TW202116511A - Robot arm, mechanical assembly and assembly method thereof - Google Patents

Abstract

A ROBOT arm includes a first joint, a second joint and a coupling element. The first joint has a first inclined surface, and the second joint is connected opposite to the first joint and has a second inclined surface. The coupling element has a third inclined surface and a fourth inclined surface opposite to the third inclined surface, wherein the third inclined surface is in contact with the first inclined surface, and the fourth inclined surface is in contact with the second inclined surface.

Description

Mechanical arm, mechanical assembly and assembling method thereof

The present disclosure relates to a mechanical arm, a mechanical assembly and an assembly method thereof, and particularly relates to a mechanical arm, a mechanical assembly and an assembly method that are assembled on the principle of an inclined plane.

A mechanical arm usually contains several joints. After these joints are manufactured separately, they are directly screwed by threaded elements, and the screw joints are usually two opposite joints of the butt joints. However, the space between the joint surfaces between the two joints is narrow, and it is often necessary to additionally use a locking tool to operate the threaded element in the narrow space to screw the two joints. However, even with the help of tools, it is still quite inconvenient to operate the threaded element in a small space, which consumes a lot of assembly man-hours. Therefore, how to propose a robotic arm that can improve assembly is one of the goals of the industry in this technical field.

This disclosure relates to a mechanical arm, a mechanical assembly and an assembly method thereof, which can improve the aforementioned conventional problems.

An embodiment of the present disclosure provides a robotic arm. The robotic arm includes a first joint, a second joint and a coupling element. The first joint has a first inclined surface. The second joint is connected to the first joint and has a second inclined surface. The combining element has a third inclined surface and a fourth inclined surface opposite to each other. Wherein, the third inclined surface is in contact with the first inclined surface, and the fourth inclined surface is in contact with the second inclined surface.

Another embodiment of the present disclosure provides a mechanical assembly. The mechanical assembly includes a first component, a second component and a coupling element. The first component has a first inclined surface. The second component is connected to the first component and has a second inclined surface. The combining element has a third inclined surface and a fourth inclined surface opposite to each other. Wherein, the third inclined surface is in contact with the first inclined surface, and the fourth inclined surface is in contact with the second inclined surface.

Another embodiment of the present disclosure provides a method for assembling a robot arm. The assembly method includes the following steps. A first joint, a second joint, and a coupling element are provided, wherein the first joint has a first slope, the second joint has a second slope, and the coupling element has a third slope and a fourth slope opposite to each other; The first joint and the second joint; and the first joint and the second joint are combined by a coupling element, wherein the third inclined surface is in contact with the first inclined surface, and the fourth inclined surface is in contact with the second inclined surface.

In order to have a better understanding of the above and other aspects of the present disclosure, the following examples are specially cited, and the accompanying drawings are described in detail as follows:

The disclosed embodiment provides a mechanical assembly, which includes a first component, a second component, and a coupling element. The first component has a first inclined surface, the second component has a second inclined surface, and the coupling element has a third The inclined surface is in contact with a fourth inclined surface, the third inclined surface is in contact with the first inclined surface, and the fourth inclined surface is in contact with the second inclined surface. In this way, the first component, the second component and the coupling element can be wedged with each other through the inclined surface. The mechanical assembly can be a robotic arm or a component that has a combination of two other components. The mechanical assembly of the embodiment of the present disclosure takes the robotic arm 100 as an example. Please refer to the following description.

Please refer to Figures 1A to 5C. Figures 1A to 1C show a schematic diagram of a robotic arm 100 according to an embodiment of the present disclosure. Figures 2 and 3 show an exploded view of the robotic arm 100 in Figure 1A. Shows a cross-sectional view of the robotic arm 100 in Figure 1B along the direction 4-4' (for example, the cross-section in the XY plane direction), and Figure 5A shows the robotic arm 100 in Figure 1B along the direction 5A-5A' (for example, , YZ plane direction cross-sectional view), Figure 5B is an enlarged view of part 5B' of Figure 5A, and Figure 5C is an enlarged view of part 5C' of Figure 5A.

As shown in Figs. 1A to 1C, the robot arm 100 includes a first joint 110, a second joint 120, a coupling element 130, and at least one fixing element 140 (the fixing element 140 is not shown in Figs. 1B and 1C). As shown in FIGS. 5A to 5C, the first joint 110 has a first inclined surface 110s1. The second joint 120 has a second inclined surface 120s1. The coupling element 130 has a third inclined surface 130s1 and a fourth inclined surface 130s2 opposite to each other. The third slope 130s1 is in contact with the first slope 110s1, and the fourth slope 130s2 is in contact with the second slope 120s1. In this way, the first joint 110, the second joint 120 and the coupling element 130 can be wedged with each other through the first inclined surface 110s1, the second inclined surface 120s1, the third inclined surface 130s1 and the fourth inclined surface 130s2.

