TWI599458B - Mechanical arm device and extending mechanism - Google Patents

Description

Robot arm device and extension mechanism

The present invention relates to a mechanical device and an extension mechanism, and more particularly to a mechanical arm device and an extension mechanism mounted to the robot arm device.

The general mechanical arm device has a fixed degree of freedom. For the manufacturer, it is necessary to customize the production of the robot arm with different degrees of freedom, which will increase the overall production cost and control complexity, so how effective According to different customer needs, the manufacture of robot arms with different degrees of freedom has become one of the important issues faced by relevant manufacturers. Accordingly, the inventors have diligently studied and cooperated with the application of the theory, and proposed a present invention which is rational in design and effective in improving the above problems.

The main object of the present invention is to provide a mechanical arm device and an extension mechanism for solving the problems of low production efficiency and high production control complexity caused by the requirements of the related art manufacturers in the face of different degrees of freedom of the robot arm device. And the problem of high production costs.

In order to achieve the above object, the present invention provides a robot arm device including a main mechanism and an extension mechanism. The main mechanism includes a first activity unit, a second activity unit and a third activity unit. The first activity unit, the second activity unit and the third activity unit are connected to each other, and the main mechanism enables the robot arm device to have three Degree of freedom; wherein the third activity unit has a connection structure. The extension mechanism, the main mechanism and the extension mechanism enable the robot arm device to have N+3 degrees of freedom, N is a positive integer, the extension mechanism is detachably connected to the main mechanism, and the extension mechanism comprises. N extensions The movable unit, wherein one of the extended moving units is defined as a connecting component, the connecting component is detachably fixed to the connecting structure, the extending mechanism can rotate or linearly move relative to the main mechanism, and the extending mechanism can rotate or linearly move with the main mechanism.

In order to achieve the above object, the present invention provides an extension mechanism comprising N extended activity units, N being a positive integer, wherein one extension activity unit is defined as a connection component, and the extension activity units are connected to each other, and the connection component is used to A robotic arm device having X degrees of freedom is interconnected such that the robotic arm device has X + N degrees of freedom and X is a positive integer.

The beneficial effects of the present invention may be that the relevant manufacturer can install an extension mechanism having a different number of extended movable units on the main mechanism having three degrees of freedom according to the customer's demand for different degrees of freedom, thereby increasing the overall mechanical arm. The degree of freedom of the device, in this way, the relevant manufacturers can quickly and efficiently manufacture the robotic arm devices of different degrees of freedom according to the needs of different customers. In addition, the design can also effectively reduce the management complexity of the robot arm devices with different degrees of freedom, and can also effectively reduce the overall production cost.

For a better understanding of the features and technical aspects of the present invention, reference should be made to the accompanying drawings.

1‧‧‧ Robotic arm device

10‧‧‧Main institutions

11‧‧‧ Fixed seat

12‧‧‧First activity unit

13‧‧‧Second activity unit

14‧‧‧ Third activity unit

141‧‧‧Active Ontology

14a‧‧‧ accommodating slots

15‧‧‧ Connection structure

151‧‧‧Keyhole

20‧‧‧Extension agencies

21‧‧‧Connecting components, extended activity units

211‧‧‧Connected ontology

2111‧‧‧Fixed structure

212‧‧‧ drive parts

213‧‧‧ linkages

21’, 21”‧‧‧Extended activity unit

22‧‧‧Transfer components

23‧‧‧Auxiliary connectors

231, 231'‧‧‧Auxiliary connection structure

V1‧‧‧ first longitudinal axis

V2‧‧‧ second longitudinal axis

V3‧‧‧ third longitudinal axis

V4‧‧‧ longitudinal axis

H1‧‧‧ first transverse axis

H2‧‧‧second transverse axis

F‧‧‧Portrait direction

T1‧‧‧ torque

T2‧‧‧ torque

Conventional technology:

11’‧‧‧First activity unit

12’‧‧‧Second activity unit

13’‧‧‧ Third activity unit

AX1‧‧‧lateral axis

AX2‧‧‧lateral axis

T1’‧‧‧ torque

T2’‧‧‧ torque

1 is a schematic view of a conventional six-axis robot arm.

Figure 2 is a schematic illustration of a mechanical arm assembly of the present invention having six degrees of freedom.

