1270447 九、發明說明： ' 【發明所屬之技術領域】 ' 本發明關於一種多關節機械手臂與手首，尤其關於一種 具有雙臂以上的機械手臂與手首及其連動機構。 【先前技術】 長期以來，在生產線上，一直有著生產自動化的需求， 希望以機械取代人力，達到高效率，高品質，低不良率， 低成本的需求。而發明人在實務中所接觸之機械人，不但 ® 價格昂貴，售後服務及維修保養，更是一大問題。因此有 必要就實際產業的需要，發明一種更加優良之機械手臂， 尤其是一種可以附掛多隻機械手臂及手首的機械手臂。 如第8圖所示，目前市面上所有的多關節機械手臂，皆 爲單一手首系統，其每一座機械人手臂前臂與手首，都需 要個別的驅動裝置（如個別馬達的驅動），因此在採用具 有兩座手首的機械手臂的場合時，即會需要兩組以上的驅 φ 動馬達，在使用上產生生產成本增加，且習知技術並未對 如何操控、驅動具有兩座手首的機械手臂提出教示。 第1圖爲一種3關節（3軸）之前臂加手首結構，其爲一種 習知的多關節機械手臂的前臂加手首結構其中之一種，需 要三個驅動馬達，用以帶動單一前臂與手首上之各關節， 其中： 轉臂（A1，A2 )以U軸爲中心旋轉，旋轉方向爲T 1、 T2 基座（B1，B 2 )以V軸爲中心旋轉，旋轉方向爲N1、 1270447 N2 基軸（Cl，C2 )以W軸爲中心旋轉，旋轉方向爲R1 R2 請繼續參閱圖式，其之連動方式可拆解如下表一： 表格一 A.在單臂單手首的情形： 1.馬達A正轉—轉臂之驅動軸SA1旋轉方向T1 -> $$#A1旋轉方向T1 2.馬達B正轉—基座之驅動軸S B1旋轉方向T1 -> 基座B1旋轉方向ri 3.馬達C正轉—基軸之驅動軸S C1旋轉方向T1 — $軸〇1旋轉方向N1 B .在對稱單臂與手首之情形： 4.馬達AA正轉—轉臂之驅動軸SA2旋轉方向T2- $專臂A2旋轉方向T2 5.馬達BB正轉-基座之驅動軸SB2旋轉方向T2 -> 旋轉方向R2 6.馬達CC正轉—基軸之驅動軸SC2旋轉方向T2 - 基軸C2旋轉方向N1 由上述連動關係可清楚發現，對稱單臂係乃採用兩組單 ® 一前臂與手首機械手臂之組合，其除了需要6個驅動馬達 之外，當A與AA，B與BB，C與CC對稱馬達同樣正轉或 逆轉時，A與AA馬達帶動的旋轉方向相反，B與BB馬達 帶動的旋轉方向亦相反，因此會造成不同步的情形，並不 能直接採用在同步作業的環境中，如同步執行搬運或噴漆 等。 且因生產線的容積十分寶貴，若能使用更少的馬達同時 同步驅動多組手臂與手首，一座機器手臂之大臂可分支出 6 1270447 . 兩隻以上的前臂與手首，則可同時進行兩個以上的同步作 、 業’大量減少設備所佔用的空間，降低設備，廠房成本， 節約能源，並增加產量。 【發明內容】 爲達上述目的，本發明提出一種具有雙手首或多手首的 多關節機械手臂，其僅需使用一組驅動馬達，即可同時同 步驅動兩組之機械手前臂，使得一套機械手臂驅動系統， I 得以安裝兩支以上的機械手前臂與手首，並同步執行如噴 漆’搬運，焊接等工作。本發明並提出用於兩隻機械手臂 的一種同步驅動該多隻機械手臂的連動機構。 【實施方式】 爲了使得一隻機械手臂之大臂能夠具有同步的雙前臂與 手首，本發明除了採用傳統的單前臂之基礎系統外，亦設 計出雙臂系統，其並使用特殊的一連動機構，使得由兩隻 單前臂組成的雙臂系統得以同步動作，達到由一組馬達同 • 時驅動兩隻機械手前臂與手首的功效，倍增產能。 請參閱第2圖，如第2A圖所示，馬達A驅動轉臂A1於 旋轉方向T1與T2方向旋轉；2B圖之馬達C驅動基軸C1 於旋轉方向N1與N2方向旋轉；2C圖之馬達B驅動基座 B1於旋轉方向R1與R2方向旋轉’由此構成之機械手臂前 臂與手首可有如圖示旋轉方向（軸U，V，W)之三維自由度， 傳統的多關節機械手臂之前臂與手首即可被拆解成如第2 圖所示之分解運動圖’其爲未採用本發明之構成時的情況。 7 1270447 接著請參閱第3圖，第3圖即顯示本發明之多關節機械 _ 手臂，如第3圖所示，在最佳實施例中，本發明之多關節 '機械手臂亦採用3個驅動馬達A、B與C，而在第3C圖中， 前臂之驅動馬達連接處接有兩隻對向設置的轉臂 A1與 A2，接著請繼續參閱第3 B、3 C圖’從本發明之多關節機 械手臂的上視圖等可以發現該驅動部係具有馬達A、B與 C、從動傘形齒輪al、bl、cl與c2，聯結軸Sa、Sb、Scl 與Sc2，基座Bl、B2與基軸Cl、C2等構成。從第3C圖 B 之前視圖可看見本發明之雙臂的轉臂Al，A2以U軸爲中 心旋轉，旋轉方向ΤΙ、T2 ;基座Bl，B2以V軸爲中心旋 轉，旋轉方向Nl、N2，·基軸Cl，C2以W軸爲中心旋轉， 旋轉方向Rl、R2。 第4A圖所示爲連結本發明第3圖之兩隻機械手臂之轉臂 A1與A2的一連動構件，其中爲使左右對向設置的兩隻聯 結軸Sc2與Scl在馬達帶動基軸之驅動軸SCI，SC2動作 φ 時具有同方向同步作業的功能，因此需要將聯結軸S c 1與 S 〇2 (請注意聯結軸中的c爲小寫）的旋轉方向相反，如此 基軸SCI、SC2的旋轉方向N1與N2(未顯示）才會左右 同步動作擺動，而不會產生內八或外八字的誤動作，而4B 圖爲齒輪aal、bbl，聯結軸Sa、Sb的連結關係圖示，可 清楚的看見，第4B圖中的齒輪aal、bbl與聯結軸Sa、Sb 係設置爲一體。第4C圖則爲齒輪cel、cc2，聯結軸Scl、 Sc2的連結圖示，可清楚的看見，齒輪ccl與聯結軸Scl 8 1270447 爲一組，其在本最佳實施例中被指定爲逆時針旋轉，而齒 輪CC2與聯結軸Sc2爲一組，其被指定爲順時針旋轉；於運 轉時（正或逆轉）互爲反方向。如第9圖右側所示，該傳動 機構亦可爲由鍊條Bel，Bc2或皮帶B a, Bb來實施，只要能 達成齒輪eel與cc2各於不同方相旋轉即可，例如齒輪eel 與cc2可使用一傘形齒輪來連動者。 爲了清晰起見，發明人特將馬達A、C與B的斷面前視 圖繪製於第5圖中，其中中間的馬達C斷面前視圖即顯示 B 了採用如第4C圖所示的構成。 接著，請參閱第6圖，該圖進一步顯示了第5圖中間之 主動傘形齒輪c，從動傘形齒輪cl、c2，聯結軸Scl、Sc2 的連結關係，如圖所示，爲了使聯結軸S c 1、S c2產生相反 運動方向的功能，本發明採用了兩個從動傘形齒輪cl與 c2，並如第6C圖所示般的進行動力傳輸，即是： 請一倂參閱第5圖，以上方馬達A直結或聯結減速裝置後 φ 驅動聯結於減速裝置上之傘形齒輪a，傘形齒輪a驅動下方 之另一傘形齒輪a 1，傘形齒輪a 1帶動聯結軸S a旋轉，聯 結軸S a連結左右兩側轉臂A1，A2 (此圖未顯示）之驅動 軸SA1，SA2 ; SA1，SA2轉動時，右側轉臂A1，與左側 轉臂A2產生同方向運動。 