201217124 六、發明說明： 【發明所屬之技術領威】 [0001]本發明涉及一種機器人臂部件。 【先前技術】 [0002]工業機器人通常包括複數依次連接之機械臂，設置於其 末端之機械臂，可裝設夾具、切削工具及探測器等末端 執行器以執行各種動作。每一機械臂藉由一驅動元件實 現繞某一旋轉軸線之轉動。驅動元件一般包括沿各機械 臂之旋轉轴線方向設置之電機以及與電機相連接之減速 機，減速機之輸出端驅動機械臂運動，故，各機械臂沿 其轉動轴向之尺寸通常較大β [〇〇〇3]對於位於機器人末端之機械臂，如六軸機器人之相互轉 動連接且垂直設置之手腕及末端之轉動盤中，用於驅動 手腕及轉動盤之驅動元件通常相鄰設置，造成手腕與轉 動盤…各自旋轉軸線方向之尺寸均較大增加了機器人 整體、、°構所佔用之空間，不利於機ρ人於較狹小操作空 間中之應用。Α 万’轉動盤之自重較太，從而慣性矩變大 提q機械臂之控制精度造成困難。且將驅動旋轉盤 安裝於轉動盤之旋轉軸線上時，因作業空間較狹 小，較難安裝。 【發明内容】 [0004] 雲於上述狀、戈 士 /，有必要提供一種結構緊湊、便於安裝之 機1§人臂部件。 [0005] 099137083 一種機器人臂部 連接之手腕 具包括手腕殼體、與手腕殼體轉動 表單編號A:、料轉動連接之轉動盤、驅動手腕之第 第4頁/共17頁 0992064691-0 201217124 一驅動件、設於手腕與第一驅動件之間之第—傳動機構 、驅動轉動盤之第二驅動件，以及設於轉動盤與第二驅 動件之間之第二傳動機構。第一驅動件及第二驅動件均 設置於手腕殼體上。第一傳動機構包括與第—驅動件耦 接之第一帶傳動部件、由第一帶傳動部件帶動之第一轉 軸、與第一轉軸耦接用於將第一驅動件之運動傳遞至手 腕之第一靠波減逮機，以及設置於第一諧波減速機與手 腕之間、以支樓手腕之交叉滚子軸承。 Q [〇〇〇6]上述機器人臂部件之第一驅動辨及第二驅動件設置於手 腕殼體上，並分別籍由第一傳動機構及第二傳動機構將 動力傳送至手腕及轉動盤，+減小“仏器人臂部件之整 體尺寸，使得結構更為緊湊，還可減輕轉動盤之自重， 從而減小慣性矩，便於對轉動盤進行精確控制。第一傳 動機構採用第一諧波減速機與交又滾子轴承還可便於安 裝並且獲得較高之減速比。 :丨:，':丨:..L f ^ ^ , ：j 【實施方式】 〇 [㈤⑺請參閱圖1至圖4，本發明實施方式之機器人臂部件100包 括手腕殼體11，可轉動地連接於手腕殼體H—端之手腕 12，驅動手腕12之第一驅動件13，設於第一驅動件13與 手腕12之間之第一傳動機構14，與手腕12轉動連接之轉 動盤22，驅動轉動盤22之第—驅動件23，以及設於第-驅動件23與轉動盤22之間之第二傳動機構24。 [0008] 本實施方式之機器人臂部件100應用於六軸機器人中，手 腕殼體11、手腕12以及轉動盤22分別繞旋轉轴線3、b、 c轉動。其中，轉動盤22設於六軸機器人之末端，可安裝 099137083 表單編號A0101 第5頁/共17頁 0992064691-0 201217124 刀具、失具等末端執行裝置。旋轉軸線a、c均與旋轉軸 線b垂直，且旋轉轴線a、b、c交於一點。 [0009] 手腕殼體11呈又形機構，其包括連接座112以及由連接座 112之一端平行延伸且相對設置之第一叉分支1121及第二 又分支1122。連接座112開設有容置孔1123，容置孔 1123大致沿平行旋轉軸線b之方向延伸。第一叉分支 1121與第二叉分支1122之間形成收容空間1124，以安裝 手腕12。 [0010] 第一驅動件13及第二驅動件23均設於手腕殼體11之容置 孔1123内，從而機器人臂部件100之重心靠近手腕殼體 11，使轉動盤22之自重減小，從而便於對轉動盤22進行 精確控制。另，因第二驅動件23設於手腕殼體11内，連 接至第二驅動件23之連接線纜（圖未示），如電源線及 訊號線無需穿設手腕12，可避免轉動盤22相對手腕12轉 動時，連接線纜因被扭轉或刮擦等而損壞。 [0011] 本實施方式中，第一驅動件13及第二驅動件23均為伺服 電機。第一驅動件13與第二驅動件23相鄰設置，且第一 驅動件13與第二驅動件23之輸出轴相互平行且分別朝向 手腕殼體11相對之二側部，從而使得機器人臂部件100結 構更為緊湊。 [0012] 手腕12為空心結構且整體呈“T”字型，其包括第一套體 121以及從第一套體121之中部垂直延伸出之第二套體 122。第一套體121之兩端分別與手腕殼體11之第一叉分 支11 21及第二又分支11 22轉動連接。轉動盤22與第二套 099137083 表單編號A0101 第6頁/共17頁 0992064691-0 201217124 體122轉動連接。 [0013] 第一套體1 21之兩端分別開設有均沿旋轉軸線b方向延伸 之第一軸孔1212及第二軸孔1213。第二套體122開設有 旋轉軸線c方向貫通之第三軸孔1214。第一軸孔121 2及 第二軸孔1213之相對端之間間隔一定距離。第三軸孔 1214與第一軸孔121 2及第二軸孔1213基本垂直且相互連 通。轉動盤22可轉動地設於第三軸孔1214内，從而與手 腕12轉動連接。 0 [0014] [0015] Ο [0016] 第一傳動機構14包括與第一驅動件13耦接之第一帶傳動 部件141、由第一帶傳動部件141帶動之第一轉軸142、 與第一轉轴142耦接用於將第一驅動件13之運動傳遞至手 腕12之第一諧波減速機143，以及設置於第一諳波減速機 143與手腕12之間、以支撐手腕12之交叉滾子軸承145。 帶傳動部件141優選為同步帶結構，其包括輸入帶輪1411 、輸出帶輪1412，以及繞設於輸入帶輪1411及輸出帶輪 1412之傳動帶1413。輸入帶輪1411與第一驅動件13之輸 出端耦接，輸出帶輪1412與第一轉轴142止轉連接。第一 諧波減速機143之輸入端與第一轉軸142固定連接，輸出 端與手腕12固定連接，從而將第一驅動件13之動力傳送 至手腕12。藉由第一諧波減速機143進行減速，並藉由交 叉滾子軸承145支承，不僅可獲得較高之減速比，還可使 手腕12可獲得較為平穩之運動，並且可承受複數方向之 負載。 本實施方式中，第一轉軸142二端分別由設置於手腕殼體 099137083 表單編號A0101 第7頁/共17頁 0992064691-0 201217124 U内及手腕12内之深溝球細幻仍支撑。交又滾子軸承 U5之外圈與第-諸波滅逮機143之柔輪（圖未標）及手 腕12相對固定，交叉滾子鮎 卞軸承145之内圈與第一諧波減速 機143之剛輪（圖未標）及手腕殼體η相對固定。 [0017] [0018] [0019] [0020] 第二傳動機構24包括與第二駆動件23輕接之第二帶傳動 部件24卜由第二帶傳動部件241帶動之第二轉轴犯、 與第二轉轴242止轉連接之主動錐齒輪243、與轉動盤22 連接之第三轉轴244、與第三轉軸2“止轉連接並與主動 錐齒輪243相互4合之從動錐齒輪245，以及與第三轉轴 2 4 4耦接用於將第二驅動件23之運動傳遞至轉動盤2 2之第 二諧波減速機246。第二帶俸動部件241之結構與第一帶 傳動部件141之結構相似，於此不贅述。 本實施方式中，第二轉轴242—端由設於第二轴孔1213内 之一組背對設置之角接觸軸承2421支撐，另一端由設第 一軸孔1213内之深溝球軸承2422支撐。