TWI498202B - Robot with connection member - Google Patents
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- TWI498202B TWI498202B TW102103366A TW102103366A TWI498202B TW I498202 B TWI498202 B TW I498202B TW 102103366 A TW102103366 A TW 102103366A TW 102103366 A TW102103366 A TW 102103366A TW I498202 B TWI498202 B TW I498202B
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Description
本案係關於一種機器人,尤指一種藉由磁力的吸附而使機器人之第二組件可脫離地組接於第一組件上之具有組接結構之機器人。 The present invention relates to a robot, and more particularly to a robot having a combined structure in which a second component of a robot can be detachably assembled to a first component by magnetic attraction.
隨著科技發展日新月異,機器人從早期的製造業及科學用途機器人,延伸至協助人類處理家務的家用自走式機器人,隨之則是娛樂大眾的玩具機器人。 With the rapid development of technology, robots have extended from early manufacturing and scientific-use robots to home-operated robots that assist humans in handling household chores, followed by toy robots that entertain the public.
而大部分機器人之構造,往往是參照人類的動作來設計,因此機器人身上某些組件之間的樞接處,例如頭部與身體之間、上手臂與下手臂之間及上腿部跟下腿部之間等,通常會設計成具有類似人類關節的功能,藉此使該些組件之間可相對轉動。 Most of the robot's construction is often designed with reference to human movements, so the pivotal joints between certain components on the robot, such as between the head and the body, between the upper and lower arms, and the upper legs. Between the legs, etc., it is usually designed to have a function similar to a human joint, thereby allowing relative rotation between the components.
以機器人之上手臂及下手臂為例,機器人之下手臂不但設計成可相對於上手臂以同軸方向轉動,且為了使機器人之下手臂可抬起物品,下手臂更可設計成可相對於上手臂以非同軸的方向來轉動。 Taking the upper arm and the lower arm of the robot as an example, the lower arm of the robot is not only designed to rotate in the coaxial direction with respect to the upper arm, but in order to enable the lower arm of the robot to lift the object, the lower arm can be designed to be relatively movable. The arm rotates in a non-coaxial direction.
然而由於目前大部分的機器人之下手臂係設計成無法由上手臂脫離,因此並無法針對下手臂來進行更換,且對於機器人的收納亦甚為不便,此外,當下手臂受到特定外力,例如不當的施力或是承載過重之重量時,亦可能導致下手臂直接由上手臂斷開,進而 造成下手臂、上手臂及下手臂與上手臂內部的元件損壞。而少部分的機器人雖然利用了具卡合或是鎖固功能之組接結構而使下手臂可脫離地組接於上手臂上,然顯而易見的,此種機器人同樣因上手臂以及下手臂之間係以卡合或鎖固方式組接而無法解決上述下手臂在受到不當的施力或是承載過重之重量時所遇到的缺失,而若要在機器人之下手臂及下手臂內額外設置一緩衝裝置,使下手臂在受到不當的施力或是承載過重之重量時可自動從上手臂脫落,卻因侷限於上手臂及下手臂內部之空間大小,故緩衝裝置並不亦設計,且相對所花費的成本亦較高。 However, most of the robots under the current arm are designed to be unable to be disengaged from the upper arm, so they cannot be replaced for the lower arm, and the storage of the robot is also inconvenient. In addition, the lower arm is subjected to a specific external force, such as improper When applying force or carrying excessive weight, it may also cause the lower arm to be directly disconnected from the upper arm. Causes damage to components inside the lower arm, upper arm and lower arm, and upper arm. While a small number of robots use a snap-fit or lock-up assembly structure to allow the lower arm to be detachably attached to the upper arm, it is obvious that the robot is also between the upper arm and the lower arm. The combination of snapping or locking can not solve the lack of the above-mentioned lower arm when subjected to improper force or overweight, and an additional one is set in the lower arm and the lower arm of the robot. The cushioning device can automatically lower the lower arm from the upper arm when subjected to improper force or heavy weight, but because of the space limited to the inside of the upper arm and the lower arm, the cushioning device is not designed and relatively The cost is also higher.
有鑑於此,如何發展一種可改善上述習知技術缺失之具有組接結構之機器人,為目前迫切需要解決之問題。 In view of this, how to develop a robot having a combined structure that can improve the above-mentioned conventional techniques is an urgent problem to be solved.
