201034815 六、發明說明： 【發明所屬之技術領域】 本發明涉及一種機器人之臂部件及其製造方法以 ^ 及具有該臂部件之機器人。 【先前技術】 圖1所示為一種六軸工業機器人，其包括基座n、 可轉動地设置於基座11之機架12、可轉動地設置於機 〇架12之大臂13及與大臂13可轉動連接之小臂14。基 座11用於將六軸工業機器人安裝至地板或者類似2 上，機架12可繞第一旋轉軸3旋轉，大臂13可繞第二 旋轉轴b旋轉，小臂14可繞第三旋轉軸c旋轉。該六 轴工業機器人還包括d、e、f所表示之其他三軸。一般 可於第六轴f上安褒夾具、刀具或者探測儀器等執 置進行工作。 & 設計製造上述六轴工業機器人之小臂14時，一方 應考慮增強小臂14之剛度、強度及其應力分佈之均 性，以抵抗施加於小臂14之各種複雜作用力，並減二 小臂14之振動；另一方面應考慮減輕小臂重量、 減小其轉動慣量，從而增強小臂14之可控性及杵I以 精確性，使其能夠準確快速定位。習知技術一麵二 14上設置中空結構以達到使小臂14具有一定剛度：臂 輕其重量之目的。然，上述中空結構之截面形狀 封閉型結構，藉由砂型鑄造成型小臂14時，又… ^ 用於成型 4 201034815 ΓΛ:!型芯不易準確定位於型腔中，易造成小臂 二鑄造成型後厚度均勾性不佳，降低小臂13受力時應 力勿佈之均自性，錢難清砂、鑄造效率較低。 【發明内容】201034815 VI. Description of the Invention: [Technical Field] The present invention relates to an arm member of a robot and a method of manufacturing the same, and a robot having the same. [Prior Art] FIG. 1 shows a six-axis industrial robot including a base n, a frame 12 rotatably disposed on the base 11, a boom 13 rotatably disposed on the frame 12, and a large The arm 13 is rotatably coupled to the arm 14 . The base 11 is used to mount a six-axis industrial robot to a floor or the like, the frame 12 is rotatable about a first axis of rotation 3, the boom 13 is rotatable about a second axis of rotation b, and the arm 14 is rotatable about a third The axis c rotates. The six-axis industrial robot also includes the other three axes represented by d, e, and f. Generally, the installation of the fixture, tool or detector can be performed on the sixth axis f. & When designing and manufacturing the arm 14 of the above-mentioned six-axis industrial robot, one side should consider the uniformity of the rigidity, strength and stress distribution of the reinforcing arm 14 to resist various complicated forces applied to the arm 14 and reduce On the other hand, it is considered to reduce the weight of the arm and reduce its moment of inertia, thereby enhancing the controllability of the arm 14 and the accuracy of the 杵I, so that it can be accurately and quickly positioned. The prior art has a hollow structure on one side 14 to achieve a certain rigidity of the arm 14: the arm is light in weight. However, the cross-sectional shape of the hollow structure is closed, and when the arm 14 is formed by sand casting, it is used for molding. 4 201034815 ΓΛ: The core is not easily positioned in the cavity, and it is easy to cause the two arms to be cast. After the thickness of the hook is not good, reduce the stress of the arm 13 when the stress is not cloth, the money is difficult to clear sand, casting efficiency is low. [Summary of the Invention]
Ell j於上述内令’有必要提供一種重量較輕、強度和 =較好錢料造成件及錢造方法以及 具有該臂部件之機器人。 ❹ 一種機器人之臂部件，其包括第—連接端、第 接端及連接第-連接端與第二連接端之連接部。第一連 接端及第二連接端與傳動裝置相連接。連接部至少一部 为為用於增強臂部件剛度之中空結構。中空結構之週壁 设有開口，開口之邊緣處形成向中空結構内部延伸之加 一種機器人，具有上述臂部件。 種製造上述機器人之臂部件之方法，其包括以下 〇步驟·’提供砂型箱’其設有可相互結合之第—砂型箱和 第二砂型箱、型芯及用於支#型芯之支#件，型芯用於 形成臂部件之中空結構，支撐件用於於令空結 ，口 ’型《上還設有用於於開口邊緣處形成加強部^凹 邛，利用支撐件將型芯支撐於第一砂型箱及第二砂型箱 之其+之一内，並將第一砂型箱與第二砂型箱相結合以 形成與臂部件職大小—致之m迦岐入㈣ 之金屬溶液，於金屬溶液冷卻後，將第一砂型箱與第二 矽型箱相分離，並進行清砂，以形成臂部件。 5 201034815 ^述機ϋ人之臂部件於巾空結構 二型臂部件時，可於對應形成開= 砂型“二件’猎撐件將型芯準確牢靠地定位於 目，有助於提高鑄造成型之臂部件尺寸之 於滿足臂部件剛度及強度要求下，可提高材料二 •用率，從而減輕臂部件重量。鑄造成型過程中，還可於 =處進行清砂處理，因空間可較大，從而便於操作。、 糟/於開口之邊緣設置加強部還可使該臂部件具有 〇佳之剛度及強度。 权 採用上述#件之機器人自身重量較輕，同時 於驅動臂部件之傳動裝置之轉矩/力矩要求降低。另，臂 部件之轉速及其控制精度可得到提高，從而有助於提高 機器人之工作效率及作業之精確度。 