即第二轉軸242 一端均被支承’從而其轉動。，時::產生之撓性形變較小，運 動精度較高。從而可改善主動雄齒輪243與從動錐齒輪 245間之嚙合條件，減小噪音並延長使用壽命。 第三轉轴244由設於第三軸孔1214内之一組背對設置之角 接觸軸承2441支撐◊角接觸轴承2441之一端與設置於手 腕12之肩部121 5相抵擋，另一端由與手腕12固定之法蘭 1216定位。採用第二諧波減速機246，可實現輕量化並獲 得較大之減速比。 第一傳動機構14之第一帶傳動部件141設於手腕殼體11之 099137083 表單編號Α0101 第8頁/共17頁 0992064691-0 201217124 二傳動機構24之第二帶傳動部 $二又分支1122—側，從而第201217124 VI. Description of the Invention: [Technical Leadership of the Invention] [0001] The present invention relates to a robot arm component. [Prior Art] [0002] Industrial robots usually include a plurality of robot arms sequentially connected, and a robot arm provided at the end thereof, and an end effector such as a jig, a cutting tool, and a detector can be installed to perform various actions. Each of the robot arms is rotated about a certain axis of rotation by a drive member. The driving component generally comprises a motor disposed along a rotation axis direction of each mechanical arm and a speed reducer connected to the motor, and an output end of the speed reducer drives the movement of the mechanical arm, so that the size of each mechanical arm along the rotation axis thereof is generally larger. β [〇〇〇3] For a robot arm located at the end of the robot, such as a six-axis robot that is rotatably connected to each other and vertically disposed in the wrist and the rotating disc at the end, the driving elements for driving the wrist and the rotating disc are usually disposed adjacent to each other. The wrist and the rotating disc are both large in size, and the size of each of the rotating axes increases the space occupied by the whole body and the structure of the robot, which is disadvantageous for the application of the machine in a narrow operating space. The weight of the rotating disc is too large, so that the moment of inertia becomes larger. The control precision of the q-arm is difficult. When the drive rotary disk is mounted on the rotation axis of the rotary disk, it is difficult to install due to the narrow working space. SUMMARY OF THE INVENTION [0004] Clouds in the above-mentioned shape, Goss /, it is necessary to provide a compact and easy-to-install machine 1 § human arm component. [0005] 099137083 A wrist device connected to a robot arm includes a wrist shell, a wrist case rotation number No. A: a rotary disk for rotating the material, and a wrist driving page 4/17 pages 0992064691-0 201217124 a driving member, a first transmission mechanism disposed between the wrist and the first driving member, a second driving member for driving the rotating disc, and a second transmission mechanism disposed between the rotating disc and the second driving member. The first driving member and the second driving member are both disposed on the wrist housing. The first transmission mechanism includes a first belt transmission component coupled to the first driving member, a first rotating shaft driven by the first belt transmission component, and coupled to the first rotating shaft for transmitting the motion of the first driving component to the wrist. The first is the wave reduction machine, and the cross roller bearing disposed between