Figure 3 is an exploded perspective view of the mechanical arm device of the present invention having six degrees of freedom.

Figure 4 is an exploded perspective view of the mechanical arm device of the present invention having four degrees of freedom.

Figure 5 is a schematic illustration of a mechanical arm assembly of the present invention having four degrees of freedom.

The following is a specific example to illustrate the actual operation of the mechanical arm device of the present invention. Other advantages and effects of the present invention will be readily apparent to those skilled in the art from this disclosure. The present invention may be embodied or applied in various other specific embodiments, and various modifications and changes may be made without departing from the spirit and scope of the invention. Further, the drawings of the present invention are merely illustrative, and are not depicted in actual dimensions, that is, the actual dimensions of the related structures are not reflected, which will be described first. The following embodiments are intended to describe the present invention in further detail, but are not intended to limit the scope of the invention.

[First Embodiment]

Please refer to FIG. 2 and FIG. 3 together, which is a schematic exploded view of the first embodiment of the mechanical arm device of the present invention. As shown, the robotic arm device 1 includes a main mechanism 10 and an extension mechanism 20. The main mechanism 10 has three degrees of freedom, and the extension mechanism 20 is detachably assembled to the main mechanism 10, and the extension mechanism 20 is assembled to the main mechanism 10, thereby increasing the degree of freedom of the overall robot arm device 1.

Further, the main mechanism 10 includes a fixed seat 11, a first movable unit 12, a second movable unit 13, and a third movable unit 14. The fixing base 11 is for fixing to the environmental ground. The first movable unit 12 is rotatably disposed on the fixed seat 11; the second movable unit 13 is linearly movably coupled to the first movable unit 12, and the second movable unit 13 is movable relative to the fixed base 11 with the first movable unit 12 Rotating; the third movable unit 14 is rotatably coupled to the second movable unit 13, and the third movable unit 14 is linearly movable with respect to the first movable unit 12, and the third movable unit 14 is also The first movable unit 12 rotates relative to the fixed seat 11. As such, the first activity unit 12, the second activity unit 13, and the third activity unit 14 can provide the robot arm device 1 with three degrees of freedom; of course, in practical applications, the first activity unit 12, the second activity unit 13 and The relative active relationship between the third activity units 14 and the active relationship with respect to the fixed seat 11 may be changed according to requirements, and is not limited thereto; in addition, the first active unit 12, the second active unit 13 and the third The appearance of the activity unit 14 can be varied as needed, and is not limited to the one shown in the figure.

In another embodiment, the first activity unit 12 can also be linearly movable. Placed in the fixed seat 11; the second movable unit 13 may also be rotatably connected to the first movable unit 12, and the second movable unit 13 can linearly move with the first movable unit 12 relative to the fixed seat 11; The unit 14 can also be linearly movably coupled to the second movable unit 13, and the third movable unit 14 can be rotated relative to the first movable unit 12 with the second movable unit 13, and the third movable unit 14 can follow the first The movable unit 12 moves linearly with respect to the fixed seat 11.

Specifically, the third movable unit 14 is away from the end connected to the second movable unit 13 (ie, the end of the third movable unit 14), and has a connecting structure 15 for detachably extending The mechanisms 20 are connected to each other. The connecting structure 15 may be according to the load requirement of the actual robot arm device 1 and corresponding to different structures or components; for example, under a relatively light load demand, the connecting structure 15 may be the third active unit. The structure of the end of the 14 is protruded, and the connecting structure 15 may include a plurality of locking holes 151, whereby the corresponding structure of the extending mechanism 20 can pass through a plurality of fasteners (not shown, for example, screws) and the connecting structure 15 The fixing mechanism 20 and the third movable unit 14 can be fixed to each other; in the case where the load demand is relatively heavy, the connecting structure 15 and the extending mechanism 20 can also be designed to be mutually engaged. The connecting structure 15 and the extending mechanism 20 can simultaneously achieve the mutual fixing effect by the locking of the engaging structure and the locking of the locking member (not shown, for example, a screw). Of course, the connecting structure 15 is not limited to any form, and any structure that can securely fix the third movable unit 14 and the extending mechanism 20 to each other and can be easily disassembled is the application aspect of the connecting structure 15.