以上方馬達B直結或聯結減速裝置後，驅動聯結於減速 裝置上之傘形齒輪b，傘形齒輪b驅動下方之另一傘形齒 輪bl，傘形齒輪bl帶動聯結軸Sb旋轉，聯結軸Sb連結 9 1270447 左右兩側基座B 1、B 2 (此圖未顯示）之驅動軸S B 1，S B 2 ; SB1，SB2轉動時，右側基座Bl，與左側基座B2產生同方 ' 向運動。 以上方馬達C直結或聯結減速裝置後，驅動聯結於減速 裝置上之傘形齒輪c，傘形齒輪c驅動下方之另兩個傘形齒 輪c 1、c2，傘形齒輪c 1帶動聯結軸S c 1旋轉，聯結軸s c 1 連結右側基軸C 1之驅動軸S C 1，傘形齒輪c2帶動聯結軸 Sc2旋轉，聯結軸Sc2連結左側基軸C2之驅動軸SC2，聯 結軸Sc 1，Sc2轉動時，旋轉速度相同，方向相反，右側基 軸C1，與左側基軸C2產生同方向運動。 因此，A，B，C三個馬達轉動時，左右兩側之機械手 臂產生同方向之同步運動方式，但本發明不限於此，該處 的動力傳輸亦可經由鏈條、皮帶等對等傳輸機構來達成。 最後請參閱第7圖，該圖爲本發明之使用示意圖，如 圖所示，本發明之多關節機械手臂大臂在該示意圖中係由 φ 上方懸垂而下，並有兩隻分支前臂與手首，同步作動，因 此僅需一位操作人員即可搭配兩隻機械手臂作業。 熟悉此技藝者應當瞭解的是機械的任何動力配置或 傳動配置皆可被毫無困難的被實施，且手首結構型式有多 種，本例僅舉一種，其他種型式之手首結構凡應用此裝置 可達同步運動者，應被視爲相同。本發明意欲納入申請專 利範圍保護者乃爲一種可同步的同時驅動兩隻機械手臂與 手首的裝置，任何可輕易完成的修改或變動皆應被認爲是 10 1270447 一種變形的實施，並應被視爲涵蓋於本發明之申請專利範 圍中，合先敘明。 【圖式簡單說明】 第1圖爲習知多關節機械手臂前臂與手首之一種示意圖； 第2圖爲根據本發明之前臂與手首馬達傳動及自由度示意 圖； 第3圖爲根據本發明之雙手首系統示意圖； 第4圖爲根據本發明之雙手首系統同步構件示意圖； 第5圖爲根據本發明之雙手首系統同步構件各部斷面示意 圖； 第6圖爲根據本發明之實施例基軸傳動構件示意圖； 第7圖爲根據本發明之生產線上之實施例； 第8圖爲習知多關節機械手臂之一種；以及 第9圖爲根據本發明之雙手首系統另一種同步構件之示胃 圖。 φ 【主要元件符號說明】 A，B，C，AA，BB，CC …馬達 Al，A2 …轉臂1270447 IX. Description of the invention: ' [Technical field to which the invention pertains] The present invention relates to a multi-joint mechanical arm and a hand, and more particularly to a mechanical arm having an arm or more and a hand and a linkage mechanism thereof. [Prior Art] For a long time, in the production line, there has been a demand for production automation, and it is hoped that the manpower will be replaced by machinery to achieve high efficiency, high quality, low defect rate, and low cost. The robots invented by the inventor in practice are not only expensive, but also after-sales service and maintenance. Therefore, it is necessary to invent a more excellent robotic arm for the needs of the actual industry, especially a robotic arm that can attach a plurality of robot arms and hand heads. As shown in Figure 8, all of the multi-joint robots currently on the market are single-handed systems. Each of the robot's forearms and hand ends requires individual drives (such as individual motor drives), so In the case of a robot arm with two hand heads, more than two sets of driving motors are required, which increases the production cost in use, and the prior art does not propose how to manipulate and drive the robot arm with two hand heads. Teaching. Figure 1 is a 3-joint (3-axis) front arm plus hand first structure, which is one of the well-known multi-joint mechanical arm forearm plus hand first structure, which requires three drive motors to drive a single forearm and hand Each joint, wherein: the arm (A1, A2) rotates around the U axis, and the direction of rotation is T 1 , T2. The base (B1, B 2 ) rotates around the V axis, and the direction of rotation is N1, 1270447 N2 base axis (Cl, C2) rotates around the W axis, and the direction of rotation is R1 R2. Please continue to refer to the figure. The linkage mode can be disassembled as shown in the following table 1: Table A. In the case of a single arm with one hand: 