201121738 六、發明說明： [0001] [0002] 尤其涉及—平面關節型工業機器 【發明所屬之技術領域】 本發明涉及一機器人 人0 平面關節型機器人係目前使用最為廣泛之裝配機器人之 匕專門用於垂4安I作業，例如於印刷電路板上插 貼元器件。該類機器人具有四關節：三水平轉動關節及 -垂直滑動關節，因此能抓取元件於水平方向定位，並 於垂直方向進行插入或旋轉作業。其平面轉動關料放 鬆而使插人元件時可順著孔之位置作微小調整具有索 順性，因而稱為於選擇方向具有柔順性之安裝機器人 (Selective C〇mpiiance Assembly Robot Arm, SCARA)。 [0003] _平面關節型機器人，其包括基座、大臂及小臂。該小 臂内設有主轴及驅動該主軸旋轉之步進電機。該主軸上 設有藉由花鍵固定之帶輪，並與該步進電機之間藉由皮 帶傳動。惟，使用帶輪傳動容易造成電機慣量比過大而 不易控制，致使剛性較差；且主軸高速旋轉時皮帶容易 變形，導致定位精度不高。 [發明内容】 [0004] 有鑒於此，有必要提供一剛性較好、精度較高之平面關 節型機器人。 [0005] 一平面關節型機器人’包括基座 '大臂及小臂。基应上 設有第一轉轴及驅動第一轉軸旋轉之第一馬達。大臂一 098144056 表單编被A0101 第4頁/共18頁 201121738 端藉由第一轉轴可轉動地與基座連接。小臂包括第-轉 軸及驅動第二轉軸之第二馬達，並藉由第二轉轴可轉動 地與大臂另一端相連。小臂還包括固定第二馬達之固定 座、與固定座固定之第三馬達、由第三馬達驅動之第二 轉軸、與固定座活動相連之絲桿、連接第三轉輪與絲桿 之傳動裝置、與絲桿活動相連之螺母、與螺母固定相連 之第四馬達、由第四馬達驅動之第四轉轴及設於固定座 且供第四轉軸穿設之轴承組件。 〇 _] 上述平面關節型機器人之各轉軸與各馬達直接驅動相連 ，省卻傳統之帶輪、花鍵等傳動機構，剛性較好、精度 較高。 [0007] 【實施方式】 ，爾r 下面將結合附圖及實施方式對本發明之平面關節型機器 人作進一步詳細說明。 [0008] 請同時參閱圖1和圖2，本發％弩施方式之機器人1〇〇為平 Ο 面關節塑機器人，其包括基座10、大臂‘20及小臂3〇。基 座10用於將機器人100安裳至地氣鐵工作台上，其内部設 有第一轉轴11及驅動第一轉轴11旋轉之第一馬達13。大 臂20—端藉由第一轉軸11可轉動地設置於基座1〇上。小 臂30内設有第二轉轴31及驅動第二轉轴31旋轉之第二馬 達32。小臂30藉由第二轉軸3丨可轉動地設置於大臂2〇另 一端上。 [0009] 小臂30還包括第三轉軸33、第三馬達34、傳動裝置35、 絲桿36、螺母37、第四馬達38、第四轉轴39及軸承組件 098144056 40。第三馬達34可驅動第三轉軸33旋轉。傳動裝置35分 表單編珑A0101 第5頁/共18頁 0982075398-0 201121738 別與第三轉軸33和絲桿36相連。螺母37活動套設於絲桿 36上。第四馬達38與螺母37固定。第四轉軸39由第四馬 達38驅動相連’並穿設於軸承組件4〇。 [0010] 請同時參閱凋3和圖4，小臂3〇進一步包括固定座301及安 裝於固定座301上且罩設於其他零件上之外殼302。第二 馬達32、第三馬達34及轴承元件4〇均固定安裝於固定座 301上’絲桿36藉由一連接座（未標示）可轉動地安裝於固 定座301上，上述設計可使小臂3〇之整體重心較低且較為 靠近大臂20，以減少慣量、增強蝌性。傳動裝置35包括 第一帶輪351、第二帶輪353及皮帶355。第一帶輪351套 設固定於第三轉轴33。第二帶.輪353奪設並固定於絲桿36 底端。皮帶355分別與第一帶輪351和第二帶輪353相連 ’並可將動力從第一帶輪351傳遞到第二·帶輪353。 [〇〇11]為保證螺母37沿絲桿36軸向運動時之精度，小臂3〇進— 步包括導軌座361、導軌363、連接板371及滑塊373。導 軌座361固設於固定座3〇1上且位於第三馬達34與絲桿36 之間，以儘量節約内部空間。導軌363大致為與絲桿扣平 行之長條，其藉由複數螺釘364固定於導軌座361上。連 接板371—端套設並固定於螺母37，並且與滑塊373固定 。第四馬達38固定安裝於連接板371之另一蠕。滑塊 可活動地卡合於導軌363，且當螺母37沿絲桿36軸向運動 時，滑塊373可沿導軌363滑動。為防止螺母37向上運動 時從絲桿36頂部脫落，絲桿36頂端上固設有可與螺母37 相抵之擋塊365。本實施方式中，絲桿36為滾珠絲桿，螺 母37為滾珠螺母。 ” 098144056 表單編號A0101 第6頁/共18頁 201121738 [0012] 為降低第四馬達38之轉速並提咼輸出力矩，第二小臂30 進一步包括減速機381。減速機381固定於連接板371上 並設於第四馬達38與第四轉轴39之間。本實施方式中， 第四馬達3 8為低慣量之祠服馬達，減速機3 81為實’“軸諧 波減速機。 [0013] 第四轉軸39末端開設有連接孔391。各類末端執行器’例 如夾具、探測裝置、刀具等可藉由連接孔391與第四轉袖 3 9相連。 〇 [0014] 請參閱圖5，軸承元件40包括直線軸承41、套筒43、兩滚 動軸承45及兩卡環47。第四轉軸39穿設於直線軸承41 ° 第四轉軸39輿直線軸承41之間之軸向摩擦力較小’故’ ❹ 第四轉軸39可於直線轴承41内沿抽向上下滑動。直線軸 承41上下兩端之外側壁上各開設有一環形卡槽411。二卡 環47分別卡入二卡槽411内。套筒43套設於直線軸承41 上，且位於二卡環47之間β电此:，.套筒,43與直線軸承41 固定於一起。套筒43上下三端分別開設有階梯狀之卡合 槽431。二滾動軸承45分別>諫欢奢筒43二端，且滾動轴 承45之内圈卡合固定於卡合槽431。滾動軸承45之外圈與 -固定座301固定。滾動轴承45之内外圈之間之摩擦力小於 第四轉軸39與直線軸承41之間之摩擦力。本實施方式中 ’滾動轴承45為成本較低之深溝球轴承。 [0015] 以下僅介紹小臂30之動作情況，機器人1〇〇其餘機構，例 如基座10、大臂20之動作情況與現有機器人相似。當需 第四轉轴39做直線運動時，第三馬達34驅動第三轉軸33 旋轉，帶動第一帶輪351旋轉，並經由皮帶355帶動第二 098144056 表單煸號Α0101 第7頁/共18頁 0982075398-0 201121738 帶輪353旋轉，最終帶動絲桿36旋轉。套設於絲桿μ上之 螺母37帶動連接板371沿絲桿叫向運動，由此帶動第四 馬達38、減速機381及第四轉轴39一起做直線運動並且 帶動滑塊373沿導軌363滑動。由於第四轉㈣與直_ 承41之間之轴向摩擦力較小，故，第四轉⑽可於直線 轴承41内沿轴向運動。當需第四轉軸39做旋轉運動時， 第四馬達38經過減速機381減速後駆動第四_39轉動。 