1273008 九、發明說明： 【發明所屬之技術領域】 本發明關節機構，具有三個自由度、連續分布之離散型環 形漸開線齒形之輪齒之特性，也可避免以往僅具雙自由度之關 節機構在活動範圍上受到較大的限制。本發明關節機構使球狀 齒輪關節機構更具實用性。 【先前技術】 在最近幾年，人們廣泛地應用機械推動工業科技的發展， 在使用的領域方面’諸如焊接、油漆、組裝等玉作將逐漸取代 人力使用’故機械人的發展及使用已越來越受重視。為代替此 種^狹小空間及惡劣卫作魏下的人力卫作，因此機器人的手 #或，即除了具備人_旋轉及平移運動功能外還需考慮其 運動雜圍巧和人_運動範難同，因此吾人將此種衍生出 來的機器人’稱做仿生機ϋ人（Liuetal)。 1於現今触輪傳動機構如微齒輪、雜錄、圓錐齒 ^都屬於—維的傳動機構，只具備-個自由度。因此，無 是否交錯或平行都只能傳遞兩軸線相對位置固定不變 =开維=運動。直到俄羅斯的工程師U K·所發明 "輪，立即弓丨起工程技術人員的密切關注。然而，球形 5 Ϊ273008 . 齒輪傳動機構則具備了兩個自由度，可以傳遞二維的旋轉運動 (如繞X軸及繞γ軸）。由於此種運動自由度，與自然界中絕 大多數的動物關節運動相類似。因此，此種球形齒輪運動機 構，大都符合機器人的關節機構之需要。 球狀齒輪常見的齒形是被設計成為圓錐狀，然而，錐形齒 輪的接觸範圍是較小的，所以它的抗扭曲強度很小。而現在大 _ "卩伤所使用的球狀齒輪機構均考慮為平面問題，是由創成曲線 的曲線族包絡所產生，就以實際卫業應絲開發另—新款的產 口口而泛’-個具有離散形的環形漸開線輪齒及三自由度的共輕 球狀回輪於疋被提出。由於球面齒輪是一種可傳遞空間運動的 ^ ϋ構且'、有夕自由度的靈活特性；目前已經被應用於仿生機 • 1人肘關節的機構中，-般為雙自由度的運動機構。 雜齒輪關節機構應驗機狀上，使機械手臂、關節執 •行能較接近人類動範圍。最近辭，錢界大量使用機器 人於焊接、材料管理、油漆、噴塗和組裝等用途，為了完成這 樣的工作，人之何或腕部必馳夠如同人_關節般轉1273008 IX. Description of the Invention: [Technical Field] The joint mechanism of the present invention has the characteristics of three degrees of freedom and a continuous distribution of discrete annular involute tooth shapes, and can avoid the prior double degree of freedom The joint mechanism is greatly limited in the range of activities. The joint mechanism of the present invention makes the spherical gear joint mechanism more practical. [Prior Art] In recent years, people have widely applied machinery to promote the development of industrial technology. In the field of use, 'such as welding, painting, assembly and other jade will gradually replace the use of manpower'. Therefore, the development and use of robots has become more and more The more attention you receive. In order to replace this kind of narrow space and the violent guardian Wei Wei's human security, the robot's hand # or, in addition to the human _ rotation and translational movement functions, also need to consider its movements and people _ sports fan difficult In the same way, we have called this kind of robot as a bio-living machine (Liuetal). 1 In today's touch-wheel transmission mechanisms such as micro-gears, miscellaneous recordings, and conical teeth, all belong to the-dimensional transmission mechanism, and only have a degree of freedom. Therefore, no staggered or parallel can only transmit the relative position of the two axes fixed = open dimension = motion. Until the Russian engineer U K· invented the "round, immediately bowed the close attention of engineering and technical personnel. However, the spherical 5 Ϊ 273008. The gear train has two degrees of freedom to transmit two-dimensional rotational motion (eg around the X-axis and around the γ-axis). Because of this freedom of movement, it is similar to most animal joint movements in nature. Therefore, most of these spherical gear motion mechanisms meet the needs of the robot's joint mechanism. The common tooth profile of a spherical gear is designed to be conical, however, the contact range of the tapered gear is small, so its resistance to distortion is small. Nowadays, the spherical gear mechanism used in the big _ " bruises is considered