1. Motor A Forward rotation - drive shaft SA1 rotation direction T1 ->$$#A1 rotation direction T1 2. Motor B forward rotation - base drive shaft S B1 rotation direction T1 -> base B1 rotation direction ri 3. Motor C forward rotation - base shaft drive shaft S C1 rotation direction T1 — $ axis 〇 1 rotation direction N1 B. In the case of symmetrical single arm and hand: 4. Motor AA forward rotation - drive shaft SA2 rotation direction T2- $Special arm A2 rotation direction T2 5. Motor BB forward rotation - base drive shaft SB2 rotation direction T2 -> rotation direction R2 6. Motor CC forward rotation - base shaft drive shaft SC2 rotation direction T2 - base shaft C2 rotation direction N1 It can be clearly seen from the above-mentioned linkage relationship that the symmetrical single arm system adopts a combination of two sets of single-one forearm and hand-manipulator, except In addition to the six drive motors, when A and AA, B and BB, C and CC symmetrical motors are also forward or reverse, the rotation direction of A and AA motors is opposite, and the rotation direction of B and BB motors is opposite. Therefore, it may cause unsynchronization, and it cannot be directly used in the environment of synchronous operation, such as simultaneous execution of carrying or painting. And because the volume of the production line is very valuable, if you can use more motors to simultaneously drive multiple sets of arms and hands, the arm of one robot arm can branch out 6 1270447. More than two forearms and hands can do two at the same time. The above-mentioned simultaneous operation, industry 'largely reduce the space occupied by equipment, reduce equipment, plant costs, save energy, and increase production. SUMMARY OF THE INVENTION In order to achieve the above object, the present invention provides a multi-joint robotic arm having a first or a plurality of hands, which can simultaneously simultaneously drive two sets of robotic forearms using a set of driving motors, so that a set of machines The arm drive system, I can install more than two robotic forearms and hand heads, and simultaneously perform tasks such as painting, handling, and welding. The present invention also proposes a linkage mechanism for simultaneously driving the plurality of robot arms for two robot arms. [Embodiment] In order to enable the boom of a robot arm to have synchronized double forearms and hand heads, the present invention also designs a dual-arm system in addition to the conventional single forearm base system, and uses a special linkage mechanism. The two-arm system consisting of two single forearms can be synchronized to achieve the same effect of driving the forearms and the hands of the two robots by a group of motors. Referring to FIG. 2, as shown in FIG. 2A, the motor A drives the arm A1 to rotate in the direction of rotation T1 and T2; the motor C of the figure 2B drives the base axis