In the embodiment, the third inclined surface 130s1 of the coupling element 130 is in contact with the first inclined surface 110s1 along the Z-axis, and the fourth inclined surface 130s2 of the coupling element 130 and the second inclined surface 120s1 are in contact along the Z-axis. Therefore, the coupling element 130 can restrain the first inclined surface. The relative displacement of the one joint 110 and the second joint 120 along the Z-axis. The Z-axis is, for example, the butting direction of the first joint 110 and the second joint 120, and the XY plane of the drawing is substantially perpendicular to the Z-axis.

As shown in FIGS. 5A to 5C, the first joint 110 has a first concave portion 110r, and the first concave portion 110r is indented from the first outer peripheral surface 110s2 of the first joint 110. The second joint 120 has a second concave portion 120r, and the second concave portion 120r is recessed from the second outer peripheral surface 120s2 of the second joint 120. The first concave portion 110r has a first inclined surface 110s1, and the second concave portion 120r has a second inclined surface 120s1. The coupling element 130 has a first inner peripheral surface 130s3 and a second inner peripheral surface 130s4. As shown in Figure 5B, the first inner peripheral surface 130s3 and the recess bottom surface 110b of the first recess 110r are separated from each other by a space SP1. This space SP1 provides an accommodation space for the coupling element 130 to move to the recess bottom surface 110b, so that the coupling element The third inclined surface 130s1 of 130 is in close contact with the first inclined surface 110s1 (if the interval SP1 is omitted, the first inner peripheral surface 130s3 may contact the bottom surface 110b of the first concave portion 110r first, which prevents the third inclined surface of the coupling element 130 130s1 is in close contact with the first inclined surface 110s1).

Similarly, as shown in Figure 5B, the second inner peripheral surface 130s4 and the recess bottom surface 120b of the second recess 120r are spaced apart from each other by an interval SP2, which provides an accommodation stroke for the coupling element 130 to move to the recess bottom surface 120b, so that The fourth slope 130s2 of the coupling element 130 is in close contact with the second slope 120s1 (if the interval SP2 is omitted, the second inner peripheral surface 130s4 and the bottom surface 120b of the second recess 120r may be in contact first, which prevents the first slope of the coupling element 130 The four inclined surfaces 130s2 are in close contact with the second inclined surface 120s1).

As shown in FIGS. 5A and 5B, the first joint 110 includes a positioning hole 111, and the second joint 120 includes a positioning shaft 121. The first joint 110 has a first end surface 110e, and the positioning hole 111 is recessed relative to the first end surface 110e. The second joint 120 has a second end surface 120e, and the positioning shaft 121 protrudes relative to the second end surface 120e. When the first joint 110 and the second joint 120 are butted, the first end surface 110e and the second end surface 120e are in contact, such as flat contact.

The positioning hole 111 and the positioning shaft 121 can cooperate to restrict the relative movement of the first joint 110 and the second joint 120 along the XY plane. For example, as shown in FIG. 4, the positioning hole 111 has a first flat side surface 111s1 and a second flat side surface 111s2 opposite to each other, and a first curved side surface 111s3 and a second curved side surface 111s4 opposite to each other. The first curved side surface 111s3 and the second curved side surface 111s4 connect the first flat side surface 111s1 and the second flat side surface 111s2. The positioning shaft 121 has opposite third and fourth flat sides 121s1 and 121s2, and opposite third and fourth curved sides 121s3 and 121s4. The third curved side surface 121s3 and the fourth curved side surface 121s4 connect the third flat side surface 121s1 and the fourth flat side surface 121s2. After the first joint 110 and the second joint 120 are assembled, as shown in Figure 4, the positioning hole 111 is matched with the positioning shaft 121, wherein the first flat side surface 111s1 is opposite to the third flat side surface 121s1, and the second flat side surface 111s2 is opposite to the third flat side surface 121s1. The fourth flat side surface 121s2 is opposite, the first curved side surface 111s3 is opposite to the third curved side surface 121s3, and the second curved side surface 111s4 is opposite to the fourth curved side surface 121s4. Through the relative arrangement of these surfaces, the relative movement of the first joint 110 and the second joint 120 along the XY plane can be restricted.

In detail, by the first flat side surface 111s1 opposite to the third flat side surface 121s1, and the second flat side surface 111s2 opposite to the fourth flat side surface 121s2, the relative displacement of the first joint 110 and the second joint 120 along the X-axis is achieved. Be restrained. The first curved side surface 111s3 is opposite to the third curved side surface 121s3, and the second curved side surface 111s4 is opposite to the fourth curved side surface 121s4, so that the relative displacement of the first joint 110 and the second joint 120 along the Y-axis is restricted. The X axis is substantially perpendicular to the Y axis.

As shown in Fig. 4, in this embodiment, the aforementioned curved side surface is, for example, a cylindrical surface. In one embodiment, the central angle A1 of the first curved side surface 111s3 and the third curved side surface 121s3 is, for example, between 60 degrees and 150 degrees, preferably, but not limited to, greater than 120 degrees, and the second curved side surface 111s4 and the third curved side surface 121s3 The central angle A2 of the quadrilateral side 121s4 is, for example, any value between 60 degrees and 150 degrees, preferably but not limited to any value between 70 degrees and 130 degrees, or greater than 100 degrees. In addition, the center of the first curved side surface 111s3 and the center of the second curved side surface 111s4 may overlap (for example, share the same point), but they may not overlap. Similarly, the center of the third curved side surface 121s3 and the center of the fourth curved side surface 121s4 may overlap (for example, share the same point), but they may not overlap.

