TWI558524B - Articulated robot having adjustable-length arm - Google Patents
Articulated robot having adjustable-length arm Download PDFInfo
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- TWI558524B TWI558524B TW103140528A TW103140528A TWI558524B TW I558524 B TWI558524 B TW I558524B TW 103140528 A TW103140528 A TW 103140528A TW 103140528 A TW103140528 A TW 103140528A TW I558524 B TWI558524 B TW I558524B
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Description
本提案是關於一種機械手臂，特別是關於一種可調整長度之機械手臂。 This proposal is about a robotic arm, especially about a robotic arm that can be adjusted in length.
隨著科技的演進，自動化機械作業逐漸取代人工作業，以使產品製造朝向全自動製造和組裝的方向演進，進而避免人員遭受到職業傷害，更有可能提升產品的品質一致性。近年來，業者開發出一種選擇性順從裝配機器人(Selective Compliance Assembly Robot Arm，簡稱SCARA)，這種機器人包含三機械手臂，並具備三個旋轉軸與一個線性軸，並繞著其一旋轉軸進行圓周運動，換句話說，這種機器人可分類為圓柱座標型機器人。詳細來說，二個旋轉軸可定義一XY平面運動，進而決定腕部關節位置，而一個旋轉軸與一個線性軸(Z軸)則成為一腕部關節，用於完成工件在垂直此平面中的運動，包括工件的原地旋轉與上下運動(Z軸)。這種機器人可用於裝配工作，如將一個銷***一圓孔，故應用於裝配印刷電路版和電子零部件。此外，此種機器人另一特點為二手臂為串聯的桿件結構，類似人的手臂，可伸進有限的空間中進行作業並可收回，所以又適合用於工件的搬運與取 放物件。 With the evolution of technology, automated mechanical operations have gradually replaced manual operations, so that product manufacturing is evolving toward fully automated manufacturing and assembly, thereby avoiding occupational injuries and more likely to improve product quality consistency. In recent years, the industry has developed a Selective Compliance Assembly Robot Arm (SCARA), which consists of three robotic arms with three axes of rotation and one linear axis, and is rotated around one of the axes of rotation. Circular motion, in other words, such robots can be classified as cylindrical coordinate robots. In detail, the two rotation axes define an XY plane motion, which in turn determines the wrist joint position, and a rotation axis and a linear axis (Z axis) become a wrist joint for completing the workpiece in the vertical plane. The motion includes the in-situ rotation of the workpiece and the up and down motion (Z-axis). This type of robot can be used for assembly work, such as inserting a pin into a circular hole, so it is used to assemble printed circuit boards and electronic components. In addition, another feature of the robot is that the two arms are connected in series, which is similar to a human arm and can be extended into a limited space for work and retraction, so it is suitable for handling and taking workpieces. Put objects.
在搬運與取放工件的過程中，常因為工件之位置與重量之不同，會發生機械手臂行程不足或是負載不夠之情形。然而，因為SCARA機械手臂的結構長度係為固定，而無法調整。故當有不同的行程或負載需求時，需要更換不同規格之機械手臂。一般機械手臂是固定式的，因此在更換機械手臂時，需要耗費大量的時間和成本進行更換，同時也需要購置多個機械手臂，以因應不同需求，這樣多個的機械手臂，大幅增加了設備成本。 In the process of handling and picking up the workpiece, often due to the difference in position and weight of the workpiece, there may be a shortage of the arm stroke or insufficient load. However, because the structural length of the SCARA robotic arm is fixed, it cannot be adjusted. Therefore, when there are different strokes or load requirements, it is necessary to replace the robot arm of different specifications. Generally, the mechanical arm is fixed, so it takes a lot of time and cost to replace when the robot arm is replaced. At the same time, it is necessary to purchase a plurality of robot arms, so that a plurality of robot arms can greatly increase the equipment according to different needs. cost.
更進一步來說，當SCARA機械手臂的行程愈長時，一般業者會將其配置的馬達動力元件瓦特數與減速機呈倍數增加，以可增加行程並提取更重之物件。然而，使用馬力更大的馬達動力元件以及減速機時，其設備成本會大幅提高。然而，當需要增加行程並且可減輕負載時，仍然需要購置另一加長的機械手臂，如此亦增加了設備成本。 Furthermore, when the SCARA robot arm has a longer stroke, the average operator will increase the number of wattages of the motor power components and the speed reducer to increase the stroke and extract heavier objects. However, when using more powerful motor power components and reducers, the cost of equipment will increase significantly. However, when it is necessary to increase the stroke and reduce the load, it is still necessary to purchase another extended robotic arm, which also increases the equipment cost.
因此，目前需要一種機械手臂機器人，以解決當需要改變行程或負載時，而需要更換新的機械手臂的問題。 Therefore, there is a need for a robotic arm robot to solve the problem of needing to replace a new robotic arm when it is necessary to change the stroke or load.
鑒於以上的問題，本提案揭露一種可調整長度之機械手臂，其以可拆卸式的方式將一機械手臂設置於另一機械手臂上，藉以解決當需要更改行程或負載時，而需要更換機械手臂的問題。 In view of the above problems, the present invention discloses an adjustable length robot arm that detachably mounts a mechanical arm on another robot arm, thereby solving the need to replace the robot arm when it is necessary to change the stroke or load. The problem.
本提案的一實施例揭露一種可調整長度之機械手 臂，其包含一基座、一第一臂、一行程調整座以及一第二臂。第一臂以一第一軸線為旋轉軸而樞設於基座。行程調整座以可調整至第一軸線之距離的方式設於第一臂。第二臂以一第二軸線旋轉軸而樞設於行程調整座。 An embodiment of the present disclosure discloses an adjustable length robot The arm includes a base, a first arm, a stroke adjustment seat and a second arm. The first arm is pivotally mounted to the base with a first axis as a rotation axis. The stroke adjustment seat is provided to the first arm in such a manner as to be adjustable to the distance of the first axis. The second arm is pivoted to the stroke adjustment seat by a second axis of rotation.
本提案的另一實施例揭露一種可調整長度之機械手臂，其包含一基座、一第一臂、一第二臂、一行程調整座以及一第三臂。第一臂以一第一軸線為旋轉軸而樞設於基座。第二臂以一第二軸線旋轉軸而樞設於第一臂。行程調整座以可調整至第二軸線之距離的方式設於第二臂。第三臂以一第三軸線旋轉軸而樞設於行程調整座。 Another embodiment of the present disclosure discloses an adjustable length robot arm including a base, a first arm, a second arm, a stroke adjustment seat, and a third arm. The first arm is pivotally mounted to the base with a first axis as a rotation axis. The second arm is pivoted to the first arm by a second axis of rotation. The stroke adjustment seat is provided to the second arm in such a manner as to be adjustable to the distance of the second axis. The third arm is pivoted to the stroke adjustment seat by a third axis of rotation.
綜合上述，根據本提案實施例所揭露的可調整長度之機械手臂，藉由行程調整座以可調整至第一軸線之距離的方式設於第一臂，以改變第二臂設置於第一臂的位置，進而調整可調整長度之機械手臂的整體行程。當行程減少時，其負載越小；當行程增加時，其負載越大。如此，可不用更換其他的機器手臂，即可調整負載以及行程，大幅降低了設備成本以及組裝更換時間。 In summary, the adjustable length robot arm according to the embodiment of the present invention is disposed on the first arm by adjusting the distance to the first axis by the stroke adjusting seat to change the second arm to be disposed on the first arm. The position of the robot, which in turn adjusts the overall stroke of the adjustable length. When the stroke is reduced, the load is smaller; when the stroke is increased, the load is increased. In this way, the load and stroke can be adjusted without replacing other robot arms, which greatly reduces equipment costs and assembly replacement time.
以上之關於本提案內容之說明及以下之實施方式之說明係用以示範與解釋本提案之原理，並且提供本提案之專利申請範圍更進一步之解釋。 The above description of the contents of this proposal and the following description of the implementation of the proposal are used to demonstrate and explain the principles of this proposal, and provide a further explanation of the scope of the patent application of this proposal.
