201226130 六、發明說明： 【發明所屬之技術領域】 [0001] 本發明涉及一種喷塗機器人臂部件及採用該臂部件之喷 塗機器人。 【先前技術】 [0002] 喷塗機器人一般包括複數依次轉動連接之機械臂，位於 末端之機械臂上安裝有喷塗機構進行喷塗作業。喷塗機 構與用於輸送塗料以及傳輸信號及電力之管線相連，以 接收控制信號並進行喷塗。該等管線藉由設於機械臂外 〇 部之連接結構到達末端之機械臂。然，上述喷塗機器人 在工作時，該等管線暴露於塗料環境中，塗料對管線之 污染，將使管線難於清洗，同時還會有附著於管線表面 之灰塵脫落到工件表面，造成污染而降低喷塗之良率。 【發明内容】 [0003] 鑒於上述内容，有必要提供一種可避免管線暴露於喷塗 環境中而被污染之喷塗機器人臂部件以及採用該臂部件 之喷塗機器人。 ❹ [0004] 一種噴塗機器人臂部件，包括支撐臂、與支撐臂轉動連 接之腕部、與腕部轉動連接用於安裝喷塗機構之末端臂 、驅動腕部之第一驅動機構，以及驅動末端臂之第二驅 動機構。第一驅動機構包括可轉動地設置於支撐臂内之 第一傳動軸、與第一傳動軸止轉連接之第一錐齒輪、與 第一錐齒輪嚙合以旋轉腕部之第二錐齒輪。第二驅動機 構包括可轉動地設置於第一傳動軸内之第二傳動軸、與 第二傳動軸止轉連接之第三錐齒輪、與第三錐齒輪嚙合 099146575 表單編號 A0101 第 5 頁/共 17 頁 0992080055-0 201226130 之第四錐齒輪，與第四錐齒輪同軸且背對設置之第五錐 齒輪，以及與第五錐齒輪嚙合以驅動末端臂之第六錐齒 輪。第一錐齒輪與第三錐齒輪共軸設置，第二錐齒輪與 第四錐齒輪共軸設置。喷塗機器人臂部件整體密封，且 内部形成一供連接至喷塗機構之管線穿設之通道。 [0005] 一種喷塗機器人，包括支撐臂、與支撐臂轉動連接之腕 部、與該部轉動連接末端臂、驅動腕部之第一驅動機構 、驅動末端臂之第二驅動機構、安裝於末端臂之噴塗機 構，以及連接至喷塗機構之管線。喷塗機器人臂部件整 體密封，且内部形成一通道，該管線穿設於該通道内並 連接至該喷塗機構。 [0006] 上述喷塗機器人之管線可密封在喷塗機器人臂部件之内 部，有效防止塗料對管線之污染，還能避免管線磨損。 另，第一驅動機構以及第二驅動機構藉由配置錐齒輪進 行動力傳輸，使得其結構更為緊湊，從而末端臂之活動 空間更大。 【實施方式】 [0007] 下面結合附圖及具體實施方式對本發明之喷塗機器人臂 部件及採用該喷塗機器人臂部件之噴塗機器人作進一步 的詳細說明。 [0008] 請參見圖1至圖3，本發明實施方式之喷塗機器人臂部件 100可應用於六軸喷塗機器人200中。喷塗機器人臂部件 100包括支撐臂20、與支撐臂20轉動連接之腕部30、與 腕部30轉動連接之末端臂40、驅動腕部30之第一驅動機 構50，以及驅動末端臂40之第二驅動機構60。噴塗機器 099146575 表單編號A0101 第6頁/共17頁 0992080055-0 201226130 [0009] Ο [0010] 人2 0 〇包括噴塗機器人臂部件1 〇 〇、噴塗機構7 〇，以及連 接至噴塗機構之管線80。喷塗機構70安裝於末端臂4〇。 支撐臂20繞第一旋轉轴線Α旋轉，第一驅動機構50驅動腕 部30繞第二旋轉軸線8旋轉，第二驅動機構6〇驅動末端臂 40繞第三旋轉軸線c旋轉。第二旋轉軸線b與該第一旋轉 軸線A及第三旋轉軸線C斜交。具體在本實施方式中，第 二旋轉軸線B與第一旋轉轴線A之間之夾角為45。。圖中對 於驅動支撐臂20，以及為第一驅動機構50及第二驅動機 構60之提供動力之電機均未示出。 Ο [0011] 噴塗機器人臂部件1〇〇整體密封，且内部形成一通道1〇1 。通道101貫穿于噴塗機器人臂部件100二端。管線8〇， 例如用於傳送塗料之塗料輸送管、用於傳輸信號之信號 線、提供高壓氣體之氣管，以及提供電力之電線等，穿 設於通道1〇1内並連接至該喷塗機構7〇。將管線8〇密封在 噴塗機器人臂部件1〇〇内部，可以有效防止塗料對管線8〇 - ：, _ ；： 之污染，還能避免管線80之磨損，提高噴塗機器人之可 靠性’減少對管線8〇之維護量。 支撐臂20、腕部30，以及末端臂40均為中空結構。其中 ’支撑臂2G包括-直線延伸之連接筒體21、固定連接於 連接筒體21_端之端蓋22歧固定連接於連接筒體Μ y端且弧形延伸之支㈣體23。腕部3()亦純線延伸， 並與支Μ體23_連接。腕物與切筒㈣連接後 099146575 ，大致共同形成S型。末端臂40包括連接轴部仙及從連 接軸部41外週祕向延伸之法蘭連接部仏連接轴部41 可轉動地配合於腕部30内，法蘭連接部42用 表單編號AOlm 於安裝喷塗 第7頁/共Π頁 0992080055-0 201226130 機構70。 [0012] [0013] [0014] [0015] 第驅動機構50包括可轉動地設置於支撐臂20内之第一 傳動轴51、與第—傳動軸51止轉連接之第一錐齒輪52、 與第一錐齒輪52嗜合以旋轉腕部30之第二錐*輪53。 第二驅動機構6()包括可轉動地設置於第 一傳動軸51内之 第-傳動軸61、與第二傳動軸61止轉連接之第三錐齒輪 62、與第二錐齒輪62嚙合之第四錐齒輪63，與第四錐齒 輪63同軸且背對設置之第五錐齒輪64，以及與第五錐齒 輪64嚙。以驅動末端臂40之第六錐齒輪65。其中，第一 錐齒輪52與第三錐齒輪62共軸設置，第二錐齒輪53與第 四錐齒輪63共輛設置。 本實鉍方式中，第一錐齒輪52固定連接於第一傳動轴51 之一端，第：你 錐齒輪62固定連接於第二傳動軸61之一端 第錐齒輪52套設於第三錐齒輪62外。第四錐齒輪63 與第五錐齒輪64藉由螺紋連接件66固定連接。第六錐齒 輪65與末端臂4〇之連接轴部41固定連接。第二錐齒輪 套設於第四錐齒輪63外。 為使第-傳動轴51、第二傳動轴61、各錐齒輪52、5 :63、64、65、腕部3〇，以及末端臂4〇可順利轉 第傳動軸51與支撐臂2〇之連接筒體21之間、第— 轴5。1與第二傳動軸61之間、第—錐齒輪52與支嫁臂 支撐筒體23之間、第一錐齒輪52與第三錐齒輪^之 第二錐齒輪53與腕部30之間、第二錐齒輪53與第四 輪63之間，以及第六錐齒輪65與腕部3〇之間均設有 099146575 表單蝙號A0101 第8頁/共]7頁 201226130 軸承102。滾動軸承102之型號根據實際需要選擇。 [0016] 支撐臂20與腕部30之間、腕部30與末端臂40之間、第一 傳動軸51與支撐臂20之間，以及第一傳動軸51與第二傳 動軸61之間均設有密封圈103，以使喷塗機器人臂部件 100整體上實現密封。 [0017] 進一步，第三錐齒輪62與第四錐齒輪63之間設置有第一 密封管68，第五錐齒輪64與第六錐齒輪65之間設有第二 密封管69。第一密封管68與支撐筒體23固定連接，第二 密封管69與腕部30固定連接。第一密封管68之外週面與 第三錐齒輪62及第四錐齒輪63之間還設有密封圈104。第 二密封管69之外週面與第五錐齒輪64及第六錐齒輪65之 間還設有密封圈105。 [0018] 本發明之噴塗機器人臂部件100之第一驅動機構50以及第 二驅動機構60藉由配置錐齒輪進行動力傳輸，使得其結 構更為緊湊，末端臂40之活動空間更大。 [0019] 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】 [0020] 圖1係本發明實施方式之喷塗機器人臂部件之立體圖。 [0021] 圖2係應用圖1所示之喷塗機器人臂部件之喷塗機器人之 剖面示意圖。 099146575 表單編號A0101 第9頁/共17頁 0992080055-0 201226130 [0022] 圖3係圖2中III處之放大圖。 【主要元件符號說明】 [0023] 喷塗機器人臂部件100 [0024] 喷塗機器人200 [0025] 支撐臂20 [0026] 腕部 30 [0027] 末端臂40201226130 VI. Description of the Invention: [Technical Field of the Invention] [0001] The present invention relates to a painting robot arm member and a painting robot using the same. [Prior Art] [0002] The painting robot generally includes a plurality of mechanical arms that are rotatably connected in sequence, and a spraying mechanism is mounted on the robot arm at the end for spraying. The spray mechanism is connected to a pipeline for conveying paint and transmitting signals and electricity to receive control signals and spray. The lines reach the end of the robot arm by a connecting structure provided on the outer arm portion of the arm. However, when the above-mentioned spraying robot is in operation, the pipelines are exposed to the paint environment, and the contamination of the pipeline on the pipeline will make the pipeline difficult to clean, and at the same time, dust adhering to the surface of the pipeline will fall off to the surface of the workpiece, causing pollution and reducing. The rate of spraying. SUMMARY OF THE INVENTION [0003] In view of the above, it is necessary to provide a painting robot arm member that can be contaminated by exposure of a pipeline to a spray environment and a painting robot using the same. 0004 [0004] A painting robot arm assembly includes a support arm, a wrist portion rotatably coupled to the support arm, a distal end arm rotatably coupled to the wrist for mounting the spray mechanism, a first drive mechanism for driving the wrist, and a drive end The second drive mechanism of the arm. The first drive mechanism includes a first drive shaft rotatably disposed within the support arm, a first bevel gear that is non-rotatably coupled to the first drive shaft, and a second bevel gear that meshes with the first bevel gear to rotate the wrist. The second driving mechanism includes a second transmission shaft rotatably disposed in the first transmission shaft, a third bevel gear fixedly coupled to the second transmission shaft, and the third bevel gear meshing 099146575 Form No. A0101 Page 5 / Total The fourth bevel gear of the page 0992080055-0 201226130 is a fifth bevel gear coaxial with the fourth bevel gear and disposed opposite to the fifth bevel gear, and a sixth bevel gear that meshes with the fifth bevel gear to drive the end arm. The first bevel gear and the third bevel gear are disposed coaxially, and the second bevel gear and the fourth bevel gear are disposed coaxially. The spray robot arm member is integrally sealed and internally forms a passage for the pipeline to be connected to the spray mechanism. [0005] A painting robot includes a support arm, a wrist portion rotatably coupled to the support arm, a front end arm pivotally coupled to the portion, a first drive mechanism for driving the wrist portion, a