本案之目的為提供一種具有組接結構之機器人,其中用來組接機器人之第一組件以及第二組件之組接結構係由金屬構件以及磁性元件所構成,藉此第二組件可藉由金屬構件以及磁性元件之間的磁力吸附而可脫離地組接於第一組件上,俾解決習知機器人之下手臂在受到不當的施力或是承載過重之重量時,可能導致下手臂直接由上手臂斷開,進而造成下手臂、上手臂及下手臂與上手臂之內部元件的損壞,而若要在習知機器人之上手臂及下手臂內額外設置一緩衝裝置,又因侷限於上手臂及下手臂內部之空間太小,導致緩衝裝置並不亦設計,且相對使得習知機器人所花費的成本亦較高等缺失。 The purpose of the present invention is to provide a robot having a combined structure, wherein the assembly of the first component and the second component for assembling the robot is composed of a metal member and a magnetic member, whereby the second component can be made of metal The magnetic attraction between the member and the magnetic element can be detachably assembled to the first component, and the lower arm of the conventional robot can be directly applied by the upper arm when subjected to improper force or excessive weight. The arm is broken, which causes damage to the internal components of the lower arm, upper arm and lower arm and upper arm. To additionally provide a buffer device in the upper arm and lower arm of the conventional robot, it is limited to the upper arm and The space inside the lower arm is too small, resulting in the buffer device not being designed, and the cost of the conventional robot is relatively high.
為達上述目的,本案之一較廣義實施樣態為提供一種機器人,至少包含:第一組件;第二組件;以及組接結構,係分別與第一組 件以及第二組件組接,且使第二組件可脫離地設置於第一組件上,且包含:金屬構件,係設置於第一組件上;以及磁性元件,係與金屬構件相對應地設置於第二組件內,用以與金屬構件相吸附,使第二組件組接於第一組件上,且使第二組件受特定外力時由第一組件上脫離。 In order to achieve the above object, one of the broader aspects of the present invention provides a robot comprising at least: a first component; a second component; and a grouping structure, respectively, and the first group And the second component is assembled, and the second component is detachably disposed on the first component, and includes: a metal component disposed on the first component; and a magnetic component disposed corresponding to the metal component The second component is configured to be affixed to the metal component such that the second component is assembled to the first component and the second component is detached from the first component when subjected to a specific external force.
1‧‧‧機器人 1‧‧‧Robot
2‧‧‧上手臂 2‧‧‧Upper arm
20‧‧‧驅動器 20‧‧‧ drive
21‧‧‧齒輪組 21‧‧‧ Gear Set
22‧‧‧軸部 22‧‧‧Axis
23‧‧‧支撐部 23‧‧‧Support
230‧‧‧套設部 230‧‧‧Setting Department
231‧‧‧連接部 231‧‧‧Connecting Department
24‧‧‧限位部 24‧‧‧Limited
240‧‧‧第一限位槽 240‧‧‧First limit slot
25‧‧‧覆蓋部 25‧‧‧ Coverage
250‧‧‧第二限位槽 250‧‧‧second limit slot
3‧‧‧下手臂 3‧‧‧ Lower arm
32‧‧‧定位肋條 32‧‧‧ positioning ribs
33‧‧‧定位槽 33‧‧‧ positioning slot
34‧‧‧固定板件 34‧‧‧Fixed plates
35‧‧‧容置空間 35‧‧‧ accommodating space
4‧‧‧組接結構 4‧‧‧Connection structure
40‧‧‧金屬構件 40‧‧‧Metal components
41‧‧‧磁性元件 41‧‧‧Magnetic components
5‧‧‧手掌部 5‧‧‧Hand palm
A、B‧‧‧方向 A, B‧‧ direction
第1圖:其係本案較佳實施例之機器人的外部結構示意圖。 Fig. 1 is a schematic view showing the external structure of the robot of the preferred embodiment of the present invention.
第2圖:其係為第1圖所示之機器人之內部結構示意圖。 Fig. 2 is a schematic view showing the internal structure of the robot shown in Fig. 1.
第3圖:其係為第2圖所示之由A方向視角之磁性元件及部分下手臂的結構示意圖。 Fig. 3 is a schematic view showing the structure of the magnetic element and the lower arm of the view from the A direction shown in Fig. 2.
第4圖:其係為第2圖所示之由B方向視角之金屬構件及部分上手部之結構示意圖。 Fig. 4 is a schematic view showing the structure of a metal member and a part of the upper hand viewed from the B direction shown in Fig. 2.