【實施方式】 下面結合附圖及實施例對本發明機器人之臂部件 ❹及具製造方法以及具有該臂部件之機器人作進一步 _ 細說明。 , 本發明機器人之臂部件可應用於直線座標式、圓柱 座標式、球座標式及關節式機器人中，本實施例以應用 於六軸關節式機器人之臂部件為例加以說明。 ^ 請同時參閱圖2至圖5,本發明實施例機器人之臂 部件200可作為六軸關節式機器人之小臂，其包括第一 連接端210、第二連接端22〇以及連接第一連接端21〇 及第二連接端220之長條狀連接部240。連接部240包 201034815 括依次連接之四連接壁241、242、243、244，該四連接 壁241、242、243、244與第一連接端210及第二連接 端220圍成中空部以形成中空結構245。中空結構245 之截面形狀大致為矩形。 第一連接端210用於連接第一傳動裝置（圖未示）， 以驅動設置於六軸關節式機器人末端且與臂部件200相 ' 連接之執行裝置，如夾具、刀具、探測器等動作。第一 連接端210包括圓盤形本體211以及由本體211二側邊 〇 緣沿其軸向延伸形成之加強壁213，設置加強壁213有 助於提高臂部件200之剛度。本體211上還設有複數第 一連接孔2112，用於與第一傳動裝置相連接。 第二連接端220用於連接第二傳動裝置（圖未示）， 以驅動臂部件200運動。第二連接端220包括圓盤形本 體221及由本體221二侧邊緣沿其軸向延伸形成之加強 壁223，設置加強壁223亦有助於提高臂部件200之剛 度。本體221上還設有複數第二連接孔2212,用於與第 〇 二傳動裝置相連接。 本實施例中，第二連接端220本體211之外徑大於 第一連接端210本體221之外徑，第二連接端220厚度 (軸向尺寸）大於第一連接端210厚度。臂部件200工 作時，可近似為一懸臂樑結構，且第二連接端220為支 承端，從而第二連接端220將受到較大之力矩/扭矩，採 用上述結構，可增強第二連接端220之承重能力，從而 有助於提高臂部件200應力分佈之均勻性。 7 201034815 連接壁241與連接壁243分別平滑連接第一連接端 210及第二連接端220，且分別沿第一連接端21〇 向延伸並對稱設置。連接壁241、243還可朝臂部4之輛 中部凹陷，以形成弓形結構，從而有助於減輕臂 之重量 連接壁244沿垂直於第一連接端21〇 Αυ袖向方向证 伸’且其與第一端210及第二端220其中—^ 面。 側之端面共 Ο Ο 連接壁244之中部設有開口 246，開口 246 形成有向中空結構245内部延伸且依次連接之^緣處 2461、 2462、2463、2464，以提高臂部件2〇〇 〇強部 強度。本實施例，開口 246大致為矩形，加％ Α岡】度及 难邵246Ί 2462、 2463、2464為加強筋形式。其中，加 5¾ 24fii 與加強部2463沿基本垂直連接壁244之方向延伸 強部2462與加強部2464對稱設置於開口 ’加 之二-側计 分別垂直加強壁2461、2463，且加強部24c ^ 以62與加強 2464之延伸方向與連接部240之延伸方向斜丄 °' 2462、2464採用斜向延伸之方式可增加其總體長声/ 而有助於進一步提高臂部件200之剛度及強度。又，從 連接壁244與連接壁241、243、第—、查 硬接端 及弟一連接端220相連接處還可形成較大之倒角 該倒角248可改善臂部件200受力時之應力集中248 ’ 連接壁242沿垂直於第一連接端21〇之轴 其中部沿第一連接端210軸向朝臂部件2〇〇外* 伸’ 卜龙出，其 ^m μ丄^ ,丄a + a &°力口強部 8 201034815 鄰近第-連接端210之一端藉由一較長之斜面盥 接端210之端面相連接，其鄰近第二連接端咖之 藉由-較短之斜面與第二連接端22〇之端面相連接 接壁242上還設有二穿孔2421。 上述臂部件200可選用輕質、高強度之材料， 鋁或鋁合金材料，其製造方法包括以下步驟： ❹ ⑴提供砂型箱’其設有可相互結合之第一砂型 箱和第二砂型箱、型芯及用於支撐型芯之支撐件，該型 芯用於形成中线構245,支揮件用於於該中空結構如 上形成開口 246,該型芯還設有用於於該開口 246邊緣 處形成加強部2461、2462、2463、2464之凹部。本實 施例中’支樓件為柱狀，其截面為矩形，從而可形成矩 形開口 246。 (2) 利用支撐件將型芯固定於其中一砂型箱中， 並將第一、第二砂型箱相結合以形成與該臂部件2〇〇形 狀大小一致之型腔。 (3) 向步驟（2)中形成之型腔内注入熔融之金屬 溶液，在該金屬溶液冷卻後，將第一 '第二砂型箱相分 離並進行β砂以清理出型芯，從而形成該臂部件。 該金屬溶液優選為鑄鋁或鋁合金金屬溶液。 利用上述方法製造臂部件2〇〇時，可藉由支撐件支 撐型芯，且支撐件可設置於對應形成開口 246之位置， 從而便於將砂型準確牢靠地定位於砂箱中，提高鑄造成 型之臂部件200之尺寸穩定性。在滿足剛度及強度要求 9 201034815 下，有助於使臂部件200之壁厚更薄，從而達到減輕臂 部件200重量之目的，並提高材料之利用率以及鑄造之 良率。同時，設置開口 246及穿孔2421還便於進行清 砂操作，提高了鑄造效率。 另，開口 246還可收納連接第一、第二傳動裝置之 電纜。傾斜設置之加強部2462、2464還可對電纜起到 導向作用。 圖6及圖7所示為藉由數值模擬得出之本發明臂部 Ο 件200之應力分佈圖，該數值模擬之結果由通用有限元 分析軟體ANSYS分析得出，從圖中可看出，臂部件200 應力分佈趨於均勻，從而可充分發揮臂部件200材料之 機械性能，使得材料之利用更為合理。上述數值模擬之 初始參數值見下表。 描述 值 單位 彈性模數 6.9E+10 N/m2 泊松比 0.33 無量綱 剪力模數 2.7E+10 N/m2 密度 2700 Kg/m3 抗拉強度 68935600 N/m2 降伏強度 27574200 N/m2 熱膨脹係數 2.4E-5 1/Kelvin 201034815 熱傳導率 200 W/(m.K) 比熱 900 J/(kg.K) 圖8及圖9所示為藉由模態分析得出之本發明臂部 件200之一階振動頻率與二階振動頻率圖，該結果由 ANSYS軟體分析得出。臂部件200前五階振動頻率請 參見下表，從圖8、圖9以及下表可看出，臂部件200 之一階及二階振動頻率較低，從而其可具有較高之運動 速度而不會引起共振，具有較佳之剛度。 模態數 頻率(弧度/秒） 頻率（赫茲） 週期（秒） 1 738.87 118.18 0.008504 2 1238.3 198.09 0.005074 3 3433.7 546.49 0.00183 4 3844.8 611.92 0.001634 5 5677.8 903.66 0.001107 可以理解，臂部件200之第一連接端210及第二連 接端220不限於本實施例之結構，其亦可根據機器人之 類型設置為其他形式之連接結構。中空結構245之截面 形狀不限於矩形，其亦可為六邊形或圓形等其他可由砂 型鑄造成型之形狀。 π 201034815 本發明實施例之六軸關節式機器人（圖未示）與習 知技術所描述之六軸工業機器人相似（請參見圖i'其 區別主要在於：本發明實施例之六軸關節式機器人採用 . 上述臂部件200作為其小臂，臂部件200之第一連接端 210連接末端之執行裝置（圖未示），如夾具、刀具、探 測器等，該執行裝置可繞第5軸f或/和第6軸§旋轉t 因臂部件200具有重量較輕、剛性較好之特點，不僅可 減小六轴關節式機器人之自身重量，同時對用於驅動臂 〇部件20G之傳動裝置（比如電機）之轉矩/力矩要求降 低，從而可選取價格較低或體積較小之電機。另，臂部 件200轉速及其定位精度可得到提高，從而有助於提升 六軸關節式機器人之工作效率及作業之精確度。 