TWI462811B - Robot arm, robot employing the same, and manufacturing method for the robot arm - Google Patents
Robot arm, robot employing the same, and manufacturing method for the robot arm Download PDFInfo
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- TWI462811B TWI462811B TW098109082A TW98109082A TWI462811B TW I462811 B TWI462811 B TW I462811B TW 098109082 A TW098109082 A TW 098109082A TW 98109082 A TW98109082 A TW 98109082A TW I462811 B TWI462811 B TW I462811B
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- 238000004519 manufacturing process Methods 0.000 title claims description 9
- 230000003014 reinforcing effect Effects 0.000 claims description 36
- 244000035744 Hura crepitans Species 0.000 claims description 17
- 239000004576 sand Substances 0.000 claims description 17
- 230000005540 biological transmission Effects 0.000 claims description 9
- 229910052751 metal Inorganic materials 0.000 claims description 8
- 239000002184 metal Substances 0.000 claims description 8
- 238000004140 cleaning Methods 0.000 claims description 4
- 238000007528 sand casting Methods 0.000 claims description 4
- 229910000838 Al alloy Inorganic materials 0.000 claims description 3
- 229910052782 aluminium Inorganic materials 0.000 claims description 3
- XAGFODPZIPBFFR-UHFFFAOYSA-N aluminium Chemical compound [Al] XAGFODPZIPBFFR-UHFFFAOYSA-N 0.000 claims description 3
- 230000002708 enhancing effect Effects 0.000 claims description 3
- 230000002093 peripheral effect Effects 0.000 claims description 3
- 239000000956 alloy Substances 0.000 claims description 2
- 238000009826 distribution Methods 0.000 description 6
- 238000005266 casting Methods 0.000 description 5
- 239000000463 material Substances 0.000 description 5
- 238000010586 diagram Methods 0.000 description 4
- 238000004088 simulation Methods 0.000 description 4
- 238000005728 strengthening Methods 0.000 description 2
- 238000007796 conventional method Methods 0.000 description 1
- 238000001816 cooling Methods 0.000 description 1
- 238000000034 method Methods 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 238000000465 moulding Methods 0.000 description 1
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Description
本發明涉及一種機器人之臂部件及其製造方法以及具有該臂部件之機器人。 The present invention relates to an arm member of a robot, a method of manufacturing the same, and a robot having the arm member.
圖1所示為一種六軸工業機器人，其包括基座11、可轉動地設置於基座11之機架12、可轉動地設置於機架12之大臂13及與大臂13可轉動連接之小臂14。基座11用於將六軸工業機器人安裝至地板或者類似物上，機架12可繞第一旋轉軸a旋轉，大臂13可繞第二旋轉軸b旋轉，小臂14可繞第三旋轉軸c旋轉。該六軸工業機器人還包括d、e、f所表示之其他三軸。一般可於第六軸f上安裝夾具、刀具或者探測儀器等執行裝置進行工作。 1 shows a six-axis industrial robot comprising a base 11, a frame 12 rotatably disposed on the base 11, a boom 13 rotatably disposed on the frame 12, and a rotatably coupled to the boom 13. The arm 14 is. The base 11 is for mounting a six-axis industrial robot to a floor or the like, the frame 12 is rotatable about a first axis of rotation a, the boom 13 is rotatable about a second axis of rotation b, and the arm 14 is rotatable about a third The axis c rotates. The six-axis industrial robot also includes the other three axes represented by d, e, and f. Generally, an actuator such as a jig, a cutter, or a detecting instrument can be mounted on the sixth shaft f to operate.
