1259127 九、發明說明： 【發明所屬之技術領域】 本發明係有關一種關節驅動裝置 別設置於第-支臂和第二支臂之匕有關一種利用分 的相對移動而驅使第—支臂^ 4構和從動機構之間 動裝置。 ^、弟一支臂樞轉的關節驅 【先前技術】 錄、年來纟例如生產製造、倉儲管理、智•看1箄夂 種不同的領域中，機器人（fQbQt)或 =禮寺各（ 的應用都已變得十分卢 手煮（lobotam) 數個支臂互相連結的結構 于#般係由锼 連妹的夂關^、隹一s 構成，其中，藉由對支臂互相 控制。 動，而分別對各支臂的樞轉動作進行 目前已有許多機械手臂之 如，如第1圖所示，以力方法被&出。例 I 一 ，链 P即驅動I置1係包括第一支臂5] 乐一支臂52、以及關節軸 乐叉#51、 動馬達53之殼體係固定於第二t 、、中’該關節車由驅{ 透過關節軸連接於第二 1上，而其輸出軸係 5 3時’第二支臂5 2即會。S驅二， 而，在此種關節驅動裝置/ / —支^ 51進行抱轉。然 轴上驅動第二支臂52, w、於係利用馬達直接於關節 if。+々k 口此必須使用成本較高之高扭力民 ，由於必須將該關… 外侧，從而造成該關節驅動狀署/力馬達5 3 6又置於關節車由 用上的限制。 動衣置5的體積增大，而產生應 18279 5 1259127 美國專Μ & 械手臂之關r : 5,640’883々號係揭露一種利用皮帶驅動機 係包括第二^結構三如第2圖所示，該關節驅動裝置6 第-支臂驅動黾、『弟—支臂62、第二支臂驅動馬達63、 中，第一支臂4皮帶輪65、66、以及皮帶67,其 當欲驅動第係透過支臂轴611固接於皮帶輪66中。 的第_ ± ''支臂62時，係藉由固定於本體f％ 、 的弟一支臂驅動 不虹（未頭不）上 當欲驅動第^二支臂62進行插轉驅動。而 臂驅動馬 # 61時’則係藉由固定於本體上的第 轴驅動馬達配置於關節軸外例==直物 於二組支臂之情 一疋甿難以應用在具有多 構），因而限制了靡用 具^二組支臂之機械手臂結 由度。 μ &種關節驅動裝置之機械手臂的自 據此，發展出一種結構” 關節的樞#谁> g 冓早、不佔空間、可單獨對夂 t谷進仃驅動的關節軸 ° 所迫切待達成之目桿。 ”’衣置，係為此相關領域麵 【發明内容】 本如明為有鑑於前述之問題點 提供一種關節驅動f士置 '幵δ者，其目的在於 黏梭丄 置可對各關節的柩轉谁仵供士 動，鉸局機械手臂的自由度。 丁獨立驅 ® # 4另目的在於提供一種關節驅動梦晋^ ^ 要使用南扭力之馬達 夏力衣置，不需 為達上述及並# 4成4度的關節拖轉定位。 的，本發明係提供—種關節驅動裝 6 18279 1259127 置，包括：第一支臂；第二支臂，苴—山 樞接於該第一支劈 一 /、 ^係透過一關節軸 接於該第—支臂驅動機構，透過第-機構軸枢 機構軸枢接㈣第亚;;f驅動構件；從動機構，透過第二 過該驅動機構而喝合於該㈣構件牛相匹配，並穿 驅動該驅動構件時，該驅動機構即奋相=當該驅動機構 臂樞轉。亦即，㈣該關節轴而相對於該第二支 機構相對於該從動機構移動時，設置1=構件而使該驅動( 機構轴與設置於第二 ^ 乐支臂上之第一 會因而改變，彳〃而： 之第二機構軸之間的相對距離 义攸而使互相柩接於關節軸，笛 ,, 支臂繞著關節軸柩轉。 弟—支臂和第二 错此，由於係透過分別設置 驅動機構和從動I -1^ 弟支#和弟二支臂之 二支臂進行樞轉驅動，因此口要二:轴之弟-支臂和第 白狄置本發明之關節驅動裝置，即個關即處 行獨立·動。 +。關郎的柩轉進讀 f予=由方^利用驅動機構和從動機構之間的相 矛夕予以轉換成第一支 再〈間的相對位 呈有_古f #弟一支月間的樞轉動作，因此可 一有幸乂问的驅動力轉換 U此了 (例如高扭力馬達At 、 有咼扭力之驅動機構 . …，p能夠達成高精度的關節樞轉t # 在本發明之—較佳實施例中 p[車…立。 臂係為内凹中空框Μ 。亥昂-支是及該第二支 之至少部分容：於二可分別供該驅動機構及該從動機構 °又〜中。藉此，除了可利用第—支臂和第 18279 1259127 ;支臂之框體來保護驅動機構及從動機構外 動機構及從動機構的移動動作意外地=夕，亦可避免駆 在本發明之—實施例中，：夕卜界物體。 節輛之朝向該第一支臂之另—端之側“構軸係設置於該關 設置於該關節軸之反向於兮第:支=，且該第二機構軸係 在本發明之另-實施例中7該第端之側。 關節轴之反向於該第_支臂之另 '構轴係設置於該 車“系設置於該關節軸之朝向側，且該第二機構 在本發明之再—實施例中， =另一端之侧。 關節軸之朝向該第一支臂之 : 機構軸係設置於該 係設置於該關節軸之朝向該側，且該第二機構軸 軸係以不影響該驅 =::。此 的方式設置。 冉久邊攸動機構之動作 使用者可視使用需求及处几 實施例中之任—者之配置來‘：口：利用上述三個 軸。 弟 關即軸和第二關節 在本發明之一較佳實施 4 且該驅動構件為包含於該 〜驅動機構係為馬達， 子’而該從動機構係為具有外::的、:二螺：的_空轉 外螺紋係與該中空轉 …、文的n丨t該螺桿之 前後兩端可進—步分“文相匹配。此外，該馬達於 承，用以旋轉支承該個互相對向配置之止推轴 轉子並與該中空輕早> 止:由於该螺桿係穿過該令空 轉動時，馬達即;相:二驅動該，空轉子 不才干而刖後移動。此外，由於 18279 8 1259127 在馬達中設置有相對向之止 此可承受來自中空轉子的軸向推力：支承遠中空轉子，因 達：本發明之另-較佳實施例中：該驅動機構 =該驅動構件為藉由該馬達驅動之螺二1包含馬 構為齒條，其中該齒條係 ：：’而该從 ，係穿過該驅動機構並與該螺桿：：=配。由於 馬達驅動該螺桿齒輪轉動時 u σ，因此當 條而前後移動。 h 5亥驅動機構即會相對於該齒 2㈣之—較佳實施例t， 步進馬達（㈣Ingmoior)或词服 構中的馬達係為 由於步進馬達及伺服馬達師 ew〇_t〇r)。 動，因此可士 達控制器進行脈衝驅 步進馬達或飼服馬達之轉轴的編碼匕外右利用聯結於 動之信號傳回該馬達控制器，則可進。—：：：:將馬達轉 定位的回授控制。 ^進仃馬達之轉動 1 ^者疋’以直流無刷馬達做為驅動機構中的焉達，” 且稭由驅動器來控制該直流無刷馬達的轉速及定:達亚 庫另一較佳實施例中，驅動機構中的馬達係 :控制該馬達的轉速及定位。由於感應 的控制方式較簡易，因此可達到簡化結構及降低成本的目 【貫施方式】 以下参照圖面說明本發明之實施例，其中，下述之實 18279 9 1259127 施例僅係用以例釋本發 || 0 . . τ 而非以任何觀點限制本發明之 靶可。而為了簡化圖面以侈太 X乃之 易懂，於圖式中僅顯 务月的4寸徵及結構更為清晰 其餘部份予以略除。本發明直接關聯的部份’而將 口圖係為本發明第—實施例之關節驅 圖。如弟3圖所示，關節轴驅動裝 =視 中空框體結構的第一支臂nm t匕括·具有内凹 二古辟Ί。 ^ Κ具有内凹中空框體結構的筮 一支# 12，其一端係透過闕節 之一斤 、即即軸112樞接於該第一支臂u ^ u "、、、 13 ’透過第一機構軸111樞接於該第一支臂 之内側；以及，螺桿14,透過第二機構 身 第二支臂12之内相軸1福接於該 ΛΛ ^ 、 牙透過邊馬達13並與該馬達13 的驅動構件嚙和。此外，該 節軸in之朝向該第一支臂1糸設置於該關 構軸121作％班 叉# 11之另一糕之侧，且該第二機 iT、政置於該關節軸ία之反向於該第二支臂12 之另一端之側。 =參照第4圖來對馬達13之詳細結構進行說明。第<1 ^頭示第3圖之料13之放大剖視圖。