1000、2000、3000‧‧‧可調整長度之機械手臂 1000, 2000, 3000‧‧‧ adjustable length robot
1‧‧‧基座 1‧‧‧Base
2‧‧‧第一臂 2‧‧‧First arm
21‧‧‧第一機台 21‧‧‧First machine
22‧‧‧固定板 22‧‧‧ Fixed plate
221a‧‧‧第一固定槽 221a‧‧‧first fixed slot
221b‧‧‧第二固定槽 221b‧‧‧Second fixing slot
221c‧‧‧第三固定槽 221c‧‧‧ third fixed slot
221d‧‧‧第四固定槽 221d‧‧‧4th fixing slot
221e‧‧‧第五固定槽 221e‧‧‧Fixed fixing slot
221f‧‧‧第六固定槽 221f‧‧‧ sixth fixed slot
221g‧‧‧第七固定槽 221g‧‧‧ seventh fixed slot
221h‧‧‧第八固定槽 221h‧‧‧eight fixed slot
221i‧‧‧第九固定槽 221i‧‧‧ ninth fixing slot
221j‧‧‧第十固定槽 221j‧‧‧10th fixing slot
221k‧‧‧第十一固定槽 221k‧‧‧11th fixed slot
221l‧‧‧第十二固定槽 221l‧‧ twelfth fixed slot
222a‧‧‧第一定位穿槽 222a‧‧‧First positioning through slot
222b‧‧‧第二定位穿槽 222b‧‧‧Second positioning slot
222c‧‧‧第三定位穿槽 222c‧‧‧The third positioning slot
222d‧‧‧第四定位穿槽 222d‧‧‧fourth positioning slot
222e‧‧‧第五定位穿槽 222e‧‧‧Fifth positioning slot
222f‧‧‧第六定位穿槽 222f‧‧‧ sixth positioning slot
222g‧‧‧第七定位穿槽 222g‧‧‧ seventh positioning slot
222h‧‧‧第八定位穿槽 222h‧‧‧eight positioning slot
23‧‧‧滑軌 23‧‧‧Slide rails
24‧‧‧動力元件 24‧‧‧Power components
25‧‧‧環狀孔 25‧‧‧Ring hole
3‧‧‧行程調整座 3‧‧‧Travel adjustment seat
31‧‧‧座體 31‧‧‧
32‧‧‧樞接台 32‧‧‧ pivoting station
33‧‧‧線性移動模組 33‧‧‧Linear Mobile Module
33a‧‧‧第一固定孔 33a‧‧‧First fixing hole
33b‧‧‧第二固定孔 33b‧‧‧Second fixing hole
33c‧‧‧第三固定孔 33c‧‧‧ third fixed hole
33d‧‧‧第四固定孔 33d‧‧‧4th fixing hole
34a‧‧‧第一固定孔 34a‧‧‧First fixing hole
34b‧‧‧第二固定孔 34b‧‧‧Second fixing hole
34c‧‧‧第三固定孔 34c‧‧‧ third fixed hole
34d‧‧‧第四固定孔 34d‧‧‧4th fixing hole
34e‧‧‧第五固定孔 34e‧‧‧Fix fixing hole
34f‧‧‧第六固定孔 34f‧‧‧ sixth fixed hole
35a、35b、35c、35d、35e、35f‧‧‧定位穿孔 35a, 35b, 35c, 35d, 35e, 35f‧‧ ‧ positioning perforation
36‧‧‧第一動力元件定位孔 36‧‧‧First power component positioning hole
37a‧‧‧第一定位穿孔 37a‧‧‧First positioning perforation
37b‧‧‧第二定位穿孔 37b‧‧‧Second positioning perforation
38a‧‧‧第一輔助固定孔 38a‧‧‧First auxiliary fixing hole
38b‧‧‧第二輔助固定孔 38b‧‧‧Second auxiliary fixing hole
4‧‧‧第二臂 4‧‧‧second arm
41‧‧‧第二機台 41‧‧‧Second machine
41a‧‧‧第一固定件 41a‧‧‧First fixture
41b‧‧‧第二固定件 41b‧‧‧Second fixture
41c‧‧‧第三固定件 41c‧‧‧ third fixture
41d‧‧‧第四固定件 41d‧‧‧Fourth fixture
42‧‧‧移動桿件 42‧‧‧Mobile rods
42a‧‧‧第一定位件 42a‧‧‧First positioning piece
42b‧‧‧第二定位件 42b‧‧‧Second positioning piece
43‧‧‧動力元件 43‧‧‧Power components
43a‧‧‧第一固定槽 43a‧‧‧First fixed slot
43b‧‧‧第二固定槽 43b‧‧‧Second fixing slot
43c‧‧‧第三固定槽 43c‧‧‧3rd fixing slot
43d‧‧‧第四固定槽 43d‧‧‧4th fixing slot
43e‧‧‧第五固定槽 43e‧‧‧Fixed fixing slot
43f‧‧‧第六固定槽 43f‧‧‧ sixth fixed slot
44a、44b‧‧‧第一定位槽 44a, 44b‧‧‧ first positioning slot
44c、44d‧‧‧第二定位槽 44c, 44d‧‧‧second positioning slot
44e、44f‧‧‧第三定位槽 44e, 44f‧‧‧ third positioning slot
45‧‧‧定位件 45‧‧‧ Positioning parts
46‧‧‧動力元件固定件 46‧‧‧Power component fixings
47a‧‧‧第一輔助固定槽 47a‧‧‧First auxiliary fixing groove
47b‧‧‧第二輔助固定槽 47b‧‧‧Second auxiliary fixing groove
5‧‧‧第三臂 5‧‧‧ third arm
6‧‧‧第四臂 6‧‧‧fourth arm
7‧‧‧第五臂 7‧‧‧ fifth arm
8‧‧‧第六臂 8‧‧‧ sixth arm
9‧‧‧連接管 9‧‧‧Connecting tube
A1‧‧‧第一軸線 A1‧‧‧first axis
A2‧‧‧第二軸線 A2‧‧‧second axis
A3‧‧‧第三軸線 A3‧‧‧ third axis
A4‧‧‧第四軸線 A4‧‧‧fourth axis
A5‧‧‧第五軸線 A5‧‧‧ fifth axis
A6‧‧‧第六軸線 A6‧‧‧ sixth axis
B1‧‧‧軸向 B1‧‧‧ axial
C1‧‧‧第一線段 C1‧‧‧ first line
C2‧‧‧第二線段 C2‧‧‧second line
C3‧‧‧第三線段 C3‧‧‧ third line
C4‧‧‧第四線段 C4‧‧‧ fourth line
C5‧‧‧第五線段 C5‧‧‧ fifth line
D1、D2、D3、D4‧‧‧總旋轉半徑 D1, D2, D3, D4‧‧‧ total radius of rotation
F1、F2‧‧‧直線 F1, F2‧‧‧ Straight line
G1‧‧‧第一長度 G1‧‧‧ first length
G2‧‧‧第二長度 G2‧‧‧ second length
G3‧‧‧第三長度 G3‧‧‧ third length
H1、H2、H3‧‧‧第二臂的旋轉半徑 H1, H2, H3‧‧‧ radius of rotation of the second arm
L1‧‧‧第二旋轉半徑 L1‧‧‧second radius of rotation
L2、L3、L4、L5‧‧‧第一旋轉半徑 L2, L3, L4, L5‧‧‧ first radius of rotation
m1、m2‧‧‧連線 M1, m2‧‧‧ connection
第1圖係為根據本提案一實施例的一可調整長度之機械手臂 的立體示意圖。 Figure 1 is an adjustable length robot according to an embodiment of the present proposal. A three-dimensional diagram.
第2圖係為根據本提案一實施例的一可調整長度之機械手臂的分解示意圖。 2 is an exploded perspective view of an adjustable length robot arm according to an embodiment of the present proposal.
第3圖係為根據本提案一實施例的一第一臂的上視示意圖。 Figure 3 is a top plan view of a first arm in accordance with an embodiment of the present proposal.
第4圖係為根據本提案一實施例的一行程調整座的立體示意圖。 Figure 4 is a perspective view of a stroke adjustment seat according to an embodiment of the present proposal.
第5圖係為根據本提案一實施例的行程調整座的上視示意圖。 Figure 5 is a top plan view of a stroke adjustment seat according to an embodiment of the present proposal.
第6圖係為根據本提案一實施例的可調整長度之機械手臂的第一作動上視示意圖。 Figure 6 is a top plan view showing the first operation of the adjustable length robot arm according to an embodiment of the present proposal.
第7圖係為根據本提案一實施例的可調整長度之機械手臂的第二作動上視示意圖。 Figure 7 is a top plan view showing the second operation of the adjustable length robot arm according to an embodiment of the present proposal.
第8圖係為根據本提案一實施例的可調整長度之機械手臂的第三作動上視示意圖。 Figure 8 is a top plan view showing the third operation of the adjustable length robot arm according to an embodiment of the present proposal.
