201217128 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，尤其涉及一種具有線束 失持機構之機器人臂部件。 【先前挂術】 [0002] 工業機器人通過包括複數相互連接之機械臂、用於驅動 各機械臂運動之伺服電機、控制各伺服電機動作之控制 器，以及用於將電源傳送至伺服電機或在控制器與词服 電機之間傳遞控制訊號之線束（包括電源線、訊號線等 )。線束通常從機器人之底座内廷伸出來，並連接至飼 服電機及感測器等。因機械人之各臂部件會，產生相對運 動，若上述線束不能採用穩固之方式加以固定，貝, 容易因為被牽連、拉扯或來回擺動，而與機械臂或者機 器人之其他部件間產生刮擦而被磨損，造成控制器報邀 〇 【發明内容】 [〇〇〇3] 鑒於上述狀況，有必要提供一举線束可被穩固夾持之機 器人臂部件。 [0004]—種機器人臂部件，其包括第一軸座、相對於第—軸座 可轉動之第二軸座、線束以及用於夾持線束之夾緊機構 。第二軸座繞一旋轉轴線轉動，第一軸座開設有沿該旋 轉軸線方向延伸之第一過線孔，第二軸座開設第二過線 孔，該線束分別穿設於該第一過線孔、第二過線孔及夾 緊機構。夾緊機構包括與該第二軸座固定連接之本體， 以及鎖緊元件。本體一端形成一可徑向形變之束緊部， 099137087 表單編號A0101 第4頁/共14頁 0992064695-0 201217128 [0005] [0006]Ο [0007]❹ [0008] 099137087 鎖緊元件與本體螺接並迫緊束緊部使束緊部夾緊該線束 0 上述機器人臂部件藉由束緊部之徑向形變，可穩固地夾 持線束，避免線束因被牵連、拉扯或跟隨擺動而在第一 過線孔、第二過線孔内移動，防止線束被磨損或者到擦 ，進而保護線束。 【實施方式】 請參閱圖1及圖2，本發明實施例之機器人臂部件1〇〇包括 包括第一轴座10、相對於第一轴座10可轉動之第二軸座 20、線束30，以及用於夾持線束30之夾緊機構4〇。第二 轴座20繞一旋轉轴線21轉動》第一軸座1〇開設有沿旋轉 軸線21方向延伸之第一過線孔11，第二轴座2〇開設第二 過線孔22 ’線束30分別穿設於第一過線孔11、第二過線 孔22及夾緊機構40。 本實施方式中’機器人臂部件100應用於气軸機器人中， 其中第一軸座10可固定至一安裝基座，如地面等。第一 軸座10大致為一杯狀體，其一側具有一開口（圖未標）， 開口處固定設置一連接板102，用於封閉開口。線束3〇一 端連接至連接板102並連接至控制器（圖未示），另一端 從第一過線孔11穿出，並最終被連接至伺服馬達或感測 器等（圖未示）。線束30可具有複數線纜，該複數線瘦 可綁定在一起，或收容於一收容套管内。 機器人臂部件1〇〇還包括與第二軸座2〇轉動連接之機械臂 ’設置於第一軸座10與第二軸座20間之擺線針輪減速 機5丨，安裝於第二轴座20用於驅動第二軸座2〇之第〆電 表單編號Α0101 第5頁/共14頁 0992064695-0 201217128 機24以及用於驅動機械臂50之第二電機25。擺線針輪減 速機 51 可採用 RV 減速機（Rotary Vector Reducer) 。第一電機24與第二電機25相鄰設置’且輸出轴相互垂 直。擺線針輪減速機51與第一電機24之輸出運動耦接， 以使第二轴座2〇獲得適當之轉速並具有平穩之運動。 [0009] 擺線針輪減速機51中心開設有沿旋轉轴線21延伸之第三 過線孔512，第三過線孔512與第二過線孔22相連通。第 三過線孔512内還固定設置有供線束30穿設之橡穆套筒6〇 °設置橡膠套筒60可避免線束3 0直接與擺線針輪減速機 51相互磨擦，起到保護線束30之作用。201217128 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 having a wire harness drop mechanism. [Previous Hanging] [0002] The industrial robot passes a robot arm including a plurality of interconnected robots, a servo motor for driving the movement of each robot arm, a controller for controlling the operation of each servo motor, and a power source for transmitting the power to the servo motor or A harness for transmitting control signals (including power lines, signal lines, etc.) between the controller and the word service motor. The wire harness usually protrudes from the inside of the base of the robot and is connected to the feeding motor and sensor. Because the arm parts of the robot will cause relative motion, if the wire harness cannot be fixed in a stable manner, it is easy to be scratched due to being pulled, pulled or oscillated back and forth, and the mechanical arm or other parts of the robot are scraped. Worn out, causing the controller to invite 〇 [Abstract] [〇〇〇3] In view of the above situation, it is necessary to provide a robot arm component in which the wire harness can be firmly held at one stroke. A robot arm member includes a first axle housing, a second axle housing rotatable relative to the first axle housing, a wire harness, and a clamping mechanism for clamping the wire harness. The second shaft seat rotates about a rotation axis, the first shaft seat is provided with a first wire hole extending in the direction of the rotation axis, and the second shaft seat is provided with a second wire hole, and the wire harness is respectively disposed on the first wire hole