如第4圖所示， 13係、具備有中空圓柱形殼體m、設置於殼體131内 三勺疋子U2、設置於定子132内側並與定子132保持— =隙的中空圓柱形轉子13 3、固定於轉子13 3内的滾珠 '目（ballnut) 134、以及設置於殼體131兩端而用以支 朱螺帽134的止推轴承135、136，其中，止推轴承135、 6 &、以互相對向之方向配置。滾珠螺帽134即為上述之 ]〇 18279 1259127 馬達1 3的驅動構件，其内面係形 與螺桿14之外螺紋匹配。藉此，當内螺紋係 動時，滾珠螺帽134便會隨之轉動， 又到驅動而轉 於螺桿14移動。 文而驅動馬達13相對 據此§馬達1 3 ‘驅動滾珠螺帽134進r韻香 馬達13相對於螺桿Η移動時，由 ^動，而驅使 分別透過第-機構轴⑴和第-機構=3和螺桿14係 第一支臂u和第二^ ”弟枝構轴121巾分別拖接於 機構軸121之間的 ，因此第—機構軸lli與第二 於關節ι“12之第離會因而改變’從而使互相樞接< U2枢轉。卜支#11和第二支臂12繞著該關節軸 達13可例如為步進馬達、伺服馬達、直产 ‘』馬達或感應馬達。在該馬達13為牛、隹*、“、 的情形中，由於步進馬達及飼 样由=服馬達 馬達或飼服馬達復可 ^制。此外，步進 傳回該馬達控制器，以便進二；進行之轉動信號I 授控制。在該馬達J > 丁-達之轉動定位的回 動器來控制直& > '、抓雜刷馬達的情形中，可利用驅 係為感刷馬達的轉速以及定位。而在馬心 服馬達:之精確二，中’雖然無法進行如同步進馬達或伺 過螺捍和、、袞立’但因為本發明之關節驅動裝置係透 高的馬達旋\專目對移動來驅動關節機構，而具有較 器來控制馬達^轉比’因此若例如藉由變頻 、則亦旎夠達成適當程度之定位控 18279 1] 1259127 μ 此達到簡化結構及降低成本的目的。 圖。：‘=!為i發明第二實施例之關節驅動裝置的透視 n x弟一貫施例之關節驅動裝置係為第一實施例之 Μ即驅動裝置的變刑 再重 土例，因此對於相同的構造及作用將不 ^ ^ η π α- 圖中，與弟3圖相同或相似的構 化肸以同樣的元件符號表示。 0構 節麵t ^ 5圖所示，關節轴驅動裝置1 2與第3圖所示之關 軸驅動裝置1類似，係包括:第一支臂21;第二… 達13,透：=12樞接於該第-支…-端;馬 以及，艘押 ^構軸211樞接於該第一支臂21之内側. 及，螺桿14，透過第-祕姓4 ， 之肉伽 如、 乐—枝構軸221樞接於該第二支臂乃1259127 IX. Description of the Invention: [Technical Field] The present invention relates to a joint driving device which is disposed between a first arm and a second arm and drives a first arm 4 with respect to a relative movement of a utilization point. A device between the structure and the driven mechanism. ^, the joint drive of the arm of one arm [previous technique] Record, the year of the year, such as manufacturing, storage management, wisdom, see 1 different kinds of fields, the application of robot (fQbQt) or = ritual temple The structure of the several arms connected to each other is composed of the 夂 ^ 隹 隹 隹 隹 隹 , , , , , , , , , , , , , , , , , , , , , , , , , , , , , , , , , The pivoting action of each arm has been performed by many robotic arms, as shown in Fig. 1, and is forcefully applied. [Example I], chain P is the driving I set 1 system including the first branch The arm 5] the arm arm 52, and the joint shaft fork #51, the housing of the motor 53 are fixed to the second t, and the 'the articulated vehicle is connected to the second 1 through the joint shaft, and the arm When the output shaft is 5 3 'the second arm 5 2 will be. S drive 2, and the joint drive / / - 51 will hold the rotation. Then the second arm 52 is driven on the shaft, w, The system uses the motor directly to the joint if. +々k port, which must use the higher cost of the high torque, because it must be closed... The joint drive/force motor 5 3 6 is placed in the limit of the use of the articulated car. The size of the 5 sets of the dynamic clothes is increased, and the production should be 18279 5 1259127 American Specialized & Armed Arms r : 5,640 The '883 nickname discloses a belt drive system including a second structure. As shown in FIG. 2, the joint drive device 6 is driven by the first arm, the "arm" arm 62, and the second arm drive motor. 