In addition, in one embodiment, as shown in FIG. 4, there is a first clearance C1 between the positioning hole 111 and the positioning shaft 121 along the first clearance direction (for example, the X-axis), and the positioning hole 111 and the positioning shaft 121 have a first clearance C1. There is a second clearance C2 along the second clearance direction (for example, the Y-axis). The first clearance C1 is, for example, between +0.3 mm and +0.6 mm (for example, a single-sided clearance), and this clearance allows the positioning hole 111 and the positioning shaft 121 to be easily butted. In addition, the double-sided clearance of the aforementioned first clearance C1 is twice the numerical range of the aforementioned single-sided clearance, or the numerical range of the aforementioned first clearance C1 may also be a double-sided clearance.

In addition, the first clearance C1 is different from the second clearance C2. In this embodiment, the second clearance C2 is smaller than the first clearance C1. Therefore, after the positioning hole 111 is matched with the positioning shaft 121, the relative displacement of the positioning hole 111 and the positioning shaft 121 in the second clearance direction is smaller than that of the positioning hole. The relative displacement of 111 and the positioning shaft 121 along the first clearance direction. In one embodiment, the second clearance C2 is, for example, between +0.01 mm and +0.03 mm. This clearance allows the positioning hole 111 and the positioning shaft 121 to be precisely matched along the second clearance direction. The second clearance direction has almost no relative displacement or the relative displacement does not affect the function of the robot arm 100. The numerical range of the aforementioned second clearance C2 is a single-sided clearance, and the bilateral clearance is twice the single-sided clearance.

Although the first clearance C1 is larger than the second clearance C2 (the positioning hole 111 and the positioning shaft 121 will move relative to each other in the direction of the first clearance due to the clearance), the gap between the first positioning portion 112 and the second positioning portion 122 The cooperation can reduce the relative displacement of the first joint 110 and the second joint 120 in the first clearance direction. Further examples are given below.

As shown in FIGS. 2 and 5A to 5C, the first joint 110 includes a first positioning portion 112, and the second joint 120 includes a second positioning portion 122. In the embodiment, one of the first positioning portion 112 and the second positioning portion 122 is, for example, a positioning hole, and the other of the first positioning portion 112 and the second positioning portion 122 is, for example, a positioning post. The first positioning portion 112 of the embodiment of the present disclosure is illustrated by using a positioning post as an example, and the second positioning portion 122 is illustrated by using a positioning hole as an example. As shown in FIG. 2, the first positioning portion 112 protrudes relative to the first end surface 110e, and the The two positioning portions 122 are recessed relative to the second end surface 120e. In terms of shape, the cross-sectional shape (for example, the XY plane) of the first positioning portion 112 is, for example, a circle, and the cross-sectional shape (for example, the XY plane) of the second positioning portion 122 is similar to the cross-sectional shape of the first positioning portion 112.

Please refer to FIG. 4, the cooperation of the first positioning portion 112 and the second positioning portion 122 can restrict the relative movement of the first joint 110 and the second joint 120 in the first clearance direction (for example, the X-axis). There is a third clearance C3 between the first positioning portion 112 and the second positioning portion 122 along the first clearance direction (for example, the X-axis direction). There is a fourth clearance C4 between the first positioning portion 112 and the second positioning portion 122 along the second clearance direction (for example, the Y-axis). In the embodiment, since the cross-sectional shape of the first positioning portion 112 and the cross-sectional shape of the second positioning portion 122 are circular, the third clearance C3 is the same as the fourth clearance C4. In terms of size, the third clearance C3 is, for example, between 0.004 mm and 0.018 mm (for example, a bilateral clearance), and the fourth clearance C4 is, for example, between 0.004 mm and 0.018 mm (for example, a bilateral clearance). ), these clearances enable the first positioning portion 112 and the second positioning portion 122 to be precisely matched. In addition, the third clearance C3 is smaller than the first clearance C1. In this way, through the smaller third clearance C3, the relative displacement of the first joint 110 and the second joint 120 along the first clearance direction can be reduced.

In summary, the cooperation of the positioning hole 111 and the positioning shaft 121 and the cooperation of the first positioning portion 112 and the second positioning portion 122 can restrain the relative movement of the first joint 110 and the second joint 120 along the XY plane. The joint 110 and the second joint 120 still have rotational freedom relative to the Z-axis (for example, the first joint 110 and the second joint 120 can still rotate around the first positioning portion 112 and the second positioning portion 122). However, the cooperation of the third positioning portion 113 and the fourth positioning portion 123 can restrict the rotational freedom of the first joint 110 and the second joint 120 relative to the Z-axis. Further examples are given below.