The extension mechanism 20 comprises three extension activities units 21, 21', 21", one of which is defined as a connection assembly 21; the remaining two extension activities units 21', 21" are connected to each other, and two extension activities The units 21', 21" can be rotated or linearly moved relative to each other, wherein one of the extension movable units 21' and the connection assembly 21 are connected to each other, and the two extension movable units 21', 21" can also be rotated or linear with respect to the connection assembly 21. mobile. In the embodiment of the present embodiment, the extended movable units 21', 21" of the two non-connecting members 21 are respectively exemplified as a structure that can rotate relative to each other, but Without being limited thereto, in other applications, the active relationship between the extended active units 21', 21" of the two non-connected components 21 and the active relationship with the connected component 21 can be varied as needed.

As the extension movable unit 21 of the connection assembly 21, the connection structure 15 is detachably fixed to each other, and the connection assembly 21 can be rotated (or linearly moved) with respect to the third movable unit 14, and the connection assembly 21 can also follow the third movable unit 14. At least one rotation or linear activity of the second activity unit 13, the first activity unit 12. Thus, after the extension mechanism 20 and the main mechanism 10 are connected to each other, the degree of freedom of the robot arm device 1 can be increased from three degrees of freedom to six degrees of freedom, that is, the robot arm device 1 can become a six-axis robot arm.

In a specific application, the connecting component 21 can include a connecting body 211, a driving component 212 and a linking component 213. The connecting body 211 may be a hollow housing (or partially hollow), and one end of the connecting body 211 has a fixing structure 2111 (shown in FIG. 4), and the fixing structure 2111 is used for detachably connecting The structure 15 is fixed to each other, and the fixing structure 2111 is designed to correspond to the connecting structure 15; for example, the fixing structure 2111 may be a plurality of locking holes formed directly on the connecting body 211, and the connecting component 21 and the first The three movable unit 14 can pass through a plurality of locking members (not shown, for example, screws), a plurality of locking holes (the fixing structure 2111) of the connecting component 21 and the locking holes (the connecting structure 15) of the third movable unit 14 Cooperate and lock each other. In other applications, the fixing structure 2111 may also be a structure formed by projecting outwardly from one end of the connecting body 211, and having a corresponding shape to the connecting structure 15. In practical applications, in order to enable the fixing structure 2111 to be fastened and conveniently fixed with the connecting structure 15, the fixing structure 2111 and the connecting structure 15 may have a plurality of positioning portions (for example, convex and concave structures, guiding columns). Etc.), there is no limit here.

The driving member 212 (for example, a motor) of the connecting component 21 is disposed on the connecting body 211, and the driving component 212 can drive the linking member 213 (for example, the driven wheel) to rotate. The portion of the linking member 213 can be exposed to the connecting body 211, and the linking member 213 is used to interlock an external component (can be selected according to requirements, such as a clamp). In other words, in this embodiment The extension mechanism 20 described above can be regarded as a three-axis robot arm, and the relevant manufacturer or application manufacturer can install the extension mechanism 20 on the robot arm device having three degrees of freedom according to requirements. 1, the robot arm device 1 is increased by three degrees of freedom, and becomes a robot arm device 1 having six degrees of freedom.

In a preferred application, the third movable unit 14 may include a movable body 141. One end of the movable body 141 has a connecting structure 15, and the movable body 141 has the end of the connecting structure 15, and a receiving groove 14a is formed in the concave shape. The driving member 212 of the connecting component 21 may be exposed to the connecting body 211; when the connecting component 21 and the third movable unit 14 are fixed to each other, the driving component 212 exposed to the connecting body 211 may be correspondingly disposed in the receiving slot 14a. This effectively reduces the volume of the overall robot arm device 1.

