201208836 六、發明說明： 【發明所屬之技術領域】 [0001] 本發明涉及一種機器人之臂結構。 【先前技術】 [0002] 應用於包裝、碼垛、灌裝、搬運以及喷塗等領域之機器 人，其末端執行裝置需於平面内作平移運動，以利於完 成取放料等動作。習知機器人一般採用四邊形連桿結構 來保持其末端執行裝置之姿態。 [0003] 圖1所示為一種採用平行四邊形連桿結構之機器人之結構 簡圖。機架101安裝於底座上，且可繞垂直方向轉動。與 轉軸Η同轴設置之馬達（圖未示）驅動下方大臂102，與轉 軸Η同軸設置之另一馬達（圖未示）通過下方小臂103、上 方大臂104來驅動上方小臂105。其中，下方小臂103、 上方大臂104、上方小臂105及下方大臂102，藉由轉軸A 、B、C、Η相連而共同組成一第一平行四邊形連桿機構。 下方大臂102和上方小臂105之中心線交匯點C之連接軸安 裝有一 “L”型連接件106。“L”型連接件106、第一連 桿107、機架101以及下方大臂102藉由轉軸0、D、C、Η 相連而共同組成一第二平行四連桿機構。“L”型連接件 106、第二連桿114、上方小臂105與末端執行器保持機 構108藉由連接軸C、E、F、G相連而共同組成一第三平行 四連桿機構，利用上述第二平行四連桿機構和第三平行 四連桿機構可保證末端執行器109於機器人工作過程中始 終保持水平。然，上述採用平行四連桿結構之機器人， 其轉動連接副較多、結構較為複雜，且因需採用較多連 099129176 表單編號A0101 第4頁/共21頁 0992051192-0 201208836 桿結構，而造成體積較大，需佔用較大之空間。 【發明内容】 [0004] 鑒於上述狀況，有必要提供一種結構緊湊、佔用空間較 小之機器人之臂結構。 [0005] 一種機器人之臂結構，其包括支撐座、與支撐座轉動連 接之大臂、驅動該大臂之第一驅動機構、與該大臂轉動 連接之小臂、驅動該小臂之第二驅動機構，以及手腕組 件，該大臂及小臂分別繞第一旋轉軸線及第二旋轉軸線 轉動。該機器人之臂結構還包括與支撐座固定連接之第 一圓輪、固定設置於小臂之第二圓輪、與小臂轉動連接 且與手腕組件固定之第三圓輪、無滑動地纏繞於第一圓 輪與第二圓輪之第一撓性傳動件，以及無滑動地纏繞於 第二圓輪與第三圓輪之第二撓性傳動件。該第一、第二 、第三圓輪具有相同之工作半徑，且該第一圓輪之中心 軸線與第一旋轉轴線重合，該第二圓輪之中心軸線與第 二旋轉軸重合。 [0006] 上述機器人之臂結構藉由第一、第二撓性傳動件與第一 、第二、第三圓輪相互無滑動配合，使第二圓輪相對於 第一圓輪之姿態可保持不變，第三圓輪相對與第二圓輪 之姿態可保持不變，從而與第三圓輪固定連接之手腕組 件於機器人之運動過程中之姿態可保持不變，且上述機 器人之臂結構之結構較為緊湊，佔用空間較小。 【實施方式】 [0007] 下面將結合附圖及具體實施方式對本發明之機器人之臂 結構作進一步詳細說明。 099129176 表單編號A0101 第5頁/共21頁 0992051192-0 201208836 [0008] 請參見圖2及圖3 ’本發明實施方式之機器人之臂結構1〇〇 包括支撐座11、與支撐座11轉動連接之大臂12、軀動大 臂12之第一驅動機構13、與大臂12轉動連接之小臂14、 驅動小臂14之第二驅動機構15 ’以及手腕組件16。手腕 組件16設於機器人之末端，其上可安裝刀具、夾具等末 端執行裝置。大臂12與小臂14分別繞第一旋轉軸線2 〇 1及 第二旋轉轴線202轉動。小臂14包括相對設置之第一端 141及第一端142。第一端141與大臂12之前端相連接， 第二端142與手腕組件16相連接。 [00〇9]請同時參見圖4和圖5 ’機褰人之臂結:構100還包括與支撐 座11固定連接之第一圓輪21、固定設置於小臂14之第二 圓輪22、與小臂14轉動連接且與序腕組件16固定之第三 圓輪23、無滑動地纏繞於第一圓輪21與第二圓輪22之第 一撓性傳動件24，以及無滑動地纏繞於第二圓輪22與第 二圓輪23之第二撓性傳動件25。第一、第二、第三圓輪 21、22、23具有相同之工作半徑，且苐一圓輪21之中心 轴線與第一旋轉麵線201重合，第二圓輪22之中心軸線與 第二旋轉轴線2〇2重合。本實施方式中，第一圓輪21藉由 一安裝座體211固定設置於支撐座丨丨上，第二圓輪22設於 小臂14之第一端141，第三圓輪23設於小臂14之第二端 142 ° [0010]以下詳細介紹本發明實施方式之機器人之臂結構1〇〇之工 作原理。請同時參見圖6，假設第一、第二、第三圓輪21 、22、23之工作半徑均為犷。因第一圓輪21固定設置於支 撐座11，且第一撓性傳動件24無打滑地纏繞於第一圓輪 099129176 表單編號A0101 第6頁/共21頁 0992051192-0 201208836 21與第二圓輪22 ’當第—驅動機構13驅動大臂12以角速 又ω由第一位置（圖6中實線所示）逆時針轉動至第二位置 (圖6中虛線所示）時，大臂12轉動之角度為“。第一挽 j傳動件24將於第-圓輪21之左側相對繞出長度為“之 ^段’而於第-圓輪21之右側相對繞入長度為”之一段 此時第二圓輪22跟隨大臂12由叉位置轉動移動至X，位 置。因第一、第二圓輪21、22之工作半徑相同，且第一 撓性傳動件24相對第一、第二圓輪21、22無滑動，第二 圓輪22將相對第一撓性傳動件24順時針轉動角度α ,以 將第一圓輪21左侧繞出之長度為之一段傳遞至第二圓 輪22右側。從而，第二圓輪22於跟隨大臂12繞第一旋轉 轴線201作公轉運動時，還將繞其自身之中心軸線自轉。 根據相對運動原理，當第一撓性傳動件24相對於第一圓 輪21以角速度㊉逆時針轉動，第二圓輪22相對第一撓性 傳動件24以角速度〇順時針轉動時，第二圓輪22相對於 第一圓輪21之絕對轉動速度為零’即第二圓輪22於運動 過程中其姿態不變。從..而於大臂12.繞第一旋轉轴線轉 動過程中，小臂14姿態始終保持不雙。 [0011]同理，因第二圓輪22相對於小臂Η固定，第二撓性傳動 件25無打滑地纏繞於第二圓輪22與第三圓輪23，且第_ 圓輪22與第三圓輪23之工作半徑相同，從而當第二驅動 機構15驅動小臂14繞第二旋轉轴線202轉動過程中， 圓輪23以及與之固定之手腕組件16之姿態亦保持不變， 故，設於手腕組件16之末端執行器，於機器人之運動過 程中可保持姿態不變，從而便於進行包裝、碼垛、灌裝 099129176 表單编號Α0101 第7頁/共21黃 0992051192-0 201208836 及搬運等動作。 [0012] 第一、第二撓性傳動件24、25可為鋼絲繩、同步傳送帶 、平帶及鋼帶中任一種，其滿足相對於第一、第二、第 三圓輪21、22、23無滑動連接即可。 [0013] 本發明實施方式之機器人之臂結構100藉由第一、第二撓 性傳動件24、25分別與第一、第二、第三圓輪21、22、 23相互無滑動配合，使第二圓輪22相對於第一圓輪21之 姿態可保持不變，第三圓輪23相對與第二圓輪22之姿態 可保持不變，從而與第三圓輪23固定連接之手腕組件16 於機器人運動過程中之姿態可保持不變，其結構較為緊 湊，佔用之空間較小，且元件數量較少，安裝便利，成 本較低。 [0014] 進一步，機器人之臂結構100還可包括用於對第一撓性傳 動件24進行預緊之第一預緊裝置26。第一預緊裝置26可 採用習知帶傳動機構之預緊裝置，例如，第一預緊裝置 26包括抵壓第一撓性傳動件24之壓輪261以及支撐壓輪 261且與大臂12固定連接之支撐桿262。機器人之臂結構 100還可包括用於對第二撓性傳動件25進行預緊之第二預 緊裝置28。第二預緊裝置28與第一預緊裝置26相似。 [0015] 請再次參見圖2至圖5，本實施方式中，第一驅動機構13 包括固定設置於支撐座11之第一馬達131、由第一馬達 131驅動之第一蝸桿132，以及與第一蝸桿132嚙合以驅 動大臂12繞第一旋轉軸線201轉動之第一蝎輪133。第一 蜗輪133設有第一轉矩調節部1331，用於抵消作用於機器 099129176 表單編號A0101 第8頁/共21頁 0992051192-0 201208836 ❹ [0016] [0017] 〇 [0018] 人之臂結構100之負载產生之轉矩。藉由設置第一轉矩調 節部1331使第一蜗輪133之重心盡可能大地偏移，以盡可 能多地抵消負載產生之轉矩。第_轉矩調節部1331可為 開設於第一蝸輪133之通孔，或者設於第一蝸輪133—側 之平衡塊，該平衡塊由密度較大之材料，如鉛製成。第 一蜗輪133驅動大臂12轉動過程中，第一轉矩調節部 1331對第一旋轉軸線2〇1產生之轉矩及作用於大臂12之 負載對第一旋轉軸線201產生之轉矩具有相同之變化趨勢 〇 第二驅動機構15包括固定設置於支播座^之第二馬達151 、由第二馬達151驅動之第二蝸桿丨52、與第二蝸桿152 喷合之第二蝸輪153、由第a蝸輪153驅動之帶傳動機構 Ϊ54。帶傳動機構154驅動小臂14繞第二旋轉轴線202轉 動。 帶傳動154機構包括與第二蝸輪丨53耦接之主動帶輪丨^丄 ，與小臂14固定連接之從動帶輪1542，以及傳送帶 。傳送帶1543也可藉，一蕷緊裝置（圖未示）進行預緊 〇 與第一蝸輪133相似，第二蝸輪153設有第二轉矩調節立 1531，用於抵消作用於機器人之臂結構1〇〇之負栽產生° 轉矩。第二轉矩調節部1531可為開設於第二蝸輪丨53 孔，或者設於第二蝸輪153—側之平衡塊。第二螞輪153 驅動大臂12轉動之過程中，第二轉矩調節部1531產生之 轉矩及作用於大臂12之負載之轉矩具有相同之變化趨勢 099129176 表單編號A0101 第9頁/共21頁 °"2〇51192-0 201208836 剛上述第―㈣機構13及第三_機構15雜 進行動力傳遞’可較為方便地實現自鎖，且機構較為:桿 凑。外以理解，第—觸動機構13及第二驅動機構15不、 於採用㈣-蜗桿進行動力傳遞，亦可藉由將馬達又 經減速器直接輪出至大臂12或小臂14，以驅動大臂 者小寶14。 或 [0020] 為使末端執行裝置獲得更多自由度，還可將切座 動α又置於底座11()上。第三驅動機構112驅動支 ’以使其繞第三旋轉軸線203轉動。第三驅動機構;1 括固定設置於切座丨丨之第三馬達1122，由第 匕 使 另，手 旋轉#161以及驅動旋轉軸16 四馬達162。第四馬達162驅動旋轉·m4第四旋轉轴 線204轉動，以使末端執行裝置於平 四旋轉轴線204轉動。 112一2驅動之第―齒輪1123 ’以及固定設置於底座11〇之 第一齒輪1124。第—齒輪1123設有外#，第二齒 設有内齒，第1輪1m與第二齒輪測相㈣合，124 支撐座11相對底座11〇繞第三旋轉轴線2〇3轉動。 面内平移時還可繞第 圆綜上所述，本發明確已符合發料利之要件，遂依法提 出專利中請。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中請專利範圍。舉凡熟悉本 案技藝之人士援依本發明之精神所作之等效修飾或變化 ，皆應涵蓋於以下申請專利範圍内。 【圖式簡單說明】 0992051192-0 圆ffil係、-種採用平行四邊形連桿結構之機器人結構示意圖 099129176 表單編號A0101 第頁/共21頁 201208836 [0023] 圖2係本發明實施方式之機器人之臂結構之立體圖。 [0024] 圖3係圖2所示機器人之臂結構沿另一視角之立體圖。 [0025] 圖4係圖2所示機器人之臂結構之局部結構之立體圖。 [0026] 圖5係圖4所示機器人之臂結構之局部結構沿另一視角之 立體圖。 [0027] 圖6係圖2所示機器人之臂結構之運動狀態示意圖。201208836 VI. Description of the Invention: [Technical Field of the Invention] [0001] The present invention relates to an arm structure of a robot. [Prior Art] [0002] For robots in the fields of packaging, palletizing, filling, handling, and spraying, the end effector needs to perform translational movement in a plane to facilitate the action of taking and discharging. Conventional robots generally employ a quadrilateral link structure to maintain the attitude of the end effector device. [0003] FIG. 1 is a schematic view showing the structure of a robot employing a parallelogram link structure. The frame 101 is mounted on the base and rotatable in a vertical direction. A motor coaxially disposed with the rotating shaft (not shown) drives the lower boom 102, and another motor (not shown) coaxially disposed with the rotating shaft 驱动 drives the upper arm 105 through the lower arm 103 and the upper boom 104. The lower arm 103, the upper arm 104, the upper arm 105 and the lower arm 102 are connected by the rotating shafts A, B, C and Η to form a first parallelogram linkage. An "L" type connector 106 is mounted to the connecting shaft of the center line intersection point C of the lower boom 102 and the upper arm 105. The "L" type connecting member 106, the first link 107, the frame 101, and the lower boom 102 are connected by the rotating shafts 0, D, C, and 而 to form a second parallel four-bar linkage. The "L" type connecting member 106, the second connecting rod 114, the upper arm 105 and the end effector holding mechanism 108 are connected by the connecting shafts C, E, F, G to form a third parallel four-bar linkage mechanism. The second parallel four-bar linkage