第四轉轴39轉動時’由於第四轉轴39與直線軸承41之間 之摩擦力大於滚動轴承45内外圈之間之摩擦力，故直 線軸承41及套筒43將和第四轉轴39形成-整體於滾動軸 承45之限制下相對固定座3〇i旋轉。 [0016] [0017]201121738 VI. Description of the Invention: [0001] In particular, the invention relates to a planar joint type industrial machine. [Technical Field] The present invention relates to a robotic human 0 planar articulated robot which is currently used by the most widely used assembly robot. Work on the 4A I, for example, to insert components on the printed circuit board. This type of robot has four joints: a three-level rotating joint and a vertical sliding joint, so that the gripping elements can be positioned in the horizontal direction and inserted or rotated in the vertical direction. The flat rotating material is loosened so that the component can be adjusted with a slight adjustment along the position of the hole, so it is called a selective installation robot (Selective C〇mpiiance Assembly Robot Arm, SCARA). [0003] A planar articulated robot comprising a base, a boom and an arm. The arm has a spindle and a stepping motor that drives the spindle to rotate. The spindle is provided with a spline fixed by a spline and is driven by the belt between the stepping motor. However, the use of the pulley drive is likely to cause the motor inertia ratio to be too large to be easily controlled, resulting in poor rigidity; and the belt is easily deformed when the spindle rotates at a high speed, resulting in low positioning accuracy. SUMMARY OF THE INVENTION [0004] In view of the above, it is necessary to provide a planar joint type robot with better rigidity and higher precision. [0005] A planar articulated robot ' includes a base' boom and an arm. The first shaft is provided with a first rotating shaft and a first motor for driving the first rotating shaft. Big arm one 098144056 Form edited by A0101 Page 4 of 18 201121738 The end is rotatably connected to the base by the first rotating shaft. The arm includes a first-rotating shaft and a second motor that drives the second rotating shaft, and is rotatably coupled to the other end of the boom by the second rotating shaft. The arm further includes a fixed seat for fixing the second motor, a third motor fixed to the fixed seat, a second rotating shaft driven by the third motor, a screw rod movably connected to the fixed seat, and a transmission connecting the third rotating wheel and the lead screw The device is characterized in that: a nut connected to the screw rod, a fourth motor fixedly connected to the nut, a fourth rotating shaft driven by the fourth motor, and a bearing assembly disposed on the fixing seat and extending through the fourth rotating shaft. 