63. The first arm 4 pulleys 65, 66 and the belt 67 are driven by the first through arm shaft 611 to be fixed to the pulley 66 by the _±'' arm 62. Fixed to the body f%, the arm of the brother is not rainbow (not headed), when the arm 2 is driven to drive, and the arm is driven by the horse, it is fixed on the body. The first axis drive motor is disposed outside the joint axis. == The straight object is in the two sets of arms. It is difficult to apply it in multiple configurations, thus limiting the mechanical arm joint degree of the two sets of arms. The mechanical arm of the μ & joint drive device has developed a structure "the joint of the joint # who" g 冓 early, does not occupy space, can be alone on the joint axis of the 夂t valley into the ° The goal to be achieved. "The clothing is the relevant field [invention]] This article provides a joint-driven drive for the above-mentioned problems. It can be used for the rotation of each joint, and the degree of freedom of the mechanical arm. Ding Independent Drive ® # 4 Another purpose is to provide a joint drive dream Jin ^ ^ To use the South Torque motor Xia Li clothing, do not need to reach the above and # 4 into 4 degrees of joint drag positioning. The present invention provides a joint drive device 6 18279 1259127, comprising: a first arm; a second arm pivotally connected to the first branch, the ^ system is connected to the joint through a joint The first arm driving mechanism is pivotally connected to the first mechanism pivot shaft (4); the f driving member; the driven mechanism is coupled to the (four) component through the second driving mechanism, and When driving the drive member, the drive mechanism is struggling = when the drive mechanism arm pivots. That is, (4) when the joint shaft is moved relative to the follower mechanism relative to the second branch mechanism, the 1= member is provided to drive the mechanism (the mechanism shaft and the first one disposed on the second arm) Change, 彳〃: The relative distance between the axes of the second mechanism is the same as that of the joint axis, flute, and the arm is twisted around the joint axis. Brother - the arm and the second wrong, due to It is pivotally driven by separately setting the driving mechanism and the two arms of the slave I -1^ brother branch # and the brother two arms, so the mouth is two: the shaft brother - the arm and the white body set the joint of the invention The driving device, that is, the one-off operation is independent and dynamic. +. Guan Lang's 柩 进 进 予 予 = = = = = = 利用 利用 利用 利用 利用 利用 利用 利用 利用 利用 利用 利用 利用 利用 利用 利用 利用 利用 利用 利用 利用 利用 利用 利用The relative position of the _ ancient f # brother a month of pivoting action, so can be fortunate to ask the driving force to convert U this (such as high torque motor At, driving mechanism with twisting force. ..., p can be achieved High-precision joint pivoting t # In the preferred embodiment of the invention p[车...立。 The arm system is a concave hollow frameΜ The Haiang-branch is at least partially accommodated by the second branch: the second drive unit and the driven mechanism are separately provided. In addition to the use of the first arm and the 18279 1259127; The frame body protects the driving mechanism and the moving action of the driven mechanism and the driven mechanism unexpectedly. In the embodiment of the present invention, it is also possible to avoid the object of the vehicle. The other end side of the first arm "the shafting system is disposed at the opposite side of the joint axis that