figure. Referring to FIG. 5 at the same time, the first mechanical arm 12 is substantially columnar and has a first mounting hole 121 and a second mounting hole 122 perpendicularly intersecting the first mounting hole 121. The second mounting hole 122 is substantially disposed in the axial middle portion of the first robot arm 12. The first output bevel gear 213b is fixedly sleeved on the first end 123 of the first robot arm 12 to drive the first robot arm 12 to rotate about the rotation axis B. Receiving hole 099117519 Form number A0101 Page 8 of 21 0992031128-0 201144002 [0017] Ο [0018]
[0019] 1141内設有軸承（圖未標），以使第一機械臂12與第一 支撐部114轉動連接。 第二機械臂13包括自由端131及與自由端131相對之齒輪 安裝端132。齒輪安裝端132穿設於第二安裝孔122内， 並與第二輸出錐齒輪234b固定連接。自由端131伸出第二 安裝孔122外。第二機械臂13具有軸肩（圖未標）。第二 輸出錐齒輪234b套設於第二機械臂13並止轉連接。第二 輸出錐齒輪234b之一端與軸肩相抵，相對之另一端與一 擋塊（圖未標）相抵以軸向限位。第二輸出錐齒輪234b與 第二機械臂13之連接方式可為過盈連接、螺紋連接等。 第二機械臂13週向由裝設於第二安裝孔122内之軸承 1311滾動支承。第二安裝孔122内還設有軸向支承第二機 械臂13之第一止推轴承1312。第一止推轴承1312鄰接於 第二機械臂13之齒輪安裝端132外端面。一調節件50與第 一止推軸承1312相抵，並用於調節第一止推軸承1312沿 旋轉軸線C方向之位置，從而使第一止推軸承1312推動第 二輸出錐齒輪234b及第二機械臂13沿軸向移動。 本實施方式中，第二安裝孔122内裝設第一止推軸承1312 之一端設有内螺紋1313，調節件50呈盤狀，其外週緣設 有與内螺紋1313螺接之外螺紋（圖未標）。旋轉調節件 50，使其旋入或旋出第二安裝孔122，從而調節件50沿旋 轉軸線C方向之位置改變並推動第一止推轴承1312。 第二輸出錐齒輪234b與第二機械臂13之自由端131間依 次套設有套筒51、彈性件52以及第二止推軸承53。其中 099117519 表單編號A0101 第9頁/共21頁 0992031128-0 [0020] 201144002 ’套筒51虚坌- ”乐〜輪出錐齒輪234b相抵，彈性株w理极知 持於套筒51邀坌 仟W彈/·生抵 々、第—止推軸承53間。第；止推軸承53—端 於第機蜮臂〗2，另—端軸向支承彈 件52預設彈力 、 ’並使第二輸出錐齒輪234a、234b具有相 互分離之趨熱 /、 55，以使第二輸出錐齒輪234b與第一止推站 承1312相抿貪 _ Λ，並使第二輸出錐齒輪234b保持於當前位 =。彈性件52可為碟形彈片組等。第一止推軸承⑶以 第-止推軸承53均採用圓柱止推轴承。 [0021] [0022] [0023] [0024] [0025] 當需要調節第二輪出錐齒輪234a、234b間之側隙時旋 轉調節件5G ’使崎件50相對於第二安裝孔122旋入或旋 出，並配合彈性件52之彈力作用，第-止推軸承1312、 第二輸出錐齒輪234a及第二機械臂13可沿旋轉轴線c方向 移動，從而調節第：輸出錐齒輪234a、23侧之側隙， 以達到較佳之唾合間隙。 綜上所述，本發明確已符合發料利之祕，遂依法提 .出專利中請。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巾請專利範圍。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㈣變化 皆應涵蓋於以下申請專利範圍内。 【圖式簡單說明】 圖1係本發明實施方式之機器人臂部件之立體圖 圖2係沿圖1中11 -11線之剖面示意圖。 圖3係圖1所示機器人臂部件之笛推委,, ^ β M干<第—傳動組件及第二傳動 組件之示意圖’圖中省略了支揮臂。 099117519 表單編號A0101 第1〇頁/共21頁 0992031128-0 201144002 [0026] 圖4係圖1所示機器人臂部件之支撐臂之立體圖。 [0027] 圖5係圖1所示機器人臂部件之第一機械臂之立體圖。 【主要元件符號說明】[0019] A bearing (not shown) is disposed in the 1141 to rotatably connect the first robot arm 12 with the first support portion 114. The second robot arm 13 includes a free end 131 and a gear mounting end 132 opposite the free end 131. The gear mounting end 132 is disposed in the second mounting hole 122 and is fixedly coupled to the second output bevel gear 234b. The free end 131 extends beyond the second mounting hole 122. The second robot arm 13 has a shoulder (not shown). The second output bevel gear 234b is sleeved on the second robot arm 13 and is connected to the rotation stop. One end of the second output bevel gear 234b abuts against the shoulder, and the other end is opposite to a stopper (not shown) to be axially constrained. The second output bevel gear 234b and the second robot arm 13 may be connected by an interference connection, a screw connection or the like. The second