As shown in FIGS. 2 and 4, the first joint 110 includes a third positioning portion 113, and the second joint 120 includes a fourth positioning portion 123. One of the third positioning portion 113 and the fourth positioning portion 123 is, for example, a long slot, and the other of the third positioning portion 113 and the fourth positioning portion 123 is, for example, a positioning post. The third positioning portion 113 of the embodiment of the present disclosure is described by taking a positioning post as an example, and the fourth positioning portion 123 is described by taking a long slot as an example, wherein the third positioning portion 113 protrudes relative to the first end surface 110e, and the fourth positioning portion 123 It is recessed relative to the second end surface 120e.

As shown in FIG. 4, the third positioning portion 113 is matched with the fourth positioning portion 123. There is a fifth clearance C5 between the third positioning portion 113 and the fourth positioning portion 123 along the first clearance direction (for example, the X axis), and the third positioning portion 113 and the fourth positioning portion 123 extend along the second clearance. There is a sixth clearance C6 in the clearance direction (for example, the Y-axis). In the embodiment, since the fourth positioning portion 123 is a long slotted hole extending along the first clearance direction (for example, the X-axis direction), the fifth clearance C5 is larger than the sixth clearance C6. The fifth clearance C5 can provide a sufficient mating margin of the third positioning portion 113 and the fourth positioning portion 123 along the first clearance direction, so that the third positioning portion 113 and the fourth positioning portion 123 are faster with sufficient mating margin地合。 Ground combination. In terms of size, the fifth clearance C5 is, for example, between 1 mm and 1.6 mm (for example, a bilateral clearance). The amount of clearance is between the third positioning portion 113 and the fourth positioning portion 123 with sufficient mating margin. Combine faster. The numerical range of the sixth clearance C6 can be the same as that of the third clearance C3 or the fourth clearance C4, for example, between 0.004 mm and 0.018 mm. This clearance can restrict the first positioning portion 112 and the second positioning The relative rotation of the part 122 along the second clearance direction. In this way, when the first joint 110 and the second joint 120 rotate around the Z-axis with the first positioning part 112 and the second positioning part 122 as fulcrums, they will be affected by the first joint 110 and the second joint 120. Due to the restriction of the third positioning portion 113 and the fourth positioning portion 123 (for example, the restriction of the Y-axis), the first joint 110 and the second joint 120 cannot relatively rotate around the Z-axis.

In summary, although the second clearance C2 is greater than the first clearance C1, after the first positioning portion 112 and the second positioning portion 122 are engaged, the third clearance C3 and the fourth clearance C4 are smaller than the first clearance C3 and C4. The clearance C1 and the second clearance C2 can therefore reduce the relative displacement of the first joint 110 and the second joint 120 along the XY plane. Moreover, after the third positioning portion 113 and the fourth positioning portion 123 cooperate, the relative rotation of the first joint 110 and the second joint 120 around the Z-axis can be restricted.

As shown in FIG. 5B, the coupling element 130 has a groove 130r, and the groove 130r has a groove bottom surface 130b. The groove 130r is recessed with respect to the aforementioned first inner circumferential surface 130s3 and the second inner circumferential surface 130s4, for example. The first joint 110 further has a first outer peripheral surface 110s2, and the second joint 120 further has a second outer peripheral surface 120s2. The first outer circumferential surface 110s2 and the second outer circumferential surface 120s2 are separated from the groove bottom surface 130b by an interval SP3. This space SP3 provides an accommodation space for the first joint 110 and the second joint 120 to move to the bottom surface 130b of the groove, so that the third slope 130s1 of the coupling element 130 and the first slope 110s1 are in close contact and the fourth slope 130s2 of the coupling element 130 is in close contact with The second inclined surface 120s1 is in close contact (if the interval SP3 is omitted, the groove bottom surface 130b of the coupling element 130 and the outer peripheral surface (the first outer peripheral surface 110s2 and the second outer peripheral surface 120s2) may contact first, which prevents the third of the coupling element 130 The inclined surface 130s1 is in close contact with the first inclined surface 110s1 and prevents the fourth inclined surface 130s2 of the coupling element 130 from being in close contact with the second inclined surface 120s1).

As shown in FIGS. 5B and 5C, the first joint 110 includes a first flange 110A, and the first flange 110A has the aforementioned first outer peripheral surface 110s2. The second joint 120 includes a second flange 120A, and the second flange 120A has the aforementioned second outer peripheral surface 120s2. When the coupling element 130 is coupled with the first joint 110 and the second joint 120, the first flange 110A and the second flange 120A are located in the groove 130r.

