201204963 六、發明說明： 【發明所屬之技術領域】 [0001] 本發明涉及一種齒輪傳動裝置及具有該齒輪傳動裝置之 機械手臂。 【先前技術】 [0002] 齒輪傳動裝置之二齒輪之間之輪齒相互嚙合。為了保證 齒輪之輪齒正常潤滑及避免因工作溫度升高而引起卡死 現象，齒輪之間設有一定量之間隙。於輕負荷、扭矩變 化大時、加速或減速時，齒輪之正反工作面交替變化， 齒輪之間之間隙導致齒輪之輪齒相互抵持時滑動，從而 引起輪齒之間之敲擊，進而增大齒輪之間之衝擊力及雜 音。 【發明内容】 [0003] 鑒於上述狀況，有必要提供一種齒輪之間之衝擊力及雜 音較小之齒輪傳動裝置及具有該齒輪傳動裝置之機械手 臂。 [0004] 一種齒輪傳動裝置，其包括第一輸入軸、套設於第一輸 入軸上之第一傳動齒輪、第一輸出軸及第一齒輪間隙調 整機構，該第一傳動齒輪間隙調節機構包括套設於該第 一輸出軸上之二調節齒輪，該第一傳動齒輪同時與該二 調節齒輪相嚙合，且該第一傳動齒輪之輪齒之兩側分別 與該二調節齒輪之輪齒相抵持。 [0005] 一種機械手臂，其包括殼體及設於殼體内之第一傳動組 件，該第一傳動組件包括第一輸入軸、套設於第一輸入 轴上之第一傳動齒輪、第一輸出軸及第一齒輪間隙調整 099124482 表單編號A0101 第4頁/共14頁 0992043059-0 201204963 [0006] Ο [0007] [0008] Ο [0009] 099124482 機構，該第一傳動齒輪間隙調節機構包括套設於該第一 輸出軸上之二調節齒輪，該第一傳動齒輪同時與該二調 節齒輪相喃合，且該第一傳動齒輪之輪齒之兩側分別與 該二調節齒輪之輪齒相抵持。 上述第一傳動齒輪之輪齒之兩側分別與該二調節齒輪相 抵持，使齒輪之輪齒嚙合時不滑動，從而避免輪齒之間 相互敲擊，故上述齒輪傳動裝置之齒輪之間之衝擊力及 雜音較小。 【實施方式】 下面結合附圖及實施方式對本發明之齒輪傳動裝置及具 有該齒輪傳動裝置之機械手臂作進一步詳細說明。 請參閱圖1，本發明較佳實施方式之機械手臂100包括殼 體10及設於殼體10内之齒輪傳動裝置（未標號）。該齒輪 轉動裝置包括第一傳動組件（未標號）及第二傳動組件（未 標號）。具體在本實施方式中，第一傳動組件設置於六軸 機器人之第五軸，第二傳動組件設置於六軸機器人之第 六軸。 第一傳動組件包括第一輸入軸21、第一傳動齒輪22、第 一輸出軸24、第一齒輪間隙調整機構25及二第一轴承26 。第一傳動齒輪22套設於第一輸入軸21之一端。第一齒 輪間隙調整機構25套設於第一輸出軸24之一端。二第一 軸承26套設於第一輸出軸24之中部，且與殼體10相接觸 ，從而使第一輸出軸24相對於殼體10轉動。本實施方式 中，第一輸入軸21開設有沿其軸向延伸之容置孔212，第 一傳動齒輪22為寬斜齒輪。 表單編號Α0101 第5頁/共14頁 0992043059-0 201204963 [0010] [0011] [0012] 第一齒輪間隙調整機構25包括第一調節齒輪251、第二調 節齒輪252、彈性件253及固定件254。第一調節齒輪251 及第二調節齒輪252之間留有間隙，且同時與第一傳動齒 輪22相嚙合。固定件254固定於第一輸出轴24上。彈性件 253抵持於固定件254與第一調節齒輪251之間。本實施 方式中’第一調節齒輪251及第二調節齒輪252為薄斜齒 輪’固疋件254為套設於第一輸出軸24上之調節螺母，彈 性件253為彈簧。 第二傳動組件包括一第二輸入軸31、二第二轴承32、一 第二傳動齒輪35、一第二輸出軸36、一第二齒輪間隙調 整機構37及一第三軸承38。第二輸入軸31部分收容於第 —輸入轴21之容置孔212中》二第二軸承32套設於第一輸 入軸21上，且收容於第一輸入輛21之容置孔212中，使第 二輸入軸31可於第一輸入轴21之容置孔212中轉動。第二 傳動齒輪35套設於第二輸入轴31之一端。第二齒輪間隙 調整機構37套設於第二輸出轴36之一端。二第三軸承38 套叹於第二輸出軸36之中部’且與殼體iq相抵持。本實 施方式中，第二齒輪間隙調整機構37與第一齒輪間隙調 整機構25結構相同。 請參閱圖1，本實施方式之機械手臂1〇〇運動時，第一傳 動組件之第一輸入軸21轉動，而帶動第一傳動齒輪22轉 動。第一傳動齒輪22與第一齒輪間隙調整機構25之第一 調節齒輪251及第二調節齒輪252同時嚙合，從而帶動第 二輸出轴36轉動。第二傳動組件之第二輸入軸“轉動， 而帶動第二傳動齒輪35轉動。第二傳動齒輪35與第二齒 099124482 表單編號A0101 第6頁/共14頁 0992043059-0 201204963 [0013] Ο [0014] ◎ [0015] 099124482 輪間隙調整機構37相嚙合，從而帶動第二輸出軸36轉動 0 喷一併參閱圖2及圖3，第一齒輪間隙調整機構25之第— 凋節齒輪251與第一傳動齒輪22相嚙合時，其齒隙位於第 一傳動齒輪22輪齒之一側。第二調節齒輪252與第—傳動 齒輪22相嚙合，其齒隙位於第—傳動齒輪22輪齒之另— 側。故，第一傳動齒輪22之輪齒之兩侧分別與第—調節 齒輪251及第二調節齒輪252相抵持，使齒輪之輪齒噛合 時不滑動，從而避免輪齒之間相互敲擊，故，本發明之 齒輪傳動裝置之齒輪之間之衝擊力及雜音較小。另，彈 性件253與第一調節齒輪251相抵持，從而達到自動調整 齒輪間隙之目的》 可理解，第一齒輪間隙調整機構25之彈性件253及固定件 254可省略。固定件254省略時，彈性件253直接與殼體 10相抵持。彈性件253不限於彈簧’固定件254不限於調 節螺母，例如’彈，||件253亦可為彈性橡膠，固定件254 亦可為卡持於第，輪出軸24上之，簧。第一齒輪間隙調 整機構25不限於包括第一調節齒輪251及第二調節齒輪 252，亦可包括更多之調節齒輪。第二齒輪間隙調整機構 37亦可與第一齒輪間隙調整機構25不相同。 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内。 表單編號Α0101 第7頁/共14頁 0992043059-0 201204963 【圖式簡單說明】 [0016] 圖1係本發明之機械手臂之剖面示意圖。 [0017] 圖2係圖1所示之機械手臂之間隙調整機構之第一傳動齒 輪與第一調節齒輪相喷合之狀態示意圖。 [0018] 圖3係圖1所示之機械手臂之間隙調整機構之第一傳動齒 輪與第二調節齒輪相嚙合之狀態示意圖。 【主要元件符號說明】 [0019] 機械手臂100 [0020] 殼體 10 [0021] 第一輸入軸21 [0022] 容置孔212 [0023] 第一傳動齒輪22 [0024] 第一輸出軸24 [0025] 第一齒輪間隙調整機構25 [0026] 第一調節齒輪251 [0027] 第二調節齒輪252 [0028] 彈性件2 5 3 [0029] 固定件254 [0030] 第一軸承2 6 [0031] 第二輸入軸31 [0032] 第二軸承32 099124482 表單編號A0101 第8頁/共14頁 0992043059-0 201204963 [0033] [0034] [0035] [0036] 第二傳動齒輪35 第二輸出軸36 第二齒輪間隙調整機構37 第三軸承38 Ο 〇201204963 VI. Description of the Invention: [Technical Field] [0001] The present invention relates to a gear transmission device and a robot arm having the same. [Prior Art] [0002] The