設計製造上述六軸工業機器人之小臂14時，一方面應考慮增強小臂14之剛度、強度及其應力分佈之均勻性，以抵抗施加於小臂14之各種複雜作用力，並減小小臂14之振動；另一方面應考慮減輕小臂14重量，以減小其轉動慣量，從而增強小臂14之可控性及控制之精確性，使其能夠準確快速定位。習知技術一般於小臂14上設置中空結構以達到使小臂14具有一定剛度並減輕其重量之目的。然，上述中空結構之截面形狀一般為封閉型結構，藉由砂型鑄 造成型小臂14時，用於成型該中空結構之型芯不易準確定位於型腔中，易造成小臂14鑄造成型後厚度均勻性不佳，降低小臂13受力時應力分佈之均勻性，且較難清砂、鑄造效率較低。 When designing and manufacturing the arm 14 of the above-mentioned six-axis industrial robot, on the one hand, it is considered to enhance the rigidity, strength and uniformity of the stress distribution of the arm 14 to resist various complicated forces applied to the arm 14 and to reduce the small force. On the other hand, it is considered to reduce the weight of the arm 14 to reduce its moment of inertia, thereby enhancing the controllability and control accuracy of the arm 14 so that it can be accurately and quickly positioned. Conventional techniques generally provide a hollow structure on the arm 14 to achieve a certain rigidity and reduce the weight of the arm 14. However, the cross-sectional shape of the above hollow structure is generally a closed structure by sand casting When the type of the arm 14 is formed, the core for molding the hollow structure is not easy to be accurately positioned in the cavity, and the thickness uniformity of the arm 14 after casting is easy to be poor, and the uniformity of stress distribution when the arm 13 is stressed is reduced. And it is more difficult to clear sand and casting efficiency is low.
鑒於上述內容，有必要提供一種重量較輕、強度和剛度較好且便於鑄造成型之臂部件及其製造方法以及具有該臂部件之機器人。 In view of the above, it is necessary to provide an arm member which is light in weight, good in strength and rigidity, and which is easy to cast and molded, a method of manufacturing the same, and a robot having the arm member.
一種機器人之臂部件，其包括第一連接端、第二連接端及連接第一連接端與第二連接端之連接部。第一連接端及第二連接端與傳動裝置相連接。連接部至少一部分為用於增強臂部件剛度之中空結構。中空結構之週壁設有開口，開口之邊緣處形成向中空結構內部延伸之加強部，該加強部包括依次連接之四加強筋，且其中靠近該第一連接端及靠近該第二連接端之二相對設置的加強筋之延伸方向與該連接部之延伸方向斜交，該連接部的側壁朝向該臂部件的中部凹陷。 An arm component of a robot includes a first connecting end, a second connecting end, and a connecting portion connecting the first connecting end and the second connecting end. The first connection end and the second connection end are connected to the transmission. At least a portion of the connecting portion is a hollow structure for enhancing the rigidity of the arm member. The peripheral wall of the hollow structure is provided with an opening, and the edge of the opening forms a reinforcing portion extending toward the inside of the hollow structure, the reinforcing portion includes four reinforcing ribs connected in sequence, and wherein the first connecting end is adjacent to the first connecting end and adjacent to the second connecting end The extending direction of the oppositely disposed reinforcing ribs is oblique to the extending direction of the connecting portion, and the side wall of the connecting portion is recessed toward the middle of the arm member.
一種機器人，具有上述臂部件。 A robot having the above arm members.
一種製造上述機器人之臂部件之方法，其包括以下步驟：提供砂型箱，其設有可相互結合之第一砂型箱和第二砂型箱、型芯及用於支撐型芯之支撐件，型芯用於形成臂部件之中空結構，支撐件用於於中空結構上形成開口，型芯上還設有用於於開口邊緣處形成加強部之凹部，該加強部包括依次連接之四加強筋，且其中二相對設置之加強筋之延伸方向與該支撐件斜交，該臂部件的中部凹陷；利用支撐件將型芯支撐於第一砂型箱及第二砂型箱之其中之一內，並將第一砂型箱與第二砂型箱相結合以形成與臂部件形狀大小一致之型腔；向型腔內注入熔融之金屬溶液，於金屬溶液 冷卻後，將第一砂型箱與第二砂型箱相分離，並進行清砂，以形成臂部件。 A method of manufacturing the arm member of the above robot, comprising the steps of: providing a sand box provided with a first sand box and a second sand box, a core and a support member for supporting the core, the core a hollow structure for forming an arm member, the support member is configured to form an opening on the hollow structure, and the core is further provided with a recess for forming a reinforcing portion at the edge of the opening, the reinforcing portion comprising four reinforcing ribs connected in sequence, and wherein The extending direction of the oppositely disposed reinforcing ribs is oblique with the supporting member, and the middle portion of the arm member is recessed; the core is supported by the supporting member in one of the first sand box and the second sand box, and the first The sand box is combined with the second sand box to form a cavity having the same shape and shape as the arm member; the molten metal solution is injected into the cavity to the metal solution After cooling, the first sand mold is separated from the second sand mold and sand is cleaned to form an arm member.