as a plane problem, which is generated by the curve family envelope of the creation curve, and the actual health industry should develop another new-style mouth. A circular involute tooth with discrete shapes and a three-degree-of-freedom total light spherical return wheel are proposed. Because the spherical gear is a kind of flexible structure that can transmit space motion and has a flexible degree of freedom, it has been applied to the bionics machine. It is a double-degree-of-freedom motion mechanism. The miscellaneous gear joint mechanism should be inspected on the machine, so that the robot arm and joint can be closer to the human range. Recently, Qian Jie used a large number of robots in welding, material management, painting, painting and assembly. In order to complete such work, people or wrists must be as good as people.
Rosheim提出—個人類關節的移動範圍。如第！圖所示， 習用機器人的腕部關節機構卜僅有兩個自由度，其構造 由下列諸元件所組成：内齒輪u、外齒輪12、環形拇搁13、 6 1273008 分離式環14、定位控制連接器15和偏位控制連接器16。 一個共輛球狀齒輪能夠被廣泛地去代替人類的關節機 構，而目如大部份的球狀齒輪已被使用在機械人的關節機構 上’使用球狀齒輪的傳遞運動最早是由俄國學者所提出並且應 用於挪威Trallfa公司所生產的韻人手臂的卿上。在這裡 球面㈣輪的觀念可以用於一組兩個自由度的齒輪機構。°Rosheim proposed - the range of movement of individual joints. As the first! As shown in the figure, the wrist joint mechanism of the conventional robot has only two degrees of freedom, and its structure is composed of the following components: internal gear u, external gear 12, annular thumb rest 13, 6 1273008 Separate ring 14, positioning control The connector 15 and the offset control connector 16. A total of spherical gears can be widely used to replace the human joint mechanism, and most of the spherical gears have been used on the mechanical joint mechanism of the robot. The transmission movement using the spherical gear was first developed by Russian scholars. It was proposed and applied to the sacred arm of the Norwegian Trallfa company. Here the concept of a spherical (four) wheel can be used for a set of two degrees of freedom gear mechanism. °
這個齒輪的觀念可用於兩個自由度的齒輪機構，如第2圖 所示。其機械手腕關節應用球狀齒輪機構傳動，進行靈活的多 自=度轉動，由於具有結構緊湊、傳動元件少、具有類似生^ 關節運動的靈活特性，使得球狀齒輪機__研究工作開始 受到廣泛地重視。由於此種球形齒輪機構其主要特性，是齒形 按-定規__在_上，使得t㈣鱗_，=鄰 =的辑纽。在峨獻__物最常使用 的機構’即是球形齒輪。 一般而言球職輪可以區分為兩類，—類如（潘氏膽 馳出，為球面上分佈離散的齒數。另— 所Γ球面上以連續的分佈在球面上。參考幻圖和 魏ΓΓ知人解f之腕_需要許多的要素和成分以 達成八功施，而由圖中可看出制之關節，僅 其所能操作之動作，仍然不夠精細圓滑。 自由度’ 1273008 如中華民國專利公告號538884，該發明係有關於一種機械 手臂之結構改良，其主要結構在於：該支臂一端活設有一可 360彡疋轉之旋轉座，並以控制部之旋轉座控制桿控制該旋轉座 轉動，俾可帶動該旋轉座下方固設之夾爪同時轉動之功效，藉 由控制部之夾爪定壓控制踏板控制該夾爪作夾緊及放鬆之動 作，並藉由該止回閥之止逆作用，俾使該夾爪將工件緊緊夾 住，以達到安全操作之功效，又該夾爪設有-夾塊，可 _ 齡該夾塊之相互語’以翻練小之工件失起之功效，進 達將其人工搬運之機會減少，及作業流程時間縮短，並提高搬 , 運健時之安全性，藉此_提高玉作效率、減少成本及減少 ； 人力資源之浪費，對該項工業實有明顯的進步作用者。 如巾華民國專利公告制24隨，該發明係有關於一種改 良式機械手臂’設置於半導體製造設備中，於晶片製造過程 • 中，提供傳送晶圓的功用’其特徵在於：此改良式機械手臂由 硬質材料所製成，如陶莞、石英等，使其具有不易變形、碰撞 時易斷裂等特性’且於機械手臂上加設一溝槽，使其碰撞時更 易斷裂，以解決傳統金屬機械手臂容易因變形而造成於晶· 存取晶圓時，刮傷晶圓表面，造成晶圓大宗報廢之重大損失。 如上所述’經發明人長賴在國⑽各種公開之資料庫檢 . 纽查詢之結果，對於本發關節機構，目前國内外尚無相同 8 1273008 或類似之技術特徵公開，故本發明對產業界可說是非常重要， 而對相關的研究亦為開創之先驅。 雜為機械系統與結構中非常重要的元件，它不僅是構成 各種機械的重要環節，幾乎所有機械内部構造都少不了齒輪之 存在。其齒輪的品質之優劣更嚴重影響到該機械之性能。倘若 ω輪不良姻^無法順利地運轉生產。齒輪能有如今般地廣 ⑩衫及’其主要理由為傳動馬力之細減。錄能選配齒數 組合’獲件任意且正確的哺比，並可經由增減錄組合數適 田地改又各軸間之相互關係位置。所以，齒輪之設計需要不斷 的創新合各觸合，需要更精鶴作之要求。 