second drive mechanism for driving the end arm, and a second drive mechanism mounted at the end The arm spraying mechanism and the line connected to the spraying mechanism. The spray robot arm member is integrally sealed and internally forms a passage through which the line is threaded and connected to the spray mechanism. [0006] The pipeline of the above-mentioned painting robot can be sealed inside the arm part of the painting robot, effectively preventing contamination of the pipeline by the coating, and avoiding wear of the pipeline. In addition, the first drive mechanism and the second drive mechanism are configured to be power-transmitted by configuring the bevel gear, so that the structure is more compact, and the movable space of the end arm is larger. [Embodiment] The painting robot arm member of the present invention and the painting robot using the painting robot arm member will be further described in detail below with reference to the accompanying drawings and specific embodiments. Referring to FIGS. 1 through 3, a painting robot arm assembly 100 of an embodiment of the present invention may be applied to a six-axis painting robot 200. The painting robot arm assembly 100 includes a support arm 20, a wrist 30 rotatably coupled to the support arm 20, a distal arm 40 rotatably coupled to the wrist 30, a first drive mechanism 50 that drives the wrist 30, and a drive end arm 40. The second drive mechanism 60. Spraying machine 099146575 Form No. A0101 Page 6 of 17 0992080055-0 201226130 [0009] Ο [0010] Person 2 0 〇 includes painting robot arm part 1 喷涂, spraying mechanism 7 〇, and line 80 connected to the spraying mechanism . The spray mechanism 70 is mounted to the end arm 4''. The support arm 20 is rotated about a first axis of rotation, the first drive mechanism 50 drives the wrist 30 to rotate about a second axis of rotation 8, and the second drive mechanism 6 drives the end arm 40 to rotate about a third axis of rotation c. The second axis of rotation b is oblique to the first axis of rotation A and the third axis of rotation C. Specifically, in the present embodiment, the angle between the second rotation axis B and the first rotation axis A is 45. . The motor for driving the support arm 20 and for powering the first drive mechanism 50 and the second drive mechanism 60 are not shown.喷涂 [0011] The spray robot arm member 1 is integrally sealed and internally forms a passage 1〇1. The passage 101 extends through both ends of the painting robot arm assembly 100. a pipeline 8 〇, such as a paint conveying pipe for conveying paint, a signal wire for transmitting signals, a gas pipe for supplying high-pressure gas, and a wire for supplying electric power, etc., are disposed in the passage 1〇1 and connected to the spraying mechanism 7〇. Sealing the pipeline 8〇 inside the spray robot arm part 1, can effectively prevent the contamination of the pipeline to the pipeline 8〇-:, _;:, and also avoid the wear of the pipeline 80, and improve the reliability of the spray robot. 