Through hole, second through hole and clamping mechanism. The clamping mechanism includes a body fixedly coupled to the second axle block, and a locking element. One end of the body forms a tightenable portion that can be radially deformed, 099137087 Form No. A0101 Page 4 / Total 14 Page 0992064695-0 201217128 [0005] [0006] Ο [0007] 0008 [0008] 099137087 The locking element is screwed to the body And tightening the tightening portion to clamp the tightening portion to the wire harness. The robot arm member is stably deformed by the radial deformation of the tightening portion to prevent the wire harness from being tied, pulled or followed by the swinging. The wire hole and the second wire hole move to prevent the wire harness from being worn or rubbed, thereby protecting the wire harness. 1 and 2, a robot arm member 1A according to an embodiment of the present invention includes a first shaft base 10, a second shaft base 20 rotatable relative to the first shaft base 10, and a wire harness 30, And a clamping mechanism 4 for clamping the wire harness 30. The second shaft base 20 rotates about a rotation axis 21. The first shaft base 1 is opened and provided with a first wire hole 11 extending in the direction of the rotation axis 21, and the second shaft base 2 defines a second wire hole 22' harness. 30 is respectively disposed in the first through hole 11 , the second through hole 22 , and the clamping mechanism 40 . In the present embodiment, the robot arm member 100 is applied to an air shaft robot in which the first axle housing 10 can be fixed to a mounting base such as the ground or the like. The first axle base 10 is substantially a cup-shaped body having an opening (not shown) on one side, and a connecting plate 102 is fixedly disposed at the opening for closing the opening. One end of the wire harness 3 is connected to the connecting plate 102 and connected to the controller (not shown), and the other end is passed out from the first wire passing hole 11 and finally connected to a servo motor or a sensor or the like (not shown). . The wire harness 30 can have a plurality of wires that can be tied together or housed in a containment sleeve. The robot arm member 1A further includes a mechanical arm 'rotually coupled to the second shaft base 2', and a cycloid reducer 5' disposed between the first shaft base 10 and the second shaft base 20, and is mounted on the second shaft The base 20 is used to drive the second shaft base 2'''''''''''''''''''' The cycloid reducer 51 can be used with an RV reducer (Rotary Vector Reducer). The first motor 24 is disposed adjacent to the second motor 25 and the output shafts are perpendicular to each other. The cycloidal pinion reducer 51 is coupled to the output motion of the first motor 24 to achieve a suitable rotational speed of the second shaft base 2 and has a smooth motion. The center of the cycloid reducer 51 is provided with a third through hole 512 extending along the rotation axis 21, and the third through hole 512 is in communication with the second through hole 22. The rubber wire sleeve 6 for the wire harness 30 is fixedly disposed in the third wire hole 512. The rubber sleeve 60 is disposed to prevent the wire harness 30 from directly rubbing against the cycloid reducer 51 to protect the wire harness. The role of 30.