is opposite to the 兮: branch =, and the second mechanism shaft is in another embodiment of the present invention. a side of the first end. The other axis of the joint axis opposite to the first arm is disposed on the vehicle side of the vehicle, and the second mechanism is implemented in the present invention. In the example, the side of the other end is toward the first arm: the mechanism shaft is disposed on the side of the joint axis facing the side, and the second mechanism shaft axis is not affected by the drive =:: This way is set. 动作The action of the user of the long-term swaying mechanism can be visually used and the several embodiments The configuration is as follows: ': port: using the above three axes. The brother and the second joint are in a preferred embodiment 4 of the present invention, and the driving member is included in the drive mechanism is a motor, The 'subject' is a machine with external::, two: snail: the idling external thread and the hollow turn..., the n丨t of the screw, the front and the rear of the screw can be advanced - step by step In addition, the motor is configured to rotatably support the thrust shaft rotor of the mutually opposite arrangement and is lightly early with the hollow: when the screw system passes through the idle rotation, the motor is : The second drive, the empty rotor does not dry and then moves backwards. In addition, since 18279 8 1259127 is provided in the motor with relative orientation, it can withstand the axial thrust from the hollow rotor: supporting the far hollow rotor, Inda: The present invention In another preferred embodiment, the driving mechanism=the driving member is a screw driven by the motor, and the rack comprises: a rack, wherein the rack is: and the slave passes through the driving The mechanism is matched with the screw::=. Since the motor drives the screw gear to rotate u σ, it moves forward and backward as a strip. h 5 hai drive mechanism will be relative to the tooth 2 (four) - preferred embodiment t, stepper motor ((4) Ingmoior) or the word in the machine is due to stepper motor and servo motor ew 〇 〇 〇 〇 ) . Therefore, the Kesda controller performs the pulse drive. The code of the rotary motor of the stepping motor or the feeding motor is transmitted to the motor controller by means of a signal coupled to the motor. —:::: Feedback control to position the motor. ^The rotation of the motor is 1 ^ 疋 ' DC brushless motor as the drive mechanism in the drive," and the straw is controlled by the drive to control the speed of the DC brushless motor and set: another preferred implementation of Dayacu In the example, the motor in the drive mechanism controls the rotation speed and positioning of the motor. Since the induction control method is simple, the simplified structure and the cost reduction can be achieved. The following is a description of the implementation of the present invention with reference to the drawings. For example, the following example 18279 9 1259127 is only used to illustrate the present invention|| 0 . . τ instead of limiting the target of the present invention by any point of view, and in order to simplify the drawing, it is extravagant. It is easy to