可以理解，本發明臂部件200不限於應用於六軸關 節式機器人中，其還可應用於直線座標式、圓柱座標 式球座“式及其他關節式機器人中，此時可根據機器 ❹人之具體類型變更臂部件200之第一連接端21〇及第二 連接端220之結構形式。 • 综上所述，本發明確已符合發明專利之要件，遂依 法提出專利申請。惟，以上所述者僅為本發明之較佳實 施方式，自不能以此限制本案之申請專利範圍。舉凡熟 悉本案技藝之人士援依本發明之精神所作之等效修飾 或變化，皆應涵蓋於以下申請專利範圍内。 【圖式簡單說明】 圖1係一種習知六軸工業機器人之平面示意圖。 12 201034815 圖2係本發明實施例之機器人之臂部件之立體圖。 圖3係圖2所示臂部件之另一方向之立體圖。 圖4係圖2所示臂部件之剖視圖。 圖5係圖2所示臂部件另一剖切方向之剖視圖。 圖6及圖7係藉由數值模擬得出之圖2所示臂部件 之應力分佈圖。 _ 圖8及圖9係藉由模態分析得出之圖2所示臂部件 之一階振動頻率與二階振動頻率圖。 〇 【主要元件符號說明】 基座 11 機架 12 大臂 13 小臂 14 臂部件 200 第一連接端 210 第二連接端 220 連接部 240 中空結構 245 本體 211 、 221 加強壁 213 、 223 第一連接孔 2112 第二連接孔 2212 開口 246 穿孔 2421 倒角 248 連接壁 241 、 242 、 243 ' 244 加強部 2461 、 2462 、2463 、 2464 旋轉軸 a、b、c、d ' e ' f 13Ell j is in the above-mentioned order. It is necessary to provide a light weight, strength and = good material and method of making money and a robot having the arm member. An arm component of a robot, comprising a first connection end, a first connection end, and a connection portion connecting the first connection end and the second connection end. The first connection end and the second connection end are coupled to the transmission. At least one of the connecting portions is a hollow structure for enhancing the rigidity of the arm member. The peripheral wall of the hollow structure is provided with an opening, and an edge of the opening is formed to extend toward the inside of the hollow structure, and the above-mentioned arm member is provided. A method for manufacturing the arm member of the above robot, comprising the following steps: 'providing a sand box' which is provided with a first sand-type box and a second sand box, a core and a branch for the core ## The core is used to form a hollow structure of the arm member, the support member is used for making the air knot, and the mouth type is further provided with a reinforcing portion for forming a reinforcing portion at the edge of the opening, and the core is supported by the support member. The first sand type box and the second sand type box are in one of +, and the first sand type box is combined with the second sand type box to form a metal solution with the size of the arm member, so that the metal solution is in the metal After the solution is cooled, the first sand mold is separated from the second mold and cleaned to form an arm member. 5 201034815 ^When the arm part of the machine is used in the two-arm component of the towel empty structure, the core can be accurately and firmly positioned in the corresponding shape of the sand-type "two-piece" hunting support, which helps to improve the casting molding. The size of the arm member can meet the requirements of the rigidity and strength of the arm member, which can improve the material usage rate and reduce the weight of the arm member. During the casting process, the sand can be cleaned at the place where the space is large. Therefore, it is easy to operate. The bad/providing of the reinforcing portion at the edge of the opening can also provide the arm member with excellent rigidity and strength. The weight of the robot using the above #1 is lighter and the torque of the transmission device of the driving arm member is The torque of the arm member can be improved, and the rotational speed of the arm member and the control precision thereof can be