上述機器人之臂部件於中空結構之週壁設置開口，藉由砂型鑄造成型臂部件時，可於對應形成開口之位置設置支撐件，藉由支撐件將型芯準確牢靠地定位於砂型箱中，有助於提高鑄造成型之臂部件尺寸之穩定性，於滿足臂部件剛度及強度要求下，可提高材料之利用率，從而減輕臂部件重量。鑄造成型過程中，還可於開口處進行清砂處理，因空間可較大，從而便於操作。藉由於開口之邊緣設置加強部還可使該臂部件具有較佳之剛度及強度。 The arm member of the robot is provided with an opening on the peripheral wall of the hollow structure. When the arm member is formed by sand casting, a support member can be disposed at a position corresponding to the opening, and the core is accurately and firmly positioned in the sand box by the support member. It can improve the stability of the size of the cast-formed arm parts, and can improve the utilization of the material and reduce the weight of the arm parts under the requirements of the rigidity and strength of the arm parts. During the casting process, sand cleaning can also be carried out at the opening, which is easy to operate due to the large space. The arm member can also have better rigidity and strength by providing the reinforcing portion at the edge of the opening.
採用上述臂部件之機器人自身重量較輕，同時對用於驅動臂部件之傳動裝置之轉矩/力矩要求降低。另，臂部件之轉速及其控制精度可得到提高，從而有助於提高機器人之工作效率及作業之精確度。 The robot using the above-described arm members is light in weight and at the same time reduces the torque/torque requirements for the transmission for driving the arm members. In addition, the speed of the arm member and its control accuracy can be improved, which helps to improve the working efficiency and accuracy of the robot.
11‧‧‧基座 11‧‧‧Base
12‧‧‧機架 12‧‧‧Rack
13‧‧‧大臂 13‧‧‧Big
14‧‧‧小臂 14‧‧‧ Arm
200‧‧‧臂部件 200‧‧‧arm parts
210‧‧‧第一連接端 210‧‧‧First connection
220‧‧‧第二連接端 220‧‧‧second connection
240‧‧‧連接部 240‧‧‧Connecting Department
245‧‧‧中空結構 245‧‧‧ hollow structure
211、221‧‧‧本體 211, 221‧‧‧ ontology
213、223‧‧‧加強壁 213, 223‧‧ ‧ strengthen the wall
2112‧‧‧第一連接孔 2112‧‧‧First connection hole
2212‧‧‧第二連接孔 2212‧‧‧Second connection hole
246‧‧‧開口 246‧‧‧ openings
2421‧‧‧穿孔 2421‧‧‧Perforation
248‧‧‧倒角 248‧‧‧Chamfering
241、242、243、244‧‧‧連接壁 241, 242, 243, 244‧‧ ‧ connecting wall
2461、2462、2463、2464‧‧‧加強部 2461, 2462, 2463, 2464‧‧‧ Strengthening Department
a、b、c、d、e、f‧‧‧旋轉軸 a, b, c, d, e, f‧‧‧ rotating shaft
圖1係一種習知六軸工業機器人之平面示意圖。 Figure 1 is a schematic plan view of a conventional six-axis industrial robot.
圖2係本發明實施例之機器人之臂部件之立體圖。 2 is a perspective view of an arm member of a robot according to an embodiment of the present invention.
圖3係圖2所示臂部件之另一方向之立體圖。 Figure 3 is a perspective view of the other direction of the arm member shown in Figure 2.
圖4係圖2所示臂部件之剖視圖。 Figure 4 is a cross-sectional view of the arm member shown in Figure 2.