C1 to rotate in the directions of rotation N1 and N2; The drive base B1 rotates in the direction of rotation R1 and R2. The three-dimensional freedom of the forearm and the hand of the robot can be as shown in the direction of rotation (axis U, V, W). The front arm of the conventional multi-joint robot The hand can be disassembled into an exploded motion diagram as shown in Fig. 2, which is the case when the configuration of the present invention is not employed. 7 1270447 Next, referring to Fig. 3, Fig. 3 shows the multi-joint mechanical arm of the present invention, as shown in Fig. 3. In the preferred embodiment, the multi-joint 'mechanical arm of the present invention also employs 3 drives. Motors A, B and C, and in Figure 3C, the drive motor connection of the forearm is connected to two oppositely disposed pivot arms A1 and A2, and then continue to refer to Figures 3B, 3C' from the present invention. The upper view of the multi-joint robot arm, etc., can be found that the drive unit has motors A, B and C, driven bevel gears a1, bl, cl and c2, coupling axes Sa, Sb, Scl and Sc2, bases B1, B2 It is composed of base shafts Cl, C2, and the like. The arm of the double arm of the present invention can be seen from the front view of FIG. 3C. The A2 rotates around the U axis, and the rotation direction is ΤΙ, T2. The bases B1 and B2 rotate around the V axis, and the rotation directions are N1 and N2. , · Base axis Cl, C2 rotates around the W axis, and rotates in directions R1 and R2. Fig. 4A is a diagram showing an interlocking member connecting the arms A1 and A2 of the two robot arms of Fig. 3 of the present invention, wherein the two coupling shafts Sc2 and Sc1 which are disposed opposite to each other to drive the base shaft of the motor shaft SCI, SC2 action φ has the function of synchronous operation in the same direction. Therefore, it is necessary to reverse the rotation directions of the coupling axes S c 1 and S 〇 2 (please note that c in the coupling axis is lowercase), so that the rotation directions of the base axes SCI and SC2 N1 and N2 (not shown) will swing the left and right synchronous motion without causing the malfunction of the inner eight or outer eight characters, and the 4B graph is the connection diagram of the gears aal, bbl, and the coupling axes Sa and Sb, which can be clearly seen. The gears aal and bbl in Fig. 4B are integrally provided with the coupling axes Sa and Sb. Fig. 4C is a connection diagram of the gears cel, cc2, and the coupling shafts Scl, Sc2. It can be clearly seen that the gear ccl and the coupling shaft Scl 8 1270447 are a group, which is designated as counterclockwise in the preferred embodiment. Rotate, and the gear CC2 and the coupling shaft Sc2 are in a group, which is designated to rotate clockwise; in operation (positive or reverse), the opposite direction is opposite to each other. As shown on the right side