teeth between the two gears of the gear transmission mesh with each other. In order to ensure the normal lubrication of the gear teeth and avoid the jam caused by the rising working temperature, a certain amount of clearance is provided between the gears. When the light load, the torque changes greatly, accelerate or decelerate, the positive and negative working faces of the gear alternately change, and the gap between the gears causes the gear teeth to slide against each other, thereby causing a tap between the teeth, and further Increase the impact and noise between the gears. SUMMARY OF THE INVENTION [0003] In view of the above circumstances, it is necessary to provide a gear transmission having a small impact force between gears and a small noise, and a mechanical arm having the gear transmission. [0004] A gear transmission device includes a first input shaft, a first transmission gear sleeved on the first input shaft, a first output shaft, and a first gear gap adjustment mechanism, the first transmission gear gap adjustment mechanism including a second adjustment gear disposed on the first output shaft, the first transmission gear simultaneously meshes with the two adjustment gears, and two sides of the teeth of the first transmission gear respectively abut the teeth of the two adjustment gears hold. [0005] A mechanical arm includes a housing and a first transmission assembly disposed in the housing, the first transmission assembly including a first input shaft, a first transmission gear sleeved on the first input shaft, and a first Output shaft and first gear clearance adjustment 099124482 Form No. A0101 Page 4 / 14 pages 0992043059-0 201204963 [0006] 0007 [0007] [0008] 0009 [0009] 099124482 mechanism, the first transmission gear gap adjustment mechanism includes a sleeve a second adjustment gear disposed on the first output shaft, the first transmission gear is simultaneously conjugated with the two adjustment gears, and two sides of the teeth of the first transmission gear are respectively offset with the teeth of the two adjustment gears hold. The two sides of the teeth of the first transmission gear respectively abut against the two adjustment gears, so that the teeth of the gears do not slide when meshing, thereby avoiding the tapping between the teeth, so the gears of the gear transmission are The impact and noise are small. [Embodiment] Hereinafter, a gear transmission device of the present invention and a robot arm having the same will be further described in detail with reference to the accompanying drawings and embodiments. Referring to Figure 1, a robotic arm 100 of the preferred embodiment of the present invention includes a housing 10 and a gearing (not numbered) disposed within the housing 10. The gear rotating device includes a first transmission assembly (not numbered) and a second transmission assembly (not labeled). Specifically, in the present embodiment, the first transmission component is disposed on the fifth axis of the six-axis robot, and the second transmission component is disposed on the sixth axis of the six-axis robot. The first transmission assembly includes a first input shaft 21, a first transmission gear 22, a first output shaft 24, a first gear clearance adjustment