understand that in the figure, only the 4 inch sign of the display month is clearer and the rest of the structure is omitted. The part directly related to the present invention is the joint drive of the first embodiment of the present invention. Figure. As shown in Figure 3, the joint shaft drive assembly = the first arm of the hollow frame structure, nm t · · has a concave two ancient Ί ^. ^ 筮 has a concave hollow frame structure # 12, one end of which is pivoted through one of the shackles, that is, the shaft 112 The first arm u ^ u ", , 13 ' is pivotally connected to the inner side of the first arm through the first mechanism shaft 111; and the screw 14 is transmitted through the inner phase of the second arm 12 of the second mechanism body The shaft 1 is connected to the ΛΛ^, the tooth transmitting motor 13 and is engaged with the driving member of the motor 13. Further, the shaft axis in is disposed on the closing shaft 121 toward the first arm 1 The side of the other cake of the fork #11, and the second machine iT is placed on the side of the joint axis ία opposite to the other end of the second arm 12. = Refer to Fig. 4 for the motor 13 The detailed structure will be described. The <1> head shows an enlarged cross-sectional view of the material 13 of Fig. 3. As shown in Fig. 4, the 13 series has a hollow cylindrical casing m and is provided in the casing 131 with three spoons. a sub-U2, a hollow cylindrical rotor 13 3 disposed inside the stator 132 and maintaining a gap with the stator 132, a ball nut 134 fixed in the rotor 13 3, and being disposed at both ends of the casing 131 for The thrust bearings 135, 136 of the nut 134, wherein the thrust bearings 135, 6 & are disposed in opposite directions to each other. The ball nut 134 is the above 〇18279 1259127 The driving member of the motor 13 has an inner surface shape that matches the external thread of the screw 14. Thereby, when the internal thread is actuated, the ball nut 134 will rotate with it, and then drive to the screw 14 moves. The drive motor 13 drives the ball nut 134 according to the § motor 1 3 ', and when the rhyme motor 13 moves relative to the screw ,, it is driven to move through the first-axis (1) and the first- The mechanism = 3 and the screw 14 are the first arm u and the second arm of the shaft 121 are respectively dragged between the mechanism shaft 121, so the first mechanism shaft 11i and the second joint joint ι "12" The disengagement thus changes 'and thus pivots to each other< U2 pivots. The branch #11 and the second arm 12 about the joint axis 13 can be, for example, a stepper motor, a servo motor, a direct-production ‘』 motor or an induction motor. In the case where the motor 13 is a cow, a 隹*, or a, the stepping motor and the feeding sample are reconfigured by the motor motor or the feeding motor. In addition, the motor controller is stepped back to advance. Second, the rotation signal I is controlled. In the case of the motor J > Ding-Da's rotary positioning of the return actuator to control the straight &> ', grasping the brush motor, the drive can be used as a brush The speed and positioning of the motor. In the horse's kimono motor: the accuracy of the second, although it can not be performed like a stepping motor or a screw-and-swing, but standing, but because the joint drive device of the present invention is high in motor rotation \Special purpose is to move to drive the joint mechanism, and has a comparator to control the motor's turn ratio. Therefore, if the frequency is changed, for example, it can achieve an appropriate degree of positioning control. 