and the third parallel four-bar linkage mechanism as described above ensure that the end effector 109 is always level during the operation of the robot. However, the above-mentioned robot adopting a parallel four-link structure has a large number of rotating connection pairs and a complicated structure, and is required to use more than 099129176 Form No. A0101 Page 4 / 21 pages 0992051192-0 201208836 rod structure, resulting in Larger size requires a larger space. SUMMARY OF THE INVENTION [0004] In view of the above circumstances, it is necessary to provide an arm structure of a robot that is compact and takes up less space. [0005] An arm structure of a robot, comprising: a support base, a boom pivotally coupled to the support base, a first drive mechanism that drives the boom, an arm that is rotatably coupled to the boom, and a second that drives the arm The driving mechanism, and the wrist assembly, the boom and the arm rotate about the first rotation axis and the second rotation axis, respectively. The arm structure of the robot further comprises a first round wheel fixedly connected with the support base, a second round wheel fixedly disposed on the arm arm, a third round wheel rotatably connected with the arm arm and fixed to the wrist assembly, and non-slidingly wound on a first flexible transmission member of the first and second circular wheels, and a second flexible transmission member that is non-slidably wound around the second and third circular wheels. The first, second, and third circular wheels have the same working radius, and the central axis of the first circular wheel coincides with the first rotational axis, and the central axis of the second circular wheel coincides with the second rotational axis. [0006] The arm structure of the robot is configured such that the first and second flexible transmission members are non-slidably engaged with the first, second, and third circular wheels, so that the posture of the second circular wheel relative to the first circular wheel can be maintained. The posture of the third round wheel and the second round wheel may remain unchanged, so that the posture of the wrist assembly fixedly connected with the third round wheel during the movement of the robot may remain unchanged, and the arm structure of the above robot The structure is relatively compact and takes up less space. [Embodiment] The arm structure of the robot of the present invention will be further described in detail below with reference to the accompanying drawings and specific embodiments. 099129176 Form No. A0101 Page 5 / Total 21 Page 0992051192-0 201208836 [0008] Please refer to FIG. 2 and FIG. 3 'The arm structure 1 of the robot according to the embodiment of the present invention includes a support base 11 and is rotatably connected with the support base 11 The boom 12, the first drive mechanism 13 of the body boom 12, the arm 14 rotatably coupled to the boom 12, the second drive mechanism 15' of the drive arm 14, and the wrist assembly 16. The wrist assembly 16 is provided at the end of the robot, and a distal end executing device such as a cutter or a jig can be mounted thereon. The boom 12 and the arm 14 are rotated about a first axis of rotation 2 〇 1 and a second axis of rotation 202, respectively. The arm 14 includes a first