第9圖係為根據本提案一實施例的可調整長度之機械手臂的第四作動上視示意圖。 Figure 9 is a top plan view showing the fourth operation of the adjustable length robot arm according to an embodiment of the present proposal.
第10圖係為根據本提案另一實施例的一可調整長度之機械手臂的立體示意圖。 Figure 10 is a perspective view of an adjustable length robot arm according to another embodiment of the present proposal.
第11圖係為根據本提案另一實施例的可調整長度之機械手臂的作動示意圖。 Figure 11 is a schematic view showing the operation of an adjustable length robot arm according to another embodiment of the present proposal.
第12圖係為根據本提案又一實施例的一可調整長度之機械手臂的立體示意圖。 Figure 12 is a perspective view of an adjustable length robot arm according to still another embodiment of the present proposal.
第13圖係為根據本提案又一實施例的一第二臂以及一行程調 整座的局部放大示意圖。 Figure 13 is a second arm and a stroke adjustment according to still another embodiment of the present proposal. A partial enlarged view of the whole seat.
第14圖係為根據本提案又一實施例的一第二臂以及一行程調整座的局部分解示意圖。 Figure 14 is a partially exploded perspective view of a second arm and a stroke adjustment seat according to still another embodiment of the present proposal.
第15圖係為根據本提案又一實施例的一可調整長度之機械手臂的第一作動示意圖。 Figure 15 is a first actuation diagram of an adjustable length robot arm in accordance with yet another embodiment of the present disclosure.
第16圖係為根據本提案又一實施例的一可調整長度之機械手臂的第二作動示意圖。 Figure 16 is a schematic view showing the second operation of an adjustable length robot according to still another embodiment of the present proposal.
以下在實施方式中詳細敘述本提案之詳細特徵以及優點，其內容足以使任何熟習相關技藝者了解本提案之技術內容並據以實施，且根據本說明書所揭露之內容、申請專利範圍及圖式，任何熟習相關技藝者可輕易地理解本提案相關之目的及優點。以下之實施例係進一步詳細說明本提案之觀點，但非以任何觀點限制本提案之範疇。 The detailed features and advantages of the present invention are described in detail below in the embodiments, which are sufficient to enable any skilled artisan to understand the technical contents of the present invention and to implement the present invention, and to disclose the contents, the scope of the patent, and the drawings according to the present specification. Anyone familiar with the relevant art can easily understand the purpose and advantages of this proposal. The following examples further illustrate the views of this proposal in detail, but do not limit the scope of this proposal by any point of view.
本提案提供一種可調整長度之機械手臂1000，用以提取並放置一工件，或用以對一物件進行加工。 The proposal provides an adjustable length robotic arm 1000 for extracting and placing a workpiece or for processing an object.
請參照『第1圖』以及『第2圖』，其中『第1圖』係為根據本提案一實施例的可調整長度之機械手臂1000的立體示意圖，『第2圖』係為根據本提案一實施例的可調整長度之機械手臂1000的分解示意圖。 Please refer to FIG. 1 and FIG. 2 , wherein FIG. 1 is a perspective view of an adjustable length robot arm 1000 according to an embodiment of the present proposal, and FIG. 2 is based on this proposal. An exploded schematic view of an adjustable length robotic arm 1000 of an embodiment.
本提案掲露一種可調整長度之機械手臂1000，其包含一基座1、一第一臂2、一行程調整座3以及一第二臂4。第一 臂2以一第一軸線A1為旋轉軸而樞設於基座1。行程調整座3以可調整至第一軸線A1之距離的方式設於第一臂2。第二臂4以一第二軸線A2旋轉軸而樞設於行程調整座3。在本實施例中，可調整長度之機械手臂1000更包含一連接管9，其兩端分別連接基座1以及第二臂4。連接管9內可容置電連接線(未繪示)，用以傳輸電力以及訊號予第二臂4。換句話說，此實施例之可調整長度之機械手臂1000係為雙臂(雙關節)機器人。 The present invention discloses an adjustable length robotic arm 1000 comprising a base 1, a first arm 2, a stroke adjustment seat 3 and a second arm 4. the first The arm 2 is pivotally mounted to the base 1 with a first axis A1 as a rotation axis. The stroke adjustment base 3 is provided to the first arm 2 so as to be adjustable to the distance of the first axis A1. The second arm 4 is pivotally mounted to the stroke adjustment seat 3 by a rotation axis of a second axis A2. In this embodiment, the adjustable length robot arm 1000 further includes a connecting tube 9 connected to the base 1 and the second arm 4 at two ends. An electrical connection line (not shown) can be received in the connecting tube 9 for transmitting power and signals to the second arm 4. In other words, the adjustable length robot arm 1000 of this embodiment is a two-arm (double joint) robot.
以下介紹各元件的詳細結構。基座1可具有一第一動力元件(未繪示，例如旋轉馬達搭配加減速機)，可用以帶動第一臂2沿著第一軸線A1樞轉。請參照『第1圖』至『第3圖』，其中『第3圖』係為根據本提案一實施例的一第一臂2的上視示意圖。第一臂2包含第一機台21以及一固定板22，第一機台21具有環狀孔25，第一機台21能藉由環狀孔25與其他固定件連接而樞接於基座1，固定板22固設於第一機台21上。固定板22具有多個固定槽。 The detailed structure of each component is described below. The base 1 can have a first power component (not shown, such as a rotary motor with an accelerometer), which can be used to drive the first arm 2 to pivot along the first axis A1. Please refer to FIG. 1 to FIG. 3, wherein FIG. 3 is a top view of a first arm 2 according to an embodiment of the present proposal. The first arm 2 includes a first machine 21 and a fixing plate 22, and the first machine 21 has an annular hole 25, and the first machine 21 can be pivotally connected to the base by connecting the annular hole 25 with other fixing members. 1. The fixing plate 22 is fixed on the first machine table 21. The fixing plate 22 has a plurality of fixing grooves.
請參照『第2圖』、『第4圖』以及『第5圖』，其中『第4圖』係為根據本提案一實施例的一行程調整座3的立體示意圖，『第5圖』係為根據本提案一實施例的行程調整座3的上視示意圖。行程調整座3具有彼此連接的一座體31以及一樞接台32，第一機台21以可移動的方式設置於第一臂2的固定板22上，以改變行程調整座3相對於第一軸線A1的距離。第二臂4包含一第二機台41、一移動桿件42以及一動力元件43(例如旋轉馬 達)，移動桿件42以及動力元件43分別設置於第二機台41的相對兩端。座體31具有多個第一動力元件定位孔36，多個動力元件固定件46(如『第2圖』所示)可穿設於定位孔36，並固定於動力元件43，以使第二臂4樞設於行程調整座3。如此，第二機台41可沿第二軸線A2而相對於行程調整座3樞轉。此外，移動桿件42可相對於第二機台41沿第三軸線A3旋轉移動並或沿著軸向B1進行直線運動，以對工件進行加工或提取。此加工方式僅為舉例，而非用以限定本發明。在本實施例中，第一軸線A1係實質上平行於第二軸線A2以及第三軸線A3，但非用以限定本提案。 Please refer to FIG. 2, FIG. 4, and FIG. 5, wherein FIG. 4 is a perspective view of a stroke adjustment seat 3 according to an embodiment of the present proposal, and FIG. 5 is a It is a top view of the stroke adjustment seat 3 according to an embodiment of the present proposal. The stroke adjusting seat 3 has a body 31 and a pivoting platform 32 connected to each other, and the first machine 21 is movably disposed on the fixing plate 22 of the first arm 2 to change the stroke adjusting seat 3 relative to the first The distance from the axis A1. The second arm 4 includes a second machine 41, a moving rod 42 and a power element 43 (for example, a rotating horse) The moving rod 42 and the power element 43 are respectively disposed at opposite ends of the second stage 41. The base body 31 has a plurality of first power component positioning holes 36, and a plurality of power component fixing members 46 (shown in FIG. 2) can be disposed through the positioning holes 36 and fixed to the power component 43 for the second The arm 4 is pivotally mounted to the stroke adjustment seat 3. As such, the second table 41 is pivotable relative to the stroke adjustment seat 3 along the second axis A2. Further, the moving rod member 42 is rotatable relative to the second machine table 41 along the third axis A3 and linearly moved along the axial direction B1 to machine or extract the workpiece. This processing method is merely an example and is not intended to limit the invention. In the present embodiment, the first axis A1 is substantially parallel to the second axis A2 and the third axis A3, but is not intended to limit the present proposal.