18279 1259127 μ This simplifies the structure and reduces the cost. The purpose of Fig.: '=! is the invention of the joint drive device of the second embodiment. The joint drive device of the embodiment is the same as the first embodiment of the drive device. Therefore for the same structure and function In the figure, the same or similar composition 肸 as in the figure 3 is denoted by the same component symbol. 0 is shown in the figure t ^ 5, the joint axis driving device 1 2 and the third figure The closing shaft driving device 1 is similar, and includes: a first arm 21; a second ... up to 13, a through: = 12 pivotally connected to the first branch - end; a horse and a yoke shaft 211 pivot Connected to the inner side of the first arm 21, and the screw 14, through the first secret name 4, the meat gamma, the music-branched shaft 221 is pivotally connected to the second arm
、卜且牙透過該馬達1 3並I 珠螺帽m)嚙和。馬達13的驅動構件（滚 一機構轴2U係設晋料， 不R的是’該第 2】之另一 亥關節軸212之反向於該第-支臂 而之侧，且該第二機構轴 212之朝向該第二 W置^亥關節車由 #之另-端之侧。 1 親圖弟6 Α/係為本發明第三實施例之關節驅動裝置的、- θ ’而弟6Β圖係顯示本發明第三實施飞 置的背視圖。本發明第三實施 ①Ρ驅動裝 實施例之關節雙動…二 即驅動裝置係為第〜 4即驅動叙置的變型例，因此對於 2 作用將不再重複進行 、问的構造及 3 151 i日Π十4 A 51和弟6β圖中，盥 相问或相似的構造將以同樣的元件符號表示。4 J2 ]8279 1259127 口乐6A圖所示，關 關節軸驅動H u 勒衣置3與弟3圖所示之 H 一 類似’係包括：第-支臂31;第二p ”鳊係透過關節軸312樞接 —支用 端；馬達Π，、*、 t接万…亥弟一支臂3]之一 之内側，·以及二過二一:幾構軸311樞接於該第-支臂31 支臂32之内‘二二心二機構抽321福接於該第二 構件（滾珠螺帽馬達13亚與該馬達U的驅動 是，#裳41 )嘣和。與關節軸驅動裝置1不同的 疋'亥弟一機構幸由3 1 1係 < 里士人> J的 -支臂之另一 於該關節軸312之朝向該第 μ ia, 〇 1 〇 而之側，且5亥第二機構轴3 21亦設置於^Γ着 L312之朝向該第 -置方“亥 照第纽圖，註門松4 克# 32之另一為之侧。此外，參 〜请郎轴3 12係由一對互相分離 31扣所組成，去料士网欣 相刀雒的軸承312α、 ^ 田^本關郎驅動裝置進行驅動時，可避备盘 :達及螺桿之動作產生干涉。 了避免與 圖。11圖ί為本發明第四實施例之關節驅動裝置的透視 θ ㉟日月帛四實施例之關節驅動裝置係為第—每m 關節驅動裝置的變型例，因此…n分為弟A例之I 再重㈣m 同的構造及作用將不 法將：：在弟7圖中’與第3圖相同或相似的構 〜肸以同杈的元件符號表示。 如第7圖所示，關節軸驅動裝置4與 節聋由鲈叙爿士單Ίΰ所不之關 Ρ釉驅動I置丨類似，係包括： 1 _俨尨、泰、证，日斤 又成11，弟一支臂12， ^而係透過關郎軸丨12樞接於該第一支臂u之― 條驅動機構43,透過第一梏椹蚰ιη為，回And the teeth pass through the motor 13 and the I bead nut m). a drive member of the motor 13 (the roll-to-machine shaft 2U is configured to feed, and the other axis of the second joint shaft 212 that is not the second is opposite to the side of the first arm, and the second mechanism The axis 212 faces the second side of the second W set-up joint vehicle from the other side of the #. 1 亲图弟6 Α / is the joint drive device of the third embodiment of the present invention, - θ ' and the brother 6 Β A rear view of a third embodiment of the present invention is shown. The third embodiment of the present invention is a double-acting joint of the embodiment of the driving device. The second driving device is a modification of the driving device of the fourth to fourth driving, so that the action for 2 will be In the no-repetition, questioning structure and 3 151 i Π 4 4 4 4 4 A 和 和 和 和 和 和 和 和 和 相似 相似 相似 相似 相似 相似 相似 相似 相似 相似 4 4 4 4 4 4 4 4 4 4 4 4 