圖5係圖2所示臂部件另一剖切方向之剖視圖。 Figure 5 is a cross-sectional view showing another arming direction of the arm member shown in Figure 2.
圖6及圖7係藉由數值模擬得出之圖2所示臂部件之應力分佈圖。 6 and 7 are stress distribution diagrams of the arm members shown in Fig. 2 obtained by numerical simulation.
圖8及圖9係藉由模態分析得出之圖2所示臂部件之一階振動頻率與二階振動頻率圖。 8 and FIG. 9 are diagrams showing the order vibration frequency and the second-order vibration frequency of the arm member shown in FIG. 2 by modal analysis.
下面結合附圖及實施例對本發明機器人之臂部件及具製造方法以及具有該臂部件之機器人作進一步詳細說明。 The arm member of the robot of the present invention, the manufacturing method of the same, and the robot having the arm member will be further described in detail below with reference to the accompanying drawings and embodiments.
本發明機器人之臂部件可應用於直線座標式、圓柱座標式、球座標式及關節式機器人中，本實施例以應用於六軸關節式機器人之臂部件為例加以說明。 The arm member of the robot of the present invention can be applied to a linear coordinate type, a cylindrical coordinate type, a ball coordinate type, and an articulated robot. This embodiment is described by taking an arm member applied to a six-axis articulated robot as an example.
請同時參閱圖2至圖5，本發明實施例機器人之臂部件200可作為六軸關節式機器人之小臂，其包括第一連接端210、第二連接端220以及連接第一連接端210及第二連接端220之長條狀連接部240。連接部240包括依次連接之四連接壁241、242、243、244，該四連接壁241、242、243、244與第一連接端210及第二連接端220圍成中空部以形成中空結構245。中空結構245之截面形狀大致為矩形。 Referring to FIG. 2 to FIG. 5 , the arm component 200 of the robot can be used as the arm of the six-axis articulated robot, and includes a first connecting end 210 , a second connecting end 220 , and a first connecting end 210 . The elongated connecting portion 240 of the second connecting end 220. The connecting portion 240 includes four connecting walls 241, 242, 243, 244 connected in series, and the four connecting walls 241, 242, 243, 244 and the first connecting end 210 and the second connecting end 220 enclose a hollow portion to form a hollow structure 245. . The cross-sectional shape of the hollow structure 245 is substantially rectangular.
第一連接端210用於連接第一傳動裝置(圖未示)，以驅動設置於六軸關節式機器人末端且與臂部件200相連接之執行裝置，如夾具、刀具、探測器等動作。第一連接端210包括圓盤形本體211以及由本體211二側邊緣沿其軸向延伸形成之加強壁213，設置加強壁213有助於提高臂部件200之剛度。本體211上還設有複數第一連接孔2112，用於與第一傳動裝置相連接。 The first connecting end 210 is used for connecting a first transmission device (not shown) to drive an actuator such as a clamp, a cutter, a detector, etc., which is disposed at the end of the six-axis articulated robot and connected to the arm member 200. The first connecting end 210 includes a disc-shaped body 211 and a reinforcing wall 213 formed by the two side edges of the body 211 extending along the axial direction thereof. The reinforcing wall 213 is provided to help increase the rigidity of the arm member 200. The body 211 is further provided with a plurality of first connecting holes 2112 for connecting with the first transmission.
第二連接端220用於連接第二傳動裝置(圖未示)，以驅動臂部件200運動。第二連接端220包括圓盤形本體221及由本體221二側邊緣沿其軸向延伸形成之加強壁223，設置加強壁223亦有助於提高臂部件200之剛度。本體221上還設有複數第二連接孔2212，用於與第二傳動裝置相連接。 The second connection end 220 is for connecting a second transmission (not shown) to drive the arm member 200 to move. The second connecting end 220 includes a disc-shaped body 221 and a reinforcing wall 223 formed by extending the two side edges of the main body 221 along the axial direction thereof. The reinforcing wall 223 is also provided to help improve the rigidity of the arm member 200. The body 221 is further provided with a plurality of second connecting holes 2212 for connecting with the second transmission.