【發明内容】 本發明關節機構’ _其三個自由度、連續分布之離散 • 形環形漸開線齒形之輪齒之特性，可以改善習用之圓錐狀輪 齒之接觸範圍較小、抗扭曲強度不佳等之缺失。更可避免以 往僅具雙自由度之關節機構在活動範圍上受到較大限制的不 便使球狀齒輪關節機構更具實用性。 本發節機構是_包括凸面輪齒齒輪和凹面輪齒齒 輪構成的環形漸開線輪齒之球面齒輪對。其輪齒在相對之兩球 .面工件上作連續的、有順序的離散形分布，且同時呈對應凹凸 1273008 再個自由度且呈@収率速度 接：動:動―擺動，之_由度空間動力傳遞，更 【實施方式】 首先請參閱第3圖所示，本發明關節機構有-個固定比率 • 速度球面齒輪組2和三個自由度的萬向襄置3組成。 球面齒輪組2由兩相對應之第一球面齒輪21、第二球面齒 . 輪22組成；兩者之凸面輪齒21卜凹面輪齒221在球面本體 : 212、222上成連續分布之離散型環形漸開線齒形之輪齒。凸 ®輪盘21卜凹面輪齒221在球面本體212、挪往後延伸一 桿體213、223並分別具有一樞軸，即⑼2U、⑽與萬向 ^ 裝置3作樞接活動組合。 本發明關節機構藉此三個自由度的萬向裝置3運動使球面 齒輪組2可以繞著χ-軸214、224前後擺動，繞著，軸215、 225左右搖動和繞著z—軸216、226轉動。為了達成這些特性， 需要使用擺動-搖動-轉動之設計。此外，本發明關節機構2的 球形輪廓有順序排列的漸開線凸面輪齒21丨與凹面輪齒221， 使球面齒輪組2之第一球面齒輪21、第二球面齒輪22可以分 1273008 別繞著 χ-軸 214、224 ’ y-軸 215、225 和 Z-轴 216、226 作動， 如第3圖所示。 當第二球面齒輪22繞著y-軸225和第一球面齒輪21進行 左右搖動時，z-軸226和χ-軸224的方向都是固定的。當第 一球面齒輪22繞著Z-轴226和第一球面齒輪2i進行旋轉時， y-軸225和χ-軸224的方向都是固定的。同樣地，當第二球 面齒輪22繞著χ-軸224和第一球面齒輪21進行前後擺動時， y-軸225和z-軸226的方向都是固定的。χ-轴224、y-轴225 和z-軸226，如第3圖所示，繞著χ-軸224的擺動可能僅是 繞著y-軸225旋轉之分離值，反之亦然。在其他位置，兩個 表面是不嚙合的，如第3圖所示。轉軸23、24可以樞接組設 於機器人之機構。 萬向裝置3由十字框架31與门形架32組成；十字框架 31之上下板架311供χ-軸214、224作樞接活動組合，其左右 板架312利用y—軸215、225與门形架32作樞接活動組合。 而门形架32尾端形成一轉軸23、24，即繞著z—軸216、226 方疋轉’如第4圖所示，並於z-轴216、226處活動樞接組設於 機器人之傳動件4(如手臂）。 本發明關節機構組設於機器人之機械手臂的關節部位之 一實施例’如第5圖所示，其中，轉軸23、24組設於機械手 1273008 臂，可由機械手臂操控其轉動之動作。因本發明關節機構有三 個自由度之特性，所以非常適合於組設在機器人之機械手臂的 關節，對需要複雜動作之工作，尤其非常重要。 利用方程式和電腦程式，創造出本發明關節機構之環形漸 開線輪齒之齒輪之凸面輪齒211之幾何模型，此乃為本發明關 即機構重要之技術特徵’如第6圖所示。凸面輪齒211之外觀The concept of this gear can be used for a two-degree-of-freedom gear mechanism, as shown in Figure 2. The manipulator's wrist joint is driven by a spherical gear mechanism for flexible multi-degree rotation. Due to its compact structure, few transmission components, and flexible characteristics like joint motion, the spherical gear machine __ research work begins to be affected. Widely valued. Due to the main characteristic of such a spherical gear mechanism, the tooth shape is based on the -station __ on _, so that the t(four) scale _, = neighbor = the series. The most commonly used mechanism in the __ is the spherical gear. Generally speaking, the professional wheel can be divided into two categories, such as (Pan's gallbladder is out, the discrete number of teeth is distributed on the spherical surface. The other is the continuous distribution on the spherical surface. Reference illusion and Wei Wei The wrist of knowing people's solution _ requires many elements and components to achieve eight functions, and the joints can be seen from the figure, only the action that can be operated is still not fine enough and smooth. Freedom ' 1273008 Such as the Republic of China patent Bulletin No. 538884, the invention relates to a structural improvement of a mechanical arm, the main structure of which is: one end of the arm is provided with a 360-turn rotating seat, and the rotating seat is controlled by a rotating seat control rod of the control part Rotating, the cymbal can drive the clamping jaws fixed under the rotating seat to rotate at the same time, and the clamping jaws of the control portion control the pedal to control the clamping and loosening