It is worth mentioning that the connecting component 21 can include an electrical connecting component (not shown, such as a power cord, a transmission line, etc.), which is electrically connected to the driving component 212 and the driving components of the remaining extended movable units 21', 21" ( The figure is not shown, for example, a motor, and the electrical connection assembly can be coupled to an associated electrical connection assembly (not shown, such as a power cord, transmission line, etc.) within the third mobile unit 14 to enable the extension mechanism 20 to be coupled to the primary mechanism. 10 is electrically connected to each other. In other words, in the specific implementation, the end of the third movable unit 14 may be a related member (for example, a connector of various electrical connecting lines) that can be electrically connected to the connecting component 21, so that the relevant personnel only The electrical connection assembly 21 of the connection assembly 21 and the associated electrical connection member reserved at the end of the third movable unit 14 need to be connected to each other, and the fixed structure 2111 and the connection structure 15 are fixed to each other, and then three freely The main mechanism 10 is converted into a robot arm device 1 having six degrees of freedom. Of course, in other applications, the third movable unit 14 may not have a corresponding electrical connection member, and the extension mechanism 20 The electrical connection component can be electrically connected to the associated control mechanism of the main mechanism 10 by way of wire or wireless.

In practical applications, the two extended movable units 21', 21" of the non-connecting component 21 may be connected to the extended moving unit as the connecting component 21 through a switching component 22; that is, two non-connecting components 21 Extended activity units 21', 21" are detachable The unloading is interconnected with an extended activity unit as a connection assembly 21. In this way, the relevant manufacturer can selectively set the remaining extended movable unit 21' (21") as the extended moving unit as the connecting component 21 according to the demand, and the extending mechanism 20 is composed of a mechanical arm having a single degree of freedom. Transforming into a robotic arm with two (three) degrees of freedom, allowing the manufacturer to more flexibly perform production assembly according to the customer's need for different degrees of freedom. The extended active unit 21 for the two non-connected components 21 The structure of the ', 21' and the extended moving unit as the connecting component 21 are detachably connected to each other, and are not limited thereto, and may be, for example, interlocked by a plurality of fasteners. Of course, the two extended movable units 21 ′, 21 ′′ of the non-connecting component 21 can also be electrically connected to the extended moving unit as the connecting component 21 through the aforementioned related electrical connecting component, and through the extended activity as the connecting component 21 . The unit is electrically connected to the main mechanism 10, or the extended active units 21', 21" of the two non-connected components 21 can be electrically connected to the main mechanism 10 by way of wired or wireless means.

In a preferred application, the first movable unit 12 is disposed on the fixed seat 11, and the first movable unit 12 is rotatable about the first longitudinal axis V1 with respect to the fixed seat 11. The second movable unit 13 is connected to the first movable unit 12, and the second movable unit 13 is linearly movable in a longitudinal direction F; for example, the second movable unit 13 can be controlled along the linear slide mechanism The longitudinal direction F moves linearly. The third movable unit 14 is coupled to the second movable unit 13, and the third movable unit 14 is rotatable about a second longitudinal axis V2. The first longitudinal axis V1, the longitudinal direction F and the second longitudinal axis V2 are parallel to each other. The connection assembly 21 of the extension mechanism 20 is coupled to the third activity unit 14; the other extension activity unit 21' of the extension mechanism 20 is coupled to the connection assembly 21, and the extension activity unit 21' can utilize the mechanism included in the connection assembly 21. Rotating about the first transverse axis H1 with respect to the connecting assembly 21; the other extending movable unit 21" can utilize the mechanism included in the extending movable unit 21', and the second lateral axis with respect to the extending movable unit 21' H2 is centered for rotation; externally connected to the end of the extended movable unit 21" The member can be rotated about a third longitudinal axis V3 with respect to the extension movable unit 21" by the mechanism included in the extension movable unit 21". Wherein, the first lateral axis H1 and the second lateral axis H2 may be parallel to the first longitudinal axis V1, and the third longitudinal axis V3 may be parallel to the first longitudinal axis V1.

Through the connection and the movement manner of the first movable unit 12, the second movable unit 13 and the third movable unit 14 to each other, the load torque of the main mechanism 10 in the vertical direction can be effectively reduced, so that the third movable unit 14 and the extension The mechanism 20 can adopt a relatively light structure and a relatively small horsepower to achieve a relatively large load capacity, thereby effectively reducing the manufacturing cost of the overall robot arm device 1.