of Figure 9, the transmission mechanism can also be implemented by the chain Bel, Bc2 or belts B a, Bb, as long as the gears eel and cc2 can be rotated in different directions, for example, the gears eel and cc2 can be Use a bevel gear to tie the mover. For the sake of clarity, the inventors have drawn a cross-sectional front view of motors A, C, and B in Fig. 5, in which the front view of the motor C in the middle shows B, using the configuration shown in Fig. 4C. Next, please refer to Fig. 6, which further shows the active bevel gear c in the middle of Fig. 5, the connecting relationship of the driven bevel gears cl, c2, the coupling axes Scl, Sc2, as shown in the figure, in order to make the connection The shafts S c 1 and S c2 function to reverse the direction of motion. The present invention employs two driven bevel gears cl and c2, and performs power transmission as shown in Fig. 6C, namely: Please refer to 5, after the upper motor A is directly connected or coupled with the reduction gear, the φ drive is coupled to the bevel gear a on the reduction gear, the bevel gear a drives the other bevel gear a 1 below, and the bevel gear a 1 drives the coupling shaft S a rotation, the coupling shaft S a connects the left and right side arms A1, A2 (not shown) of the drive shafts SA1, SA2; SA1, SA2 rotates, the right side arm A1, and the left side arm A2 move in the same direction. After the upper motor B is directly connected or coupled to the reduction gear, the bevel gear b coupled to the reduction gear is driven, the bevel gear b drives the other bevel gear bl below, the bevel gear bl drives the coupling shaft Sb to rotate, and the coupling shaft Sb Connecting the drive shafts SB 1, SB 2 of the bases B 1 and B 2 (not shown) on the left and right sides of the 1 1270447; when the SB1, SB2 rotates, the right base B1 and the left base B2 move in the same direction. After the upper motor C is directly connected or coupled to the reduction gear, the bevel gear c coupled to the reduction gear is driven, the bevel gear c drives the other two bevel gears c 1 and c2 below, and the bevel gear c 1 drives the coupling shaft S c 1 rotates, the coupling shaft sc 1 connects the drive shaft SC 1 of the right base shaft C 1 , the bevel gear c2 drives the coupling shaft Sc2 to rotate, and the coupling shaft Sc2 connects the drive shaft SC2 of the left base shaft C2, and when the coupling shaft Sc 1 , Sc2 rotates, The rotation speed is the same, the direction is opposite, and the right base axis C1 moves in the same direction as the left base axis C2. Therefore, when the three motors A, B, and C rotate, the left and right mechanical arms generate the synchronous movement in the same direction, but the present invention is not limited thereto, and the power transmission at the same place can also be through the chain, belt, etc. To reach. Finally, please refer to FIG. 7 , which is