TWI674178B - Robotic arm - Google Patents

Abstract

The present invention provides a robotic arm whose structure includes a joint unit, a two-arm group, and an elastic body. The joint unit has a driving plate body, a fixed plate body, a bearing, and a driving element. The driving plate body and the fixed plate body are respectively disposed on both end surfaces of the bearing, and the driving element is connected to the driving plate body through the bearing. The two arm groups are respectively fixed to the fixed plate body and the driving plate body, and the arm group connected to the fixed plate body has a receiving opening. The elastic body has two ends respectively connected to the two arm groups, and the elastic bodies are arranged between the two arm groups to provide an elastic restoring force. The driving element is arranged on the arm group connected to the fixed plate body, penetrates the accommodation opening, and is connected to the driving plate body through the bearing. The arm set produces flexion and extension.

Description

Mechanical arm

This case relates to a mechanical arm, especially a mechanical arm with a simple structure and easy assembly and maintenance.

With the development of modern industrial manufacturing technology, in order to reduce the labor load of manual operations, equipment such as robots or mechanical arms are used to perform labor operations such as carrying or loading and unloading. This type of robot or robotic arm achieves various operations by driving at least one joint structure with at least one driving power. The traditional joint unit must transmit the driving power of the servo motor to different directions through complex gear and belt combinations. However, the complicated transmission design is not only costly and not conducive to the simplification of the overall structure, it is also not conducive to combined installation, it is also not conducive to cost-effective and profit-oriented commercial applications, and it also increases the difficulty of equipment failure maintenance.

Therefore, it is necessary to provide a mechanical arm with a simplified structure and easy assembly and maintenance to solve the aforementioned problems.

The purpose of this case is to provide a robot arm. By connecting the two arm groups through a joint unit, a mechanical arm with a simple structure and easy assembly and maintenance can be constructed. The two arm groups are connected through the bearing of the joint unit and two rectangular plates facing each other to form a mechanical arm with a simple structure and easy assembly and maintenance. When the two rectangular plates are in a staggered state, since the fixing components of each other are located on the two The rectangular plate body is outside the overlapping area, so the installation of the two rectangular plate bodies on the two arm groups is not limited or interferes with each other, which is conducive to the completion of the assembly or disassembly of the robot arm in this case, and it is helpful to the maintenance of the robot arm. .

Another object of this case is to provide a robot arm. At least two arm groups are connected through a joint unit to form a mechanical arm with a simplified structure and easy to assemble and maintain, and an elastic body is provided to provide an elastic restoring force between the two arm bodies to enhance the driving element to drive the two arm groups. The effect of producing a flexion and extension movement.

Another object of this case is to provide a robot arm. With modular components such as at least two arm groups, at least one joint unit, and at least one elastomer, the operating range of the overall structure can be easily extended, and a mechanical arm that is easy to assemble and maintain is constructed.

In order to achieve the foregoing object, the present invention provides a mechanical arm, the structure of which includes at least one joint unit, at least two arm groups, and at least one elastomer. The joint unit has a driving plate body, a fixed plate body, a bearing, and a driving element. The driving plate body and the fixed plate body are respectively disposed on both end surfaces of the bearing and are opposed to each other. The driving element is connected to the driving plate body through the bearing. . The two arm groups are respectively fixed to the fixed plate body and the driving plate body, and the arm group connected to the fixed plate body has a receiving opening, at least partly exposed to the fixed plate body, and when the driving plate body rotates relative to the fixed plate body, two The arm set produces a flexion and extension movement. The elastic body has two ends respectively connected to the two arm groups, and the elastic bodies are arranged between the two arm groups to provide an elastic restoring force. The driving element is arranged in an arm group connected to the fixed plate body, penetrates the accommodation opening, and is connected to the driving plate body through a bearing, and is arranged to drive the driving plate body to rotate relative to the fixed plate body, so as to resist at least one elastic body at least The elastic restoring force between the two arm groups makes the at least two arm groups produce flexion and extension movements.

In an embodiment, the bearing includes an inner shaft sleeve and an outer shaft sleeve, the driving element includes a rotating portion, and the joint unit further includes: a joint portion fixed to the inner shaft sleeve, wherein one end of the joint portion passes through the inner shaft sleeve. One end surface is connected to the driving plate body, and a gap is formed between the driving plate body and one end surface of the outer sleeve; and a detachable gasket is connected to the other end of the joint portion and is adjacent to the other end surface of the inner sleeve, And Including an engaging groove, which is located on a central axis of the inner shaft sleeve; wherein the fixed plate body is fixed to the other end surface of the outer shaft sleeve with respect to the driving plate body, and the removable gasket and the engaging groove are exposed; among them, the rotating part of the driving element Engaged with the engaging groove, when the rotating part rotates the inner sleeve through the removable gasket and the engaging part, the driving plate is driven to rotate relative to the fixed plate.