如此，由於第二臂4樞設於行程調整座3上，且行程調整座3以可移動的方式設置於第一臂2上，故而當行程調整座3改變與第一軸線A1的距離時，可同時改變第二臂4相對於第一軸線A1的距離，進而改變可調整長度之機械手臂1000整體的行程(即旋轉半徑)。 In this way, since the second arm 4 is pivotally disposed on the stroke adjusting seat 3, and the stroke adjusting seat 3 is movably disposed on the first arm 2, when the stroke adjusting seat 3 changes the distance from the first axis A1, The distance of the second arm 4 relative to the first axis A1 can be changed at the same time, thereby changing the overall stroke (ie, the radius of rotation) of the adjustable length of the robot arm 1000.
以下介紹本實施例中調整座如何以可移動的方式設置於第一臂2的固定板22的結構和方式，首先請參照『第3圖』，第一臂2的固定板22具有多個固定槽，例如一第一固定槽221a以及一第二固定槽221b，其中固定板22的第一固定槽221a至第一軸線A1的距離大於第二固定槽221b至第一軸線A1的距離。 The following describes the structure and manner of how the adjusting seat is movably disposed on the fixing plate 22 of the first arm 2 in the embodiment. First, referring to FIG. 3, the fixing plate 22 of the first arm 2 has a plurality of fixings. The slot, for example, a first fixing slot 221a and a second fixing slot 221b, wherein the distance of the first fixing slot 221a of the fixing plate 22 to the first axis A1 is greater than the distance of the second fixing slot 221b to the first axis A1.
請參照『第4圖』，行程調整座3第一機台21具有一第一固定孔33a、一第二固定孔33b、一第三固定孔33c以及一 第四固定孔33d。其中，第一固定孔33a可選擇性地對應於第一固定槽221a或第二固定槽221b，以使行程調整座3相對於第一臂2而具有一第一位置(如『第6圖』所示，其為係為根據本提案一實施例的可調整長度之機械手臂1000的第一作動上視示意圖)和一第二位置(如『第8圖』所示，係為根據本提案一實施例的可調整長度之機械手臂1000的第三作動上視示意圖)。 Referring to FIG. 4, the first stage 21 of the stroke adjustment seat 3 has a first fixing hole 33a, a second fixing hole 33b, a third fixing hole 33c, and a The fourth fixing hole 33d. The first fixing hole 33a can selectively correspond to the first fixing groove 221a or the second fixing groove 221b, so that the stroke adjusting seat 3 has a first position relative to the first arm 2 (such as "figure 6" Shown as a first actuating top view of the adjustable length robot arm 1000 according to an embodiment of the present proposal) and a second position (as shown in FIG. 8), according to the present proposal A third actuating top view of the adjustable length robot arm 1000 of the embodiment).
可調整長度之機械手臂1000更包含一第一固定件41a、第二固定件41b、第三固定件41c、第四固定件41d，第一固定件41a可穿設於第一固定孔33a，第二固定件41b可穿設於第二固定孔33b，第三固定件41c可穿設於第三固定孔33c，第四固定件41d可穿設於第四固定孔33d。以第一固定件41a為例，第一固定件41a穿設於第一固定孔33a後，可固定於第一固定槽221a或第二固定槽221b中，以使行程調整座3可穩固地固定於第一位置或第二位置。更詳細來說，於第一位置時(如『第6圖』所示)，第一臂2具有第一旋轉半徑L2(第一軸線A1至第二軸線A2的距離)，第二臂4具有第二旋轉半徑L1(第二軸線A2至第三軸線A3的距離)，其第一旋轉半徑L2以及第二旋轉半徑L1的加總即為可調整長度之機械手臂1000的總旋轉半徑D1。於第二位置時(如『第8圖』所示)，第一臂2具有第一旋轉半徑L4(第一軸線A1至第二軸線A2的距離)，第二臂4具有第二旋轉半徑L1(第二軸線A2至第三軸線A3的距離)，其第一旋轉半徑L4以及第二旋轉半徑L1的加總即為可調整長度之機械手臂1000的總旋轉半 徑D3。由於第二位置時可調整長度之機械手臂1000的總旋轉半徑D3小於於第一位置時可調整長度之機械手臂1000的總旋轉半徑D1，藉由上述的結構，即可藉由調整行程調整座3於第一臂2的固定板22的位置，而輕易改變可調整長度之機械手臂1000的行程。此外，由於第二位置時的行程較小(總旋轉半徑D3小於總旋轉半徑D1)，當半徑較小時而扭矩不變的情況下，可增加負載，且同時不影響可調整長度之機械手臂1000的整體運作。 The length of the mechanical arm 1000 further includes a first fixing member 41a, a second fixing member 41b, a third fixing member 41c, and a fourth fixing member 41d. The first fixing member 41a can be disposed through the first fixing hole 33a. The second fixing member 41b can be disposed in the second fixing hole 33b, the third fixing member 41d can be disposed in the third fixing hole 33d, and the fourth fixing member 41d can be disposed in the fourth fixing hole 33d. For example, the first fixing member 41a is disposed in the first fixing hole 231a or the second fixing groove 221b, so that the stroke adjusting seat 3 can be stably fixed. In the first position or the second position. More specifically, in the first position (as shown in FIG. 6), the first arm 2 has a first radius of rotation L2 (distance from the first axis A1 to the second axis A2), and the second arm 4 has The second rotation radius L1 (the distance from the second axis A2 to the third axis A3), the sum of the first rotation radius L2 and the second rotation radius L1 is the total rotation radius D1 of the robot 1000 of the adjustable length. In the second position (as shown in FIG. 8), the first arm 2 has a first radius of rotation L4 (distance from the first axis A1 to the second axis A2), and the second arm 4 has a second radius of rotation L1 (the distance from the second axis A2 to the third axis A3), the sum of the first rotation radius L4 and the second rotation radius L1 is the total rotation half of the robot 1000 of the adjustable length Trail D3. Since the total rotation radius D3 of the adjustable length robot arm 1000 in the second position is smaller than the total rotation radius D1 of the adjustable length robot arm 1000 in the first position, by adjusting the stroke adjustment seat by the above structure 3 At the position of the fixed plate 22 of the first arm 2, the stroke of the adjustable length robot arm 1000 is easily changed. In addition, since the stroke in the second position is small (the total rotation radius D3 is smaller than the total rotation radius D1), when the radius is small and the torque is constant, the load can be increased without affecting the adjustable length of the robot arm. The overall operation of the 1000.
請參照『第5圖』以及『第6圖』，在本實施例中，行程調整座3的第一固定孔33a、第二固定孔33b、第三固定孔33c以及第四固定孔33d位於行程調整座3的相對四角落，且第一固定孔33a至第四固定孔33d的連線m1與第二固定孔33b至第三固定孔33c的連線m2相交於第二軸線A2上。請參照『第3圖』，第一臂2的固定板22具有一第三固定槽221c、一第四固定槽221d、一第五固定槽221e以及一第六固定槽221f。在本實施例以及部分實施例中，第三固定槽221c至第一軸線A1的距離大於第四固定槽221d至第一軸線A1的距離，第六固定槽221f至第一軸線A1的距離大於第三固定槽221c至第一軸線A1的距離，第五固定槽221e至第一軸線A1的距離大於第一固定槽221a至第一軸線A1的距離。請參照『第6圖』，於第一位置時，第一固定件41a、第二固定件41b、第三固定件41c以及第四固定件41d分別穿設於第一固定孔33a、第二固定孔33b、第三固定孔33c以及第四固定孔33d，以分別固定於第一固定槽221a、第五固定 槽221e、第三固定槽221c以及第六固定槽221f內。於第二位置時，第一固定件41a、第二固定件41b、第三固定件41c以及第四固定件41d分別穿設於第一固定孔33a、第二固定孔33b、第三固定孔33c以及第四固定孔33d，以固定於第二固定槽221b、第一固定槽221a、第四固定槽221d以及第三固定槽221c內。 Referring to FIG. 5 and FIG. 6 , in the present embodiment, the first fixing hole 33 a , the second fixing hole 33 b , the third fixing hole 33 c , and the fourth fixing hole 33 d of the stroke adjusting seat 3 are located on the stroke. The opposite corners of the seat 3 are adjusted, and the line m1 of the first to fourth fixing holes 33a to 33d and the line m2 of the second to third fixing holes 33b intersect the second axis A2. Referring to FIG. 3, the fixing plate 22 of the first arm 2 has a third fixing groove 221c, a fourth fixing groove 221d, a fifth fixing groove 221e and a sixth fixing groove 221f. In this embodiment and some embodiments, the distance from the third fixing groove 221c to the first axis A1 is greater than the distance from the fourth fixing groove 221d to the first axis A1, and the distance from the sixth fixing groove 221f to the first axis A1 is greater than The distance from the third fixing groove 221c to the first axis A1, the distance from the fifth fixing groove 221e to the first axis A1 is greater than the distance from the first fixing groove 221a to the first axis A1. Referring to FIG. 6 , in the first position, the first fixing member 41 a , the second fixing member 41 b , the third fixing member 41 c and the fourth fixing member 41 d are respectively disposed on the first fixing hole 33 a and the second fixing portion. The hole 33b, the third fixing hole 33c and the fourth fixing hole 33d are respectively fixed to the first fixing groove 221a and the fifth fixing The groove 221e, the third fixing groove 221c, and the sixth fixing groove 221f. The first fixing member 41a, the second fixing member 41b, the third fixing member 41c, and the fourth fixing member 41d are respectively disposed in the first fixing hole 33a, the second fixing hole 33b, and the third fixing hole 33c. And the fourth fixing hole 33d is fixed in the second fixing groove 221b, the first fixing groove 221a, the fourth fixing groove 221d, and the third fixing groove 221c.