第5圖:其係為第3圖所示之磁性元件及部分下手臂於另一視角之結構示意圖。 Fig. 5 is a schematic view showing the structure of the magnetic component shown in Fig. 3 and a part of the lower arm in another viewing angle.
第6圖:其係為第1圖所示之機器人於手掌部以朝下的方向組接於上手臂時之結構示意圖。 Fig. 6 is a schematic view showing the structure of the robot shown in Fig. 1 when the robot is assembled to the upper arm in the downward direction of the palm portion.
第7圖:其係為第1圖所示之機器人於下手臂脫離上手臂時之部分結構示意圖。 Fig. 7 is a partial structural view of the robot shown in Fig. 1 when the lower arm is separated from the upper arm.
第8圖:其係為第7圖所示之上手臂將覆蓋元件拆卸時之側視結構示意圖。 Figure 8: This is a schematic view of the side view of the upper arm as shown in Figure 7 when the cover element is removed.
第9圖:其係為第1圖所示之機器人於下手臂與上手臂之間係為垂直時之結構示意圖。 Fig. 9 is a schematic view showing the structure of the robot shown in Fig. 1 when the lower arm and the upper arm are perpendicular.
體現本案特徵與優點的一些典型實施例將在後段的說明中詳細敘述。應理解的是本案能夠在不同的態樣上具有各種的變化,其皆不脫離本案的範圍,且其中的說明及圖示在本質上係當作說明之用,而非用以限制本案。 Some exemplary embodiments embodying the features and advantages of the present invention are described in detail in the following description. It is to be understood that the present invention is capable of various modifications in the various aspects of the present invention, and the description and illustration are in the nature of
請參閱第1圖及第2圖,其中第1圖係為本案較佳實施例之機器人的外部結構示意圖,第2圖則為第1圖所示之機器人之內部結構示意圖。如第1、2圖所示,本實施例之機器人1可為製造業及科學用途的機器人、協助人類處理家務的家用自走式機器人或娛樂大眾的玩具機器人等,但不以此為限。機器人1至少包含一第一組件、一第二組件以及一組接結構4,其中第二組件係利用組接結構4而可脫離地組接於第一組件上,而為了方便了解本案技術,以下將以第一組件係為機器人1之上手臂2,第二組件係為機器人1之下手臂3,亦即如第1圖所示,來示範性地說明本案之技術,然需注意的是,第一組件以及第二組件並不侷限於僅能分別由機器人1之上手臂2及下手臂3來構成,舉凡機器人所具有的組件之間有脫離及組裝的需求,例如頭部與身體,上腿部及下腿部等,皆可分別構成本案之第一組件以及第二組件。 Please refer to FIG. 1 and FIG. 2 , wherein FIG. 1 is a schematic diagram of the external structure of the robot of the preferred embodiment of the present invention, and FIG. 2 is a schematic diagram of the internal structure of the robot shown in FIG. 1 . As shown in the first and second figures, the robot 1 of the present embodiment may be a robot for manufacturing and scientific use, a home self-propelled robot for assisting humans in handling household chores, or a toy robot for entertainment, but not limited thereto. The robot 1 includes at least a first component, a second component, and a set of connection structures 4, wherein the second component is detachably assembled to the first component by using the assembly structure 4, and for the convenience of understanding the present technology, the following The first component is the upper arm 2 of the robot 1, and the second component is the lower arm 3 of the robot 1, that is, as shown in Fig. 1, to exemplarily illustrate the technology of the present case, it should be noted that The first component and the second component are not limited to being constructed only by the upper arm 2 and the lower arm 3 of the robot 1, respectively, and there is a need for disengagement and assembly between the components of the robot, such as the head and the body. The leg and the lower leg, etc., respectively constitute the first component and the second component of the present case.
於本實施例中,組接結構4係用以使下手臂3可脫離地組接於上手臂2上,且至少包含一金屬構件40以及一磁性元件41。金屬構件40係設置於上手臂2之第一端部的外部,且可為但不限於由一金屬板件所構成。磁性元件41則與金屬構件40相對應地固設於下手臂3之第一端部的內部,且磁性元件41可為但不限於由一磁鐵所構成,磁性元件41係利用磁力而吸附組接於金屬構件40上,故下 手臂3便可藉由組接結構4而可脫離地組接於上手臂2。 In the present embodiment, the assembly structure 4 is configured to detachably assemble the lower arm 3 to the upper arm 2 and includes at least a metal member 40 and a magnetic member 41. The metal member 40 is disposed outside the first end of the upper arm 2 and may be, but not limited to, constructed of a sheet metal member. The magnetic element 41 is fixed to the inside of the first end of the lower arm 3 corresponding to the metal member 40, and the magnetic element 41 can be, but not limited to, a magnet, and the magnetic element 41 is adsorbed and assembled by magnetic force. On the metal member 40, so the next The arm 3 can be detachably assembled to the upper arm 2 by the assembly structure 4.