Please refer to Figure 1 (a conventional six-axis robot) and Figure 2. As shown in FIG. 2, the mechanical arm device 1 of the present invention can restrict the third movable unit 14 to only the third movable unit 14 by being rotatable about the second longitudinal axis V2 with respect to the second movable unit 14. Rotating around the Z axis, whereby the weight carried by the end of the third movable unit 14 (the force in the direction perpendicular to the negative Z-axis) and the moment T1 generated by the second longitudinal axis V2 are second. The structure in which the movable unit 13 is connected to the third movable unit 14 is offset, so that the output torque required to drive the driving member of the third movable unit 14 relative to the second movable unit 13 can be effectively reduced. As such, it will be possible to drive the third movable unit 14 with a drive member that outputs a relatively low torque.

Generally, the member with the highest cost of the robot arm device is a driving member and a speed reducer, and the price of the driving member is roughly proportional to the output torque, and therefore, the second movable unit 13 and the third movable unit 14 are disposed through each other. In this way, the cost of the associated drive member can be effectively reduced, thereby reducing the cost of the overall robot arm device 1. In addition, the driving member of the second movable unit 13 drives the third movable unit 14 to rotate with the second longitudinal axis V2, and the direction of the torque T1 rotates counterclockwise around the positive Y-axis. Therefore, the direction of the torque T1 is The direction of rotation of the drive member (rotating clockwise or counterclockwise about the Z axis) does not directly affect the drive member.

Similarly, since the second activity unit 13 is linearly movable relative to the first activity unit 12, the weight carried by the end of the third activity unit 14 (vertical to negative Z) The force in the axial direction), the torque T2 generated with respect to the first longitudinal axis V1, is offset by the strength of the reinforced linear slide, and drives the drive of the second movable unit 13 relative to the first movable unit 12 , it is not susceptible to this torque T2.

As shown in FIG. 1, the conventional six-axis robot arm has a third movable unit 13' rotated about a transverse axis AX1 with respect to the second movable unit 12', and is carried by the third movable unit 13'. The weight, the torque T1' generated with respect to the transverse axis AX1, will be the same or opposite to the torque produced by the drive member that drives the third movable unit 13' (centered on the transverse axis AX1), thus Causing a burden on the rotation of the driving member, and offsetting or enhancing the output torque generated by the driving member, for which additional design must be made to resist the torque T1', for example, increasing the output torque of the motor or increasing The setting of the reducer, regardless of the design, will greatly increase the cost of the overall production (the components with the highest cost of the robot arm are the reducer and the motor). Similarly, the conventional second movable unit 12' is rotated about the other horizontal axis AX2 with respect to the first movable unit 11', and the weight carried by the third movable unit 13' is relative to the lateral axis AX2. The generated torque T2' will be the same or opposite to the direction of the output torque of the driving member that drives the second movable unit 12' to rotate about the lateral axis AX2 with respect to the first movable unit 11', thereby causing the driving member The burden, which in turn leads to increased costs.

Therefore, the robot arm device 1 of the present invention linearly moves along a longitudinal axis with respect to the first movable unit 12 by the second movable unit 13, and causes the third movable unit 14 to be oriented with respect to the second movable unit 13 by another longitudinal axis. The center is rotated. Thus, the robot arm device 1 of the present invention can use a driving member that outputs a relatively low torque, thereby greatly reducing the cost of the overall robot arm device.

[Second embodiment]

Referring to FIG. 4 and FIG. 5 , different from the foregoing embodiment, in other applications, the extension mechanism 20 may also include only a single extension movable unit 21 (ie, the foregoing connection assembly), and the extension mechanism 20 After assembly in the main mechanism 10, the robot arm device 1 can be converted into four degrees of freedom from three degrees of freedom. About the connection component 21, the main The arrangement manners of the first activity unit 12, the second activity unit 13, and the third activity unit 14 of the mechanism 10 are the same as those of the foregoing embodiment, and details are not described herein again.