〇 _] The rotary shafts of the above-mentioned planar articulated robots are directly driven and connected to the motors, eliminating the traditional transmission mechanisms such as pulleys and splines, and have good rigidity and high precision. [Embodiment] Hereinafter, a planar articulated robot of the present invention will be described in further detail with reference to the accompanying drawings and embodiments. [0008] Please refer to FIG. 1 and FIG. 2 at the same time, the robot 1 of the present invention is a flat-faced joint-molding robot, which comprises a base 10, a boom '20 and an arm 3'. The base 10 is used to mount the robot 100 to the ground iron table, and is internally provided with a first rotating shaft 11 and a first motor 13 for driving the first rotating shaft 11 to rotate. The boom 20 end is rotatably disposed on the base 1 by the first rotating shaft 11. The second arm 30 is provided with a second rotating shaft 31 and a second motor 32 for driving the second rotating shaft 31 to rotate. The arm 30 is rotatably disposed on the other end of the boom 2 by the second shaft 3丨. The arm 30 further includes a third rotating shaft 33, a third motor 34, a transmission 35, a lead screw 36, a nut 37, a fourth motor 38, a fourth rotating shaft 39, and a bearing assembly 098144056 40. The third motor 34 can drive the third shaft 33 to rotate. Transmission 35 minutes Form compilation A0101 Page 5 of 18 0982075398-0 201121738 Do not connect to the third shaft 33 and the screw 36. The nut 37 is movably sleeved on the lead screw 36. The fourth motor 38 is fixed to the nut 37. The fourth shaft 39 is driven by the fourth motor 38 and is passed through the bearing assembly 4''. [0010] Please also refer to FIG. 3 and FIG. 4, the arm 3〇 further includes a fixing base 301 and a housing 302 mounted on the fixing base 301 and covering other parts. The second motor 32, the third motor 34 and the bearing element 4 are fixedly mounted on the fixing base 301. The screw 36 is rotatably mounted on the fixing base 301 by a connecting seat (not shown). The overall center of gravity of the arm 3〇 is lower and closer to the boom 20 to reduce inertia and enhance inertia. The transmission 35 includes a first pulley 351, a second pulley 353, and a belt 355. The first pulley 351 is sleeved and fixed to the third rotating shaft 33. The second belt 353 is captured and fixed to the bottom end of the screw 36. The belt 355 is coupled to the first pulley 351 and the second pulley 353, respectively, and can transmit power from the first pulley 351 to the second pulley 353. [〇〇11] In order to ensure the accuracy of the nut 37 moving axially along the screw rod 36, the arm 3 is advanced to include a rail holder 361, a guide rail 363, a connecting plate 371, and a slider 373. The rail seat 361 is fixed on the fixing base 31 and located between the third motor 34 and the screw 36 to save internal space as much as possible. The guide rail 363 is substantially a strip that is parallel to the lead screw and is fixed to the rail mount 361 by a plurality of screws 364. The connecting plate 371 is sleeved and fixed to the nut 37 and fixed to the slider 373. The fourth motor 38 is fixedly mounted to the other creeper