4 4 4 4 4 4 4 4 4 4 , the joint shaft drive H u 勒 衣 3 is similar to the H shown in the figure 3, 'the system includes: the first arm 31; the second p 鳊 is pivoted through the joint shaft 312 - the end; the motor Π , , , , , , , , , , , , , , , , , , , , , , , , , , , , , , , , , , , , , , , , , , , , , , , , , , , , , , , , , , , , , , , , , , , , , , , , , , , , The two-two-heart mechanism is connected to the second member (the ball nut motor 13 is driven by the motor U, #裳41) 嘣 and the 关节'Hai-a mechanism different from the joint shaft driving device 1 Fortunately, the other side of the 3 1 1 system <士士士> J is on the side of the joint axis 312 facing the first μ ia, 〇1 〇, and the second mechanism shaft 3 21 Set to the side of the L312 facing the first-side "Hui Zhao Nian map, the main door of the door knock 4 grams # 32. On the other side, the reference ~ please Lang shaft 3 12 series separated by a pair of 31 buckle The composition, when the drive 312α, ^ Tian ^ Ben Guan Lang drive device for driving, can avoid the disk: the action of the screw and the interference of the screw. The perspective of the joint driving device according to the fourth embodiment of the invention is the variation of the joint driving device of the embodiment of the fourth embodiment. Therefore, the n is divided into the I of the case A and then the weight (four) m. The structure and function will be illegal: in the figure of the brother 7 'the same or similar structure as the third figure ~ 肸 is represented by the same component symbol. As shown in Figure 7 The joint shaft drive device 4 is similar to the thrift by the Ρ 爿 爿 Ίΰ Ίΰ , , , , , , , , , , , , , , , , , , , , , , , , , , , , , , , , , , 12, ^ is pivoted to the first arm u by the Kwan Axis 12, the strip drive mechanism 43, through the first 梏椹蚰ιη, back
^ 钱構轴1 1 1樞接於該第一支臂i J 之内側；以及齒條44’透過第二機構轴⑵才區接於該第二 18279 13 1259127 齒條驅 侧’且穿過該齒條驅動機構43 動枝構43的驅動構件嚙和。 乂下+ h第8圖對齒條驅動 明。第8圖係為綠驅動機構 二广細結構進行說 動機構43係至少具備有殼體43卜由^視圖。該齒條驅 並與伸入殼體43〗中 馬達（未圖示）驅動 η π H 士 ω备、44相嚙和的螺桿齒於43? 及狄置於威體431上而用以支承 4 432、以 433、434，其中，該螺桿齒輪432即為上、+、=轴承 構43的驅動構件。依據上述結構，…条驅動機. 達驅動而轉動時，齒條驅動機構 動，從而帶動互相抱接於關節軸112:;=齒條44移 支臂12繞著該關節轴112_。齒條驅 1】：第二 步具備有變速機構（未圖示），並中 f可進- 機構驅動螺桿齒輪432。 '、馬達係透過該變速 本發明並非僅限於上述實施例。相 範圍中所顯示之項目的範疇内，係能 在：：專利 更。以上所述之各實施例僅係用以說明：發；種：：< ^制本發明的可實施範.，舉凡本項技術領域中呈有通= 、口咸者在本發明所揭示之精神與技術思想下所1、吊 等效修•或改變，仍應由後述之申：=元成之-切 【圖式簡單說明】 月專利耗圍所涵蓋。 弟1圖係為依據先前技術之—種關節驅動铲置. 第2圖係為依據先前技術之另—種關節驅動裝置. 第3圖係為本發明第一實施例之關節驅動裝置的透視 14 18279 1259127 圖； 苐4圖係為第3圖之馬達之放大剖視圖； 第5圖係為係為本發明第二實施例之關節驅動裝置的 遂視圖； 第6A圖係為係為本發明第三實施例之關節驅動裝置 白勺遂視圖； 第圖係為係為本發明第三實施例之關節驅動裝置 的背視圖； 第7圖係為本發明第四實施例之關節驅動裝置的透視 圖；以及 第8圖係為第7圖之齒條驅動裝置之放大剖視圖。 【主要元件符號說明】 1 關郎驅動裝晉 11 第一支臂 12 第二支臂 13 馬達 14 螺桿 111 第一機構軸 112 關郎車由 121 弟二機構轴 131 殼體 132 定子 133 轉子 134 滾珠螺帽 135, 136 止推軸承 2 關節驅動裝置 21 第一支臂 22 第二支臂 211 第一機構軸 212 關節轴 221 弟一機構轴 3 關卽驅動裝置 31 第一支臂 32 第二支臂 311 第一機構軸 3 12，3 1 2 A，3 12 B 關節轴 18279 1259127 321 第二機構軸 4 關節驅動裝置 43 齒條驅動機構 44 齒條 431 殼體 432 螺桿齒輪 433, 434 線性軸承 5 關節驅動裝置 51 第一支臂 52 第二支臂 53 關節軸驅動馬達 6 關節驅動裝置 61 第一支臂 62 第二支臂 63 第二支臂驅動馬達 64 第一支臂驅動馬達 65，66 皮帶輪 67 皮帶 611 支臂轴 16 18279^ The money shaping shaft 1 1 1 is pivotally connected to the inner side of the first arm i J ; and the rack 44 ′ is connected to the second 18279 13 