end 141 and a first end 142 that are disposed opposite each other. The first end 141 is coupled to the front end of the boom 12 and the second end 142 is coupled to the wrist assembly 16. [00〇9] Please also refer to FIG. 4 and FIG. 5 'the arm of the player's arm: the structure 100 further includes a first round wheel 21 fixedly coupled to the support base 11 and a second round wheel 22 fixedly disposed on the arm 14 a third circular wheel 23 rotatably coupled to the arm 14 and fixed to the wrist assembly 16 , a first flexible transmission member 24 that is non-slidably wound around the first and second circular wheels 21 and 22, and a non-sliding The second flexible transmission member 25 is wound around the second circular wheel 22 and the second circular wheel 23. The first, second, and third circular wheels 21, 22, 23 have the same working radius, and the central axis of the first circular wheel 21 coincides with the first rotational surface line 201, and the central axis of the second circular wheel 22 and the second The axis of rotation 2〇2 coincides. In this embodiment, the first round wheel 21 is fixedly disposed on the support base by a mounting body 211, the second round wheel 22 is disposed at the first end 141 of the arm 14 , and the third round wheel 23 is disposed at a small The second end of the arm 14 is 142 ° [0010] The working principle of the arm structure 1 of the robot of the embodiment of the present invention is described in detail below. Please also refer to FIG. 6, assuming that the working radii of the first, second, and third circular wheels 21, 22, 23 are both 犷. Since the first round wheel 21 is fixedly disposed on the support base 11, and the first flexible transmission member 24 is wound without slipping on the first round wheel 099129176, Form No. A0101, Page 6 / 21 pages 0992051192-0 201208836 21 and the second circle Wheel 22' when the first drive mechanism 13 drives the boom 12 to rotate counterclockwise to the second position (shown by the dashed line in Fig. 6) at the angular velocity and ω from the first position (shown by the solid line in Fig. 6), the boom The angle of rotation of the 12 is "the first pull-g transmission member 24 will be relatively long on the left side of the first-circle 21, and the length of the winding-up on the right side of the first-round wheel 21" At this time, the second circular wheel 22 follows the boom 12 to be rotated from the fork position to the position X. Since the working radii of the first and second round wheels 21, 22 are the same, and the first flexible transmission member 24 is opposite to the first and the second The two circular wheels 21, 22 have no sliding, and the second circular wheel 22 rotates the angle α with respect to the first flexible transmission member 24 clockwise to transmit the length of the left side of the first circular wheel 21 to the second circle. The right side of the wheel 22. Thus, the second circular wheel 22 will also wrap around itself when following the boom 12 for orbiting about the first axis of rotation 201 The axis rotates. According to the relative motion principle, when the first flexible transmission member 24 rotates counterclockwise with respect to the first circular wheel 21 at an angular velocity, the second circular wheel 22 rotates clockwise