由上可知,由於本案之機器人1僅是利用組接結構4之金屬構件40以及磁性元件41間的磁力吸附即可使下手臂3可脫離地組接於上手臂2上,因此下手臂3不但可簡單地組接於上手臂2或是由上手臂2脫離,更甚者,本案之機器人1可無須如習知機器人還需額外設置不易設計且價格昂貴之緩衝裝置的情況下,即可在下手臂3組接於上手臂2上且下手臂3受到一特定外力,例如不當施力或是承載重量時,利用不當施力或承載重量超過磁性元件41與金屬構件40之間的磁力時會使磁性元件41脫離金屬構件40,使得下手臂3可自動地脫離上手臂2,如此一來,便可保護上手臂2、下手臂3以及上手臂2、下手臂3內部的元件,例如驅動裝置(如下所述)等不被破壞,同時本案之機器人1的成本亦相對便宜。 As can be seen from the above, since the robot 1 of the present invention can utilize the magnetic attraction between the metal member 40 of the assembly structure 4 and the magnetic member 41, the lower arm 3 can be detachably assembled to the upper arm 2, so that the lower arm 3 is not only the lower arm 3 but also the lower arm 3 It can be simply connected to the upper arm 2 or detached from the upper arm 2. Moreover, the robot 1 of the present case can be used without the need to additionally provide a buffer device that is not easy to design and expensive. When the arm 3 is attached to the upper arm 2 and the lower arm 3 is subjected to a specific external force, such as improper force application or weight bearing, improper application of force or load bearing weight exceeds the magnetic force between the magnetic member 41 and the metal member 40. The magnetic element 41 is disengaged from the metal member 40, so that the lower arm 3 can be automatically detached from the upper arm 2, so that the upper arm 2, the lower arm 3, and the components inside the upper arm 2 and the lower arm 3 can be protected, such as a driving device ( As described below), etc. are not destroyed, and the cost of the robot 1 of the present case is relatively cheap.
於上述實施例中,與上手臂2之第一端部相對之上手臂2之一第二端部可與機器人1之一身體(未圖示)組接,而與下手臂3之第一端部相對之下手臂3之一第二端部則可與一手掌部5連接。此外,上手臂2及下手臂3各自由一上殼體及一下殼體組合而成。 In the above embodiment, the second end of the arm 2 opposite the first end of the upper arm 2 can be assembled with one body (not shown) of the robot 1 and the first end of the lower arm 3 The second end of one of the arms 3 is connected to the palm 5 of the hand. In addition, the upper arm 2 and the lower arm 3 are each composed of an upper casing and a lower casing.
請參閱第3圖及第4圖,並配合第2圖,其中第3圖係為第2圖所示之由A方向視角之磁性元件及部分下手臂的結構示意圖,第4圖係為第2圖所示之由B方向視角之金屬構件及部分上手部之結構示意圖。如第2-4圖所示,於一些實施例中,下手臂3更具有複數定位肋條32,係設置於下手臂3之第一端部內且與磁性元件41相鄰,且複數個定位肋條32係相對凸起於磁性元件41,換言之,即複數個定位肋條32係相對高於磁性元件41而較鄰近於下手臂3之外部(如第5圖所示),此外,複數個定位肋條32之間更定義出一定位槽 33,定位槽33係與金屬構件40相對位置設置,且定位槽33之大小係與金屬構件40之大小相對應,定位槽33係用以容置並定位金屬構件40,當下手臂3欲組裝上手臂2時,金屬構件40係先容置於定位槽33內而與複數個定位肋條32相抵頂,接續與磁性元件41相吸附組接,而藉由複數個定位肋條32之設置,不但可引導及定位下手臂3組接於上手臂2上,且可加強下手臂3與上手臂2之間的組接關係,以避免下手臂3組接於上手臂2時有晃動的情形發生。 Please refer to Fig. 3 and Fig. 4, together with Fig. 2, wherein Fig. 3 is a structural diagram of the magnetic element and part of the lower arm from the A direction of view shown in Fig. 2, and Fig. 4 is the second figure. The structure of the metal member and part of the upper hand viewed from the B direction is shown in the figure. As shown in FIGS. 2-4, in some embodiments, the lower arm 3 further has a plurality of positioning ribs 32 disposed in the first end of the lower arm 3 and adjacent to the magnetic member 41, and a plurality of positioning ribs 32. Relatively protruding from the