robot arm 13 is circumferentially supported by a bearing 1311 mounted in the second mounting hole 122. Also provided in the second mounting hole 122 is a first thrust bearing 1312 that axially supports the second mechanical arm 13. The first thrust bearing 1312 is adjacent to the outer end surface of the gear mounting end 132 of the second robot arm 13. An adjusting member 50 abuts the first thrust bearing 1312 and is used to adjust the position of the first thrust bearing 1312 in the direction of the rotation axis C, so that the first thrust bearing 1312 pushes the second output bevel gear 234b and the second arm 13 moves in the axial direction. In the second mounting hole 122, one end of the first thrust bearing 1312 is provided with an internal thread 1313. The adjusting member 50 has a disk shape, and the outer peripheral edge thereof is provided with a thread externally threaded with the internal thread 1313 (Fig. Not marked). The adjusting member 50 is rotated to be screwed into or out of the second mounting hole 122, so that the position of the adjusting member 50 in the direction of the rotation axis C is changed and the first thrust bearing 1312 is pushed. A sleeve 51, an elastic member 52, and a second thrust bearing 53 are sleeved between the second output bevel gear 234b and the free end 131 of the second robot arm 13. Where 099117519 Form No. A0101 Page 9/Total 21 Page 0992031128-0 [0020] 201144002 'Sleeve 51 imaginary- 》 Le ~ wheel-out bevel gear 234b, the elastic strain w knowingly held in the sleeve 51 invitation W spring / · raw 々, the first - thrust bearing 53. The first thrust bearing 53 - end of the first arm 〗 2, the other end of the axial support elastic member 52 preset elastic force, 'and make the second The output bevel gears 234a, 234b have mutually separated heat/, 55 such that the second output bevel gear 234b is inconsistent with the first thrust station 1312 and maintains the second output bevel gear 234b in the current position. The elastic member 52 may be a disc-shaped shrapnel group, etc. The first thrust bearing (3) uses a cylindrical thrust bearing with the first thrust bearing 53. [0023] [0024] [0025] When needed When the side gap between the second round output bevel gears 234a, 234b is adjusted, the rotation adjusting member 5G' rotates or unscrews the sagittal member 50 with respect to the second mounting hole 122, and cooperates with the elastic force of the elastic member 52, the first thrust The bearing 1312, the second output bevel gear 234a and the second robot arm 13 are movable in the direction of the rotation axis c, thereby adjusting the: output bevel gear 234a The side gap of the 23 side, in order to achieve a better saliva gap. In summary, the present invention has indeed met the secret of the issue of the benefits, and the patent is requested in accordance with the law. However, the above is only the comparison of the present invention. The best implementation method 'supplied to limit the scope of the patent in this case. Anyone