如此，由於第一固定孔33a、第二固定孔33b、第三固定孔33c以及第四固定孔33d位於行程調整座3的相對四角落，且第一固定孔33a至第四固定孔33d的連線m1與第二固定孔33b至第三固定孔33c的連線m2相交於第二軸線A2上，可使行程調整座3更穩定地設置於固定板22上，以提升整體的設置以及運作時的穩定性。 Thus, the first fixing hole 33a, the second fixing hole 33b, the third fixing hole 33c, and the fourth fixing hole 33d are located at opposite corners of the stroke adjusting seat 3, and the first fixing hole 33a to the fourth fixing hole 33d are connected. The line m1 and the line m2 of the second fixing hole 33b to the third fixing hole 33c intersect on the second axis A2, so that the stroke adjusting seat 3 can be more stably disposed on the fixing plate 22 to improve the overall setting and operation time. Stability.
然而，上述固定件以及固定孔的數目非用以限定本發明，在其他實施例中，亦可僅具有一第一固定件41a，如此亦可達到本案之行程調整座3固定於固定板22之效果。 However, the number of the fixing members and the fixing holes is not limited to the present invention. In other embodiments, only one first fixing member 41a may be provided, so that the stroke adjusting seat 3 of the present invention is fixed to the fixing plate 22. effect.
在其他實施例中，亦可僅具有第一固定件41a以及第二固定件41b。於第二位置時(如『第8圖』所示)，第一固定孔33a對應於第二固定槽221b，第二固定孔33b對應於第一固定槽221a。如此，第一固定件41a固定於第一固定孔33a對應於第二固定槽221b，且第二固定件41b固定於第二固定孔33b與第一固定槽221a內。相較於只有第一固定件41a，當增加第二固定件41b時(即有二固定件)，可提升行程調整座3固定於第一臂2的穩固性。 In other embodiments, it is also possible to have only the first fixing member 41a and the second fixing member 41b. In the second position (as shown in FIG. 8), the first fixing hole 33a corresponds to the second fixing groove 221b, and the second fixing hole 33b corresponds to the first fixing groove 221a. Thus, the first fixing member 41a is fixed to the first fixing hole 33a corresponding to the second fixing groove 221b, and the second fixing member 41b is fixed in the second fixing hole 33b and the first fixing groove 221a. Compared with only the first fixing member 41a, when the second fixing member 41b is added (that is, there are two fixing members), the stability of the stroke adjusting seat 3 fixed to the first arm 2 can be improved.
此外，由於在第一位置以及第二位置時，第一固定件41a以及第二固定件41b分別可固定於第一固定槽221a內，如此，可重複利用相同的固定槽(第一固定槽221a)於不同位置(第一位置以及第二位置)，可減少固定槽的設置，以簡省成本，並增加定位準度。 In addition, since the first fixing member 41a and the second fixing member 41b are respectively fixable in the first fixing groove 221a in the first position and the second position, the same fixing groove (the first fixing groove 221a) can be reused. In different positions (the first position and the second position), the setting of the fixing groove can be reduced, so that the cost can be saved and the positioning accuracy can be increased.
上述第一固定件41a、第二固定件41b、第三固定件41c以及第四固定件41d可為一螺絲，而第一固定孔33a、第二固定孔33b、第三固定孔33c以及第四固定孔33d可為相對應的螺孔，但上述的舉例非用以限定本提案。 The first fixing member 41a, the second fixing member 41b, the third fixing member 41c, and the fourth fixing member 41d may be a screw, and the first fixing hole 33a, the second fixing hole 33b, the third fixing hole 33c, and the fourth The fixing holes 33d may be corresponding screw holes, but the above examples are not intended to limit the proposal.
請參照『第2圖』、『第5圖』以及『第6圖』，可調整長度之機械手臂1000更包含一第一定位件42a以及一第二定位件42b，行程調整座3具有一第一定位穿孔37a以及一第二定位穿孔37b，第一定位穿孔37a鄰近於第一固定孔33a，第二定位穿孔37b鄰近於第四固定孔33d。固定板22更具有第一定位穿槽222a、第二定位穿槽222b、第三定位穿槽222c以及第四定位穿槽222d，分別鄰近於第一固定槽221a、第六固定槽221f、第二固定槽221b以及第三固定槽221c。如此，於第一位置時，第一定位件42a以及第二定位件42b分別穿設於第一定位穿孔37a以及第二定位穿孔37b，以分別定位於第一定位穿槽222a以及第二定位穿槽222b內。於第二位置時，第一定位件42a以及第二定位件42b分別穿設於第一定位穿孔37a以及第二定位穿孔37b，以分別定位於第三定位穿槽222c以及第四定位穿槽222d內。藉此， 當行程調整座3固定於第一臂2後，藉由第一定位件42a以及第二定位件42b的設置，可提升行程調整座3定位的準確性。此外，本實施例之第一定位穿孔37a以及第二定位穿孔37b係位於第一機台21的對角，僅增加二定位件(第一定位件42a以及第二定位件42b)的設置，即可加強行程調整座3於第二軸線A2的徑向平面方向的穩固性。在本實施例中，第一定位件42a以及第二定位件42b為插銷(Pin)，但非用以限定本提案。 Please refer to FIG. 2, FIG. 5 and FIG. 6 . The adjustable length robot 1000 further includes a first positioning member 42a and a second positioning member 42b. The stroke adjustment seat 3 has a first A positioning through hole 37a and a second positioning through hole 37b are adjacent to the first fixing hole 33a, and the second positioning hole 37b is adjacent to the fourth fixing hole 33d. The fixing plate 22 further has a first positioning through slot 222a, a second positioning through slot 222b, a third positioning through slot 222c and a fourth positioning through slot 222d, respectively adjacent to the first fixing slot 221a, the sixth fixing slot 221f, and the second The fixing groove 221b and the third fixing groove 221c. As such, in the first position, the first positioning member 42a and the second positioning member 42b are respectively disposed on the first positioning through hole 37a and the second positioning through hole 37b to be respectively positioned on the first positioning through groove 222a and the second positioning through hole. Inside the slot 222b. In the second position, the first positioning member 42a and the second positioning member 42b are respectively disposed on the first positioning through hole 37a and the second positioning through hole 37b to be respectively positioned on the third positioning through groove 222c and the fourth positioning through groove 222d. Inside. With this, After the stroke adjusting seat 3 is fixed to the first arm 2, the positioning accuracy of the stroke adjusting seat 3 can be improved by the arrangement of the first positioning member 42a and the second positioning member 42b. In addition, the first positioning through hole 37a and the second positioning through hole 37b of the embodiment are located at opposite corners of the first machine table 21, and only the setting of the two positioning members (the first positioning member 42a and the second positioning member 42b) is increased, that is, The stability of the stroke adjustment seat 3 in the radial plane direction of the second axis A2 can be enhanced. In the present embodiment, the first positioning member 42a and the second positioning member 42b are pins (Pin), but are not intended to limit the proposal.
除上述的行程調整座3可座落於第一位置以及第二位置外，本實施例的行程調整座3更可座落於第一臂2上的其他位置，進而調整可調整長度之機械手臂1000的行程。 In addition to the above-described stroke adjustment seat 3 being seated in the first position and the second position, the stroke adjustment seat 3 of the embodiment can be further positioned at other positions on the first arm 2, thereby adjusting the adjustable length of the robot arm. 1000 trips.