magnetic element 41, in other words, the plurality of positioning ribs 32 are relatively higher than the magnetic element 41 and adjacent to the outside of the lower arm 3 (as shown in FIG. 5), and in addition, a plurality of positioning ribs 32 Defining a positioning slot 33, the positioning groove 33 is disposed opposite to the metal member 40, and the positioning groove 33 is sized to correspond to the size of the metal member 40. The positioning groove 33 is for accommodating and positioning the metal member 40, and the lower arm 3 is to be assembled. In the case of the arm 2, the metal member 40 is firstly placed in the positioning groove 33 and abuts against the plurality of positioning ribs 32, and is then adsorbed and assembled with the magnetic member 41. However, by the arrangement of the plurality of positioning ribs 32, not only can be guided And positioning the lower arm 3 group is connected to the upper arm 2, and can strengthen the grouping relationship between the lower arm 3 and the upper arm 2, so as to avoid the situation that the lower arm 3 group is swayed when the upper arm 2 is connected.
於上述實施例中,金屬構件40之形狀可為上下對稱及左右對稱,如此一來,因複數個定位肋條32間所定義之定位槽33的大小係與金屬構件40的大小相對應,故金屬構件40可以上下變化方向的方式容置於定位槽33內,藉此下手臂3便可如第1圖所示,以手掌部5係朝上的方向組接於上手臂2,亦可如第6圖所示,以手掌部5係朝下的方向組接於上手臂2。當然,金屬構件40之形狀亦可非為上下對稱或左右對稱,如此一來,由於金屬構件40僅能以特定方向容置於定位槽33內,故可於下手臂3組裝於上手臂2時提供防呆的功能。 In the above embodiment, the shape of the metal member 40 may be vertically symmetrical and bilaterally symmetric. Therefore, since the size of the positioning groove 33 defined between the plurality of positioning ribs 32 corresponds to the size of the metal member 40, the metal The member 40 can be accommodated in the positioning groove 33 so as to be vertically up and down, whereby the lower arm 3 can be assembled to the upper arm 2 in the direction in which the palm portion 5 is upward as shown in FIG. 1 . As shown in Fig. 6, the upper arm 2 is assembled in a direction in which the palm portion 5 is directed downward. Of course, the shape of the metal member 40 may not be vertically symmetrical or bilaterally symmetrical. Therefore, since the metal member 40 can only be accommodated in the positioning groove 33 in a specific direction, the lower arm 3 can be assembled to the upper arm 2 when assembled. Provides a foolproof feature.
請再參閱第2圖,下手臂3更可具有一固定部,係與磁性元件41相對應位置設置,其係用以固定磁性元件41於下手臂3內,更甚者,於一些實施例,固定部可為但不限於由複數個固定板件34所構成,複數個固定板件34係交錯設置於下手臂3內,並定義出與磁性元件41之位置及大小皆對應之一容置空間35,使磁性元件41可容置於該容置空間35內,同時藉由與複數個固定板件34相抵頂而固定於下手臂3內。 Referring to FIG. 2 again, the lower arm 3 may further have a fixing portion disposed corresponding to the magnetic member 41 for fixing the magnetic member 41 in the lower arm 3. Further, in some embodiments, The fixing portion may be composed of a plurality of fixing plates 34, and a plurality of fixing plates 34 are staggered in the lower arm 3, and define a receiving space corresponding to the position and size of the magnetic member 41. 35, the magnetic element 41 can be accommodated in the accommodating space 35 while being fixed in the lower arm 3 by abutting against the plurality of fixing plates 34.