As shown in Figure 5B, during the process of coupling the coupling element 130 to the first joint 110 and the second joint 120, the groove bottom surface 130b and the outer peripheral surface (the first outer peripheral surface 110s2 and the second outer peripheral surface 120s2) of the coupling element 130 can be Keep the gap so that the third inclined surface 130s1 of the connecting element 130 and the first inclined surface 110s1 are in close contact, and the fourth inclined surface 130s2 of the connecting element 130 and the second inclined surface 120s1 are in close contact. In detail, as shown in FIG. 5C, the groove 130r has an opening 130a, and the opening 130a has a width D1. The groove 130r has a groove height H1, which is the distance between the opening 130a and the groove bottom surface 130b. The first flange 110A has a first height H2. The first height H2 is, for example, the distance between the first outer peripheral surface 110s2 and a reference R1, and the first flange 110A has a first thickness D2 at the reference R1. The second flange 120A has a second height H3. The second height H3 is, for example, the distance between the second outer peripheral surface 120s2 and a reference R2, and the second flange 120A has a second thickness D3 at the reference R2. When the first flange 110A and the second flange 120A are in close fit with the groove 130r, the reference R1 of the first flange 110A and the reference R2 of the second flange 120A roughly coincide with the opening 130a, such as roughly coincident along the Z-axis , And the groove height H1 is greater than the first height H2 of the first flange 110A and the second height H3 of the second flange 120A. Thus, the groove bottom surface 130b of the coupling element 130 and the outer peripheral surface (the first outer peripheral surface 110s2 and the second outer peripheral surface 120s2) The interval can be maintained so that the third slope 130s1 of the coupling element 130 and the first slope 110s1 are in close contact, and the fourth slope 130s2 of the coupling element 130 and the second slope 120s1 are in close contact.

In addition, the coupling element 130 can restrict the relative rotation of the first joint 110 and the second joint 120 around the X axis and the relative rotation around the Y axis. In detail, as shown in FIGS. 3 and 4, the first flange 110A and the second flange 120A extend 360 degrees around the Z axis, and the coupling element 130 can also extend 360 degrees around the Z axis. In this way, after the coupling element 130, the first joint 110, and the second joint 120 are assembled, as shown in FIGS. 5A to 5C, the coupling element 130 can be engaged with the first concave portion 110r and the second concave portion 120r in a full circumferential direction. The coupling element 130 can restrict the relative rotation of the first joint 110 and the second joint 120 around the X axis and the relative rotation around the Y axis.

As shown in FIGS. 1 to 4, 5A, and 5B, the coupling element 130 includes a first sub coupling 131 and a second sub coupling 132 that can be relatively joined. The first sub-assembling member 131 has a part of the groove 130r, and the second sub-assembling member 132 has another part of the groove 130r, for example, the remaining part of the groove 130r. In the embodiment, the first sub-assembling member 131 has a part of the third inclined surface 130s1, and the second sub-assembling member 132 has another part of the third inclined surface 130s1, for example, the remaining part of the third inclined surface 130s1, and the first sub-assembling member 131 There is a part of the fourth inclined surface 130s2, and the second sub-assembly 132 has another part of the fourth inclined surface 130s2, for example, the remaining part of the fourth inclined surface 130s2.

The fixing element 140 (shown in FIG. 1A) fixes the first sub-assembling member 131 and the second sub-assembling member 132. For example, referring to FIG. 4, the first sub-assembling member 131 has a first through hole 131h1, and the second sub-assembling member 132 has a first recessed hole 132h1. In the embodiment, the fixing element 140 is, for example, a bolt, which has a male thread, and the first recessed hole 132h1 has a female thread. The fixing element 140 passes through the first through hole 131h1 and is screwed to the female thread of the first recessed hole 132h1 to temporarily fix the first sub-assembling member 131 and the second sub-assembling member 132, thereby fixing the first joint 110 and the second joint 110 Joint 120. Similarly, the first sub-assembling member 131 has a second through hole 131h2, and the second sub-assembling member 132 has a second concave hole 132h2. In the embodiment, the second recessed hole 132h2 has a female thread. The other fixing element 140 can pass through the second through hole 131h2 and be screwed into the female thread of the second concave hole 132h2 to temporarily fix the first sub-assembling member 131 and the second sub-assembling member 132, thereby fixing the first joint 110 With the second joint 120.

As shown in Figures 4 and 5A, the first through hole 131h1, the first recessed hole 132h1, the second through hole 131h2, and the second recessed hole 132h2 extend along the Y axis, and the fixing element 140 can pass through the first along the Y axis. The through hole 131h1, the first concave hole 132h1, the second through hole 131h2, and the second concave hole 132h2 fix the relative positions of the first sub-assembling member 131 and the second sub-assembling member 132.

In addition, the aforementioned first inclined surface 110s1, second inclined surface 120s1, third inclined surface 130s1, and fourth inclined surface 130s2 regularly extend around the Z axis, such as extending into a closed ring (360 degrees) or an open ring (less than 360 degrees). In this way, the positions of the first sub-assembling element 131 and the second sub-assembling element 132 on the first joint 110 and the second joint 120 are not restricted by the assembly direction. For example, in the assembly process, after the first joint 110 and the second joint 120 are first connected, one of the first sub-assembling member 131 and the second sub-assembling member 132 can be combined with the first joint 110 and the second joint 120. Any position, and then the other of the first sub-assembling member 131 and the second sub-assembling member 132 is docked with the one of the first sub-assembling member 131 and the second sub-assembling member 132, and then the fixing element 140 is used to fix the first The sub-assembling member 131 and the second sub-assembling member 132.

Please refer to FIGS. 6A to 6E, which illustrate the assembly (or manufacturing) process diagram of the robot arm 100 in FIG. 1A.