the first harmonic reducer and the wrist and the wrist of the branch. Q [〇〇〇6] The first driving of the robot arm member and the second driving member are disposed on the wrist casing, and the power is transmitted to the wrist and the rotating disc by the first transmission mechanism and the second transmission mechanism, respectively. +Reducing the overall size of the arm member of the armor, making the structure more compact, and reducing the weight of the rotating disc, thereby reducing the moment of inertia and facilitating precise control of the rotating disc. The first transmission mechanism uses the first harmonic deceleration The machine and the roller bearing can also be easily installed and obtain a higher reduction ratio. :丨:, ':丨:..L f ^ ^ , :j [Embodiment] 〇[(5)(7) Please refer to Figure 1 to Figure 4 The robot arm assembly 100 of the embodiment of the present invention includes a wrist housing 11 rotatably coupled to the wrist 12 at the end of the wrist housing H, and a first driving member 13 for driving the wrist 12, which is disposed on the first driving member 13 and the wrist A first transmission mechanism 14 between 12, a rotary disk 22 rotatably coupled to the wrist 12, a first drive member 23 for driving the rotary disk 22, and a second transmission mechanism disposed between the first drive member 23 and the rotary disk 22. 24. [0008] The robot arm component 100 of the present embodiment In the six-axis robot, the wrist housing 11, the wrist 12, and the rotating disk 22 are respectively rotated about the rotation axes 3, b, c. The rotating disk 22 is disposed at the end of the six-axis robot and can be mounted with 099137083 Form No. A0101 5 pages/total 17 pages 0992064691-0 201217124 End effect devices such as tools, gears, etc. The axes of rotation a, c are both perpendicular to the axis of rotation b, and the axes of rotation a, b, c intersect at one point. [0009] Wrist housing 11 is a conical mechanism, comprising a connecting seat 112 and a first fork branch 1121 and a second branch 1122 extending in parallel from one end of the connecting seat 112. The connecting seat 112 defines a receiving hole 1123, and the receiving hole 1123 The longitudinal direction of the parallel rotation axis b extends. A receiving space 1124 is formed between the first fork branch 1121 and the second fork branch 1122 to mount the wrist 12. [0010] The first driving member 13 and the second driving member 23 are both disposed on The wrist housing 11 is received in the hole 1123, so that the center of gravity of the robot arm member 100 is close to the wrist housing 11, so that the weight of the rotating disk 22 is reduced, thereby facilitating precise control of the rotating disk 22. Further, because of the second driving member 23 set on the wrist shell In the 11th, the connecting cable (not shown) connected to the second driving member 23, such as the power cord and the signal line, does not need to be worn with the wrist 12, and the connecting cable can be prevented from being twisted when the rotating disc 22 is rotated relative to the wrist 12. [0011] In the