action, and the check valve is The anti-reverse action, so that the clamping jaw clamps the workpiece tightly to achieve the effect of safe operation, and the clamping jaw is provided with a clamping block, which can be used to refine the small workpiece. The effect, the access will The opportunities for manual handling are reduced, and the operation time is shortened, and the safety during moving and transportation is improved. This improves the efficiency of the jade, reduces costs and reduces the waste of human resources, and has made significant progress on the industry. Actuator. For example, the invention relates to an improved robotic arm 'provided in a semiconductor manufacturing equipment, in the wafer manufacturing process, providing the function of transferring wafers', characterized in that: The improved mechanical arm is made of hard material, such as pottery, quartz, etc., so that it has the characteristics of being difficult to deform, easy to break when colliding, and adding a groove to the robot arm to make it more easily broken when colliding. Solve the problem that the traditional metal robot arm is easily deformed due to deformation, and scratches the surface of the wafer when the wafer is accessed, resulting in a major loss of the wafer. As mentioned above, the inventor’s long-term disclosure of Lai Zaiguo (10) The results of the New York inquiry, for the present joint mechanism, there is no such thing as the same 8 1273008 or similar technical features at home and abroad, so the invention is for the industry It is very important to say that the related research is also a pioneer. It is a very important component in mechanical systems and structures. It is not only an important part of all kinds of machinery, but almost all mechanical internal structures are indispensable for the existence of gears. The quality of the gears has a serious impact on the performance of the machine. If the ω wheel is not able to operate smoothly, the gears can be as wide as the current ones and the main reason is the reduction of the transmission horsepower. With the combination of the number of teeth, the arbitrarily and correct feeding ratio can be obtained, and the position of the relationship between the axes can be changed by adding or subtracting the number of combinations. Therefore, the design of the gear needs constant innovation and cooperation, and needs to be more refined. The invention relates to the requirements of the crane mechanism of the present invention. The characteristics of the three-degree-of-freedom, continuous distributed discrete-shaped annular involute tooth-shaped teeth can improve the contact range of the conventional conical tooth. Small, poor resistance to distortion, etc. It is even more difficult to avoid the inconvenience that the joint mechanism with only two degrees of freedom is greatly restricted in the range of motion, making the spherical gear joint mechanism more practical. The present invention is a spherical gear pair of annular involute teeth including a convex tooth gear and a concave