improved, thereby contributing to the improvement of the working efficiency of the robot and the accuracy of the operation. [Embodiment] The arm of the robot of the present invention will be described below with reference to the accompanying drawings and embodiments. The component ❹ and the manufacturing method and the robot having the arm component are further described in detail. The arm component of the robot of the present invention can be applied to a linear coordinate type In the cylindrical coordinate type, the ball coordinate type, and the articulated robot, the present embodiment is described by taking an arm member applied to a six-axis articulated robot as an example. ^ Referring also to FIG. 2 to FIG. 5, the arm part of the robot according to the embodiment of the present invention The 200 can be used as an arm of a six-axis articulated robot, and includes a first connecting end 210, a second connecting end 22, and an elongated connecting portion 240 connecting the first connecting end 21 and the second connecting end 220. The 240 package 201034815 includes four connection walls 241, 242, 243, 244 connected in series, and the four connection walls 241, 242, 243, 244 and the first connection end 210 and the second connection end 220 enclose a hollow portion to form a hollow structure 245. The cross-sectional shape of the hollow structure 245 is substantially rectangular. The first connecting end 210 is for connecting a first transmission device (not shown) to drive an actuator disposed at the end of the six-axis articulated robot and connected to the arm member 200 The first connecting end 210 includes a disc-shaped body 211 and a reinforcing wall 213 formed by the two side edges of the body 211 extending along the axial direction thereof. The reinforcing wall 213 is provided to help lift The rigidity of the high arm member 200. The body 211 is further provided with a plurality of first connecting holes 2112 for connecting with the first transmission device. The second connecting end 220 is for connecting a second transmission device (not shown) for driving The arm member 200 moves. The second connecting end 220 includes a disc-shaped body 221 and a reinforcing wall 223 formed by extending the two side edges of the body 221 along the axial direction thereof. The provision of the reinforcing wall 223 also contributes to the rigidity of the arm member 200. The second connecting hole 2212 is further provided with a plurality of second connecting holes 2212 for connecting with the second transmission device. In this embodiment, the outer diameter of the second connecting end body 211 is larger than the outer diameter of the body 221 of the first connecting end 210. The thickness (axial dimension) of the second connection end 220 is greater than the thickness of the first connection end 210. When the arm member 200 is in operation, it can be approximated as a cantilever beam structure, and the second connecting end 220 is a supporting end, so that the second connecting end 220 will receive a large torque/torque. With the above structure, the second connecting end 220 can be reinforced. The load bearing capacity helps to improve the uniformity of the stress distribution of the arm member 200. 