mechanism 25, and two first bearings 26. The first transmission gear 22 is sleeved at one end of the first input shaft 21 . The first pinch gap adjusting mechanism 25 is sleeved at one end of the first output shaft 24. The first bearing 26 is sleeved in the middle of the first output shaft 24 and is in contact with the housing 10 to rotate the first output shaft 24 relative to the housing 10. In the present embodiment, the first input shaft 21 is provided with a receiving hole 212 extending in the axial direction thereof, and the first transmission gear 22 is a wide helical gear. Form No. 1010101 Page 5 of 14 0992043059-0 201204963 [0012] [0012] The first gear gap adjustment mechanism 25 includes a first adjustment gear 251, a second adjustment gear 252, an elastic member 253, and a fixing member 254. . A gap is left between the first adjustment gear 251 and the second adjustment gear 252 and simultaneously meshes with the first transmission gear 22. The fixing member 254 is fixed to the first output shaft 24. The elastic member 253 is abutted between the fixing member 254 and the first adjustment gear 251. In the present embodiment, the first adjusting gear 251 and the second adjusting gear 252 are thin helical gears. The fixing member 254 is an adjusting nut that is sleeved on the first output shaft 24, and the elastic member 253 is a spring. The second transmission assembly includes a second input shaft 31, two second bearings 32, a second transmission gear 35, a second output shaft 36, a second gear gap adjustment mechanism 37 and a third bearing 38. The second input shaft 31 is partially received in the receiving hole 212 of the first input shaft 21. The second bearing 32 is sleeved on the first input shaft 21 and received in the receiving hole 212 of the first input unit 21, The second input shaft 31 is rotatable in the receiving hole 212 of the first input shaft 21. The second transmission gear 35 is sleeved at one end of the second input shaft 31. The second gear gap adjusting mechanism 37 is sleeved on one end of the second output shaft 36. The second third bearing 38 is slid over the middle portion of the second output shaft 36 and abuts against the housing iq. In the present embodiment, the second gear gap adjusting mechanism 37 has the same structure as the first gear gap adjusting mechanism 25. Referring to Fig. 1, when the robot arm 1〇〇 of the embodiment moves, the first input shaft 21 of the first transmission assembly rotates to drive the first transmission gear 22 to rotate. The first transmission gear 22 meshes with the first adjustment gear 251 and the second adjustment gear 252 of the first gear gap adjustment mechanism 25, thereby causing the second output shaft 36 to rotate. The second input shaft of the second transmission assembly "rotates, and drives the second transmission gear 35 to rotate. The second transmission gear 35 and the second tooth 099124482 Form No. A0101 Page 6 of 14 Page 0992043059-0 201204963 [0013] Ο [ ◎ [0015] 099124482 The wheel gap adjusting mechanism 37 is engaged to drive the second output shaft 36 to rotate. 