In one embodiment, the joint portion includes at least one first locking hole, and the detachable gasket includes at least one second locking hole and at least one locking element, wherein the at least one second locking hole is opposite to the at least one first locking hole. A locking hole, and at least one locking element passes the second locking hole and the first locking hole to fix the detachable gasket at the other end of the joint portion.

In an embodiment, the driving plate body includes a first opening, the joint portion includes a first perforation, and the detachable gasket includes a second perforation. The first opening, the first perforation, and the second perforation communicate with the engaging groove, and The rotating portion includes a locking hole provided on a surface of the opposite engaging groove, and when the rotating portion is accommodated in the engaging groove and is engaged with each other, a locking member of a joint unit passes through the first opening, the first perforation and the second perforation. The limited lock hole in the engaging groove is engaged.

In an embodiment, the first opening, the first perforation, the second perforation, the engaging groove and the locking hole are aligned with the central axis and communicate with each other.

In one embodiment, the rotating portion is a gear, and the meshing groove is a gear slot. The contour of the rotating portion is the same as the contour of the meshing groove.

In an embodiment, the rotating portion includes an abutment surface disposed on one side of the rotating portion, and the detachable gasket includes a locking hole, and an outer peripheral edge of one of the self-detachable gaskets communicates with the engaging groove to rotate. When the parts are accommodated in the engaging grooves and are engaged with each other, one of the locking members of the joint unit presses against the abutting surface of the rotating part through the locking hole.

In one embodiment, the rotating portion is a half-moon-shaped wheel shaft, the engaging groove is a wheel shaft groove, and the contour of the rotating portion is the same as that of the engaging groove.

In one embodiment, the driving plate body, the inner sleeve and the joint portion are integrally formed.

In an embodiment, the driving plate body and the fixing plate body are respectively rectangular plate structures. The driving plate body includes a plurality of first fixing holes disposed on an outer periphery of the driving plate body, and the fixed plate body includes a plurality of second fixing plates. The holes are arranged on the outer periphery of one of the fixing plates. When the driving plate and the fixing plate are in a staggered state with each other, the plurality of first fixing holes and the plurality of second fixing holes are located at the intersection of the driving plate and the fixing plate. Outside the overlap area.

1, 1’‧‧‧ joint unit

1a‧‧‧First Joint Unit

1b‧‧‧Second Joint Unit

2a‧‧‧First Arm Set

2a’‧‧‧ accommodation opening

2a ”‧‧‧cross bar

2b‧‧‧Second Arm Set

2b’‧‧‧ accommodation opening

2c‧‧‧Third Arm Set

3a‧‧‧first elastomer

3b‧‧‧Second elastomer

4‧‧‧ clamping unit

5‧‧‧ base

5a‧‧‧Mounting surface

6‧‧‧ rotating table

7‧‧‧ objects

9‧‧‧ robotic arm

10‧‧‧Drive board

11‧‧‧ the first opening

12‧‧‧ the first fixing hole

13‧‧‧Joint

14‧‧‧first locking hole

15‧‧‧ first perforation

16‧‧‧First Fixing

20‧‧‧bearing

21‧‧‧Inner sleeve

21a‧‧‧upper face

21b‧‧‧ bottom face

22‧‧‧Outer sleeve

22a‧‧‧upper face

22b‧‧‧ bottom face

30‧‧‧ fixed plate

31‧‧‧ second opening

32‧‧‧Second fixing hole

33‧‧‧Second Fixing

34‧‧‧ Third fixing hole

40‧‧‧ Removable Gasket

41‧‧‧Second locking hole

42‧‧‧ second perforation

42a‧‧‧lock hole

43‧‧‧Locking element

44‧‧‧Matching groove

50‧‧‧Drive element

51‧‧‧Rotating part

51a‧‧‧ surface

52‧‧‧Keyhole only

52b‧‧‧Arrival

53‧‧‧Limits

53a‧‧‧Limits

54‧‧‧Third fixture

55‧‧‧Drive element fixing hole

A, A1, A2, W‧‧‧ central axis

C‧‧‧ overlapping area

G‧‧‧ Clearance

FIG. 1 is a three-dimensional structural view of a robot arm according to a preferred embodiment of the present invention.

FIG. 2 is a three-dimensional structural view of the robot arm according to another preferred embodiment of the present invention.

FIG. 3 is a side view of a robot arm according to a preferred embodiment of the present invention.

FIG. 4 is an exploded view showing a joint unit of the first preferred embodiment of the present invention.

FIG. 5 is an exploded view showing the joint unit of the first preferred embodiment of the present invention from another perspective.

FIG. 6 is a cross-sectional structure of the joint unit of the first preferred embodiment of the present invention.

FIG. 7 is a three-dimensional structure diagram of the joint unit of the first preferred embodiment of the present invention.

FIG. 8 is a three-dimensional structure diagram illustrating the joint unit of the first preferred embodiment of the present invention in another use state.

FIG. 9 is an exploded view showing a joint unit of the second preferred embodiment of the present invention.