7 201034815 The connecting wall 241 and the connecting wall 243 are respectively smoothly connected to the first connecting end 210 and the second connecting end 220, and respectively extend along the first connecting end 21 and are symmetrically disposed. The connecting walls 241, 243 may also be recessed toward the middle of the arm portion 4 to form an arcuate structure, thereby helping to reduce the weight of the arm. The connecting wall 244 is in a direction perpendicular to the first connecting end 21, and its And the first end 210 and the second end 220 have a surface. The end face of the side wall 244 is provided with an opening 246 in the middle of the connecting wall 244. The opening 246 is formed with a flange 2461, 2462, 2463, 2464 extending toward the inside of the hollow structure 245 and sequentially connected to improve the arm member 2 Strength. In this embodiment, the opening 246 is substantially rectangular, and the % Α 及 、 and the 246 Ί 2462, 2463, and 2464 are in the form of reinforcing ribs. Wherein, the reinforcing portion 2463 and the reinforcing portion 2463 extend in the direction of the substantially vertical connecting wall 244. The strong portion 2462 and the reinforcing portion 2464 are symmetrically disposed on the opening 'plus two-side meter vertical reinforcing walls 2461, 2463, respectively, and the reinforcing portion 24c ^ is 62 The direction of extension of the reinforcement 2464 and the direction of extension of the connecting portion 240 can be increased by the oblique extension of the extension 2', 2464, 2464 to help increase the stiffness and strength of the arm member 200. Moreover, a larger chamfer can be formed from the connection wall 244 and the connecting walls 241, 243, the first, the hard connecting end and the connecting end 220. The chamfer 248 can improve the force of the arm member 200. The stress concentration 248' of the connecting wall 242 extends along the first portion of the shaft perpendicular to the first connecting end 21〇 along the first connecting end 210 toward the arm member 2*, which is ^m μ丄^ , 丄a + a & ° force strong portion 8 201034815 adjacent one end of the connecting end 210 is connected by the end face of a longer beveled end 210, which is adjacent to the second connecting end by - short The bevel is connected to the end surface of the second connecting end 22, and the connecting wall 242 is further provided with two through holes 2421. The arm member 200 may be made of a lightweight, high-strength material, aluminum or aluminum alloy material, and the manufacturing method thereof comprises the following steps: ❹ (1) providing a sand box, which is provided with a first sand box and a second sand box which are combined with each other, a core and a support for supporting the core, the core being used to form a centerline structure 245 for forming an opening 246 in the hollow structure, the core being further provided for forming at an edge of the opening 246 The recesses of the reinforcing portions 2461, 2462, 2463, 2464. In the present embodiment, the 'building block member is columnar and has a rectangular cross section so that a rectangular opening 246 can be formed. (2) The core is fixed in one of the sand boxes by the support member, and the first and second sand boxes are