請參照『第3圖』，在本實施例以及其他實施例中，第一臂2的固定板22更具有第七固定槽221g、第八固定槽221h、第九固定槽221i、第十固定槽221j、第十一固定槽221k以及第十二固定槽221l。在本實施例中，第五固定槽221e、第八固定槽221h、第一固定槽221a、第七固定槽221g、第二固定槽221b以及第十一固定槽221k係依序連成一直線F1，第六固定槽221f、第十固定槽221j、第三固定槽221c、第九固定槽221i、第四固定槽221d以及第十二固定槽221l係依序連成一直線F2。此外，直線F1與直線F2在本實施例中係實質上平行。再者，第五固定槽221e至第一軸線A1的距離大於第十一固定槽221k至第一軸線A1的距離，且第六固定槽221f至第一軸線A1的距離大於第九固定槽221i至第一軸線A1的距離。此外，第三固定槽221c以及第 十固定槽221j之間具有第一線段C1，第九固定槽221i以及第三固定槽221c具有第二線段C2，第四固定槽221d以及第九固定槽221i具有第三線段C3，第十二固定槽221l以及第四固定槽221d具有第四線段C4，而第十二固定槽221l以及第一軸線A1沿著直線F1而具有第五線段C5。此外，固定板22更具有第五定位穿槽222e、第六定位穿槽222f、第七定位穿槽222g以及第八定位穿槽222h，分別鄰近於第七固定槽221g、第十固定槽221j、第十一固定槽221k以及第九固定槽221i。 Referring to FIG. 3, in the embodiment and other embodiments, the fixing plate 22 of the first arm 2 further has a seventh fixing groove 221g, an eighth fixing groove 221h, a ninth fixing groove 221i, and a tenth fixing groove. 221j, the eleventh fixing groove 221k and the twelfth fixing groove 221l. In this embodiment, the fifth fixing groove 221e, the eighth fixing groove 221h, the first fixing groove 221a, the seventh fixing groove 221g, the second fixing groove 221b, and the eleventh fixing groove 221k are sequentially connected in a straight line F1. The sixth fixing groove 221f, the tenth fixing groove 221j, the third fixing groove 221c, the ninth fixing groove 221i, the fourth fixing groove 221d, and the twelfth fixing groove 221l are sequentially connected in a straight line F2. Further, the straight line F1 and the straight line F2 are substantially parallel in this embodiment. Furthermore, the distance from the fifth fixing groove 221e to the first axis A1 is greater than the distance from the eleventh fixing groove 221k to the first axis A1, and the distance from the sixth fixing groove 221f to the first axis A1 is greater than the ninth fixing groove 221i to The distance of the first axis A1. In addition, the third fixing groove 221c and the There are a first line segment C1 between the ten fixing slots 221j, the ninth fixing slot 221i and the third fixing slot 221c have a second line segment C2, and the fourth fixing slot 221d and the ninth fixing slot 221i have a third line segment C3, the twelfth The fixing groove 221l and the fourth fixing groove 221d have a fourth line segment C4, and the twelfth fixing groove 221l and the first axis A1 have a fifth line segment C5 along the straight line F1. In addition, the fixing plate 22 further has a fifth positioning through slot 222e, a sixth positioning through slot 222f, a seventh positioning through slot 222g, and an eighth positioning through slot 222h, respectively adjacent to the seventh fixing slot 221g, the tenth fixing slot 221j, The eleventh fixing groove 221k and the ninth fixing groove 221i.
行程調整座3相對於第一臂2而具有一第三位置(如『第7圖』所示，其為係為根據本提案一實施例的可調整長度之機械手臂1000的第二作動上視示意圖)和一第四位置(如『第9圖』所示，係為根據本提案一實施例的可調整長度之機械手臂1000的第四作動上視示意圖)。『第7圖』所示，行程調整座3的第一固定件41a、第二固定件41b、第三固定件41c以及第四固定件41d分別穿設於第一固定孔33a、第二固定孔33b、第三固定孔33c以及第四固定孔33d，以分別固定於第七固定槽221g、第八固定槽221h、第九固定槽221i以及第十固定槽221j內。此時，行程調整座3係覆蓋第一固定槽221a以及第三固定槽221c。再者，第一定位件42a以及第二定位件42b分別穿設於第一定位穿孔37a以及第二定位穿孔37b，以分別定位於第五定位穿槽222e以及第六定位穿槽222f內。 The stroke adjustment seat 3 has a third position relative to the first arm 2 (as shown in FIG. 7 ), which is a second actuation view of the robot arm 1000 according to an adjustable length according to an embodiment of the present proposal. A schematic view and a fourth position (as shown in FIG. 9) are schematic views of a fourth operation of the adjustable length robot arm 1000 according to an embodiment of the present proposal. As shown in Fig. 7, the first fixing member 41a, the second fixing member 41b, the third fixing member 41c, and the fourth fixing member 41d of the stroke adjusting seat 3 are respectively disposed through the first fixing hole 33a and the second fixing hole. The third fixing hole 33c and the third fixing hole 33d are fixed to the seventh fixing groove 221g, the eighth fixing groove 221h, the ninth fixing groove 221i, and the tenth fixing groove 221j, respectively. At this time, the stroke adjusting seat 3 covers the first fixing groove 221a and the third fixing groove 221c. Furthermore, the first positioning member 42a and the second positioning member 42b are respectively disposed in the first positioning through hole 37a and the second positioning through hole 37b to be respectively positioned in the fifth positioning through groove 222e and the sixth positioning through groove 222f.
『第9圖』所示，於第四位置時，第一固定件41a、 第二固定件41b、第三固定件41c以及第四固定件41d分別穿設於第一固定孔33a、第二固定孔33b、第三固定孔33c以及第四固定孔33d，以固定於第十一固定槽221k、第七固定槽221g、第十二固定槽221l以及第九固定槽221i內。此時，行程調整座3係覆蓋第二固定槽221b以及第四固定槽221d。再者，第一定位件42a以及第二定位件42b分別穿設於第一定位穿孔37a以及第二定位穿孔37b，以分別定位於第七定位穿槽222g以及第八定位穿槽222h內。 As shown in Fig. 9, in the fourth position, the first fixing member 41a, The second fixing member 41b, the third fixing member 41c, and the fourth fixing member 41d are respectively disposed through the first fixing hole 33a, the second fixing hole 33b, the third fixing hole 33c, and the fourth fixing hole 33d to be fixed to the tenth. A fixing groove 221k, a seventh fixing groove 221g, a twelfth fixing groove 221l, and a ninth fixing groove 221i. At this time, the stroke adjusting seat 3 covers the second fixing groove 221b and the fourth fixing groove 221d. Furthermore, the first positioning member 42a and the second positioning member 42b are respectively disposed in the first positioning through hole 37a and the second positioning through hole 37b to be respectively positioned in the seventh positioning through groove 222g and the eighth positioning through groove 222h.
是以，於第一位置時(如『第3圖』以及『第6圖』所示)，可調整長度之機械手臂1000的總旋轉半徑D1為第一旋轉半徑L2以及第二旋轉半徑L1之和，而第一旋轉半徑L2即為第一線段C1、第二線段C2、第三線段C3、第四線段C4以及第五線段C5之和。 Therefore, in the first position (as shown in FIG. 3 and FIG. 6), the total rotation radius D1 of the adjustable length robot arm 1000 is the first rotation radius L2 and the second rotation radius L1. And, the first rotation radius L2 is the sum of the first line segment C1, the second line segment C2, the third line segment C3, the fourth line segment C4, and the fifth line segment C5.
於第三位置時(如『第3圖』以及『第7圖』所示)，可調整長度之機械手臂1000的總旋轉半徑D2為第一旋轉半徑L3以及第二旋轉半徑L1之和，而第一旋轉半徑L3即為第二線段C2、第三線段C3、第四線段C4以及第五線段C5之和(即相對於第一位置減少了第一線段C1)。 In the third position (as shown in FIG. 3 and FIG. 7), the total rotation radius D2 of the adjustable length robot arm 1000 is the sum of the first rotation radius L3 and the second rotation radius L1, and The first radius of rotation L3 is the sum of the second line segment C2, the third line segment C3, the fourth line segment C4, and the fifth line segment C5 (ie, the first line segment C1 is reduced relative to the first position).
於第二位置時(如『第3圖』以及『第8圖』所示)，可調整長度之機械手臂1000的總旋轉半徑D3為第一旋轉半徑L4以及第二旋轉半徑L1之和，而第一旋轉半徑L4即為第三線段C3、第四線段C4以及第五線段C5之和(即相對於第三位置減 少了第二線段C2)。 In the second position (as shown in FIG. 3 and FIG. 8), the total rotation radius D3 of the adjustable length robot arm 1000 is the sum of the first rotation radius L4 and the second rotation radius L1, and The first radius of rotation L4 is the sum of the third line segment C3, the fourth line segment C4, and the fifth line segment C5 (ie, relative to the third position minus The second line segment C2) is missing.