gear tooth. The gear teeth are in a continuous, sequential discrete distribution on the opposite two spheres and the surface workpiece, and at the same time, corresponding to the concave and convex 12730008, another degree of freedom is connected at the @ yield speed: motion: motion - swing, Degree space power transmission, more [Embodiment] First, as shown in Fig. 3, the joint mechanism of the present invention has a fixed ratio • speed spherical gear set 2 and three degrees of freedom universal joint 3 . The spherical gear set 2 is composed of two corresponding first spherical gears 21 and second spherical teeth. The wheels 22; the convex teeth 21 and the concave teeth 221 of the two are discretely distributed on the spherical body: 212, 222. Ring involute toothed teeth. The convex discs 21 and the concave teeth 221 extend in the spherical body 212, and extend a rod body 213, 223 and have a pivot, that is, (9) 2U, (10) and the universal joint device 3 are pivotally combined. The joint mechanism of the present invention moves the three-degree-of-freedom universal device 3 so that the spherical gear set 2 can swing back and forth around the χ-shafts 214, 224, around the shafts 215, 225 and around the z-axis 216, 226 turns. In order to achieve these characteristics, a swing-shake-rotation design is required. In addition, the spherical contour of the joint mechanism 2 of the present invention has sequentially arranged involute convex teeth 21丨 and concave teeth 221, so that the first spherical gear 21 and the second spherical gear 22 of the spherical gear set 2 can be divided into 1273008. The χ-axis 214, 224 'y-axis 215, 225 and the Z-axis 216, 226 act as shown in Fig. 3. When the second spherical gear 22 is rocked left and right around the y-axis 225 and the first spherical gear 21, the directions of the z-axis 226 and the χ-shaft 224 are both fixed. When the first spherical gear 22 rotates about the Z-axis 226 and the first spherical gear 2i, the directions of the y-shaft 225 and the χ-shaft 224 are both fixed. Similarly, when the second spherical gear 22 swings back and forth about the χ-axis 224 and the first spherical gear 21, the directions of the y-shaft 225 and the z-axis 226 are fixed. The χ-axis 224, the y-axis 225, and the z-axis 226, as shown in Fig. 3, may oscillate about the χ-axis 224 only as a separate value for rotation about the y-axis 225, and vice versa. In other positions, the two surfaces are not meshed, as shown in Figure 3. The rotating shafts 23, 24 can be pivotally connected to the mechanism of the robot. The universal device 3 is composed of a cross frame 31 and a gantry 32; the upper frame 311 of the cross frame 31 is provided with a pivotal movable combination of the χ-shafts 214 and 224, and the left and right plates 312 utilize the y-axis 215, 225 and the door. The frame 32 serves as a pivotal combination of activities. The rear end of the gantry 32 forms a rotating shaft 23, 24, that is, rotates around the z-axis 216, 226, as shown in Fig. 4, and is pivotally assembled to the robot at the z-axis 