combined to form a cavity having a shape corresponding to the shape of the arm member 2. (3) injecting a molten metal solution into the cavity formed in the step (2), after the metal solution is cooled, separating the first 'second sand type box phase and performing β sand to clean out the core, thereby forming the Arm parts. The metal solution is preferably a cast aluminum or aluminum alloy metal solution. When the arm member 2 is manufactured by the above method, the core can be supported by the support member, and the support member can be disposed at a position corresponding to the opening 246, thereby facilitating accurate and secure positioning of the sand mold in the sand box, thereby improving the casting molding. The dimensional stability of the arm member 200. In meeting the stiffness and strength requirements 9 201034815, it helps to make the wall thickness of the arm member 200 thinner, thereby reducing the weight of the arm member 200, and improving material utilization and casting yield. At the same time, the provision of the opening 246 and the perforation 2421 also facilitates the sanding operation and improves the casting efficiency. In addition, the opening 246 can also receive a cable that connects the first and second transmissions. The slanted reinforcements 2462, 2464 can also guide the cable. 6 and 7 show the stress distribution diagram of the arm member 200 of the present invention obtained by numerical simulation. The result of the numerical simulation is analyzed by the general finite element analysis software ANSYS. As can be seen from the figure, The stress distribution of the arm member 200 tends to be uniform, so that the mechanical properties of the material of the arm member 200 can be fully utilized, making the utilization of the material more reasonable. The initial parameter values for the above numerical simulations are shown in the table below. Descriptive value unit elastic modulus 6.9E+10 N/m2 Poisson's ratio 0.33 Dimensional shear modulus 2.7E+10 N/m2 Density 2700 Kg/m3 Tensile strength 68935600 N/m2 Degradation strength 27574200 N/m2 Thermal expansion coefficient 2.4E-5 1/Kelvin 201034815 Thermal Conductivity 200 W/(mK) Specific Heat 900 J/(kg.K) Figures 8 and 9 show the first-order vibration of the arm member 200 of the present invention obtained by modal analysis. Frequency and second-order vibration frequency map, the results are obtained by ANSYS software analysis. For the first five-order vibration frequency of the arm member 200, please refer to the following table. As can be seen from FIG. 8, FIG. 9 and the following table, the arm member 200 has a lower first-order and second-order vibration frequency, so that it can have a higher moving speed without Will cause resonance and have better stiffness. Modal number frequency (radians/second) Frequency (Hz) Period (seconds) 1 738.87 118.18 0.008504 2 1238.3 198.09 0.005074 3 3433.7 546.49 0.00183 4 3844.8 611.92 0.001634 5 5677.8 903.66 0.001107 It can be understood that the first connection end 210 of the arm member 200 and The second connection end 220 is not limited to the structure of the embodiment, and may be set to other forms of connection structure depending on the type of the robot. The cross-sectional shape of the