[0010] 請同時參見圖2和圖3，夾緊機構40包括與第二軸座2〇固 定連接之本體41，以及鎖緊元件42。本體41—端形成一 俚问形變之束緊部412 Λ々、〜·丨1 41螺接並』 緊束緊部412使束緊部4丨2失緊線束30。藉由束緊部412 ==可穩固地失持線束3。，避免線_因被機 械臂50或者其他部件♦連、拉扯或者產生擺 過線孔11、第二過綾忠9〇 在弟 線22，第三過槔孔512内移動，防」 線束30被磨損或者刮捭 助防」 [0011] 緊機構4 0還進一步包括與本體 連接之連接座43，以； u及攻置於線束30與束緊部41< 之間之橡膠夾緊圈4^ *圏45。橡膠夾緊圈45因其材料 起到保護線束30之作用。 4 [0012] 本體41還包括一位於复 &其中部之凸緣部413 413與束緊部412之間夕货 “， 間之第一螺紋部414、 、形成於凸緣部 以及與束緊部 099137087 表單蝙號Α0101 第6頁/共14頁 0992064695-0 201217128 41 2相對之第二螺紋部415。夾緊機構4〇還包括與第二螺 紋部415螺接之鎖止件416。 [0013] Ο [0014] 束緊部412具有一圓錐面4121，且開設有複數沿徑向延伸 之狹縫4122。該等狹縫4122使該束緊部412形成一彈性 夾爪。鎖緊元件42為一鎖緊螺母，其具有一與束緊部412 之外圓錐面4121相適配之内抵壓面421以及與第一螺紋部 414相互螺接之内螺紋部422。當鎖緊元件42與本體41螺 接時’内抵壓面421壓迫外圓錐面4121，以使束緊部412 沿徑向形變’藉由調節鎖緊元件42相對於與本體41之位 置’可相應調節束緊部412之變形量。 Ο [0015] 連接座43大致呈“υ”形片狀，且中部開設貫穿孔431以 套設於第二螺紋部415並與凸緣部413相抵擋，其二端分 別延伸出一連接端432 »鎖止件416與第二螺紋部415螺 接，從而將固定於第本體41。連接端432開設有通孔 4321。連接座43藉由穿設于通孔4321之螺紋件（圖未標 )與第一軸座20上相應之安裝孔（圖未示）固定連接， 從而將本體41輿第二軸座20固定。 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】 圖1係本發明實施例之機器人臂部件之立體圖。 099137087 表單編號Α0101 第7頁/共14頁 0992064695-0 [0016] 201217128 [0017] 圖2係沿圖1中I I - 11線之剖視圖。 [0018] 圖3係圖1所示機械人臂部件之用於夾持線束之夾緊機構 之立體分解圖。 【主要元件符號說明】 [0019] 機器人臂部件1 0 0 [0020] 第一軸座10 [0021] 第二軸座20 [0022] 線束 3 0 [0023] 夾緊機構40 [0024] 旋轉軸線21 [0025] 第一過線孔11 [0026] 第二過線孔22 [0027] 連接板102 [0028] 機械臂50 [0029] 擺線針輪減速機51 [0030] 第三過線孔512 [0031] 第一電機24 [0032] 第二電機2 5 [0033] 橡膠套筒60 [0034] 本體 41 099137087 表單編號A0101 第8頁/共14頁 0992064695-0 201217128 [0035] 鎖緊元件42 [0036] 束緊部412 [0037] 連接座43 [0038] 橡膠夾緊圈45 [0039] 凸緣部413 [0040] 第一螺紋部414 [0041] 第二螺紋部415 以 [0042] 鎖止件416 [0043] 外圓錐面4121 [0044] 狹縫4122 [0045] 内抵壓面4 21 [0046] 内螺紋部422 [0047] 貫穿孔431 ❹ [0048] 連接端432 [0049] 通孔4321 099137087 表單編號A0101 第9頁/共14頁 0992064695-02 and 3, the clamping mechanism 40 includes a body 41 fixedly coupled to the second axle housing 2, and a locking member 42. The body 41 is formed with a tightening portion 412, and the tightening portion 412 causes the tightening portion 4丨2 to lose the wire harness 30. The wire harness 3 can be stably lost by the tightening portion 412 ==. , avoiding the wire _ being connected, pulling or generating the pendulum hole 11 by the robot arm 50 or other components, the second passing 绫 〇 9 〇 in the ridge 22, the third boring hole 512, preventing the wire harness 30 from being [0011] The fastening mechanism 40 further includes a connecting seat 43 connected to the body, and a rubber clamping ring 4* that is placed between the wire harness 30 and the tightening portion 41<圏45. The rubber clamping ring 45 serves to protect the wire harness 30 due to its material. [0012] The body 41 further includes a first threaded portion 414 between the flange portion 413 413 and the tightening portion 412 of the complex portion, and is formed on the flange portion and is tightened Section 099137087 Form bat number 101 0101 Page 6 / Total 14 page 0992064695-0 201217128 41 2 opposite second threaded portion 415. The clamping mechanism 4A further includes a locking member 416 that is threadedly coupled to the second threaded portion 415. [0013 [0014] The tightening