本實施例中，第二連接端220之本體221之外徑大於第一連接端210之本體211之外徑，第二連接端220厚度(軸向尺寸)大於第一連接端210厚度。臂部件200工作時，可近似為一懸臂樑結構，且第二連接端220為支承端，從而第二連接端220將受到較大之力矩/扭矩，採用上述結構，可增強第二連接端220之承重能力，從而有助於提高臂部件200應力分佈之均勻性。 In this embodiment, the outer diameter of the body 221 of the second connecting end 220 is greater than the outer diameter of the body 211 of the first connecting end 210, and the thickness (axial dimension) of the second connecting end 220 is greater than the thickness of the first connecting end 210. When the arm member 200 is in operation, it can be approximated as a cantilever beam structure, and the second connecting end 220 is a supporting end, so that the second connecting end 220 will receive a large torque/torque. With the above structure, the second connecting end 220 can be reinforced. The load bearing capacity helps to improve the uniformity of the stress distribution of the arm member 200.
連接壁241與連接壁243分別平滑連接第一連接端210及第二連接端220，且分別沿第一連接端210之軸向延伸並對稱設置。連接壁241、243還可朝臂部件200中部凹陷，以形成弓形結構，從而有助於減輕臂部200之重量。 The connecting wall 241 and the connecting wall 243 are respectively smoothly connected to the first connecting end 210 and the second connecting end 220, and respectively extend along the axial direction of the first connecting end 210 and are symmetrically disposed. The connecting walls 241, 243 may also be recessed toward the middle of the arm member 200 to form an arcuate structure to help reduce the weight of the arm portion 200.
連接壁244沿垂直於第一連接端210軸向方向延伸，且其與第一端210及第二端220其中一側之端面共面。 The connecting wall 244 extends in an axial direction perpendicular to the first connecting end 210 and is coplanar with an end surface of one of the first end 210 and the second end 220.
連接壁244之中部設有開口246，開口246邊緣處形成有向中空結構245內部延伸且依次連接之加強部2461、2462、2463、2464，以提高臂部件200之剛度及強度。本實施例，開口246大致為矩形，加強部2461、2462、2463、2464為加強筋形式。其中，加強部2461與加強部2463沿基本垂直連接壁244之方向延伸，加強部2462與加強部2464對稱設置於開口246之二側並分別垂直加強壁2461、2463，且加強部2462與加強部2464之延伸方向與連接部240之延伸方向斜交。加強部2462、2464採用斜向延伸之方式可增加其總體長度，從而有助於進一步提高臂部件200之剛度及強度。 An opening 246 is formed in the middle of the connecting wall 244, and reinforcing portions 2461, 2462, 2463, and 2464 extending toward the inside of the hollow structure 245 and sequentially connected are formed at the edge of the opening 246 to improve the rigidity and strength of the arm member 200. In this embodiment, the opening 246 is substantially rectangular, and the reinforcing portions 2461, 2462, 2463, and 2464 are in the form of reinforcing ribs. Wherein, the reinforcing portion 2461 and the reinforcing portion 2463 extend in a direction of the substantially vertical connecting wall 244, and the reinforcing portion 2462 and the reinforcing portion 2464 are symmetrically disposed on two sides of the opening 246 and respectively vertically reinforcing the walls 2461, 2463, and the reinforcing portion 2462 and the reinforcing portion The extending direction of 2464 is oblique to the extending direction of the connecting portion 240. The reinforcing portions 2462, 2464 can be increased in overall length by obliquely extending to help further increase the rigidity and strength of the arm member 200.
連接壁244與連接壁241、243、第一連接端210及第二連接端220相連接處還可形成較大之倒角248，該倒角248可改善臂部件200 受力時之應力集中。 The connecting wall 244 is connected to the connecting walls 241, 243, the first connecting end 210 and the second connecting end 220 to form a larger chamfer 248, which can improve the arm member 200. Stress concentration during stress.