at an angular velocity relative to the first flexible transmission member 24. The absolute rotational speed of the second circular wheel 22 relative to the first circular wheel 21 is zero, that is, the posture of the second circular wheel 22 is constant during the movement. From the center of the boom 12 about the first axis of rotation During the rotation, the posture of the arm 14 is always kept double. Similarly, since the second circular wheel 22 is fixed relative to the shackle, the second flexible transmission member 25 is wound on the second circular wheel 22 without slipping. a third round wheel 23, and the working radius of the third wheel 22 and the third wheel 23 are the same, so that when the second driving mechanism 15 drives the arm 14 to rotate about the second axis of rotation 202, the wheel 23 and The posture of the fixed wrist assembly 16 remains unchanged. Therefore, the end effector disposed on the wrist assembly 16 can maintain the posture during the movement of the robot, thereby facilitating packaging, palletizing, filling, and 099129176 form editing. No. 0101 Page 7 / Total 21 Yellow 0992051192-0 201208836 and moving [0012] The first and second flexible transmission members 24, 25 may be any one of a steel wire rope, a synchronous conveyor belt, a flat belt and a steel belt, which satisfy the first, second, and third round wheels 21, 22, 23 can be connected without slipping. [0013] The arm structure 100 of the robot according to the embodiment of the present invention is respectively coupled to the first, second, and third round wheels 21 by the first and second flexible transmission members 24, 25, 22, 23 without sliding fit, so that the posture of the second circular wheel 22 relative to the first circular wheel 21 can remain unchanged, and the posture of the third circular wheel 23 relative to the second circular wheel 22 can remain unchanged, thereby The wrist assembly 16 fixedly connected by the three round wheels 23 can be kept unchanged during the movement of the robot, and the structure is relatively compact, the occupied space is small, the number of components is small, the installation is convenient, and the cost is low. Further, the arm structure 100 of the robot may further include a first pretensioning device 26 for pretensioning the first flexible actuator 24. The first pretensioning device 26 can adopt a pretensioning device of a conventional belt transmission mechanism. For example, the first pretensioning device 26 includes a pressure roller 261 that presses the first flexible transmission member 24 and the supporting pressure roller 261 and the boom 12 A fixedly connected support rod 262. The robotic arm structure 100 can also include a second pretensioning device 28 for pretensioning the second flexible transmission member 25. The second pretensioning device 28 is similar to the first pretensioning device 26. [0015] Referring again to FIG. 2 to FIG. 5, in the present embodiment, the first driving mechanism 13 includes a first motor 131 fixedly disposed on the support base 11, a first worm 132 driven by the first motor 131, and A worm 132 engages to drive the first wheel 133 of the boom 12 about the first axis of rotation 201. The first worm gear 133 is provided with a first torque adjusting portion 1331 for canceling