FIG. 10 is an exploded view showing the joint unit of the second preferred embodiment of the present invention from another perspective.

FIG. 11 is a cross-sectional structure of a joint unit according to a second preferred embodiment of the present invention.

Some typical embodiments embodying the features and advantages of this case will be described in detail in the description in the subsequent paragraphs. It should be understood that this case can have various changes in different aspects, all of which do not depart from the scope of this case, and that the descriptions and drawings therein are essentially for the purpose of illustration, rather than limiting the case.

FIG. 1 is a three-dimensional structural view of a robot arm according to a preferred embodiment of the present invention. FIG. 2 is a three-dimensional structural view of the robot arm according to another preferred embodiment of the present invention. FIG. 3 is a side view of a robot arm according to a preferred embodiment of the present invention. As shown in the figure, the structure of the robot arm 9 in this case includes at least one joint unit 1a, 1b, at least two arm groups 2a, 2b, 2c and at least one elastic body 3a, 3b. The joint units 1a and 1b each have a driving plate body 10, a fixed plate body 30, a bearing 20 and a driving element 50. The driving plate body 10 and the fixing plate body 30 are respectively disposed on both end surfaces of the bearing 20. And facing each other, the driving element 50 is connected to the driving plate body 10 through the bearing 20. The two arm groups 2a, 2b, and 2c are respectively fixed to the fixed plate body 30 and the driving plate body 10, and the arm groups 2a and 2b connected to the fixed plate body 30 have a receiving opening 2a ', 2b', at least in part The fixed plate body 30 is exposed, and when the driving plate body 10 is rotated relative to the fixed plate body 30, the two arm groups 2a, 2b, 2c produce a flexion and extension action. The elastic bodies 3a, 3b, for example, are telescopic springs, and have two ends respectively connected to the two arm groups 2a, 2b, and 2c, and are arranged between the two arm groups 2a, 2b, and 2c to provide an elastic restoring force. The driving element 50 is disposed in the arm groups 2 a and 2 b connected to the fixed plate body 30, penetrates the accommodation openings 2 a ′, 2 b ′, and is connected to the driving plate body 10 through the bearing 20, and is assembled to drive the driving plate body 10 to be relatively fixed. The plate body 30 rotates to resist the elastic restoring force of the at least one elastic body 3a, 3b between the at least two arm groups 2a, 2b, 2c, so that the at least two arm groups 2a, 2b, 2c generate flexion and extension actions.

See Figures 1 to 3. In this embodiment, the structure of the robot arm 9 includes a modular first joint unit 1a, a second joint unit 1b, a first arm group 2a, a second arm group 2b, a third arm group 2c, and a The first elastic body 3a and a second elastic body 3b. The first joint unit 1a and the second joint unit 1b each have a driving plate body 10, a fixed plate body 30, a bearing 20 and a driving element 50, The driving plate body 10 and the fixed plate body 30 are respectively disposed on both end surfaces of the bearing 20 and are opposed to each other. The driving element 50 is connected to the driving plate body 10 through the bearing 20. In this embodiment, one end of the first arm group 2a and one end of the second arm group 2b are respectively fixed to the fixing plate body 30 and the driving plate body 10 of the first joint unit 1a, and to the fixing plate of the first joint unit 1a. The first arm group 2a connected to the body 30 further has a receiving opening 2a ', which can at least partially expose the fixing plate body 30 of the first joint unit 1a. When the driving plate body 10 of the first joint unit 1a is rotated relative to the fixed plate body 30 with a central axis A1 as a central axis, the first arm group 2a and the second arm group 2b can produce a flexion and extension action. In this embodiment, the first elastic body 3a has two ends respectively connected to the first arm group 2a and the second arm group 2b, and is provided between the first arm group 2a and the second arm group 2b to provide an elastic recovery. force. The driving element 50 of the first joint unit 1a is disposed on the first arm group 2a connected to the fixed plate body 30, penetrates the accommodation opening 2a ', and is connected to the driving plate body 10 through the bearing 20, and is assembled to drive the driving plate body. 10 is rotated relative to the fixed plate body 30 to resist the elastic restoring force of the first elastic body 3a between the first arm group 2a and the second arm group 2b, so that the first arm group 2a and the second arm group 2b are flexed and extended. . On the other hand, in this embodiment, one end of the second arm group 2b and one end of the third arm group 2c are respectively fixed to the fixing plate body 30 and the driving plate body 10 of the second joint unit 1b, and to the second joint The second arm group 2b connected to the fixed plate body 30 of the unit 1b further has a receiving opening 2b ', which can at least partially expose the fixed plate body 30 of the second joint unit 1b. When the driving plate body 10 of the second joint unit 1b is rotated relative to the fixed plate body 30 with a central axis A2 as a central axis, the second arm group 2b and the third arm group 2c can produce a flexion and extension action. In this embodiment, the second elastic body 3b has two ends respectively connected to the second arm group 2b and the third arm group 2c, and is provided between the second arm group 2b and the third arm group 2c to provide an elastic recovery. force. The driving element 50 of the second joint unit 1b is disposed on the second arm group 2b connected to the fixed plate body 30, penetrates the accommodation opening 2b ', and is connected to the driving plate body 10 through the bearing 20, and is assembled to drive the driving plate body. 10 is rotated relative to the fixed plate body 30 to resist the elastic restoring force of the second elastic body 3b between the second arm group 2b and the third arm group 2c, so that the second arm group 2b and the third arm group 2c have flexion and extension actions. .