請再參閱第7及8圖並配合第1及2圖,其中第7圖係為第1圖所示之 機器人於下手臂脫離上手臂時之部分結構示意圖,第8圖係為第7圖所示之上手臂將覆蓋元件拆卸時之側視結構示意圖,如第1、2、7、8圖所示,於一些實施例中,為了使下手臂3可相對於上手臂2而於第一位置,例如下手臂3與上手臂2之間係為垂直(如第9圖所示),及第二位置,例如下手臂3與上手臂2之間為平行(如第1圖所示),之間進行轉動,換言之,即使下手臂3可相對於上手臂2以非同軸方向轉動,上手臂2內更可具有一驅動裝置,驅動裝置係部分與金屬構件40連接,用以帶動金屬構件40轉動,藉此當下手臂2內之磁性元件41吸附組接於金屬構件40上時,磁性元件41便可因應金屬構件40之轉動而轉動,進而帶動下手臂3相對於上手臂2而於第一位置及第二位置之間轉動。 Please refer to Figures 7 and 8 together with Figures 1 and 2, where Figure 7 is shown in Figure 1. A schematic diagram of a part of the structure of the robot when the lower arm is disengaged from the upper arm, and FIG. 8 is a schematic view of the side view of the upper arm when the cover member is removed as shown in FIG. 7, as shown in Figures 1, 2, 7, and 8. In some embodiments, in order to position the lower arm 3 relative to the upper arm 2 in a first position, such as between the lower arm 3 and the upper arm 2 (as shown in Figure 9), and the second position, For example, the lower arm 3 and the upper arm 2 are parallel (as shown in FIG. 1), and rotate between them. In other words, even if the lower arm 3 can rotate in a non-coaxial direction with respect to the upper arm 2, the upper arm 2 can be further The driving device is partially connected to the metal member 40 for driving the metal member 40 to rotate, so that when the magnetic member 41 in the lower arm 2 is adsorbed and assembled on the metal member 40, the magnetic member 41 can be adapted to the metal. The rotation of the member 40 causes the lower arm 3 to rotate relative to the upper arm 2 between the first position and the second position.
於上述實施例中,驅動裝置可包含一驅動器20、一齒輪組21、一軸部22以及一支撐部23。驅動器20係設置於上手臂2內,且可為但不限於由馬達或是電磁閥所構成。齒輪組21同樣設置於上手臂2內,且可為但不限於由複數個傘齒所構成,齒輪組21係藉由驅動器20之驅動而進行轉動。軸部22係可轉動地設置於上手臂2內且與齒輪組21相連接,且軸部22之相對兩端部係分別突出於上手臂2外,此外,軸部22之相對兩端部中至少有一端部為D字軸結構,當齒輪組21轉動時,將帶動軸部22同步轉動。 In the above embodiment, the driving device may include a driver 20, a gear set 21, a shaft portion 22, and a support portion 23. The driver 20 is disposed in the upper arm 2 and may be, but not limited to, a motor or a solenoid valve. The gear set 21 is also disposed within the upper arm 2 and may be, but is not limited to, comprised of a plurality of bevel gears that are rotated by actuation of the driver 20. The shaft portion 22 is rotatably disposed in the upper arm 2 and is coupled to the gear set 21, and the opposite end portions of the shaft portion 22 respectively protrude from the upper arm 2, and further, the opposite ends of the shaft portion 22 are At least one end portion has a D-axis structure, and when the gear set 21 rotates, the shaft portion 22 is driven to rotate synchronously.
支撐部23係設置於上手臂2外,且具有複數個套設部230以及連接於複數個套設部230之間且與複數個套設部230相互垂直之一連接部231,其中複數個套設部230係分別套設於突出於上手臂2外之軸部22之對應端部上而位於上手臂2外,而連接部231則供金屬構件40設置,當軸部22轉動時,複數個套設部230及連接部231係被 軸部22帶動而同步轉動,進而帶動金屬構件40轉動,如此一來,當下手臂2內之磁性元件41吸附組接於金屬構件40上時,下手臂3便可相對於上手臂2而於第一位置及第二位置之間轉動。 The support portion 23 is disposed outside the upper arm 2 and has a plurality of sleeve portions 230 and a connecting portion 231 connected between the plurality of sleeve portions 230 and perpendicular to the plurality of sleeve portions 230, wherein the plurality of sleeves The setting portion 230 is sleeved on the corresponding end portion of the shaft portion 22 protruding from the outer arm 2 and located outside the upper arm 2, and the connecting portion 231 is provided for the metal member 40. When the shaft portion 22 is rotated, the plurality of portions are rotated. The sleeve portion 230 and the connecting portion 231 are The shaft portion 22 is driven to rotate synchronously, thereby driving the metal member 40 to rotate. Thus, when the magnetic member 41 in the lower arm 2 is adsorbed and assembled on the metal member 40, the lower arm 3 can be opposite to the upper arm 2 Rotating between a position and a second position.