216, 226. Transmission member 4 (such as an arm). An embodiment in which the joint mechanism of the present invention is assembled to the joint portion of the robot arm of the robot is shown in Fig. 5, wherein the shafts 23, 24 are assembled to the arm of the robot 1273008, and the rotation of the robot arm can be controlled. Since the joint mechanism of the present invention has three degrees of freedom, it is very suitable for the joints of the robot arm that are assembled, which is especially important for work requiring complicated actions. Using the equations and computer programs, the geometric model of the convex tooth 211 of the ring-shaped involute gear of the joint mechanism of the present invention is created, which is an important technical feature of the closing mechanism of the present invention, as shown in Fig. 6. Appearance of convex teeth 211
^端面:齒頂為平面；整個凸面輪齒211成環形漸開線形 成㈣’其表面為外β之凸弧體，至齒底處為_園弧角。 開線輪齒讀輪之_輪齒22 _ ΐΒΡ機構之環形; 筋伽^ w 221之成何杈型，此乃為本發明丨 齒深成二=特:，如第7圖所示，整個凹面輪齒心 _成秘_線，其表面為_之 相對應，至齒頂處為-朝外之圓弧角。^凸面輪齒21 备_茴輪成相對方式喝合時，其兩 動作中，凸面輪齒211與凹面輪齒22 7面之制 外觀為頂端面，即_騎面，整 2如“圖所: :高；其表面她之蝴，至齒線，形 回如與整細面之齒深成環形_線，龙〜角的凸面 體’至齒頂處為-朝外之圓孤角之凹面輪齒 1273008 將一荷重分別作用在傳統的正齒輪之—個輪齒和本發明 關節機構的齒輪之-個輪齒’再互她較，結果發縣發明關 即機構的齒輪承受之應力比傳統的正齒輪要小多。為了證明本 發明之齒輪的輪絲廓比傳統正絲之細線輪齒有較大之 強度，正錄和本㈣之錄之輪齒應力分析，如第9圖和第 10圖所示。第9圖和第1G圖之彈性模數和蒲松tt (p〇i_^End face: the top of the tooth is a flat surface; the entire convex tooth 211 is formed into a ring involute (4)', the surface of which is a convex arc of the outer β, and the bottom of the tooth is an arc angle. The ring gear 22 of the open gear tooth _ _ ΐΒΡ 之 ; ; ; ; ; ; ; ; ; ; ; ; ; ; ; ; ; ; ; ; ; ; ; ; ; ; ; ; ; ; 为本 为本 为本 为本 为本 为本 为本 为本 为本 为本 为本 为本 为本The concave tooth center _ secret line _ line, the surface of which corresponds to _, to the top of the tooth is the arc angle of outward. ^The convex tooth 21 is prepared in the opposite manner, in the two movements, the convex tooth 211 and the concave tooth 22 7 face are made as the top surface, that is, the _ riding surface, the whole 2 as the "picture : :High; its surface is her butterfly, to the tooth line, the shape is as deep as the tooth of the whole thin surface into a ring _ line, the convex body of the dragon ~ angle 'to the top of the tooth is a concave wheel with a rounded corner The tooth 1273008 applies a load to the gear teeth of the conventional spur gear and the gear teeth of the joint mechanism of the present invention, and the stress of the gear of the invention is lower than that of the conventional one. The spur gear is much smaller. In order to prove that the wheel profile of the gear of the present invention has greater strength than the fine wire teeth of the conventional sinus, the tooth stress analysis of the recorded and the (4) records, as shown in Fig. 9 and 10 The figure shows the elastic modulus of Figure 9 and Figure 1G and Pu Song tt (p〇i_