8〇 maintenance amount. The support arm 20, the wrist 30, and the distal arm 40 are all hollow structures. The support arm 2G includes a linearly extending connecting cylinder 21, and an end cover 22 fixedly connected to the end of the connecting cylinder 21_ is fixedly connected to the branch (4) body 23 extending in an arc shape. The wrist 3() also extends in a pure line and is connected to the support body 23_. After the wrist and the cutting cylinder (four) are connected, 099146575, roughly form an S-shape. The distal arm 40 includes a connecting shaft portion and a flange connecting portion extending from the outer periphery of the connecting shaft portion 41. The connecting shaft portion 41 is rotatably fitted in the arm portion 30, and the flange connecting portion 42 is mounted by the form number AOlm. Spraying Page 7 / Total Page 0992080055-0 201226130 Mechanism 70. [0015] [0015] [0015] The first drive shaft 50 rotatably disposed in the support arm 20, the first bevel gear 52 that is non-rotatably connected to the first drive shaft 51, and The first bevel gear 52 is adapted to rotate the second cone* wheel 53 of the wrist 30. The second drive mechanism 6 () includes a first drive shaft 61 rotatably disposed in the first drive shaft 51, a third bevel gear 62 that is non-rotatably coupled to the second drive shaft 61, and meshed with the second bevel gear 62. The fourth bevel gear 63 is coaxial with the fourth bevel gear 63 and disposed opposite to the fifth bevel gear 64 and the fifth bevel gear 64. The sixth bevel gear 65 of the end arm 40 is driven. The first bevel gear 52 and the third bevel gear 62 are disposed coaxially, and the second bevel gear 53 and the fourth bevel gear 63 are disposed in common. In the embodiment, the first bevel gear 52 is fixedly connected to one end of the first transmission shaft 51. The bevel gear 62 is fixedly connected to one end of the second transmission shaft 61. The bevel gear 52 is sleeved on the third bevel gear 62. outer. The fourth bevel gear 63 and the fifth bevel gear 64 are fixedly connected by a screw connection 66. The sixth bevel gear 65 is fixedly coupled to the connecting shaft portion 41 of the end arm 4A. The second bevel gear is sleeved outside the fourth bevel gear 63. In order to make the first drive shaft 51, the second drive shaft 61, the bevel gears 52, 5: 63, 64, 65, the wrist 3 〇, and the end arm 4 〇 can smoothly rotate the first transmission shaft 51 and the support arm 2 Between the connecting cylinders 21, between the first shaft 5.1 and the second transmission shaft 61, between the first bevel gear 52 and the support arm supporting cylinder 23, the first bevel gear 52 and the third bevel gear There is a 099146575 between the second bevel gear 53 and the wrist 30, between the second bevel gear 53 and the fourth wheel 63, and between the sixth bevel gear 65 and the wrist 3〇. Form No. A0101 Page 8 / Total]7 pages 201226130 Bearing 102. The model of the rolling bearing 102 is selected according to actual needs. [0016] between the support arm 20 and the wrist 30, between the wrist 30 and the end arm 40, between the