又於一些實施例中,如第8圖所示,驅動裝置更具有至少一限位部24,係設置上手臂2外,且環繞於所對應之支撐部23之套設部230的外圍,限位部24係藉由抵頂套設部230之方式來限制金屬構件40之轉動範圍,更甚者,限位部24可為但不限於圓弧形條狀結構,且具有一第一限位槽240,第一限位槽240可容置部分套設部230,當複數個套設部230及連接部231被軸部22帶動而同步轉動時,由於容置於第一限位槽240內之套設部230所能移動的範圍將對應於第一限位槽240之開口大小,因此藉由設計限位部24之第一限位槽240的開口大小,便可限制由複數個套設部230及連接部231所帶動之金屬構件40的轉動的範圍,進而限制下手臂3相對於上手臂2所能轉動之範圍。於上述實施例中,第一限位槽240之弧角為90度,藉此使下手臂3可相對於上手臂2而於第9圖所示之第一位置及第1圖所示之第二位置之間轉動。 In some embodiments, as shown in FIG. 8 , the driving device further has at least one limiting portion 24 disposed outside the upper arm 2 and surrounding the periphery of the sleeve portion 230 of the corresponding supporting portion 23 . The position portion 24 limits the rotation range of the metal member 40 by means of the abutting sleeve portion 230. Further, the limiting portion 24 can be, but not limited to, a circular arc-shaped strip structure and has a first limit position. The slot 240, the first limiting slot 240 can accommodate the partial sleeve portion 230. When the plurality of sleeve portions 230 and the connecting portion 231 are synchronously rotated by the shaft portion 22, they are received in the first limiting slot 240. The range that can be moved by the sleeve 230 corresponds to the opening size of the first limiting slot 240. Therefore, by designing the opening size of the first limiting slot 240 of the limiting portion 24, the plurality of sleeves can be limited. The range of rotation of the metal member 40 driven by the portion 230 and the connecting portion 231 further limits the range in which the lower arm 3 can rotate relative to the upper arm 2. In the above embodiment, the arc angle of the first limiting slot 240 is 90 degrees, whereby the lower arm 3 can be opposite to the upper arm 2 in the first position shown in FIG. 9 and the first one shown in FIG. Rotate between the two positions.
此外,如第2及7圖所示,上手臂2更具有至少一覆蓋部25,係套設於突出上手臂2外之軸部22之對應的端部上,且可於軸部22轉動時,由軸部22帶動而同步轉動,覆蓋部25係用以覆蓋支撐部23之套設部230及限位部24。更甚者,於一些實施例中,覆蓋部25更可具有一第二限位槽250,用以容置部分套設部230,當複數個套設部230及連接部231被軸部22帶動而同步轉動時,由於容置於第二限位槽250內之套設部230所能移動的範圍將對應於第二限位槽250之開口大小,因此藉由設計覆蓋部25之第二限位槽250的開 口大小,便可加強限制下手臂3相對於上手臂2所能轉動之範圍。 In addition, as shown in FIGS. 2 and 7, the upper arm 2 further has at least one covering portion 25 which is sleeved on the corresponding end portion of the shaft portion 22 which protrudes from the upper arm 2, and is rotatable when the shaft portion 22 is rotated. The shaft portion 22 is driven to rotate synchronously, and the covering portion 25 is configured to cover the sleeve portion 230 and the limiting portion 24 of the support portion 23. Moreover, in some embodiments, the cover portion 25 further has a second limiting slot 250 for receiving the partial sleeve portion 230. When the plurality of sleeve portions 230 and the connecting portion 231 are driven by the shaft portion 22 When the synchronous rotation is performed, the range that can be moved by the sleeve 230 accommodated in the second limiting slot 250 corresponds to the opening size of the second limiting slot 250, so the second limit of the covering portion 25 is designed. Opening of the bit slot 250 The size of the mouth can be used to limit the range in which the lower arm 3 can be rotated relative to the upper arm 2.