a schematic view of the use of the present invention. As shown in the figure, the multi-joint robot arm of the present invention is suspended from above by φ in the schematic diagram, and has two branches of the forearm and the hand. Simultaneous action, so only one operator can work with two robots. It should be understood by those skilled in the art that any power configuration or transmission configuration of the machine can be implemented without difficulty, and there are many types of hand-structures. This example only has one type, and other types of hand-structures can be applied to this device. Synchronized athletes should be considered the same. The present invention is intended to be incorporated into the scope of the patent application. It is a device that can simultaneously drive two robot arms and a hand. Any modification or change that can be easily accomplished should be considered as a variant of 10 1270447 and should be It is considered to be included in the scope of the patent application of the present invention. BRIEF DESCRIPTION OF THE DRAWINGS FIG. 1 is a schematic view showing a forearm and a hand of a conventional multi-joint robot; FIG. 2 is a schematic diagram of transmission and degree of freedom of a front arm and a hand motor according to the present invention; FIG. 3 is a first hand according to the present invention. 4 is a schematic diagram of a synchronizing member of a two-hand system according to the present invention; FIG. 5 is a schematic cross-sectional view of each of the synchronizing members of the two-hand system according to the present invention; and FIG. 6 is a schematic view of a base shaft transmission member according to an embodiment of the present invention. Fig. 7 is an embodiment of a production line according to the present invention; Fig. 8 is a view of a conventional multi-joint robot; and Fig. 9 is a gastric diagram showing another synchronizing member of the two-hand system according to the present invention. Φ [Main component symbol description] A, B, C, AA, BB, CC ... motor Al, A2 ... arm
Bl，B2 …基座Bl, B2 ... base
Cl，C2 …基軸 SA1， SA2 …轉臂之驅動軸 SB1，SB2 …基座之驅動軸 SCI，SC2 …基軸之驅動軸 11 1270447Cl, C2 ... base shaft SA1, SA2 ... drive shaft of the arm SB1, SB2 ... drive shaft of the base SCI, SC2 ... drive shaft of the base shaft 11 1270447
Sa， Sb， Scl， Sc2 …聯 結 軸 a 5 b，c …主 動 傘 形齒輪 al， M， cl， c2 …從 動 傘 形齒輪 aa 5 bb， ccR ? ccL …主 動 齒 輪、 ‘皮 帶 ΓΛΛΓ 回 輪 aal ，bbl ，eel ，cc2 …從 動 齒 輪、 ‘皮 帶 Ιαατ 回 輪 Ba， Bb …皮 帶 Bel ，Bc2 …鍊 條 T1， T2， N1， N2，R1， R2…旋 轉 方 向Sa, Sb, Scl, Sc2 ... coupling shaft a 5 b, c ... active bevel gears al, M, cl, c2 ... driven bevel gear aa 5 bb, ccR ? ccL ... drive gear, 'belt ΓΛΛΓ return wheel aal , bbl , eel , cc2 ... driven gear, 'belt Ιαατ return wheel Ba, Bb ... belt Bel, Bc2 ... chain T1, T2, N1, N2, R1, R2... direction of rotation
S …手首S ... hand
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