In a preferred application, the extension mechanism 20 further includes an auxiliary connecting member 23 having an auxiliary connecting structure 231, 231' at each end, and the auxiliary connecting member 23 can be connected to the connecting structure 15 through the auxiliary connecting structure 231. And the auxiliary connecting member 23 can be connected to the connecting component 21 through the auxiliary connecting structure 231'. The two ends of the auxiliary connecting member 23 are not located in the same plane. Therefore, after the connecting component 21 is connected to the third movable unit 14 through the auxiliary connecting member 23, the moving direction of the related component of the connecting component 21 can be changed correspondingly. Specifically, as shown in FIG. 2, after the extension movable unit 21 as the connection assembly 21 is directly fixed to the third movable unit 14, the connection assembly 21 will rotate around the lateral axis (H1 indicated in FIG. 2). In contrast, as shown in FIG. 5, after the same connecting member 21 is connected to the third movable unit 14 through the auxiliary connecting member 23, the connecting member 21 is switched to rotate about a longitudinal axis V4. In a preferred application, the auxiliary connecting structure 231' and the connecting structure 15 have the same structure, and the connecting component 21 can be selectively connected to the auxiliary connecting structure 231' or the connecting structure 15, so that the relevant manufacturers are different according to the The connection of the connection component 21 to the connection structure 15 or the auxiliary connection structure 231' can be conveniently and quickly performed.

Preferably, the linking member 213 of the connecting assembly 21 is rotated about the longitudinal axis V4, wherein the longitudinal axis V4 may be parallel to the first longitudinal axis V1 and the second longitudinal axis V2 (as shown in FIG. 2); With the connection and the movement manner of the first movable unit 12, the second movable unit 13, and the third movable unit 14 in the foregoing embodiments, the load torque of the main mechanism 10 in the vertical direction can be effectively reduced, so that the first The three movable unit 14 and the extension mechanism 20 can adopt a relatively light structure and a relatively small horsepower to achieve a relatively large load capacity, thereby effectively reducing the manufacturing cost of the overall robot arm device 1.

Referring to FIG. 2 and FIG. 4 together, the extension mechanism 20 is detachably connected to the main mechanism 10, whereby the relevant application manufacturer or manufacturer can be different according to the The requirement is to change the degree of freedom of the robot arm device 1 by replacing the extension mechanism 20 having a different number of extended movable units 21, 21', 21". That is, the relevant user may be FIG. 2 (FIG. 4) The extension mechanism 20 of the illustrated robot arm device 1 is detached from the main mechanism 10, and has a single (three) extension movable unit 21 (21, 21', 21 as shown in Fig. 4 (Fig. 2). The extension mechanism 20, thereby converting the robot arm device 1 having six (four) degrees of freedom shown in Fig. 2 (Fig. 4) into a robot arm device 1 having four (six) degrees of freedom. That is, for the application manufacturer, the existing four (six) axis robot arm device can be converted into a six (four) axis robot arm device through the disassembly and assembly of the extension mechanism 20. In addition, for the manufacturer, whether it is a four-axis robot arm device or a six-axis device, the same main mechanism 10 is shared, so that the overall control can be more effectively performed in the overall production operation, thereby being effective Reduce production costs. In short, the relevant manufacturer may, according to the demand, the main mechanism 10 having three degrees of freedom, by assembling the extension mechanism 20 having N extended moving units, corresponding to the robot arm device 1 having N+3 as a whole. Degree of freedom (N is a positive integer).

Moreover, the extension mechanism 20 cooperates with the design of the extension movable units 21', 21" of the detachable two non-connecting components 21, and the relevant manufacturers can more flexibly according to the customer, and the requirements for different degrees of freedom are fast. Related production is performed. That is to say, the extension movable unit 21', 21" which is not the connection component 21 in the extension mechanism 20 may be detachably connected to the connection component 21, and the extension mechanism 20 may also be required according to requirements. The number of extended activity units of the extension mechanism 20 is rapidly changed. That is to say, by changing the number of extended moving units to which the connecting unit 21 is connected, the robot arm device 1 having three degrees of freedom can be converted into the robot arm device 1 having five or seven degrees of freedom.

The above description is only a preferred embodiment of the present invention, and is not intended to limit the scope of the present invention. Therefore, equivalent technical changes made by using the present specification and the contents of the drawings are included in the protection scope of the present invention. .