綜合上述,本案之具有組接結構之機器人由於組接結構之金屬構件係設置於第一組件,而組接結構之磁性元件則設置於第二組件,藉此可利用金屬構件以及磁性元間的磁力吸附,使第二組件可脫離地組接於第一組件上,因此第二組件不但可簡單地組接於第一組件上或是由第一組件脫離,且方便地更換第二組件及收納機器人,更甚者,當第二組件組接於第一組件,且第二組件受到不當施力或是承載重量時,利用不當施力或承載重量超過磁性元件與金屬構件之間的磁力時會使磁性元件脫離金屬構件,使得第二組件可自動地脫離第一組件,如此一來,可保護第一組件、第二組件以及第一組件與第二組件內之元件,例如驅動裝置等不被破壞,同時,本案之機器人因無須額外設置設計困難且成本較高之緩衝裝置來保護第一組件、第二組件及第一組件與第二組件內之元件,因此本案之機器人的成本亦相對便宜。 In summary, the robot having the assembled structure of the present invention has the metal component of the assembled structure disposed on the first component, and the magnetic component of the assembled structure is disposed on the second component, thereby utilizing the metal component and the magnetic component The magnetic attraction enables the second component to be detachably assembled to the first component, so that the second component can be simply assembled or detached from the first component, and the second component can be easily replaced and stored. The robot, and more preferably, when the second component is connected to the first component and the second component is subjected to improper force or load weight, the improper force or load bearing weight exceeds the magnetic force between the magnetic component and the metal component Separating the magnetic element from the metal member such that the second component can be automatically disengaged from the first component, such that the first component, the second component, and components within the first component and the second component, such as a drive device, are protected from being Destruction, at the same time, the robot of the present case protects the first component, the second component, and the first component and the second group without additionally having a buffering device that is difficult to design and costly. Within the element, and therefore the cost of the robot in this case is also relatively inexpensive.
縱使本發明已由上述之實施例詳細敘述而可由熟悉本技藝之人士任施匠思而為諸般修飾,然皆不脫如附申請專利範圍所欲保護者。 The present invention has been described in detail by the above-described embodiments, and may be modified by those skilled in the art, without departing from the scope of the appended claims.
2‧‧‧上手臂 2‧‧‧Upper arm
20‧‧‧驅動器 20‧‧‧ drive
21‧‧‧齒輪組 21‧‧‧ Gear Set
22‧‧‧軸部 22‧‧‧Axis
25‧‧‧覆蓋部 25‧‧‧ Coverage
3‧‧‧下手臂 3‧‧‧ Lower arm
34‧‧‧固定板件 34‧‧‧Fixed plates
35‧‧‧容置空間 35‧‧‧ accommodating space
4‧‧‧組接結構 4‧‧‧Connection structure
40‧‧‧金屬構件 40‧‧‧Metal components
41‧‧‧磁性元件 41‧‧‧Magnetic components
5‧‧‧手掌部 5‧‧‧Hand palm
A、B‧‧‧方向 A, B‧‧ direction
Claims (15)
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TW102103366A TWI498202B (en) | 2013-01-29 | 2013-01-29 | Robot with connection member |
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TW102103366A TWI498202B (en) | 2013-01-29 | 2013-01-29 | Robot with connection member |
Publications (2)
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TW201429651A TW201429651A (en) | 2014-08-01 |
TWI498202B true TWI498202B (en) | 2015-09-01 |
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Citations (4)
Publication number | Priority date | Publication date | Assignee | Title |
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TW466389B (en) * | 1999-10-29 | 2001-12-01 | Sony Corp | Charging system for moving robot, method of searching for charging station, moving robot, connector and electric connection structure |
TW200602169A (en) * | 2004-04-08 | 2006-01-16 | Fabworx Solutions Inc | Split assembly robotic arm |
CN101443162A (en) * | 2006-02-03 | 2009-05-27 | 欧洲原子能共同体由欧洲委员会代表 | Robotic surgical system for performing minimally invasive medical procedures |
TW201215485A (en) * | 2010-10-01 | 2012-04-16 | Ind Tech Res Inst | Device of rapid response joint and control mothed of this joint |
-
2013
- 2013-01-29 TW TW102103366A patent/TWI498202B/en not_active IP Right Cessation
Patent Citations (4)
Publication number | Priority date | Publication date | Assignee | Title |
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TW466389B (en) * | 1999-10-29 | 2001-12-01 | Sony Corp | Charging system for moving robot, method of searching for charging station, moving robot, connector and electric connection structure |
TW200602169A (en) * | 2004-04-08 | 2006-01-16 | Fabworx Solutions Inc | Split assembly robotic arm |
CN101443162A (en) * | 2006-02-03 | 2009-05-27 | 欧洲原子能共同体由欧洲委员会代表 | Robotic surgical system for performing minimally invasive medical procedures |
TW201215485A (en) * | 2010-10-01 | 2012-04-16 | Ind Tech Res Inst | Device of rapid response joint and control mothed of this joint |
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