present embodiment, the first driving member 13 and the second driving member 23 are both servo motors. The first driving member 13 is disposed adjacent to the second driving member 23, and the first driving member The output shafts of the second drive member 23 are parallel to each other and face the opposite sides of the wrist housing 11, respectively, thereby making the robot arm assembly 100 more compact. [0012] The wrist 12 is of a hollow structure and is generally "T" shaped, and includes a first sleeve 121 and a second sleeve 122 extending perpendicularly from the middle of the first sleeve 121. Both ends of the first body 121 are rotatably coupled to the first fork branch 11 21 and the second branch 11 22 of the wrist housing 11, respectively. Rotating disk 22 and second set 099137083 Form No. A0101 Page 6 of 17 0992064691-0 201217124 Body 122 is rotated. [0013] Both ends of the first body 1 21 are respectively provided with a first shaft hole 1212 and a second shaft hole 1213 extending in the direction of the rotation axis b. The second casing 122 is provided with a third shaft hole 1214 penetrating in the direction of the rotation axis c. The opposite ends of the first shaft hole 1212 and the second shaft hole 1213 are spaced apart by a certain distance. The third shaft hole 1214 is substantially perpendicular to the first shaft hole 1212 and the second shaft hole 1213 and is in communication with each other. The rotating disk 22 is rotatably disposed in the third shaft hole 1214 so as to be rotatably coupled to the wrist 12. [0015] [0016] The first transmission mechanism 14 includes a first belt transmission member 141 coupled to the first driving member 13, a first rotating shaft 142 driven by the first belt transmission member 141, and the first The rotating shaft 142 is coupled to the first harmonic reducer 143 for transmitting the motion of the first driving member 13 to the wrist 12, and is disposed between the first chopper reducing machine 143 and the wrist 12 to support the intersection of the wrist 12. Roller bearing 145. The belt drive member 141 is preferably a timing belt structure including an input pulley 1411, an output pulley 1412, and a belt 1413 wound around the input pulley 1411 and the output pulley 1412. The input pulley 1411 is coupled to the output end of the first drive member 13, and the output pulley 1412 is non-rotatably coupled to the first rotary shaft 142. The input end of the first harmonic reducer 143 is fixedly coupled to the first rotating shaft 142, and the output end is fixedly coupled to the wrist 12 to transmit the power of the first driving member 13 to the wrist 12. Deceleration by the first harmonic reducer 143 and supported by the crossed roller bearing 145 not only achieves a higher reduction ratio, but also allows the wrist 12 to obtain a smoother motion and can withstand loads in multiple directions. . In this embodiment, the two ends of the first rotating shaft 142 are respectively supported by the deep groove ball in the wrist casing 099137083 Form No. A0101, page 7 / page 17 0992064691-0 201217124 U and the wrist 