連接壁242沿垂直於第一連接端210之軸向延伸，其中部沿第一連接端210軸向朝臂部件200外突出，其鄰近第一連接端210之一端藉由一較長之斜面與第一連接端210之端面相連接，其鄰近第二連接端220之一端藉由一較短之斜面與第二連接端220之端面相連接。連接壁242上還設有二穿孔2421。 The connecting wall 242 extends in an axial direction perpendicular to the first connecting end 210, and the middle portion protrudes outwardly of the arm member 200 along the first connecting end 210, and is adjacent to one end of the first connecting end 210 by a long inclined surface. The end faces of the first connecting end 210 are connected, and one end of the second connecting end 220 is connected to the end surface of the second connecting end 220 by a short inclined surface. The connecting wall 242 is further provided with two through holes 2421.
上述臂部件200可選用輕質、高強度之材料，如鑄鋁或鋁合金材料，其製造方法包括以下步驟： The arm member 200 may be selected from a lightweight, high-strength material such as a cast aluminum or aluminum alloy material, and the manufacturing method thereof includes the following steps:
(1)提供砂型箱，其設有可相互結合之第一砂型箱和第二砂型箱、型芯及用於支撐型芯之支撐件，該型芯用於形成中空結構245，支撐件用於於該中空結構245上形成開口246，該型芯還設有用於於該開口246邊緣處形成加強部2461、2462、2463、2464之凹部。本實施例中，支撐件為柱狀，其截面為矩形，從而可形成矩形開口246。 (1) Providing a sand box provided with a first sand box and a second sand box, a core and a support for supporting the core, which are used to form a hollow structure 245, and the support member is used for An opening 246 is formed in the hollow structure 245, and the core is further provided with a recess for forming the reinforcing portions 2461, 2462, 2463, 2464 at the edge of the opening 246. In this embodiment, the support member is columnar and has a rectangular cross section so that a rectangular opening 246 can be formed.
(2)利用支撐件將型芯固定於其中一砂型箱中，並將第一、第二砂型箱相結合以形成與該臂部件200形狀大小一致之型腔。 (2) The core is fixed in one of the sand boxes by the support member, and the first and second sand boxes are combined to form a cavity conforming to the shape of the arm member 200.
(3)向步驟(2)中形成之型腔內注入熔融之金屬溶液，在該金屬溶液冷卻後，將第一、第二砂型箱相分離，並進行清砂以清理出型芯，從而形成該臂部件200。該金屬溶液優選為鑄鋁或鋁合金金屬溶液。 (3) injecting a molten metal solution into the cavity formed in the step (2), after the metal solution is cooled, separating the first and second sand molds, and performing sand cleaning to clean out the core, thereby forming The arm member 200. The metal solution is preferably a cast aluminum or aluminum alloy metal solution.
利用上述方法製造臂部件200時，可藉由支撐件支撐型芯，且支撐件可設置於對應形成開口246之位置，從而便於將砂型準確牢靠地定位於砂箱中，提高鑄造成型之臂部件200之尺寸穩定性。 在滿足剛度及強度要求下，有助於使臂部件200之壁厚更薄，從而達到減輕臂部件200重量之目的，並提高材料之利用率以及鑄造之良率。同時，設置開口246及穿孔2421還便於進行清砂操作，提高了鑄造效率。 When the arm member 200 is manufactured by the above method, the core can be supported by the support member, and the support member can be disposed at a position corresponding to the opening 246, thereby facilitating accurate and secure positioning of the sand mold in the sand box, and improving the cast molded arm member. Dimensional stability of 200. The stiffness and strength requirements are met to help make the wall thickness of the arm member 200 thinner, thereby reducing the weight of the arm member 200, and improving material utilization and casting yield. At the same time, the provision of the opening 246 and the perforation 2421 also facilitates the sand cleaning operation and improves the casting efficiency.
另，開口246還可收納連接第一、第二傳動裝置之電纜。傾斜設置之加強部2462、2464還可對電纜起到導向作用。 In addition, the opening 246 can also receive a cable connecting the first and second transmissions. The slanted reinforcing portions 2462, 2464 can also guide the cable.