First, the first joint 110 and the second joint 120, and the coupling element 130 are provided. As shown in Figure 6A, the first joint 110 further includes a positioning hole 111, a first positioning portion 112, and a third positioning portion 113, and the second joint 120 further includes a positioning shaft 121, a second positioning portion 122, and a fourth positioning portion 123. The end surface 112e of the first positioning portion 112 of the first joint 110 protrudes a first length L1 relative to the first end surface 110e of the first joint 110, and the end surface 121e of the positioning shaft 121 of the second joint 120 is opposite to the second end surface of the second joint 120 120e protrudes by a second length L2, and the end surface 113e of the third positioning portion 113 of the first joint 110 protrudes by a third length L3 relative to the end surface 110e of the first joint 110.

Then, as shown in FIG. 6B, the first joint 110 and the second joint 120 are connected. Depending on the size relationship between the first length L1, the second length L2, and the third length L3, the first joint 110 and the second joint 120 have different matching situations, as described in the following embodiments 1 to 4 (for example, Figures 6A to 6E Shown).

In the first embodiment, the second length L2 is greater than the first length L1, and the first length L1 is greater than the third length L3 (that is, the third length L3 is less than the second length L2).

In this way, during the mating process of the first joint 110 and the second joint 120, the positioning hole 111 of the first joint 110 and the positioning shaft 121 of the second joint 120 are first matched (for example, as shown in Figure 6B), and then the first joint 110 The first positioning portion 112 of the second joint 120 is matched with the second positioning portion 122 of the second joint 120 (for example, as shown in Figure 6C), and then the third positioning portion 113 of the first joint 110 and the fourth positioning portion of the second joint 120 123 then cooperate (for example, as shown in Figure 6D).

In the second embodiment, the first length L1 is greater than the second length L2, and the second length L2 is greater than the third length L3.

In this way, during the mating process of the first joint 110 and the second joint 120, the first positioning portion 112 of the first joint 110 and the second positioning portion 122 of the second joint 120 are matched first, and then the positioning hole 111 of the first joint 110 It is matched with the positioning shaft 121 of the second joint 120 again, and then the third positioning portion 113 of the first joint 110 is matched with the fourth positioning portion 123 of the second joint 120 again.

In the third embodiment, the first length L1 is substantially equal to the second length L2, and the second length L2 is greater than the third length L3.

In this way, during the mating process of the first joint 110 and the second joint 120, the first positioning portion 112 of the first joint 110 and the second positioning portion 122 of the second joint 120, and the positioning holes 111 and the second joint of the first joint 110 The positioning shaft 121 of the joint 120 can be matched almost simultaneously/synchronously, and then the third positioning portion 113 of the first joint 110 and the fourth positioning portion 123 of the second joint 120 are matched again.

In the fourth embodiment, the first length L1 is greater than the second length L2, and the second length L2 is substantially equal to the third length L3.

In this way, during the mating process of the first joint 110 and the second joint 120, the positioning hole 111 of the first joint 110 and the positioning shaft 121 of the second joint 120 are first matched, and then the first positioning portion 112 of the first joint 110 and the second joint 120 The second positioning portion 122 of the second joint 120 and the third positioning portion 113 of the first joint 110 and the fourth positioning portion 123 of the second joint 120 cooperate almost simultaneously/synchronously.

As shown in FIG. 6E (different from the viewing angle of FIGS. 6A to 6D), after the first joint 110 and the second joint 120 are docked, the first joint 110 and the second joint 120 are combined by the coupling element 130. After the combination, the third slope 130s1 of the combining element 130 contacts the first slope 110s1 of the first joint 110, and the fourth slope 130s2 of the combining element 130 contacts the second slope 120s1 of the second joint 120.

In FIG. 6E, the coupling element 130 includes a first sub coupling 131 and a second sub coupling 132. The positions of the first sub-assembling member 131 and the second sub-assembling member 132 on the first joint 110 and the second joint 120 are not restricted by the assembly direction. For example, in the assembly process, after the first joint 110 and the second joint 120 are first connected, one of the first sub-assembling member 131 and the second sub-assembling member 132 can be combined with the first joint 110 and the second joint 120. At any position, the other of the first sub-assembling element 131 and the second sub-assembling element 132 is then butted with the one of the first sub-assembling element 131 and the second sub-assembling element 132. In this way, the first sub-assembling element 131 and the second sub-assembling element 132 can be quickly connected to the first joint 110 and the second joint 120 that are mated.

In Figure 6E, the included angle A3 between the first inclined surface 110s1 and the first end surface 110e may be any value between about 5 degrees and 15 degrees, for example, 10 degrees. Similarly, the included angle A4 between the second inclined surface 120s1 and the second end surface 120e can be any value between about 5 degrees and 15 degrees, for example, 10 degrees. With the design of the included angles A3 and A4, the coupling element 130, the first joint 110 and the second joint 120 are tightly joined, such as tightly tapered.