It should be noted that, in the foregoing embodiment, the modularized first joint unit 1a and the second joint unit 1b may have the same structure, but this case is not limited thereto. In addition, the modular first arm group 2a, the second arm group 2b, and the third arm group 2c can be respectively structured into different modular structures, but any of the two can be achieved through the first joint unit 1a or the second joint. The unit 1b is connected, which is not limited in this case. In this embodiment, the first arm group 2a is further formed by two symmetrical arm structures. In other embodiments, the second arm group 2b can be clamped on one end of the first arm group 2a and connected by two symmetrical first joint units 1a, so that the first arm group 2a and the second arm group 2b are more stable. Perform flexion and extension movements, of course, this case is not limited to this. In other embodiments, the first arm group 2a, the second arm group 2b, and the third arm group 2c may also have the same structure, such as a rectangular cross-section metal sleeve. Similarly, the first elastic body 3a and the second elastic body 3b can also be adjusted according to actual application requirements. For example, when the second arm group 2b is sandwiched between the first arm group 2a and the first elastic body 3a, The crossbar 2a "of the one arm group 2a is connected between the first arm group 2a and the second arm group 2b. Of course, the two ends of the second elastic body 3b can be directly locked to the first and second ends, for example, by screws and other locking members. The side of the two-arm group 2b and one end of the third-arm group 2c. This case is not limited to this, and will not be described again.

On the other hand, in this embodiment, the robot arm 9 further includes a clamping unit 4 pivotally connected to the other end of the third arm 2c to assemble and clamp an object 7. The clamping unit 4 may be, for example, a modular mechanical finger, which is connected to the other end of the third arm 2c of the robot arm 9 by using the same structure as the first joint unit 1a or the second joint unit 1b, and may be relatively The other end of the three arms 2c rotates. However, it does not limit the necessary technical features of the technology in this case, and will not be repeated here. In addition, in this embodiment, the robot arm 9 further includes a base 5 and a rotating table 6. The base 5 has a mounting surface 5a. The rotating table 6 can be pivotally disposed on the mounting surface 5a of the base 5 through a stepping motor, for example, the other end of the first arm group 2a is further connected to the rotating table 6, so that the rotating table 6 can be configured to drive the first The arm group 2 a, the second arm group 2 b, the third arm group 2 c, and the like are rotated relative to the base 5 with the center axis W as a center. The base 5 may be constituted by a metal disc, for example, by weight The weight can make the structure on the rotary table 6 rotate or move stably. In addition, the robot arm 9 can move the object 7 held by the holding unit 4 to any position in the three-dimensional space through the flexion and extension movement between the first arm group 2a, the second arm group 2b, and the third arm group 2c. A position.

In this embodiment, any one of the first arm group 2a, the second arm group 2b, and the third arm group 2c may be connected to any one of the second joint unit 1b through the first joint unit 1a to constitute the present case. A robot arm 9 with a simple structure and easy assembly and maintenance. It is worth noting that the driving plate body 10 and the fixing plate body 30 in the first joint unit 1a and the second joint unit 1b are respectively a rectangular plate structure. When the two rectangular plate bodies are in a staggered state, due to the mutual The fixing components are located outside the overlapping area of the two rectangular plates, so the operation of installing and connecting the two rectangular plates to any of the first arm group 2a, the second arm group 2b, and the third arm group 2c is not limited or Mutual interference is conducive to the completion of the assembly or disassembly of the robot arm in this case, and it is helpful to the maintenance of the robot arm. The detailed assembly structure of the first joint unit 1a and the second joint unit 1b, and the first arm group 2a, the second arm group 2b, and the third arm group 2c will be described later.