who is familiar with the skill of the present invention should be included in the scope of the following patent application in accordance with the spirit of the invention. Fig. 1 is a perspective view of a robot arm member according to an embodiment of the present invention. Fig. 2 is a cross-sectional view taken along line 11-11 of Fig. 1. Fig. 3 is a flute member of the robot arm member shown in Fig. 1, ^ β M dry < Fig. 4 is a schematic diagram of the robot arm assembly shown in Fig. 1 [0027] FIG. 5 is a perspective view of the first robot arm of the robot arm member shown in FIG. 1. [Main component symbol description]
[0028] 機器人臂部件100 [0029] 支撐臂11 [0030] 第一機械臂12 [0031] 第二機械臂13 [0032] 第一輸入轴14 [0033] 第二輸入轴.15 [0034] 第一齒輪傳動組件 21 [0035] 第二齒輪傳動組件 23 [0036] 第一輸入齒輪211 [0037] 第二輸入齒輪212 [0038] 第一輸出錐齒輪213a、2i3tl [0039] 第三輸入齒輪231 [0040] 第四輸入齒輪232 [0041] 中間錐齒輪233a、 233b [0042] 第二輸出錐齒輪234a、234b [0043] 安裝座112 [0044] 連接部113 表單編號A0101 第11頁/共21頁 099117519 0992031128-0 201144002 [0045] 第一支撐部： 114 [0046] 第二支撐部： 115 [0047] 容置部111 [0048] 收容孔1141 、1151 [0049] 中空部11 31 [0050] 軸承 141、142、1311 [0051] 容置槽1121 [0052] 第一軸孔1122 [0053] 第二軸孔1123 [0054] 第一軸座1124 [0055] 第二軸座1125 [0056] 第一齒輪軸 1127 [0057] 第二齒輪軸 1128 [0058] 調節機構30 [0059] 過孔31 [0060] 螺紋孔32 [0061] 鎖固件34 [0062] 第一安裝孔 121 [0063] 第二安裝孔 122 099117519 表單編號A0101 第12頁/共21頁 0992031128-0 201144002 [0064] [0065] [0066] [0067] [0068] [0069] [0070] ❹ [0071] [0072] 第一端123 自由端131 齒輪安裝端132 第一止推軸承1312 調節件50 内螺紋1313 套筒51 彈性件52 第二止推軸承53 ο 099117519 表單編號Α0101 第13頁/共21頁 0992031128-0[0028] Robot Arm Assembly 100 [0029] Support Arm 11 [0030] First Robot Arm 12 [0031] Second Robot Arm 13 [0032] First Input Shaft 14 [0033] Second Input Shaft. 15 [0034] a gear transmission assembly 21 [0035] second gear transmission assembly 23 [0036] first input gear 211 [0037] second input gear 212 [0038] first output bevel gear 213a, 2i3 [0039] third input gear 231 [ 0040] Fourth input gear 232 [0041] Middle bevel gear 233a, 233b [0042] Second output bevel gear 234a, 234b [0043] Mounting seat 112 [0044] Connecting portion 113 Form No. A0101 Page 11 of 21 099117519 0992031128-0 201144002 [0045] First support portion: 114 [0046] Second support portion: 115 [0047] accommodating portion 111 [0048] receiving hole 1141, 1151 [0049] hollow portion 11 31 [0050] bearing 141, 142, 1311 [0051] accommodating groove 1121 [0052] first shaft hole 1122 [0053] second shaft hole 1123 [0054] first shaft seat 1124 [0055] second shaft seat 1125 [0056] first gear shaft 1127 [0057] Second Gear Shaft 1128 [0058] Adjustment Mechanism 30 [0059] Via 31 [0060] Threaded Hole 32 [0061] The first mounting hole 121 [0063] The second mounting hole 121 [0063] The second mounting hole 122 099117519 Form number A0101 Page 12 / 21 page 0992031128-0 201144002 [0064] [0066] [0067] [0070] [0072] [0072] First end 123 free end 131 gear mounting end 132 first thrust bearing 1312 adjustment member 50 internal thread 1313 sleeve 51 elastic member 52 second thrust bearing 53 ο 099117519 Form No. 1010101 Page 13 of 21 0992031128-0