action on the machine 099129176 Form No. A0101 Page 8 / Total 21 Page 0992051192-0 201208836 ❹ [0016] [0017] 〇 [0018] Human arm structure The torque generated by the load of 100. By setting the first torque adjusting portion 1331, the center of gravity of the first worm wheel 133 is shifted as much as possible to offset the torque generated by the load as much as possible. The first torque adjusting portion 1331 may be a through hole formed in the first worm wheel 133 or a balance block provided on the side of the first worm wheel 133, and the balance block is made of a material having a relatively high density such as lead. During the rotation of the first worm gear 133 driving the boom 12, the torque generated by the first torque adjusting portion 1331 on the first rotation axis 2〇1 and the torque acting on the boom 12 on the first rotation axis 201 have The same trend of change 〇 the second drive mechanism 15 includes a second motor 151 fixedly disposed on the pedestal holder, a second worm worm 52 driven by the second motor 151, and a second worm gear 153 sprayed with the second worm 152. The belt drive mechanism 54 driven by the a-th worm wheel 153. The belt drive mechanism 154 drives the arm 14 to rotate about the second axis of rotation 202. The belt drive 154 mechanism includes a drive pulley coupled to the second worm gear 53, a driven pulley 1542 fixedly coupled to the arm 14, and a conveyor belt. The conveyor belt 1543 can also be pre-tightened by a clamping device (not shown) similar to the first worm gear 133. The second worm gear 153 is provided with a second torque regulating vertical 1531 for canceling the arm structure 1 acting on the robot. The load of 〇〇 produces ° torque. The second torque adjustment unit 1531 may be a balance block that is opened in the second worm gear 53 hole or on the second worm wheel 153 side. During the rotation of the second wheel 153 to drive the boom 12, the torque generated by the second torque adjusting portion 1531 and the torque acting on the load of the boom 12 have the same change trend. 099129176 Form No. A0101 Page 9 / Total Page 21 °"2〇51192-0 201208836 Just the above-mentioned “(iv) institution 13 and the third_institution 15 miscellaneous power transmission' can be more convenient to achieve self-locking, and the mechanism is more: rods. It is understood that the first-actuating mechanism 13 and the second driving mechanism 15 do not use the (four)-worm to transmit power, and may also directly rotate the motor to the boom 12 or the arm 14 through the speed reducer. Drive the big arm Xiaobao 14. Or [0020] In order to obtain more degrees of freedom for the end effector, the occlusion a can also be placed on the base 11(). The third drive mechanism 112 drives the branch to rotate about the third axis of rotation 203. The third driving mechanism: 1 includes a third motor 1122 fixedly disposed on the cutting seat, and the second hand 1161 and the rotating shaft 16 are driven by the second motor 162. The fourth motor 162 drives the rotation m4 to rotate the fourth rotation axis 204 to rotate the end effector on the flat four axis of rotation 204. The first gear 1123 of the 112-12 drive and the first gear 1124 fixed to the base 11〇. The first gear 1123 is provided with an outer #, the second tooth is provided with internal teeth, the first wheel 1m is combined with the second gear phase (four), and the 124 support base 11 is rotated relative to the base 11 about the third rotation axis 2〇3. In-plane translation can also be described around the first round. The present invention has indeed met the requirements of the issue of the material, and the patent is required in accordance with the 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 in this case. 