1‧‧‧ Robotic arm device

10‧‧‧Main institutions

11‧‧‧ Fixed seat

12‧‧‧First activity unit

13‧‧‧Second activity unit

14‧‧‧ Third activity unit

15‧‧‧ Connection structure

20‧‧‧Extension agencies

21‧‧‧Connecting components

21’, 21”‧‧‧Extended activity unit

22‧‧‧Transfer components

V1‧‧‧ first longitudinal axis

V2‧‧‧ second longitudinal axis

V3‧‧‧ third longitudinal axis

H1‧‧‧ first transverse axis

H2‧‧‧second transverse axis

T1‧‧‧ torque

T2‧‧‧ torque

F‧‧‧Portrait direction

Claims (10)

A mechanical arm device includes: a main mechanism including a first activity unit, a second activity unit, and a third activity unit, the first activity unit, the second activity unit, and the third activity unit being mutually Connected to each other, and the main mechanism enables the robot arm device to have three degrees of freedom; wherein the third movable unit has a connecting structure; and an extending mechanism that is detachably coupled to the main mechanism, the main The mechanism and the extension mechanism enable the robot arm device to have N+3 degrees of freedom, N is a positive integer, and the extension mechanism comprises: N extended activity units, wherein the extension activity unit is defined as a connection component, the connection The assembly is removably secured to the attachment structure and the extension mechanism is rotatable or linearly movable relative to the main mechanism, the extension mechanism being rotatable or linearly movable with the main mechanism. The robot arm device of claim 1, wherein the extension mechanism comprises an extension unit, the extension unit is the connection assembly, the connection assembly comprises a connection body, a driving member and a linkage, the connection The main body has a fixing structure, the connecting component can cooperate with the connecting structure through the fixing structure, and is detachably fixed to the third movable unit, the driving component is disposed on the connecting body, and the driving component can The linking member is driven to actuate, and a portion of the linking member is exposed to the connecting body, and the linking member is used for interlocking an external member or the other extending movable unit. The mechanical arm device of claim 2, wherein the third movable unit comprises a movable body, the movable body has a connecting structure at one end thereof, and the end of the movable body is concavely formed with a receiving groove, which is exposed The driving member of the connecting body can be correspondingly received in the receiving groove. The robot arm device of claim 1, wherein the extension mechanism comprises an extension activity unit, the extension activity unit is the connection assembly, the connection assembly comprises a connection body, a driving member, a linkage member and an auxiliary device. a connecting member, the connecting body is connected to the auxiliary connecting member, the auxiliary connecting member is detachably fixed to the connecting structure, the connecting body is provided with the driving member and the linking member, and the driving member can drive the linking member to actuate The linkage is used to interlock an external member. The mechanical arm device of claim 4, wherein the connecting body is detachably fixed to the auxiliary connecting member; the end of the connecting body and the auxiliary connecting member fixed to each other is also detachably fixed to the connecting structure . The robot apparatus of any one of claims 1 to 5, wherein the first movable unit is rotatable about a longitudinal axis, the second movable unit is coupled to the first movable unit, and the second The movable unit is linearly movable in a longitudinal direction relative to the first movable unit; the third movable unit is coupled to the second movable unit, and the third movable unit is capable of a further longitudinal axis relative to the second movable unit Rotate for the center. An extension mechanism comprising N extended activity units, N being a positive integer, wherein one of the extension activity units is defined as a connection component for interconnecting with a robotic arm device having X degrees of freedom, so that The robot arm device has X+N degrees of freedom, and X is a positive integer; wherein, when N is greater than 1, the extended active units are connected to each other. The extension mechanism of claim 7, wherein the connection assembly comprises a connection body, a driving member and a linking member, the connecting body has a fixing structure, and the fixing structure is detachably fixed to the mechanical arm device The driving member is disposed on the connecting body, and the driving member can drive the linking member to rotate, a portion of the linking member is exposed to the connecting body, and the linking member is used for interlocking an external portion member. The extension mechanism of claim 7, wherein the extension mechanism comprises an extension activity unit, the extension activity unit is the connection component, the connection component further comprises an auxiliary connector, the connection component comprises a connection body, a a driving member and a linking member, the connecting body is connected to the auxiliary connecting member, the auxiliary connecting member is detachably fixed to the mechanical arm device, the connecting body is provided with the driving member and the linking member, and the driving member can The linkage is driven to actuate, and the linkage is used to interlock an external member. The extension mechanism of claim 7, wherein the connecting body is detachably fixed to the auxiliary connecting member, and the end of the connecting body that can be fixed to the auxiliary connecting member is detachably coupled to the mechanical arm device. Fixed to each other.