of the connecting plate 371. The slider is movably engaged with the guide rail 363, and when the nut 37 moves axially along the screw shaft 36, the slider 373 is slidable along the guide rail 363. In order to prevent the nut 37 from falling off from the top of the screw 36, a stopper 365 which can abut against the nut 37 is fixed to the top end of the screw 36. In the present embodiment, the screw 36 is a ball screw, and the nut 37 is a ball nut. 098144056 Form No. A0101 Page 6 of 18 201121738 [0012] In order to reduce the rotational speed of the fourth motor 38 and improve the output torque, the second arm 30 further includes a speed reducer 381. The speed reducer 381 is fixed to the connecting plate 371. The fourth motor 38 is disposed between the fourth motor 38 and the fourth rotating shaft 39. In the present embodiment, the fourth motor 38 is a low inertia servo motor, and the speed reducer 381 is a real 'shaft harmonic reducer. [0013] A connecting hole 391 is defined in the end of the fourth rotating shaft 39. Various types of end effectors' such as clamps, detecting devices, cutters, and the like can be coupled to the fourth sleeve 39 by a connecting hole 391. Referring to FIG. 5, the bearing member 40 includes a linear bearing 41, a sleeve 43, two rolling bearings 45, and two snap rings 47. The fourth rotating shaft 39 is disposed between the linear bearing 41° and the fourth rotating shaft 39. The linear friction between the linear bearings 41 is small. Therefore, the fourth rotating shaft 39 can be slid upward and downward in the linear bearing 41. An annular card slot 411 is defined in each of the upper and lower ends of the linear bearing 41. The two snap rings 47 are respectively inserted into the two card slots 411. The sleeve 43 is sleeved on the linear bearing 41 and is located between the two snap rings 47. The sleeves 43 are fixed to the linear bearings 41. A stepped engagement groove 431 is defined in each of the upper and lower ends of the sleeve 43. The two rolling bearings 45 are respectively disposed at the two ends of the tube, and the inner ring of the rolling bearing 45 is engaged and fixed to the engaging groove 431. The outer ring of the rolling bearing 45 is fixed to the fixing base 301. The frictional force between the inner and outer rings of the rolling bearing 45 is smaller than the friction between the fourth rotating shaft 39 and the linear bearing 41. In the present embodiment, the rolling bearing 45 is a deep groove ball bearing having a low cost. [0015] Only the operation of the arm 30 will be described below, and the operation of the remaining mechanisms of the robot 1 such as the base 10 and the boom 20 is similar to that of the existing robot. When the fourth rotating shaft 39 is required to make a linear motion, the third motor 34 drives the third rotating shaft 33 to rotate, and drives the first pulley 351 to rotate, and drives the second 