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. [Simple description of the drawing] 0992051192-0 Circular ffil system, a schematic diagram of a robot structure using a parallelogram linkage structure 099129176 Form No. A0101 Page 21 of 21 201208836 [0023] FIG. 2 is an arm of a robot according to an embodiment of the present invention. A perspective view of the structure. 3 is a perspective view of the arm structure of the robot shown in FIG. 2 along another viewing angle. [0024] FIG. 4 is a perspective view showing a partial structure of an arm structure of the robot shown in FIG. 2. 5 is a perspective view of a partial structure of the arm structure of the robot shown in FIG. 4 along another angle of view. 6 is a schematic view showing the movement state of the arm structure of the robot shown in FIG. 2.
【主要元件符號說明】 [0028] 機器人之臂結構100 [0029] 支撐座11 [0030] 大臂 12 [0031] 第一驅動機構13 [0032] 小臂 14 [0033] 第二驅動機構15 [0034] 手腕組件16 [0035] 第一旋轉軸線201 [0036] 第二旋轉軸線202 [0037] 第一端 141 [0038] 第二端 142 [0039] 第一圓輪21 099129176 表單編號A0101 第11頁/共21頁 0992051192-0 201208836 [0040] 第二圓輪22 [0041] 第三圓輪23 [0042] 第一撓性傳動件 24 [0043] 第二撓性傳動件 25 [0044] 安裝座體211 [0045] 第一預緊裝置26 [0046] 壓輪261 [0047] 支撐桿262 [0048] 第一馬達131 [0049] 第一蝸桿132 [0050] 第一蝸輪133 [0051] 第一轉矩調節部 1331 [0052] 第二馬達151 [0053] 第二蝸桿152 [0054] 第二蝸輪153 [0055] 帶傳動機構154 [0056] 第二轉矩調節部 1531 [0057] 底座110 [0058] 第三驅動機構112 099129176 表單編號A0101 第12頁/共21頁 0992051192-0 201208836 [0059] 第三馬達 1122 [0060] 第一齒輪 1123 [0061] 第二齒輪 1124 [0062] 第三旋轉軸線203 [0063] 旋轉轴1 61 [0064] 第四馬達 162 [0065] 第四旋轉軸線204 Ο 099129176 表單編號Α0101 第13頁/共21頁 0992051192-0[Main Component Symbol Description] [0028] Robot Arm Structure 100 [0029] Support Seat [0030] Big Arm 12 [0031] First Drive Mechanism 13 [0032] Arm 14 [0033] Second Drive Mechanism 15 [0034 Wrist assembly 16 [0035] First axis of rotation 201 [0036] Second axis of rotation 202 [0037] First end 141 [0038] Second end 142 [0039] First round wheel 21 099129176 Form number A0101 Page 11 / 21st 0992051192-0 201208836 [0040] Second round wheel 22 [0041] Third round wheel 23 [0042] First flexible transmission member 24 [0043] Second flexible transmission member 25 [0044] Mounting body 211 [0045] First pretensioning device 26 [0046] Pressure roller 261 [0047] Support rod 262 [0048] First motor 131 [0049] First worm 132 [0050] First worm gear 133 [0051] First torque adjustment Part 1331 [0052] Second Motor 151 [0053] Second Worm Gear 152 [0055] Belt Drive Mechanism 154 [0056] Second Torque Adjustment Section 1531 [0057] Base 110 [0058] Third Drive mechanism 112 099129176 Form number A0101 Page 12 of 21 page 0992051192-0 201208836 [0059] Third motor 1122 [0060] Wheel 1123 [0061] Second gear 1124 [0062] Third axis of rotation 203 [0063] Rotary shaft 1 61 [0064] Fourth motor 162 [0065] Fourth axis of rotation 204 Ο 099129176 Form number Α 0101 Page 13 of 21 Page 0992051192-0