first transmission shaft 51 and the support arm 20, and between the first transmission shaft 51 and the second transmission shaft 61 A seal ring 103 is provided to allow the spray robot arm assembly 100 to be sealed as a whole. Further, a first seal pipe 68 is disposed between the third bevel gear 62 and the fourth bevel gear 63, and a second seal pipe 69 is disposed between the fifth bevel gear 64 and the sixth bevel gear 65. The first sealing tube 68 is fixedly coupled to the support cylinder 23, and the second sealing tube 69 is fixedly coupled to the wrist portion 30. A seal ring 104 is further provided between the outer peripheral surface of the first seal pipe 68 and the third bevel gear 62 and the fourth bevel gear 63. A seal ring 105 is further provided between the outer peripheral surface of the second seal pipe 69 and the fifth bevel gear 64 and the sixth bevel gear 65. [0018] The first drive mechanism 50 and the second drive mechanism 60 of the spray robot arm assembly 100 of the present invention are powered by the bevel gears, so that the structure is more compact and the movable space of the end arms 40 is larger. [0019] 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 [0020] FIG. 1 is a perspective view of a painting robot arm member according to an embodiment of the present invention. 2 is a schematic cross-sectional view of a painting robot applying the painting robot arm member shown in FIG. 1. 099146575 Form No. A0101 Page 9 of 17 0992080055-0 201226130 [0022] FIG. 3 is an enlarged view of a portion III in FIG. [Main Component Symbol Description] [0023] Spray Robot Arm Assembly 100 [0024] Spray Robot 200 [0025] Support Arm 20 [0026] Wrist 30 [0027] End Arm 40
[0028] 第一驅動機構50 [0029] 第二驅動機構60 [0030] 喷塗機構70 [0031] 管線 80 [0032] 通道 101 [0033] 連接筒體21 [0034] 端蓋 2 2 [0035] 支撐筒體23 [0036] 連接軸部41 [0037] 法蘭連接部42 [0038] 第一傳動軸51 [0039] 第一錐齒輪52 [0040] 第二錐齒輪53 099146575 表單編號A0101 第10頁/共17頁 0992080055-0 201226130First drive mechanism 50 [0029] second drive mechanism 60 [0030] spray mechanism 70 [0031] line 80 [0032] channel 101 [0033] connection barrel 21 [0034] end cap 2 2 [0035] Supporting cylinder 23 [0036] Connecting shaft portion 41 [0037] Flange connecting portion 42 [0038] First transmission shaft 51 [0039] First bevel gear 52 [0040] Second bevel gear 53 099146575 Form No. A0101 Page 10 / Total 17 pages 0992080055-0 201226130
[0041] 第二傳動軸 61 [0042] 第三錐齒輪 62 [0043] 第四錐齒輪 63 [0044] 第五錐齒輪 64 [0045] 第六錐齒輪 65 [0046] 螺紋連接件 66 [0047] 滚動軸承10 2 [0048] 密封圈103 ' 104 '105 [0049] 第一密封管 68 [0050] 第二密封管 69 [0051] 第一旋轉軸線A [0052] 第二旋轉軸線B [0053] 第三旋轉軸線C Ο 099146575 表單編號 Α0101 第 11 頁/共 17 頁 0992080055-0[0041] Second Drive Shaft 61 [0042] Third Bevel Gear 62 [0043] Fourth Bevel Gear 63 [0044] Fifth Bevel Gear 64 [0045] Sixth Bevel Gear 65 [0046] Threaded Connector 66 [0047] Rolling bearing 10 2 [0048] Sealing ring 103 ' 104 '105 [0049] First sealing tube 68 [0050] Second sealing tube 69 [0051] First axis of rotation A [0052] Second axis of rotation B [0053] Third axis of rotation C Ο 099146575 Form number Α0101 Page 11 of 17 0992080055-0