098144056 via the belt 355. The nickname Α0101 Page 7 of 18 0982075398-0 201121738 The pulley 353 rotates, eventually driving the screw 36 to rotate. The nut 37 sleeved on the screw rods drives the connecting plate 371 to move along the screw rod, thereby driving the fourth motor 38, the speed reducer 381 and the fourth rotating shaft 39 to linearly move together and driving the slider 373 along the guide rail 363. slide. Since the axial friction between the fourth turn (four) and the straight bearing 41 is small, the fourth turn (10) can move axially within the linear bearing 41. When the fourth rotating shaft 39 is required to perform a rotational motion, the fourth motor 38 is decelerated by the speed reducer 381 and then rotated by the fourth _39. When the fourth rotating shaft 39 rotates, 'the friction between the fourth rotating shaft 39 and the linear bearing 41 is greater than the friction between the inner and outer rings of the rolling bearing 45, so the linear bearing 41 and the sleeve 43 and the fourth rotating shaft 39 is formed - integrally rotated relative to the fixed seat 3〇i under the restriction of the rolling bearing 45. [0017] [0017]
與習知機器人減，本實施方式之第讀糊與第四馬 達38直接驅動相連，省卻傳統之帶輪、花_等傳動機構 ，故精度較高、剛度較好、回應速度快。實驗證明，本 實施方式之機器人⑽之最大負載為20千克，且容許有 1 0 0 in in以上之偏心量。Compared with the conventional robot, the first reading paste of the present embodiment is directly driven by the fourth motor 38, and the conventional pulley, flower and other transmission mechanisms are omitted, so the precision is high, the rigidity is good, and the response speed is fast. Experiments have shown that the maximum load of the robot (10) of the present embodiment is 20 kg, and an eccentricity of more than 100 in in is allowed.
可理解’滾動轴承45也可為深赛球轴承，例如可為角接 觸球轴承、圓柱滾子轴承等；㈣軸承45之數量也可為 -或多於^。如果軸承元件4〇之直線轴承41直接與滚動 轴承45相連，錢43也可省卻。若第_⑽與直線軸 承41之間之摩擦力小於滾動轴承45之摩擦力則第四轉 軸39於直線軸承41内轉動。 若第四馬達38之轉速較低，減速機381也可省卻。若絲桿 36頂端與小臂30之固定座3〇1固定，導軌363、導執座 361及滑塊373也可省卻。 098144056 表單編號Α0101 0982075398-0 [0018] 201121738 [0019] 綜上所述，本發明確已符合發明專利之要件，遂依法提 出專利申請。惟，以上所述者僅為本發明之較佳實施方 式，自不能以此限制本案之申請專利範圍。舉凡熟悉本 案技藝之人士援依本發明之精神所作之等效修飾或變化 ，皆應涵蓋於以下申請專利範圍内。 【圖式簡單說明】 [0020] 圖1係本發明實施方式之平面關節型機器人之傳動原理示 意圖。 [0021] 圖2係本發明實施方式之平面關節型機器人之立體組裝示 意圖。 [0022] 圖3係圖2所示平面關節型機器人之小臂之局部立體圖。 [0023] 圖4係圖2所示平面關節型機器人之小臂沿IV-1V方向之剖 面示意圖。 [0024] [0025] [0026] [0027] [0028] [0029] [0030] [0031]It can be understood that the rolling bearing 45 can also be a deep ball bearing, for example, a corner contact ball bearing, a cylindrical roller bearing or the like; and (4) the number of the bearings 45 can also be - or more than ^. If the linear bearing 41 of the bearing member 4 is directly connected to the rolling bearing 45, the money 43 can be omitted. If the frictional force between the _(10) and the linear bearing 41 is smaller than the frictional force of the rolling bearing 45, the fourth rotating shaft 39 rotates in the linear bearing 41. If the rotational speed of the fourth motor 38 is low, the speed reducer 381 can also be omitted. If the top end of the screw 36 is fixed to the fixed seat 3〇1 of the arm 30, the guide rail 363, the guide seat 361 and the slider 373 can also be omitted. 