0. Referring to FIGS. 2 and 3, the first gear 251 of the first gear gap adjusting mechanism 25 and the first When a transmission gear 22 is engaged, the backlash is located on one side of the teeth of the first transmission gear 22. The second adjustment gear 252 is meshed with the first transmission gear 22, and the backlash is located on the second gear of the first transmission gear 22 - the side, so that the two sides of the teeth of the first transmission gear 22 are respectively abutted against the first adjustment gear 251 and the second adjustment gear 252, so that the gear teeth do not slip when the teeth are twisted, thereby avoiding knocking between the teeth Therefore, the impact force and the noise between the gears of the gear transmission of the present invention are small. In addition, the elastic member 253 is abutted against the first adjustment gear 251, thereby achieving the purpose of automatically adjusting the gear clearance. Gear clearance The elastic member 253 and the fixing member 254 of the whole mechanism 25 can be omitted. When the fixing member 254 is omitted, the elastic member 253 directly abuts against the housing 10. The elastic member 253 is not limited to the spring 'the fixing member 254 is not limited to the adjusting nut, such as 'elastic, The member 253 may also be an elastic rubber, and the fixing member 254 may also be a spring that is retained on the wheel-out shaft 24. The first gear gap adjusting mechanism 25 is not limited to include the first adjusting gear 251 and the second adjusting gear. 252, may also include more adjustment gears. The second gear gap adjustment mechanism 37 may also be different from the first gear gap adjustment mechanism 25. In summary, the present invention has indeed met the requirements of the invention patent, and patented according to law. The above is only the preferred embodiment of the present invention, and the scope of the patent application is not limited thereto. Any equivalent modifications or changes made by those skilled in the art to the spirit of the present invention are It should be included in the scope of the following patent application. Form No. 1010101 Page 7 / Total 14 Page 0992043059-0 201204963 [Simplified Schematic] [0016] FIG. 1 is a schematic cross-sectional view of the robot arm of the present invention 2 is a schematic view showing a state in which the first transmission gear of the gap adjusting mechanism of the robot arm shown in FIG. 1 is sprayed with the first adjustment gear. [0018] FIG. 3 is a gap adjustment of the robot arm shown in FIG. Schematic diagram of the state in which the first transmission gear of the mechanism meshes with the second adjustment gear. [Main component symbol description] [0019] Robot arm 100 [0020] Housing 10 [0021] First input shaft 21 [0022] accommodating hole 212 [0023] First Transmission Gear 22 [0024] First Output Shaft Adjustment Mechanism 25 [0026] First Adjustment Gear 251 [0027] Second Adjustment Gear 252 [0028] Elastic Member 2 5 3 [0029] Fixing member 254 [0030] First bearing 2 6 [0031] Second bearing shaft 31 [0032] Second bearing 32 099124482 Form number A0101 Page 8 of 14 0992043059-0 201204963 [00334] [0036] Second transmission gear 35 Second output shaft 36 Second gear clearance adjustment mechanism 37 Third bearing 38 Ο 〇
099124482 表單編號Α0101 第9頁/共14頁 0992043059-0099124482 Form number Α0101 Page 9 of 14 0992043059-0