Then, at least one fixing element 140 (the fixing element 140 is shown in FIG. 1A) is used to fix the relative position between the coupling element 130 and the first joint 110 and the second joint 120 after being docked. For example, a fixing element 140 is used to screw the butt-joined first sub-assembling piece 131 and the second sub-joining piece 132 to fix the butt-joined first sub-assembling piece 131 and the second sub-assembling piece 132, so that the second sub-assembling piece 132 of the joining element 130 The three slopes 130s1 are in closer contact with the first slope 110s1 of the first joint 110 and the fourth slope 130s2 of the coupling element 130 is in closer contact with the second slope 120s1 of the second joint 120. In addition, the fixing element 140 temporarily fixes the first joint 110 and the second joint 120, so the detachability of the robot arm 100 can be realized.

As shown in Figure 1A, the fixing element 140 fixes the first joint 110 and the second joint from the outside of the first joint 110, the second joint 120, and the coupling element 130 (not the mating surface of the first joint 110 and the second joint 120) The relative position of 120 and the coupling element 130 makes the assembly of the robotic arm 100 quite convenient and fast. In addition, during the assembly process of the robotic arm 100, the first joint 110 and the second joint 120 are mainly connected in a straight line direction (for example, the Z-axis) (for example, as shown in Figs. 6B-6E), and the first sub-joint The element 131 and the second sub-assembling element 132 are mainly connected to the first joint 110 and the second joint 120 along another linear direction (for example, the Y-axis or the X-axis) (for example, as shown in FIG. 6E). Since the docking method is simple and fast, the robot arm 100 can be quickly disassembled and assembled.

To sum up, although the present disclosure has been disclosed as above through the embodiments, it is not intended to limit the present disclosure. Those with ordinary knowledge in the technical field to which this disclosure belongs can make various changes and modifications without departing from the spirit and scope of this disclosure. Therefore, the scope of protection of this disclosure shall be subject to the scope of the attached patent application.

100: Robotic arm 110: first joint 110A: First flange 110e: the first end face 110s1: the first slope 110s2: the first outer peripheral surface 110r: The first recess 110b, 120b: bottom surface of recess 111: positioning hole 112: The first positioning part 112e, 121e, 113e: end face 113: The third positioning part 111s1: the first flat side 111s2: second flat side 111s3: the first side of the song 111s4: Second side of the curve 120: second joint 120A: second flange 120e: second end face 120s1: second slope 120s2: second outer peripheral surface 120r: second recess 121: positioning axis 121s1: third flat side 121s2: the fourth flat side 121s3: Third side of the song 121s4: Side of the fourth song 122: second positioning part 123: The fourth positioning part 130: Combining components 130a: opening 130s1: third slope 130s2: the fourth slope 130s3: the first inner peripheral surface 130s4: the second inner peripheral surface 130r: groove 130b: groove bottom 131: The first sub-assembly 131h1: first through hole 132h1: the first recessed hole 132: The second sub-assembly 131h2: second through hole 132h2: second recessed hole 140: fixed element A1, A2: central angle C1: first clearance C2: second clearance C3: third clearance C4: fourth clearance C5: Fifth clearance C6: sixth clearance D1: width D2: The first thickness D3: second thickness H1: Groove height H2: first height H3: second height L1: first length L2: second length L3: third length X, Y, Z: axial SP1, SP2, SP3: interval

1A to 1C are schematic diagrams of a robotic arm according to an embodiment of the disclosure. Figures 2 and 3 show an exploded view of the robotic arm of Figure 1A. Figure 4 shows a cross-sectional view of the robotic arm of Figure 1B along the direction 4-4'. Fig. 5A shows a cross-sectional view of the robot arm of Fig. 1B along the direction 5A-5A'. Figure 5B shows an enlarged view of part 5B' of Figure 5A. Figure 5C shows an enlarged view of part 5C' of Figure 5A. Figures 6A~6E show the assembly process diagram of the robot arm shown in Figure 1A.

100: Robotic arm

110: first joint

110A: First flange

110e: the first end face

111: positioning hole

111s1: the first flat side

111s2: second flat side

111s3: the first side of the song

111s4: Second side of the curve

112: The first positioning part

113: The third positioning part

120: second joint

120A: second flange

120e: second end face

121: positioning axis

121s1: third flat side

121s2: the fourth flat side

121s3: Third side of the song

121s4: Side of the fourth song

122: second positioning part

123: The fourth positioning part

130: Combining components

131: The first sub-assembly

132: The second sub-assembly

130r: groove

Claims (20)