圖6及圖7所示為藉由數值模擬得出之本發明臂部件200之應力分佈圖，該數值模擬之結果由通用有限元分析軟體ANSYS分析得出，從圖中可看出，臂部件200應力分佈趨於均勻，從而可充分發揮臂部件200材料之機械性能，使得材料之利用更為合理。上述數值模擬之初始參數值見下表。 6 and 7 show the stress distribution diagram of the arm member 200 of the present invention obtained by numerical simulation. The result of the numerical simulation is analyzed by the general finite element analysis software ANSYS. As can be seen from the figure, the arm member The stress distribution of 200 tends to be uniform, so that the mechanical properties of the material of the arm member 200 can be fully utilized, so that the utilization of the material is more reasonable. The initial parameter values of the above numerical simulations are shown in the table below.
圖8及圖9所示為藉由模態分析得出之本發明臂部件200之一階振動頻率與二階振動頻率圖，該結果由ANSYS軟體分析得出。臂部件200前五階振動頻率請參見下表，從圖8、圖9以及下表可看出，臂部件200之一階及二階振動頻率較低，從而其可具有較高之運動速度而不會引起共振，具有較佳之剛度。 Fig. 8 and Fig. 9 are diagrams showing the first-order vibration frequency and the second-order vibration frequency of the arm member 200 of the present invention obtained by modal analysis, and the results are obtained by ANSYS software analysis. The first five-order vibration frequency of the arm member 200 is shown in the following table. As can be seen from FIG. 8, FIG. 9 and the following table, the first-order and second-order vibration frequencies of the arm member 200 are low, so that it can have a higher moving speed without Will cause resonance and have better stiffness.
可以理解，臂部件200之第一連接端210及第二連接端220不限於本實施例之結構，其亦可根據機器人之類型設置為其他形式之連接結構。中空結構245之截面形狀不限於矩形，其亦可為六邊形或圓形等其他可由砂型鑄造成型之形狀。 It can be understood that the first connection end 210 and the second connection end 220 of the arm member 200 are not limited to the structure of the embodiment, and may be configured as other connection structures according to the type of the robot. The cross-sectional shape of the hollow structure 245 is not limited to a rectangular shape, and may be a hexagonal or circular shape or the like which can be molded by sand casting.
本發明實施例之六軸關節式機器人(圖未示)與習知技術所描述之六軸工業機器人相似(請參見圖1)，其區別主要在於：本發明實施例之六軸關節式機器人採用上述臂部件200作為其小臂，臂部件200之第一連接端210連接末端之執行裝置(圖未示)，如夾具、刀具、探測器等，該執行裝置可繞第5軸f或/和第6軸g旋轉。因臂部件200具有重量較輕、剛性較好之特點，不僅可減小六軸關節式機器人之自身重量，同時對用於驅動臂部件200之傳 動裝置(比如電機)之轉矩/力矩要求降低，從而可選取價格較低或體積較小之電機。另，臂部件200轉速及其定位精度可得到提高，從而有助於提升六軸關節式機器人之工作效率及作業之精確度。 The six-axis articulated robot (not shown) of the embodiment of the present invention is similar to the six-axis industrial robot described in the prior art (please refer to FIG. 1 ), and the difference mainly lies in that the six-axis articulated robot of the embodiment of the present invention adopts The arm member 200 is used as its arm, and the first connecting end 210 of the arm member 200 is connected to an end performing device (not shown) such as a clamp, a cutter, a detector, etc., and the executing device can be wound around the 5th axis f or/and The sixth axis g rotates. Since the arm member 200 has the characteristics of light weight and good rigidity, not only can the weight of the six-axis articulated robot be reduced, but also the transmission for driving the arm member 200. The torque/torque requirements of the moving device (such as the motor) are reduced, so that a motor with a lower price or a smaller volume can be selected. In addition, the rotational speed of the arm member 200 and its positioning accuracy can be improved, thereby contributing to the improvement of the working efficiency and accuracy of the six-axis articulated robot.