portion 412 has a conical surface 4121 and is provided with a plurality of radially extending slits 4122. The slits 4122 form the tightening portion 412 to form a resilient jaw. The locking member 42 is a lock nut having an inner pressing surface 421 adapted to the outer conical surface 4121 of the tightening portion 412 and an inner thread portion 422 screwed to the first thread portion 414. When the locking member 42 and the body are engaged When the 41 is screwed, the inner pressing surface 421 presses the outer conical surface 4121 to deform the tightening portion 412 in the radial direction. By adjusting the position of the locking member 42 relative to the body 41, the tightening portion 412 can be adjusted accordingly. The amount of deformation Ο [0015] The connecting seat 43 is substantially in the shape of a "υ" shape, and the through hole 431 is opened in the middle to be sleeved in the second The threaded portion 415 is opposite to the flange portion 413, and the two ends thereof respectively extend from a connecting end 432. The locking member 416 is screwed to the second threaded portion 415 so as to be fixed to the first body 41. The connecting end 432 is opened. The hole 4321. The connecting seat 43 is fixedly connected with a corresponding mounting hole (not shown) of the first shaft seat 20 by a screw member (not shown) passing through the through hole 4321, thereby the second shaft seat of the body 41 20 fixed. 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 is only a preferred embodiment of the present invention, and it is not possible to limit the scope of patent application in this case. The equivalent modifications or variations made by those skilled in the art to the spirit of the present invention are intended to be included in the scope of the following claims. BRIEF DESCRIPTION OF THE DRAWINGS FIG. 1 is a perspective view of a robot arm member according to an embodiment of the present invention. [0018] FIG. 2 is a cross-sectional view taken along line II - 11 of FIG. 1. [0018] FIG. 3 is a mechanical human arm component shown in FIG. Clamping machine for holding a wire harness 3D exploded view. [Main component symbol description] [0019] Robot arm component 1 0 0 [0020] First axle housing 10 [0021] Second axle housing 20 [0022] Wire harness 3 0 [0023] Clamping mechanism 40 [0024] Rotation Axis 21 [0025] First Perforation Hole 11 [0026] Second Perforation Hole 22 [0027] Connection Plate 102 [0028] Robot Arm 50 [0029] Cycloidal Pin Reducer 51 [0030] Three wire hole 512 [0031] First motor 24 [0032] Second motor 2 5 [0033] Rubber sleeve 60 [0034] Body 41 099137087 Form number A0101 Page 8 of 14 0992064695-0 201217128 [0035] Locking element 42 [0036] tightening portion 412 [0037] connecting seat 43 [0038] rubber clamping ring 45 [0039] flange portion 413 [0040] first threaded portion 414 [0041] second threaded portion 415 is [ 0042] Locking member 416 [0043] Outer conical surface 4121 [0044] Slit 4122 [0045] Inner pressing surface 4 21 [0046] Internal thread portion 422 [0047] Through hole 431 ❹ [0048] Connection end 432 [0049 ] Through Hole 4321 099137087 Form No. A0101 Page 9 / Total 14 Page 0992064695-0