於第四位置時(如『第3圖』以及『第9圖』所示)，可調整長度之機械手臂1000的總旋轉半徑D4為第一旋轉半徑L5以及第二旋轉半徑L1之和，而第一旋轉半徑L5即為第四線段C4以及第五線段C5之和(即相對於第二位置減少了第三線段C3)。 In the fourth position (as shown in FIG. 3 and FIG. 9), the total rotation radius D4 of the adjustable length robot arm 1000 is the sum of the first rotation radius L5 and the second rotation radius L1, and The first radius of rotation L5 is the sum of the fourth line segment C4 and the fifth line segment C5 (ie, the third line segment C3 is reduced relative to the second position).
綜合上述，藉由第一臂2上設置多個固定孔，行程調整座3藉由固定件而可選擇性地固定於部分的固定孔，以調整可調整長度之機械手臂1000的整體行程(總旋轉半徑)。此外，當選擇不同位置時，亦可利用部分相同的固定孔，而使固定件設於固定孔而固定行程調整座3，如此可節省固定孔的設置。再者，亦可設置定位件而插設於相對應的定位穿孔和定位槽，藉以增加頂位的準確性以及穩定度。 In summary, by providing a plurality of fixing holes on the first arm 2, the stroke adjusting seat 3 can be selectively fixed to a part of the fixing holes by fixing members to adjust the overall stroke of the adjustable length robot arm 1000 (total Rotation radius). In addition, when different positions are selected, the same fixing holes may be utilized, and the fixing member is disposed in the fixing hole to fix the stroke adjusting seat 3, thereby saving the setting of the fixing holes. Moreover, the positioning member can also be disposed and inserted into the corresponding positioning perforation and the positioning groove, thereby increasing the accuracy and stability of the top position.
在其他實施例中，亦有不同之結構而使行程調整座3以可移動的方式固定於第一臂2上，進而調整行程調整座3至第一軸線A1的距離，請參閱『第10圖』，其係為根據本提案另一實施例的一可調整長度之機械手臂2000的立體示意圖。本實施例與上述之實施例類似，故相同之處不再贅述。 In other embodiments, the stroke adjustment seat 3 is movably fixed to the first arm 2 in a different manner, and the distance between the stroke adjustment seat 3 and the first axis A1 is adjusted. It is a perspective view of an adjustable length robot arm 2000 according to another embodiment of the present proposal. This embodiment is similar to the above embodiment, so the details are not described again.
在本實施例中，第一臂2包含一滑軌23以及一第一機台21，滑軌23固定設置於第一機台21上，行程調整座3包含彼此連接的座體31、一樞接台32以及一線性移動模組33，樞接台32固定於座體31上，第二臂4樞設於樞接台32上。線性移動 模組33以可移動的方式設置於滑軌23上，以調整行程調整座3至第一軸線A1之距離。其中，線性移動模組33可包含動力元件(例如線性馬達或步進馬達)以及煞車器，動力元件用以帶動第一機台21以及第二臂4移動，煞車器用以對馬達提供阻力以進行煞車。如此，行程調整座3可相對於第一臂2移動，以改變可調整長度之機械手臂2000的行程，如『第11圖』，其係為根據本提案另一實施例的可調整長度之機械手臂2000的作動示意圖。 In this embodiment, the first arm 2 includes a slide rail 23 and a first machine table 21, and the slide rail 23 is fixedly disposed on the first machine base 21. The stroke adjustment seat 3 includes a seat body 31 and a pivot joint connected to each other. The docking station 32 and the linear motion module 33 are fixed to the base 31, and the second arm 4 is pivotally mounted on the pivoting platform 32. Linear movement The module 33 is movably disposed on the slide rail 23 to adjust the distance of the stroke adjustment seat 3 to the first axis A1. The linear movement module 33 may include a power component (such as a linear motor or a stepping motor) and a brake device. The power component is used to drive the first machine 21 and the second arm 4 to move, and the brake device is used to provide resistance to the motor. brakes. In this manner, the stroke adjustment seat 3 is movable relative to the first arm 2 to change the stroke of the adjustable length robot arm 2000, such as FIG. 11 , which is an adjustable length machine according to another embodiment of the present proposal. A schematic diagram of the actuation of the arm 2000.
除上述之雙臂型之機械手臂，本提案亦可應用於其他多臂式的機械手臂。請參閱『第12圖』至『第14圖』，『第12圖』係為根據本提案又一實施例的一可調整長度之機械手臂2000的立體示意圖。『第13圖』係為根據本提案又一實施例的一第二臂4以及一行程調整座3的局部放大示意圖。『第14圖』係為根據本提案又一實施例的一第二臂4以及一行程調整座3的局部分解示意圖。 In addition to the above-described dual-arm type robot arm, this proposal can also be applied to other multi-arm type robot arms. Please refer to FIG. 12 to FIG. 14 and FIG. 12 is a perspective view of an adjustable length robot arm 2000 according to still another embodiment of the present proposal. FIG. 13 is a partially enlarged schematic view showing a second arm 4 and a stroke adjusting seat 3 according to still another embodiment of the present proposal. The "fifth diagram" is a partial exploded view of a second arm 4 and a stroke adjustment seat 3 according to still another embodiment of the present proposal.
在本實施例以及其他的實施例中，揭露一種可調整長度之機械手臂3000，其包含一基座1、一第一臂2、一第二臂4、一行程調整座3以及一第三臂5。第一臂2以一第一軸線A1為旋轉軸而樞設於基座1。第二臂4以一第二軸線A2旋轉軸而樞設於第一臂2。行程調整座3以可調整至第二軸線A2之距離的方式設於第二臂4。第三臂5以一第三軸線A3旋轉軸而樞設於行程調整座3。第一臂2包含一動力元件24，以帶動第二臂4樞轉。在本實施例中，可調整長度之機械手臂3000更包含一第四臂6、一第 五臂7以及一第六臂8。第四臂6以一第四軸線A4為旋轉軸而樞設於第三臂5，第五臂7以一第五軸線A5旋轉軸而樞設於第四臂6。第六臂8以一第六軸線A6旋轉軸而樞設於第五臂7。第一軸線A1與第二軸線A2係實質上彼此垂直，第二軸線A2係實質上平行第三軸線A3，但非用以限定本提案。 In this embodiment and other embodiments, an adjustable length robot arm 3000 includes a base 1, a first arm 2, a second arm 4, a stroke adjustment seat 3, and a third arm. 5. The first arm 2 is pivotally mounted to the base 1 with a first axis A1 as a rotation axis. The second arm 4 is pivotally mounted to the first arm 2 by a second axis A2. The stroke adjustment seat 3 is provided to the second arm 4 so as to be adjustable to the distance of the second axis A2. The third arm 5 is pivotally mounted to the stroke adjustment seat 3 by a rotation axis of a third axis A3. The first arm 2 includes a power element 24 to drive the second arm 4 to pivot. In this embodiment, the adjustable length robot arm 3000 further includes a fourth arm 6, a first Five arms 7 and one sixth arm 8. The fourth arm 6 is pivotally disposed on the third arm 5 with a fourth axis A4 as a rotation axis, and the fifth arm 7 is pivotally disposed on the fourth arm 6 by a fifth axis A5. The sixth arm 8 is pivotally mounted to the fifth arm 7 by a sixth axis A6. The first axis A1 and the second axis A2 are substantially perpendicular to each other, and the second axis A2 is substantially parallel to the third axis A3, but is not intended to limit the present proposal.