她0)分別是如’㈣3。在第9圖和第ι〇圖中輪 齒底部節點可視為固定。 本發明關節機構利用環形漸開線輪齒之球面齒輪對，其球 面齒輪組2包括第-球面齒輪2卜第二球面齒輪&所構成。 其中，第-球面齒輪21之表面有凸面輪齒21卜第二球面齒 輪22之表面有凹面輪齒221。兩個齒輪成相對方式組裝，其 表面之輪餘動作時’凸狀触與㈣之輪齡唾合。凸面 輪齒21卜凹面輪齒221树面本體212、激往後延伸一桿 體213、223並分別具有一樞軸，即χ—轴214、⑽，如第“ 圖所示。 本發明關節機構、组設於人體之關節部位之一實施例，如第 12圖所示。此關節機構前後兩端與人體骨路組設在一起，因 本發明關節機構有三個自由度之特性，所以非常適合於替換病 患之關節。 / 13 1273008 環形漸開齒形式球狀齒輪的幾何模型可以藉著匸++ 私式扣°和電腦輔助緣圖設計軟體給描输出來。如第13圖和第 14圖所不’騎發關節麟之凸面球面齒輪之電腦輔助繪 圖’第15®和第16圖為本發關節機構之凹面球面齒輪之電腦 辅助繪圖。 、本I明關喊機構由環形漸開線輪齒之球面齒輪所組成，其 • 球面W輪組2包括第一球面齒輪21、第二球面齒輪22所構成。 其中，第一球面齒輪21之表面有凸面輪齒211，第二球面齒 輪22之表面有凹面輪齒22卜兩個齒輪成相對方式組裝，其 絲讀餘_時，凸蚊触細蚊触料合，如附 - 件1所示。She 0) is like '(4) 3 respectively. The bottom nodes of the teeth in Figure 9 and Figure ι can be considered fixed. The joint mechanism of the present invention utilizes a spherical gear pair of annular involute teeth, and the spherical gear set 2 includes a first spherical gear 2 and a second spherical gear & Among them, the surface of the first spherical gear 21 has convex teeth 21 and the surface of the second spherical gear 22 has concave teeth 221 . The two gears are assembled in a relative manner, and the surface of the surface is repetitively touched by the convexity of the (four) wheel. The convex tooth 21 has a concave tooth 221, and the tree body 212 extends rearwardly to a rod body 213, 223 and has a pivot, that is, a χ-axis 214, (10), as shown in the figure. An embodiment of the joint portion of the human body, as shown in Fig. 12. The front and rear ends of the joint mechanism are combined with the human bone path, and the joint mechanism of the present invention has three degrees of freedom, so it is very suitable. To replace the joint of the patient. / 13 1273008 The geometric model of the circular involute form of the spherical gear can be drawn by the 匸++ private buckle and the computer-aided edge design software. Figure 13 and Figure 14 Figure 15: Figure 15® and Figure 16 are computer-aided drawings of the concave spherical gear of the joint mechanism. The I-King mechanism is ring-shaped involute. The spherical gear of the gear is composed of a first spherical gear 21 and a second spherical gear 22. The surface of the first spherical gear 21 has convex teeth 211 and a second spherical gear 22 The surface has concave teeth 22 Gears assembled to be opposed, which wire I _ read, mosquito contact convex engagement Simmons contact material, such as attached - member 1 shown in FIG.
上述本發關雜構錢肢實關，林侧較佳實施 例=並_關限本發明之特徵，舉凡_本發明相關之 技術手段、創設原理之再_，均綱本發明之發明目的及申 請專利範圍之内。 綜上所述，本發明關節機構，確實可達到實施之功效，完 全符合發明專利之申請要件，纽法向触提呈本案發明專 =之申請’敬祈！句局暨貴審查委員惠予審理，並早曰賜准本 案之發明專利，實感德便。 14 1273008 【圖式簡單說明】 第1圖為傳統機器人的腕部關節示意圖。 第2圖為習用之球面齒輪機構示意圖。 第3圖為本發明關節機構之三個自由度之示意圖。 第4圖為本發明關節機構之剖面圖。 第5圖為本發明關節機構之另一實施例之示意圖。 第6圖為本發明關節機構之凸面球面齒輪輪齒幾何模型之 示意圖。 第7圖為本發明關節機構之凹面球面齒輪輪齒幾何模型之 不意圖。 第8圖為本發明關節機構之凸面輪齒和凹面輪齒組合模型 之示意圖。 第9圖為習用正齒輪輪齒之Von-Mises應力分佈圖。 第10圖為本發明之齒輪輪齒之Von-Mises應力分佈圖。 第11圖為本發明關節機構之球面齒輪組合圖。 第12圖為本發明關節機構之實施例之示意圖。 第13圖為本發明關節機構之第一凸面球面齒輪之電腦輔助 繪圖。 第14圖為本發明關節機構之第二凸面球面齒輪之電腦輔助 繪圖。 15 1273008 第15圖為本發明關節機構之第一凹面球面齒輪之電腦輔助 繪圖。 第16圖為本發明關節機構之第二凹面球面齒輪之電腦輔助 繪圖。 附件1 :為凸面和凹面球面齒輪組裝時之實體圖。 