Please refer to Figure 4 to Figure 8. FIG. 4 is an exploded view showing a joint unit of the first preferred embodiment of the present invention. FIG. 5 is an exploded view showing the joint unit of the first preferred embodiment of the present invention from another perspective. FIG. 6 is a cross-sectional structure of the joint unit of the first preferred embodiment of the present invention. FIG. 7 is a three-dimensional structure diagram of the joint unit of the first preferred embodiment of the present invention. FIG. 8 is a three-dimensional structure diagram illustrating the joint unit of the first preferred embodiment of the present invention in another use state. The structures of the first joint unit 1a and the second joint unit 1b are the same as those shown in FIGS. 4 to 8. As shown in the figure, the joint unit 1 of the present case includes a driving plate body 10, a joint portion 13, a bearing 20, a fixed plate body 30, a detachable washer 40, and a driving element 50. In the implementation of this case, the driving plate body 10 is made of, for example, a stainless steel material, and includes a first opening 11 and a plurality of first fixing holes 12. The bearing 20 includes an inner shaft sleeve 21 and an outer shaft sleeve 22. The inner sleeve 21 and the outer sleeve 22 have, for example, the same height. The upper end surface 21a of the inner sleeve 21 and the outer sleeve 21 have the same height. The upper end surface 22a of the sleeve 22 is arranged flush, for example; and the lower end surface 21b of the inner sleeve 21 and the lower end face 22b of the outer sleeve 22b are flush, for example, which is not limited in this case. In this embodiment, the joint portion 13 is, for example, but not limited to, a sleeve structure made of a stainless steel material, and is fixed to the inner sleeve 21 by a joint method such as metal welding. One end of the joint portion 13 is connected to the driving plate body 10 through the upper end surface 21 a of the inner shaft sleeve 21, so as to structure the driving plate body 10 on the inner shaft sleeve 21 and rotate with the rotation of the inner shaft sleeve 21. In this embodiment, a gap G is formed between the driving plate body 10 and the upper end surface 22 a of the outer sleeve 22 to prevent the driving plate body 10 from rotating when the driving plate body 10 rotates with the inner sleeve 21 and the joint 13. The upper end surface 22a of the outer sleeve 22 contacts or causes friction. In one embodiment, the driving plate 10, the joint portion 13 and the inner sleeve 21 are integrally formed. In other embodiments, the gap G between the driving plate body 10 and the upper end surface 22a of the outer shaft sleeve 22 can be added between the driving plate body 10 and the upper end surface 21a of the inner shaft sleeve 21 by adding a gasket (not shown). To achieve, or directly adjust the height difference between the upper end surface 21a of the inner shaft sleeve 21 and the upper end surface 22a of the outer shaft sleeve 22. It should be emphasized that this case does not limit the manner in which the driving board body 10 is structured on the inner shaft sleeve 21, and will not be described again.

In this embodiment, the joint portion 13 further includes at least a first locking hole 14 and a first through hole 15. In addition, the detachable gasket 40 includes at least one second locking hole 41, a second through hole 42, and at least one locking element 43. Wherein, the positions of the first locking hole 14 and the first through hole 15 are respectively arranged relative to the positions of the second locking hole 41 and the second through hole 42. The locking element 43 is, for example, a screw. Through the second locking hole 41 and the first locking hole 14, the detachable gasket 40 is detachably fixed to the other end of the joint 13 and is adjacent to the inside. The lower end surface 21a of the sleeve 21. At the same time, the first perforation 15 is aligned with the second perforation 42 and is located on the central axis A of the inner sleeve 21, that is, the central axis A of the bearing 20. In this embodiment, the detachable gasket 40 further includes an engaging groove 44 located on the central axis A of the inner shaft sleeve 21 and communicating with the second through hole 42, the first through hole 15 and the first opening 11. In addition, the fixing plate body 30 is made of, for example, a stainless steel material, and includes a second opening 31 and a plurality of second fixing holes 32. Wherein, the fixed plate body 30 is fixed to the outer shaft sleeve 22 relative to the driving plate body 10. The lower end surface 22b, and the detachable gasket 40 and the engagement groove 44 are exposed through the second opening 31, which facilitates the assembly and replacement of the detachable gasket 40. It is worth noting that the detachable gasket 40 is detachably fixed to the other end of the joint 13 and is exposed to the second opening 31, but the joint surface of the detachable gasket 40 and the joint 13 is not limited to the second opening. 31 or the position of the lower end face 22b of the outer sleeve 22, but the driving plate body 10, the detachable washer 40 and the joint portion 13 rotate with the inner sleeve 21, and the fixed plate body 30 rotates with the outer sleeve 22, and Do not interfere with each other.