hollow structure 245 is not limited to a rectangular shape, and may be a hexagonal or circular shape or the like which can be molded by sand molding. π 201034815 The six-axis articulated robot (not shown) of the embodiment of the present invention is similar to the six-axis industrial robot described in the prior art (please refer to FIG. 1 ′, the difference mainly lies in the six-axis articulated robot of the embodiment of the present invention. Using the above-mentioned arm member 200 as its arm, the first connecting end 210 of the arm member 200 is connected to the end of the actuator (not shown), such as a clamp, a tool, a detector, etc., the actuator can be wound around the 5th axis f or / and the 6th axis § rotation t Because the arm member 200 has the characteristics of light weight and good rigidity, not only can the weight of the six-axis articulated robot be reduced, but also the transmission for driving the arm sill member 20G (for example) The torque/torque requirements of the motor are reduced, so that the motor with lower price or smaller volume can be selected. In addition, the speed of the arm member 200 and its positioning accuracy can be improved, which helps to improve the working efficiency of the six-axis articulated robot. And the accuracy of the operation. It can be understood that the arm member 200 of the present invention is not limited to the application of the six-axis articulated robot, and can also be applied to the linear coordinate type and the cylindrical coordinate type spherical seat. In other articulated robots, the structure of the first connecting end 21〇 and the second connecting end 220 of the arm member 200 can be changed according to the specific type of the machine. In summary, the present invention has indeed met the invention patent. The above is only a preferred embodiment of the present invention, and the above is not limited to the scope of the patent application of the present invention. Anyone familiar with the skill of the present invention will be assisted by the spirit of the present invention. Equivalent modifications or variations are intended to be included in the scope of the following claims. BRIEF DESCRIPTION OF THE DRAWINGS Fig. 1 is a schematic plan view of a conventional six-axis industrial robot. 12 201034815 FIG. 2 is an arm component of a robot according to an embodiment of the present invention. Fig. 3 is a perspective view of the arm member shown in Fig. 2. Fig. 4 is a cross-sectional view of the arm member shown in Fig. 2. Fig. 5 is a cross-sectional view showing another arm member of Fig. 2. And Figure 7 is a stress distribution diagram of the arm member shown in Figure 2 by numerical simulation. _ Figure 8 and Figure 9 are the one-order vibration frequency of the arm member shown in Figure 2 by modal analysis. Vibration frequency diagram 〇 [Main component symbol description] Base 11 Rack 12 Boom 13 Arm 14 Arm member 200 First connection end 210 Second connection end 220 Connection portion 240 Hollow structure 245 Body 211, 221 Reinforcement wall 213, 223 first connection hole 2112 second connection hole 2212 opening 246 perforation 2421 chamfer 248 connection wall 241, 242, 243 '244 reinforcement 2461, 2462, 2463, 2464 rotation axis a, b, c, d ' e ' f 13