098144056 Form No. 1010101 0982075398-0 [0018] In summary, the present invention has indeed met the requirements of the invention patent and has filed a patent application according to law. However, the above description is only a preferred embodiment of the present invention, and it is not possible to limit the scope of the patent application of the present invention. Equivalent modifications or variations made by persons skilled in the art in light of the spirit of the invention are intended to be included within the scope of the following claims. BRIEF DESCRIPTION OF THE DRAWINGS [0020] FIG. 1 is a schematic diagram of a transmission principle of a planar articulated robot according to an embodiment of the present invention. 2 is a perspective view showing a three-dimensional assembly of a planar articulated robot according to an embodiment of the present invention. 3 is a partial perspective view of the arm of the planar articulated robot shown in FIG. 2. 4 is a cross-sectional view of the arm of the planar articulated robot shown in FIG. 2 taken along the IV-1V direction. [0025] [0030] [0030] [001]
圖5係圖4所示V處之局部放i大圖？Figure 5 is a partial view of the V at the V shown in Figure 4?
【主要元件符號說明】 機器人100 基座10 大臂20 小臂30 第一轉軸11 第一馬達13 第二轉轴31 098144056 表單編號A0101 第9頁/共18頁 0982075398-0 201121738[Main component symbol description] Robot 100 Base 10 Big arm 20 Arm 30 First shaft 11 First motor 13 Second shaft 31 098144056 Form number A0101 Page 9 of 18 0982075398-0 201121738
[0032] 第二馬達 32 [0033] 第三轉軸 33 [0034] 第三馬達 34 [0035] 傳動裝置 35 [0036] 絲桿36 [0037] 螺母37 [0038] 第四馬達 38 [0039] 第四轉軸 39 [0040] 軸承元件 40 [0041] 直線軸承 41 [0042] 套筒43 [0043] 滚動軸承 45 [0044] 卡環47 [0045] 固定座301 [0046] 外殼302 [0047] 第一帶輪 351 [0048] 第二帶輪 353 [0049] 皮帶355 [0050] 導軌座361 098144056 表單編號A0101 第10頁/共18頁 0982075398-0 201121738 [0051] 導軌 363 [0052] 連接板371 [0053] 滑塊 373 [0054] 螺釘 364 [0055] 擋塊 365 [0056] 減速機381 [0057] 連接孔3 91 〇 [0058] 卡槽 411 [0059] 卡合槽431[0032] Second Motor 32 [0033] Third Rotary Shaft 33 [0034] Third Motor 34 [0035] Transmission 35 [0036] Screw 36 [0037] Nut 37 [0038] Fourth Motor 38 [0039] Fourth Rotary shaft 39 [0040] bearing element 40 [0041] linear bearing 41 [0042] sleeve 43 [0043] rolling bearing 45 [0044] snap ring 47 [0045] fixing seat 301 [0046] housing 302 [0047] first belt Wheel 351 [0048] Second pulley 353 [0049] Belt 355 [0050] Rail seat 361 098144056 Form No. A0101 Page 10 / Total 18 page 0992075398-0 201121738 [0051] Guide rail 363 [0052] Connecting plate 371 [0053] Slider 373 [0054] Screw 364 [0055] Stop 365 [0056] Reducer 381 [0057] Connection hole 3 91 〇 [0058] Card slot 411 [0059] Engagement slot 431
098144056 表單編號A0101 第11頁/共18頁 0982075398-0098144056 Form No. A0101 Page 11 of 18 0982075398-0