In this embodiment, the driving element 50 is, for example, but not limited to, a servo motor, a DC motor, a stepping motor, or other driving devices, and includes a rotating portion 51 that is engaged with the engaging groove 44 on the detachable gasket 40. When the rotating portion 51 rotates the inner sleeve 21 through the detachable washer 40 and the joint portion 13, the driving plate 10 is driven to rotate relative to the fixed plate 30, so that the joint unit 1 reaches the first joint unit 1a and the second arm group 2b is driven. Relative to the first arm group 2a or the second joint unit 1b, the joint movement of the third arm group 2c relative to the second arm group 2b to achieve flexion and extension is performed (see Figs. 1 to 3). In the present embodiment, the rotating portion 51 is, for example, a gear, and the meshing groove 44 is, for example, a gear slot. The contour of the meshing groove 44 is the same as the contour of the rotating portion 51. The meshing groove 44 is placed in the rotating portion 51 and the driven element 50 When driven to rotate, it engages with the engagement groove 44 to drive the detachable washer 40, the joint 13, the inner sleeve 21, and the drive plate 10 to rotate relative to the outer sleeve 22 and the fixed plate 30, so that the joint unit 1 is achieved. The purpose of joint movement. In the present embodiment, the rotating portion 51 of the driving element 50 further includes a locking hole 52 defined on a surface 51 a of the rotating portion 51 opposite to the engaging groove 44. In addition, the joint unit 1 further includes a locking member 53 such as a screw. When the rotating portion 51 is accommodated in the engaging groove 44 and is engaged with each other, the restricting member 53 passes through the first opening 11 in the driving plate body 10 through the first hole 15 and the second hole 42 along the central axis A, and engages the engaging groove. The locking hole 52 in 44 is engaged to prevent the rotating portion 51 from disengaging from the engaging groove 44, so that the rotating portion 51 is more firmly engaged with the detachable washer 40 to effectively transmit the power of the driving element 50 to the detachable washer. 40. The joint portion 13, the inner sleeve 21, and the driving plate body 10. In this implementation, The locking member 53 and the locking hole 52 are disposed on the central axis A, but are not limited thereto. In one embodiment, for example, when the second joint unit 1b is disposed on the second arm group 2b, for example, the first opening 11, the first perforation 15, the second perforation 42, The keyhole 52 and the locking member 53, and the third arm group 2c may be further provided with corresponding perforations. As shown in FIG. 2, it is convenient for installation and maintenance, but this case is not limited thereto. In addition, in this embodiment, the driving element 50 can be fixed to the second plate by using a third fixing member 54 to cooperate with the third fixing hole 34 on the second plate body 30 and the driving element fixing hole 55 on the driving element 50. Body 30. In an embodiment, the driving element 50 may also use the second fixing hole 32 and the second fixing member 33 on the fixing plate body 30 to fix the driving element 50 and the fixing plate body 30 on the arm groups 2a and 2b together. . In other embodiments, the driving element 50 can be engaged with the accommodating openings 2a ', 2b' of the arm groups 2a, 2b, for example, by means of snapping, so as to achieve the purpose of detachably fixing the driving element 50. It should be noted that the fixing manner of the driving element 30 does not limit the necessary technical features of this case, and this case is not limited thereto, and will not be described again. It is worth noting that in this embodiment, since the rotating portion 51 of the driving element 50 transmits power to the joint portion 13, the inner sleeve 21 and the driving plate 10 through the detachable gasket 40, various types of driving elements 50 The rotating part 51 and the engaging groove 44 can be assembled by replacing the detachable washer 40, so that various driving elements 50 can be assembled to transmit power to the joint 13, the inner sleeve 21, and the driving plate 10. On the other hand, the detachable gasket 40 is made of, for example, a metal material that is easy to process, so as to facilitate the formation of the meshing groove 44 structure in response to the rotating portion 51 of the various driving elements 50. When the engaging groove 44 is deformed by the high torque of the rotating portion 51 for a long period of time, the joint unit 1 cannot operate effectively, for example, when the tooth is out of gear, the detachable gasket 40 can be directly replaced to make the joint unit 1 Resume normal operation. It should be noted that, in an embodiment, the first opening 11, the first perforation 15, the second perforation 42, the locking hole 52 and the locking member 53 of the joint unit 1 can be omitted. Through the engagement of the rotating portion 51 and the engaging groove 44, the power of the driving element 50 can be transmitted to the detachable washer 40, the joint portion 13, the inner sleeve 21, and the driving plate body 10.

On the other hand, since the driving plate body 10 and the fixed plate body 30 are respectively structured on the inner sleeve 21 and the outer sleeve 22 of the bearing 20, they can rotate relative to each other and do not interfere with each other, as shown in FIGS. 7 and 8 As shown. For example, in this embodiment, the driving board body 10 may be fixed to, for example, the second arm group 2b or the third arm by a plurality of first fixing members 16 such as screws through a plurality of first fixing holes 12, respectively. One end of group 2c. The fixing plate body 30 can be fixed to one end of the first arm group 2a or the second arm group 2b by a plurality of second fixing members 33, such as screws, respectively through a plurality of second fixing holes 32, that is, as in the first Figures to Figure 3. By driving the rotation of the plate body 10 relative to the fixed plate body 30, the flexion and extension of the second arm group 2b of the mechanical arm 9 with respect to the first arm group 2a or the third arm group 2c with respect to the second arm group 2b is achieved. It is worth noting that, in this embodiment, the driving plate body 10 and the fixing plate body 30 each have a rectangular plate structure, and a plurality of first fixing holes 12 and a plurality of second fixing holes 32 are respectively provided in the driving plate body 10. When the driving plate body 10 and the fixing plate body 30 are in a staggered state with each other at the outer periphery of the fixing plate body 30, as shown in FIG. 8, the plurality of first fixing holes 12 and the plurality of second fixing holes 32 are both It is located outside an overlapping area C of the driving plate body 10 and the fixed plate body 30. Therefore, the driving plate body 10 and the fixing plate body 30 are respectively fixed to the second arm group 2b and the first arm group 2a by the first fixing member 16 and the second fixing member 33 through the first fixing hole 12 and the second fixing hole 32, respectively. The operations on the third arm group 2c and the second arm group 2b are not restricted or disturbed, which is beneficial to construct the joint unit 1 of the present case as, for example, the first joint of the robot arm 9 shown in Figs. 1 to 3. Unit 1a or second joint unit 1b. In this embodiment, the plurality of first fixing holes 12 are more evenly arranged on both sides of the overlapping area C, so that the driving plate body 10 is stably and balancedly locked to the second arm group 2b or the third arm group 2c. Similarly, the plurality of second fixing holes 32 are evenly arranged on both sides of the overlapping area C, so that the fixing plate body 30 is stably and balancedly locked to the first arm group 2a or the second arm group 2b. In this way, the modular joint unit 1 can be stably and balancedly constructed in any of the first arm group 2a, the second arm group 2b, and the third arm group 2c of the robot arm 9.