1259127 rack drive side through the second mechanism shaft ( 2 ) and passes through the The rack drive mechanism 43 engages the drive members of the movable branch 43. Underarm + h Figure 8 shows the rack drive. Fig. 8 is a green drive mechanism. The second and the fine structure is provided with a mechanism 43 having at least a casing 43. The rack drive is coupled to a motor (not shown) that extends into the housing 43 to drive the θ π H ω 备, 44, and the screw teeth 43 and D are placed on the power body 431 for supporting 4 432, 433, 434, wherein the screw gear 432 is a driving member of the upper, +, = bearing structure 43. According to the above structure, the strip drive mechanism. When the drive is rotated, the rack drive mechanism moves to engage the joint shaft 112:; = the rack 44 moves the arm 12 around the joint shaft 112_. Rack Drive 1]: The second step is provided with a shifting mechanism (not shown), and the f-input-mechanism drive screw gear 432. 'The motor is transmitted through this shifting. The present invention is not limited to the above embodiment. Within the scope of the items shown in the scope, it can be:: Patent. The embodiments described above are only used to illustrate: hair; species:: < ^ can be implemented in the present invention, which is disclosed in the technical field of the present invention. Under the spirit and technical thoughts 1, the crane equivalent repair or change, still should be described by the following: = Yuan Chengzhi - cut [schematic description] monthly patent consumption covered. Figure 1 is a joint-driven driving device according to the prior art. Figure 2 is another joint driving device according to the prior art. Figure 3 is a perspective view of the joint driving device according to the first embodiment of the present invention. 18279 1259127; Fig. 4 is an enlarged cross-sectional view of the motor of Fig. 3; Fig. 5 is a top view of the joint driving device according to the second embodiment of the present invention; Fig. 6A is the third embodiment of the present invention FIG. 7 is a perspective view of a joint driving device according to a third embodiment of the present invention; FIG. 7 is a perspective view of a joint driving device according to a fourth embodiment of the present invention; And Fig. 8 is an enlarged cross-sectional view showing the rack driving device of Fig. 7. [Main component symbol description] 1 Guanlang drive assembly Jin 11 first arm 12 second arm 13 motor 14 screw 111 first mechanism shaft 112 Guanlang car by 121 brother two mechanism shaft 131 housing 132 stator 133 rotor 134 ball Nut 135, 136 Thrust bearing 2 Joint drive 21 First arm 22 Second arm 211 First mechanism shaft 212 Joint shaft 221 Brother one mechanism shaft 3 Drive device 31 First arm 32 Second arm 311 First mechanism shaft 3 12,3 1 2 A,3 12 B Joint shaft 18279 1259127 321 Second mechanism shaft 4 Joint drive 43 Rack drive mechanism 44 Rack 431 Housing 432 Screw gear 433, 434 Linear bearing 5 Joint Drive unit 51 first arm 52 second arm 53 joint shaft drive motor 6 joint drive unit 61 first arm 62 second arm 63 second arm drive motor 64 first arm drive motor 65, 66 pulley 67 Belt 611 arm shaft 16 18279