可以理解，本發明臂部件200不限於應用於六軸關節式機器人中，其還可應用於直線座標式、圓柱座標式、球座標式及其他關節式機器人中，此時可根據機器人之具體類型變更臂部件200之第一連接端210及第二連接端220之結構形式。 It can be understood that the arm member 200 of the present invention is not limited to being applied to a six-axis articulated robot, and can be applied to a linear coordinate type, a cylindrical coordinate type, a ball coordinate type, and other articulated robots, and the specific type of the robot can be used according to the specific type of the robot. The structure of the first connection end 210 and the second connection end 220 of the arm member 200 is changed.
綜上所述，本發明確已符合發明專利之要件，遂依法提出專利申請。惟，以上所述者僅為本發明之較佳實施方式，自不能以此限制本案之申請專利範圍。舉凡熟悉本案技藝之人士援依本發明之精神所作之等效修飾或變化，皆應涵蓋於以下申請專利範圍內。 In summary, the present invention has indeed met the requirements of the invention patent, and has filed a patent application according to law. However, the above description is only a preferred embodiment of the present invention, and it is not possible to limit the scope of the patent application of the present invention. Equivalent modifications or variations made by persons skilled in the art in light of the spirit of the invention are intended to be included within the scope of the following claims.
200‧‧‧臂部件 200‧‧‧arm parts
210‧‧‧第一連接端 210‧‧‧First connection
220‧‧‧第二連接端 220‧‧‧second connection
243、244‧‧‧連接壁 243, 244‧‧ ‧ connecting wall
245‧‧‧中空結構 245‧‧‧ hollow structure
246‧‧‧開口 246‧‧‧ openings
2461、2462、2463‧‧‧加強部 2461, 2462, 2463‧‧ ‧ Strengthening Department
248‧‧‧倒角 248‧‧‧Chamfering
Claims (9)
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| TW098109082A TWI462811B (en) | 2009-03-20 | 2009-03-20 | Robot arm, robot employing the same, and manufacturing method for the robot arm |
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| Application Number | Priority Date | Filing Date | Title |
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| TW098109082A TWI462811B (en) | 2009-03-20 | 2009-03-20 | Robot arm, robot employing the same, and manufacturing method for the robot arm |
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| TW201034815A TW201034815A (en) | 2010-10-01 |
| TWI462811B true TWI462811B (en) | 2014-12-01 |
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Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPH03117589A (en) * | 1989-09-28 | 1991-05-20 | Kobe Steel Ltd | Construction of industrial robot arm |
| JPH0699247A (en) * | 1992-08-03 | 1994-04-12 | Masaru Nemoto | Casting method using special core |
| JPH07328982A (en) * | 1994-06-02 | 1995-12-19 | Shin Meiwa Ind Co Ltd | Wiring and piping structure of articulated robot |
| JPH09314281A (en) * | 1996-05-24 | 1997-12-09 | Aisin Takaoka Ltd | Casting method and mold |
| TW544388B (en) * | 2001-04-11 | 2003-08-01 | Aitec Corp | Arms of scalar robot |
| TW200906580A (en) * | 2007-04-27 | 2009-02-16 | Nidec Sankyo Corp | Robot for industry and collection processing device |
-
2009
- 2009-03-20 TW TW098109082A patent/TWI462811B/en not_active IP Right Cessation
Patent Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPH03117589A (en) * | 1989-09-28 | 1991-05-20 | Kobe Steel Ltd | Construction of industrial robot arm |
| JPH0699247A (en) * | 1992-08-03 | 1994-04-12 | Masaru Nemoto | Casting method using special core |
| JPH07328982A (en) * | 1994-06-02 | 1995-12-19 | Shin Meiwa Ind Co Ltd | Wiring and piping structure of articulated robot |
| JPH09314281A (en) * | 1996-05-24 | 1997-12-09 | Aisin Takaoka Ltd | Casting method and mold |
| TW544388B (en) * | 2001-04-11 | 2003-08-01 | Aitec Corp | Arms of scalar robot |
| TW200906580A (en) * | 2007-04-27 | 2009-02-16 | Nidec Sankyo Corp | Robot for industry and collection processing device |
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| TW201034815A (en) | 2010-10-01 |
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