FIG. 9 is an exploded view showing a joint unit of the second preferred embodiment of the present invention. FIG. 10 is an exploded view showing the joint unit of the second preferred embodiment of the present invention from another perspective. FIG. 11 is a cross-sectional structure of a joint unit according to a second preferred embodiment of the present invention. In this embodiment, the joint unit 1 'is similar to the joint unit 1 shown in Figs. 1 to 5, and the same component numbers represent the same components, structures, and functions, and will not be repeated here. Different from the joint unit 1 shown in FIGS. 4 to 8, in this embodiment, the rotating portion 51 of the driving element 50 is, for example, a half-moon-shaped wheel shaft, and the engaging groove 44 is, for example, a wheel shaft groove. The contour is similar to the contour of the rotating portion 51 and has a half-moon shape. When the rotating portion 51 is inserted into the engaging groove 44 and driven by the driving element 50 to rotate, the engaging groove 44 meshes with each other to drive the detachable washer 40, the engaging portion 13, the inner portion The shaft sleeve 21 and the driving plate body 10 rotate relative to the outer shaft sleeve 22 and the fixed plate body 30, so that the joint unit 1 achieves the purpose of articulation. In this embodiment, the rotating portion 51 of the driving element 50 further includes an abutting surface 52 b, which is disposed on one side of the rotating portion 51. The detachable washer 40 further includes a locking hole 42 a that communicates from the outer periphery of the detachable washer 40 to the engaging groove 44. In addition, the joint unit 1 'further includes a locking member 53a, such as a screw. In the present embodiment, when the rotating portion 51 is accommodated in the engaging groove 44, the restricting member 53 a presses against the abutting surface 52 b of the rotating portion through the locking hole 42 a to prevent the rotating portion 51 from disengaging from the engaging groove 44 and to rotate. The portion 51 is more firmly engaged with the detachable washer 40 to effectively transmit the power of the driving element 50 to the detachable washer 40, the joint portion 13, the inner sleeve 21, and the driving plate body 10. In this embodiment, the assembly or replacement of the driving element 50 and the detachable gasket 40 of the joint unit 1 'can be performed on the same side of the bearing 20. Of course, this case is not limited to this.

It should be emphasized that the joint units 1, 1 ', the first joint unit 1a, and the second joint unit 1b in this case are all modularized structures, and cooperate with the modularized first arm group 2a, second arm group 2b, and The components of the three-arm group 2c, the first elastic body 3a, and the second elastic body 3b can be achieved according to the actual application requirements of the mechanical arm 9 with a simplified structure and easy assembly and maintenance. In the foregoing embodiment, among the first joint unit 1a, the second joint unit 1b, the first arm group 2a, the second arm group 2b, the third arm group 2c, the first elastic body 3a and the second elastic body 3b The combination is only an example and does not limit the technical features of the case. Each modularized component can be omitted or added according to the actual application requirements, which is not limited in this case and will not be described again.

In summary, the present invention provides a robot arm. By connecting the two arm groups through a joint unit, a mechanical arm with a simple structure and easy assembly and maintenance can be constructed. The two arm groups are connected through the bearing of the joint unit and two rectangular plates facing each other to form a mechanical arm with a simple structure and easy assembly and maintenance. When the two rectangular plates are in a staggered state, since the fixing components of each other are located outside the overlapping area of the two rectangular plates, the operation of installing the two rectangular plates on the two-arm group is not limited or interferes with each other. It is beneficial to complete the assembly or disassembly of the robot arm in this case, and it is helpful to the maintenance of the robot arm. In addition, at least two arm groups are connected by a joint unit to form a mechanical arm with a simplified structure and easy to assemble and maintain, and an elastic body is provided to provide an elastic restoring force between the two arm bodies to enhance the driving element to drive the two arms. The arm set produces the effect of a flexion and extension movement. On the other hand, with modular components such as at least two arm groups, at least one joint unit, and at least one elastomer, the operating range of the overall structure can be easily extended, and a mechanical arm that is easy to assemble and maintain is constructed.