12 . The outer ring of the roller bearing U5 is relatively fixed with the flexible wheel (not shown) and the wrist 12 of the first wave extinguishing machine 143, and the inner ring of the crossed roller bearing 145 and the first harmonic reducer 143 The rigid wheel (not shown) and the wrist housing η are relatively fixed. [0020] [0020] [0020] The second transmission mechanism 24 includes a second belt transmission member 24 that is lightly coupled to the second swaying member 23, and the second shaft is driven by the second belt transmission member 241. The second rotating shaft 242 is connected to the driving bevel gear 243, the third rotating shaft 244 connected to the rotating plate 22, and the driven bevel gear 245 which is connected to the third rotating shaft 2 and is coupled to the driving bevel gear 243. And a second harmonic reducer 246 coupled to the third rotating shaft 24 4 for transmitting the motion of the second driving member 23 to the rotating disk 22. The structure of the second belt-moving member 241 and the first belt The structure of the transmission member 141 is similar, and is not described here. In the embodiment, the second rotating shaft 242 is supported by an angular contact bearing 2421 disposed opposite to the second shaft hole 1213, and the other end is provided. The deep groove ball bearing 2422 in the first shaft hole 1213 is supported. That is, the second shaft 242 is supported at one end so that it rotates. When: the resulting flexible deformation is small and the motion precision is high, thereby improving the active male gear. The meshing condition between 243 and driven bevel gear 245 reduces noise and prolongs service life. 244 is supported by a set of angular contact bearings 2441 disposed in a pair of third axial holes 1214. One end of the angular contact bearing 2441 is supported by a shoulder portion 121 5 disposed on the wrist 12, and the other end is fixed by the wrist 12. The flange 1216 is positioned. The second harmonic reducer 246 can be used to achieve weight reduction and obtain a large reduction ratio. The first belt transmission member 141 of the first transmission mechanism 14 is provided on the wrist housing 11 of 099137083. Form No. Α 0101 8 pages / total 17 pages 0992064691-0 201217124 The second belt transmission part of the second transmission mechanism 24 is divided into 1122 - side, thus
’可便於安裝’並充分利用空間，有助於實現機器人臂 第一叉分支1121 一側，第二傾 件241設於手腕殼體11之第二 第一叉分支1121及第二叉 ，1126固定連接，以將第 [0021] 〇 [0022] ◎ [0023] [0024] [0025] [0026] [0027] 099137083 部件1 0 0之小塑化。更進一步， 分支1122還可分別與殼體1125 一傳動機構14及第二傳動機構24封閉於手腕殼體丨丨内。 可以理解，本發明之機器人臂部件1〇〇不限在於六轴機器 人中使用，其可用於包括具有手腕殼體丨丨、手腕12及轉 動盤22之三轴、四轴或者五軸機器人中。 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係本發明實施方式機器人臂部件之立體組裝圖。 圊2係圖1所示機器人臂部件省略一侧殼體之局部結構圖 〇 圖3係圖1所示機器人臂部件省略另一側殼體之局部結構 圖。 圖4係沿圖1中IV-1 v線之剖視圖。 