1273008 【主要元件符號說明】 1 腕部關節機構 11内齒輪 12外齒輪 13環形柵欄 14分離式環 15定位控制連接器 16偏位控制連接器 2 球面齒輪組 21第一球面齒輪 211凸面輪齒 212球面本體 213桿體 214 X-軸 215 y-軸 216 z-軸 22第二球面齒輪 221凹面輪齒 222球面本體 223桿體 224 X-軸 225 y-軸 1273008 226 z-軸 23 轉軸 24 轉軸 3 萬向裝置 31十字框架 311上下板架 312左右板架 32门形架 4 傳動件The above-mentioned present invention relates to the practice of the invention, and the preferred embodiment of the forest side = _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ Within the scope of the patent application. In summary, the joint mechanism of the present invention can indeed achieve the effect of implementation, and fully meets the application requirements of the invention patent, and Newfa is handing over the invention of the invention. The sentence bureau and the reviewing committee of the company benefited from the trial, and the invention patent of the case was given as early as possible. 14 1273008 [Simple description of the diagram] Figure 1 is a schematic diagram of the wrist joint of a conventional robot. Figure 2 is a schematic view of a conventional spherical gear mechanism. Figure 3 is a schematic illustration of three degrees of freedom of the joint mechanism of the present invention. Figure 4 is a cross-sectional view of the joint mechanism of the present invention. Figure 5 is a schematic view of another embodiment of the joint mechanism of the present invention. Fig. 6 is a schematic view showing the geometric model of the convex spherical gear teeth of the joint mechanism of the present invention. Fig. 7 is a schematic view showing the geometric model of the concave spherical gear teeth of the joint mechanism of the present invention. Fig. 8 is a schematic view showing a combined model of a convex tooth and a concave tooth of the joint mechanism of the present invention. Figure 9 is a Von-Mises stress distribution diagram of a conventional spur gear tooth. Figure 10 is a Von-Mises stress distribution diagram of the gear teeth of the present invention. Figure 11 is a combination of spherical gears of the joint mechanism of the present invention. Figure 12 is a schematic view of an embodiment of the joint mechanism of the present invention. Figure 13 is a computer-aided drawing of the first convex spherical gear of the joint mechanism of the present invention. Figure 14 is a computer-aided drawing of a second convex spherical gear of the joint mechanism of the present invention. 15 1273008 Figure 15 is a computer-aided drawing of the first concave spherical gear of the joint mechanism of the present invention. Figure 16 is a computer-aided drawing of a second concave spherical gear of the joint mechanism of the present invention. Attachment 1: Physical diagram for assembly of convex and concave spherical gears. 1273008 [Description of main component symbols] 1 Wrist joint mechanism 11 Internal gear 12 External gear 13 Ring fence 14 Separate ring 15 Positioning control connector 16 Offset control connector 2 Spherical gear set 21 First spherical gear 211 convex tooth 212 Spherical body 213 rod body 214 X-axis 215 y-shaft 216 z-axis 22 second spherical gear 221 concave tooth 222 spherical body 223 rod body 224 X-axis 225 y-axis 127308 226 z-axis 23 shaft 24 shaft 3 Universal device 31 cross frame 311 upper and lower frame 312 left and right plate frame 32 gantry 4 transmission parts