This case may be modified by anyone who is familiar with this technology, but it is not inferior to those who want to protect the scope of the patent application.

Claims (10)

A mechanical arm includes: at least one joint unit, having a driving plate body, a fixing plate body, a bearing, and a driving element, wherein the driving plate body and the fixing plate body are respectively disposed on both ends of the bearing and are mutually In contrast, the driving element is connected to the driving plate body through the bearing, wherein the bearing includes an inner sleeve and an outer sleeve, the driving element includes a rotating portion, and the joint unit further includes: an engaging portion, fixed to The inner sleeve, wherein one end of the joint portion is connected to the driving plate body through one end face of the inner sleeve, and a gap is formed between the driving plate body and one end face of the outer sleeve; and a detachable gasket , Connected to the other end of the joint portion, adjacent to the other end surface of the inner sleeve, and includes an engagement groove located at a central axis of the inner sleeve; wherein the fixing plate body is fixed relative to the driving plate body On the other end surface of the outer sleeve, and the detachable gasket and the engaging groove are exposed; wherein the rotating part of the driving element is engaged with the engaging groove, and the rotative part is engaged with the engaging through the detachable gasket When the inner sleeve is rotated, the drive plate body is driven to rotate relative to the fixed plate body; at least two arm groups are respectively fixed to the fixed plate body and the drive plate body, and the arm group connected to the fixed plate body has a The accommodating opening at least partially exposes the fixed plate body, wherein when the driving plate body rotates relative to the fixed plate body, the at least two arm groups produce a flexion and extension action; and at least one elastic body having two ends respectively connected to the At least two arm groups, which are arranged between the at least two arm groups to provide an elastic restoring force; wherein the driving element is disposed on the arm group connected to the fixed plate body, penetrates the accommodating opening, and is connected to the bearing through the bearing The driving plate body is configured to drive the driving plate body to rotate relative to the fixed plate body, so as to resist the elastic restoring force of the at least one elastic body between the at least two arm groups, so that the at least two arm groups produce the Flexion and extension. The mechanical arm according to claim 1, further comprising: a clamping unit pivotally connected to one end of the at least two arm groups, configured to clamp an object; a base having a mounting surface; and a rotating table, Pivotally arranged on the mounting surface of the base, wherein the other ends of the at least two arm groups are connected to the rotary table, the rotary table group is configured to drive the at least two arm groups to rotate relative to the base, and pass the at least two arms The flexion and extension of the group displaces the object clamped by the clamping unit. The mechanical arm according to claim 1, wherein the joint portion includes at least one first locking hole, and the detachable gasket includes at least one second locking hole and at least one locking element, wherein the at least one second lock The fixing hole is opposite to the at least one first fixing hole, and the at least one fixing element fixes the detachable gasket to the other end of the joint through the second fixing hole and the first fixing hole. The mechanical arm according to claim 1, wherein the driving plate body includes a first opening, the engaging portion includes a first through hole, and the detachable gasket includes a second through hole, the first opening, the first through hole Communicating with the second perforation to the engagement groove, and the rotation part includes a locking hole disposed on a surface opposite to the engagement groove, wherein when the rotation part is accommodated in the engagement groove and engaged with each other, the joint unit A lock limiting member is engaged with the lock limiting hole in the engagement slot through the first opening, the first through hole and the second through hole. The mechanical arm according to claim 4, wherein the first opening, the first perforation, the second perforation, the engagement groove and the locking hole are aligned with the central axis, and are in communication with each other. The mechanical arm according to claim 1 or 4, wherein the rotating portion is a gear, and the engaging groove is a gear groove, and the contour of the rotating portion is the same as the contour of the engaging groove. The mechanical arm according to claim 1, wherein the rotating portion includes a bearing surface disposed on a side of the rotating portion, and the removable gasket includes a locking hole from an outer periphery of the removable gasket The rim communicates with the engaging groove, and when the rotating portion is accommodated in the engaging groove and is engaged with each other, a locking member of the joint unit abuts the receiving surface of the rotating portion through the locking hole. The mechanical arm according to claim 1 or 7, wherein the rotating part is a half-moon-shaped axle, the engaging groove is an axle groove, and the contour of the rotating part is the same as the contour of the engaging groove. The mechanical arm according to claim 1, wherein the driving plate body, the inner sleeve and the joint portion are integrally formed. The mechanical arm according to claim 1, wherein the driving plate body and the fixing plate body are respectively a rectangular plate structure, the driving plate body includes a plurality of first fixing holes disposed on an outer periphery of the driving plate body, The fixing plate body includes a plurality of second fixing holes disposed on an outer periphery of the fixing plate body, when the driving plate body and the fixing plate body are in a staggered state with each other, the plurality of first fixing holes and the plurality of first holes The two fixing holes are located outside an overlapping area of the driving plate body and the fixing plate body.