A mechanical arm, including: A first joint with a first slope; A second joint, butted with the first joint and having a second inclined surface; and A coupling element having a third inclined surface and a fourth inclined surface opposite to each other; Wherein, the third inclined surface is in contact with the first inclined surface, and the fourth inclined surface is in contact with the second inclined surface. The robotic arm according to claim 1, wherein the coupling element includes a first sub coupling element and a second sub coupling element that are opposed to each other; the first sub coupling element has a part of the third inclined surface, and the second sub coupling element The coupling element has another part of the third inclined surface, the first sub coupling element has a part of the fourth inclined surface, and the second sub coupling element has another part of the fourth inclined surface; the mechanical arm further includes: A fixing element fixes the first sub-assembling piece and the second sub-assembling piece. The robot arm according to claim 1, wherein the coupling element has a groove, the groove has a groove bottom surface; the first joint has a first outer circumferential surface, the first outer circumferential surface is spaced from the groove bottom surface, the The second joint has a second outer peripheral surface, and the second outer peripheral surface is spaced from the bottom surface of the groove. The robotic arm according to claim 1, wherein the first joint has a first concave portion, the first concave portion has the first inclined surface, the second joint has a second concave portion, and the second concave portion has the second inclined surface The coupling element has a first inner peripheral surface and a second inner peripheral surface, the first inner peripheral surface is spaced from the bottom surface of the first recessed portion, and the second inner peripheral surface is spaced from the bottom surface of the second recessed portion . The robot arm according to claim 1, wherein the first joint includes a positioning hole, the second joint includes a positioning shaft, and the positioning hole has a first flat side surface and a second flat side surface opposite to each other A first curved side surface and a second curved side surface, the first curved side surface and the second curved side surface connect the first flat side surface and the second flat side surface; the positioning shaft has a third flat side surface and a fourth flat side surface opposite to each other A flat side surface and a third curved side surface and a fourth curved side surface opposite to each other. The third curved side surface and the fourth curved side surface connect the third flat side surface and the fourth flat side surface; the first flat side surface and the third curved side surface The flat sides are opposite, the second flat side is opposite to the fourth flat side, the first curved side is opposite to the third curved side, and the second curved side is opposite to the fourth curved side. The robotic arm according to claim 5, wherein the center of the first curved side and the center of the second curved side substantially coincide. The robotic arm according to claim 5, wherein the central angle of the first curved side surface and the central angle of the second curved side surface are between 60 degrees and 150 degrees. The robotic arm according to claim 1, wherein the first joint includes a positioning hole, the second joint includes a positioning shaft, the positioning hole is matched with the positioning shaft, and the positioning hole and the positioning shaft are along a first A clearance direction has a first clearance, and a second clearance is formed between the positioning hole and the positioning shaft along a second clearance direction. The robotic arm according to claim 8, wherein the first clearance is different from the second clearance. The robotic arm according to claim 1, wherein the first joint includes a first positioning portion, the second joint includes a second positioning portion, and a first positioning portion extends along a line between the first positioning portion and the second positioning portion. The clearance direction has a third clearance, and the first positioning portion is matched with the second positioning portion; there is a fourth clearance between the first positioning portion and the second positioning portion along a second clearance direction. The robotic arm according to claim 10, wherein the third clearance is the same as the fourth clearance. The robotic arm according to claim 1, wherein the first joint includes a third positioning portion, the second joint includes a fourth positioning portion, and the third positioning portion cooperates with the fourth positioning portion; the third positioning A fifth clearance is provided between the fourth positioning portion and the fourth positioning portion along a first clearance direction, and a sixth clearance is provided between the third positioning portion and the fourth positioning portion along a second clearance direction. In the robotic arm described in claim 12, and in the robotic arm described in claim 1, the fifth clearance is greater than the sixth clearance. The robotic arm according to claim 1, wherein the first joint includes a first end surface, a positioning hole, and a first positioning portion, the positioning hole is recessed relative to the first end surface, and the first positioning portion is relative to the first The end surface protrudes by a first length; the second joint includes a second end surface, a positioning shaft and a second positioning portion. The positioning shaft protrudes by a second length relative to the second end surface, and the second positioning portion is opposite to the second The end surface is recessed; the first end surface is in contact with the second end surface, the positioning hole is matched with the positioning shaft, and the first positioning portion is matched with the second positioning portion. The robotic arm according to claim 14, wherein the second length is greater than the first length. The robotic arm according to claim 14, wherein the first joint further includes a third positioning portion, and the third positioning portion protrudes a third length relative to the first end surface; the second joint further includes a fourth positioning portion , The fourth positioning portion is recessed relative to the second end surface; the third positioning portion is matched with the fourth positioning portion The robotic arm according to claim 16, wherein the third length is smaller than the second length. A mechanical assembly including: A first component having a first inclined surface; A second component, butted with the first component and having a second inclined surface; and A coupling element having a third inclined surface and a fourth inclined surface opposite to each other; Wherein, the third inclined surface is in contact with the first inclined surface, and the fourth inclined surface is in contact with the second inclined surface. A method for assembling a mechanical arm includes: A first joint, a second joint, and a coupling element are provided, wherein the first joint has a first slope, the second joint has a second slope, and the coupling element has a third slope and a fourth slope opposite to each other. Inclined plane Docking the first joint and the second joint; and The first joint and the second joint are combined by the coupling element, wherein the third inclined surface is in contact with the first inclined surface, and the fourth inclined surface is in contact with the second inclined surface. The assembling method according to claim 19, wherein the coupling element includes a first sub-assembling element and a second sub-assembling element that are opposed to each other; the first sub-assembling element has a part of the third inclined surface, and the second sub-assembling element The coupling element has another part of the third inclined surface, the first sub coupling element has a part of the fourth inclined surface, and the second sub coupling element has another part of the fourth inclined surface; and the coupling element is used to fix the first joint The steps with the second joint further include: Butt the first sub-assembling piece and the second sub-assembling piece; and A fixing element is used to fix the first sub-assembling piece and the second sub-assembling piece.

Images