【主要元件符號說明】 機器人臂部件100 表單編號 A0101 ^ 9 1/^- 17 I 0992064691-0 201217124 [0028] 手腕殼體11 [0029] 手腕 1 2 [0030] 轉動盤2 2 [0031] 第一驅動件13 [0032] 第一傳動機構14 [0033] 第二驅動件23 [0034] 第二傳動機構24 [0035] 連接座112 [0036] 第一叉分支1121 [0037] 第二叉分支11 2 2 [0038] 容置孔 11 2 3 [0039] 收容空間1124 [0040] 第一套體 121 [0041] 第二套體 122 [0042] 第一軸孔 1212 [0043] 第二軸孔 1213 [0044] 第三軸孔1 21 4 [0045] 第一帶傳動部件141 [0046] 第一轉軸 1 4 2 099137083 表單編號A0101 第10頁/共17頁 0992064691-0 201217124 [0047] 第一諧波減速機143 [0048] 交叉滾子軸承145 [0049] 輸入帶輪1411 [0050] 輸出帶輪1412 [0051] 傳動帶1413 [0052] 深溝球軸承1421、2422 [0053] 第二帶傳動部件241 Ο [0054] 第二轉軸242 [0055] 主動錐齒輪243 [0056] 第三轉轴244 [0057] 從動錐齒輪245 [0058] 第二諧波減速機246 [0059] G [0060] 角接觸軸承2421、2441 肩部1215 [0061] 法蘭1216 [0062] 殼體 1125、1126 [0063] 旋轉轴線a、b、c 099137083 表單編號A0101 第11頁/共17頁 0992064691-0'Easy to install' and make full use of the space, to help realize the side of the first fork branch 1121 of the robot arm, the second tilting member 241 is disposed on the second first fork branch 1121 and the second fork of the wrist housing 11, and the 1126 is fixed Connected to a small plasticization of the component [0012] [0022] [0023] [0024] [0025] [0027] 099137083. Further, the branch 1122 can also be enclosed in the wrist housing 与 with the housing 1125, a transmission mechanism 14 and a second transmission mechanism 24, respectively. It will be understood that the robot arm member 1 of the present invention is not limited to use in a six-axis robot, and can be used in a three-axis, four-axis or five-axis robot having a wrist housing 丨丨, a wrist 12, and a rotating disk 22. In summary, the present invention has indeed met the invention patent, and the patent application is filed 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 Fig. 1 is a perspective assembled view of a robot arm member according to an embodiment of the present invention.圊2 is a partial structural view in which the robot arm member shown in Fig. 1 is omitted from the one side casing. Fig. 3 is a partial structural view of the robot arm member shown in Fig. 1 omitting the other side casing. Figure 4 is a cross-sectional view taken along line IV-1 of Figure 1. [Description of main component symbols] Robot arm component 100 Form No. A0101 ^ 9 1/^- 17 I 0992064691-0 201217124 [0028] Wrist housing 11 [0029] Wrist 1 2 [0030] Rotating disc 2 2 [0031] Drive member 13 [0032] first drive mechanism 14 [0033] second drive member 23 [0034] second drive mechanism 24 [0035] connector block 112 [0036] first fork branch 1121 [0037] second fork branch 11 2 2 [0038] accommodating hole 11 2 3 [0039] accommodating space 1124 [0040] first set body 121 [0041] second set body 122 [0042] first shaft hole 1212 [0043] second shaft hole 1213 [0044 ] Third shaft hole 1 21 4 [0045] First belt transmission part 141 [0046] First shaft 1 4 2 099137083 Form number A0101 Page 10 of 17 0992064691-0 201217124 [0047] First harmonic reducer 143 [0048] Cross Roller Bearing 145 [0049] Input Pulley 1411 [0050] Output Pulley 1412 [0051] Drive Belt 1413 [0052] Deep Groove Ball Bearings 1421, 2422 [0053] Second Belt Drive Member 241 Ο [0054] Second rotating shaft 242 [0055] driving bevel gear 243 [0056] third rotating shaft 244 [0057] driven bevel gear 245 [0058] second harmonic reducer 246 [0059] G [0060] Angular Contact Bearings 2421, 2441 Shoulder 1215 [0061] Flange 1216 [0062] Housings 1125, 1126 [0063] Axis axes a, b, c 099137083 Form No. A0101 Page 11 of 17 0992064691- 0