請參閱『第13圖』以及『第14圖』，可調整長度之機械手臂3000更包含一第一固定件41a，行程調整座3具有一第一固定孔34a，第二臂4具有一第一固定槽43a以及一第二固定槽43b。其中，第一固定槽43a至第二軸線A2的距離大於第二固定槽43b至第二軸線A2的距離，第一固定孔34a可選擇性地對應於第一固定槽43a或第二固定槽43b，以使行程調整座3相對於第二臂4而具有一第一位置(如『第12圖』以及『第13圖』所示)和第二位置(如『第15圖』所示，其為根據本提案又一實施例的可調整長度之機械手臂3000的第一作動示意圖)。是以，於第一位置時，第一固定件41a固定於第一固定孔34a以及第一固定槽43a內；於第二位置時，第一固定件41a固定於第一固定孔34a以及第二固定槽43b內。 Please refer to FIG. 13 and FIG. 14 . The adjustable length robot arm 3000 further includes a first fixing member 41 a. The stroke adjusting seat 3 has a first fixing hole 34 a , and the second arm 4 has a first The fixing groove 43a and the second fixing groove 43b. The distance between the first fixing groove 43a and the second axis A2 is greater than the distance between the second fixing groove 43b and the second axis A2, and the first fixing hole 34a can selectively correspond to the first fixing groove 43a or the second fixing groove 43b. So that the stroke adjustment seat 3 has a first position (shown in FIG. 12 and FIG. 13) and a second position (as shown in FIG. 15) with respect to the second arm 4, It is a schematic diagram of the first actuation of the adjustable length robot arm 3000 according to another embodiment of the present proposal. Therefore, in the first position, the first fixing member 41a is fixed in the first fixing hole 34a and the first fixing groove 43a; in the second position, the first fixing member 41a is fixed to the first fixing hole 34a and the second Inside the fixing groove 43b.
在本實施例以及其他的實施例中，行程調整座3可包含多個固定孔。請回到『第13圖』以及『第14圖』，可調整長度之機械手臂3000更包含一第二固定件41b，行程調整座3具有一第二固定孔34b以及一第三固定孔34c，第二臂4具有一第三固定槽43c，第一固定孔34a可選擇性地對應於第三固定槽43c， 以使行程調整座3相對於第二臂4而具有一第三位置(如『第16圖』所示，其係為根據本提案又一實施例的一可調整長度之機械手臂3000的第二作動示意圖)，第二固定槽43b係介於第一固定槽43a以及第三固定槽43c之間。其中，於第二位置時(如『第14圖』以及『第15圖』所示)，第二固定件41b固定於第二固定孔34b以及第一固定槽43a內；於第三位置時(如『第14圖』以及『第16圖』所示)，第一固定件41a固定於第一固定孔34a以及第三固定槽43c內，第二固定件41b固定於第三固定孔34c以及第一固定槽43a內。 In this and other embodiments, the stroke adjustment seat 3 can include a plurality of fixing holes. Please return to FIG. 13 and FIG. 14 . The adjustable length robot arm 3000 further includes a second fixing member 41b. The stroke adjusting seat 3 has a second fixing hole 34b and a third fixing hole 34c. The second arm 4 has a third fixing groove 43c, and the first fixing hole 34a can selectively correspond to the third fixing groove 43c. So that the stroke adjustment seat 3 has a third position relative to the second arm 4 (as shown in FIG. 16 ), which is a second of the adjustable length robot arm 3000 according to still another embodiment of the present proposal. The second fixing groove 43b is interposed between the first fixing groove 43a and the third fixing groove 43c. Wherein, in the second position (as shown in FIG. 14 and FIG. 15), the second fixing member 41b is fixed in the second fixing hole 34b and the first fixing groove 43a; in the third position ( As shown in FIG. 14 and FIG. 16 , the first fixing member 41 a is fixed in the first fixing hole 34 a and the third fixing groove 43 c , and the second fixing member 41 b is fixed to the third fixing hole 34 c and the Inside a fixing groove 43a.
在本實施例以及其他的實施例中，行程調整座3更具有一第一輔助固定孔38a以及一第二輔助固定孔38b，第二臂4更具有一第一輔助固定槽47a、一第二輔助固定槽47b以及一第四固定槽43d。行程調整座3具有一第四固定孔34d，第一輔助固定槽47a以及第二輔助固定槽47b介於第一固定槽43a以及第四固定槽43d之間，以形成一直線。於第一位置時(如『第12圖』至『第14圖』所示)，第二固定件41b固定於第一輔助固定孔38a以及第一輔助固定槽47a內。再者，於第一位置時，一第四固定件41d可穿設於第二輔助固定孔38b而固定於第二輔助固定槽47b。 In the embodiment and other embodiments, the stroke adjusting seat 3 further has a first auxiliary fixing hole 38a and a second auxiliary fixing hole 38b. The second arm 4 further has a first auxiliary fixing groove 47a and a second. The auxiliary fixing groove 47b and a fourth fixing groove 43d. The stroke adjusting seat 3 has a fourth fixing hole 34d, and the first auxiliary fixing groove 47a and the second auxiliary fixing groove 47b are interposed between the first fixing groove 43a and the fourth fixing groove 43d to form a straight line. In the first position (as shown in FIG. 12 to FIG. 14), the second fixing member 41b is fixed to the first auxiliary fixing hole 38a and the first auxiliary fixing groove 47a. Furthermore, in the first position, a fourth fixing member 41d can be passed through the second auxiliary fixing hole 38b and fixed to the second auxiliary fixing groove 47b.
在本實施例以及其他的實施例中，如『第13圖』以及『第14圖』所示，更包含一第三固定件41c以及第四固定件41d，行程調整座3具有一第五固定孔34e以及一第六固定孔34f， 第二臂4具有一第四固定槽43d、一第五固定槽43e以及一第六固定槽43f，第五固定槽43e介於第四固定槽43d以及第六固定槽43f之間，且第四固定槽43d置至第二軸線A2的距離大於第六固定槽43f至第二軸線A2的距離。如此，第四固定槽43d、第五固定槽43e以及第六固定槽43f實質上形成一直線，並實質上平行於第一固定槽43a、第二固定槽43b以及第三固定槽43b所形成的直線。更詳細來說，第一固定槽43a、第二固定槽43b以及第三固定槽43c的連線實質上垂直於第四固定槽43d、第五固定槽43e以及第六固定槽43f的連線。 In this embodiment and other embodiments, as shown in FIG. 13 and FIG. 14 , a third fixing member 41 c and a fourth fixing member 41 d are further included, and the stroke adjusting seat 3 has a fifth fixing. a hole 34e and a sixth fixing hole 34f, The second arm 4 has a fourth fixing groove 43d, a fifth fixing groove 43e and a sixth fixing groove 43f. The fifth fixing groove 43e is interposed between the fourth fixing groove 43d and the sixth fixing groove 43f, and is fourth. The distance from the fixing groove 43d to the second axis A2 is larger than the distance from the sixth fixing groove 43f to the second axis A2. Thus, the fourth fixing groove 43d, the fifth fixing groove 43e, and the sixth fixing groove 43f form a substantially straight line and are substantially parallel to the straight line formed by the first fixing groove 43a, the second fixing groove 43b, and the third fixing groove 43b. . More specifically, the line connecting the first fixing groove 43a, the second fixing groove 43b, and the third fixing groove 43c is substantially perpendicular to the line connecting the fourth fixing groove 43d, the fifth fixing groove 43e, and the sixth fixing groove 43f.
綜合上述，於第一位置時，第一固定件41a固定於第一固定孔34a以及第一固定槽43a內，第二固定件41b固定於第一輔助固定孔38a以及第一輔助固定槽47a內，第三固定件41c固定於第四固定孔34d以及第四固定槽43d內，第四固定件41d固定於第二輔助固定孔38b以及第二輔助固定槽47b內。由於行程調整座3僅有第一固定孔34a、第四固定孔34d、第一輔助固定孔38a以及第二輔助固定孔38b重疊於第二臂4，故使用四固定件鎖附，將提高行程調整座3設置於第二臂4的穩固性。此時，第一固定孔34a至第二軸線A2的距離為第一長度G1、第二長度G2以及第三長度G3之和，以使第二臂4具有旋轉半徑H1。 In the first position, the first fixing member 41a is fixed in the first fixing hole 34a and the first fixing groove 43a, and the second fixing member 41b is fixed in the first auxiliary fixing hole 38a and the first auxiliary fixing groove 47a. The third fixing member 41c is fixed in the fourth fixing hole 34d and the fourth fixing groove 43d, and the fourth fixing member 41d is fixed in the second auxiliary fixing hole 38b and the second auxiliary fixing groove 47b. Since the stroke adjusting seat 3 has only the first fixing hole 34a, the fourth fixing hole 34d, the first auxiliary fixing hole 38a, and the second auxiliary fixing hole 38b overlapping the second arm 4, the four fixing members are used for locking, which will improve the stroke. The stability of the adjustment seat 3 is set to the second arm 4. At this time, the distance from the first fixing hole 34a to the second axis A2 is the sum of the first length G1, the second length G2, and the third length G3 such that the second arm 4 has the rotation radius H1.
於第二位置時(如『第14圖』以及『第15圖』所示)，第一固定件41a固定於第一固定孔34a以及第二固定槽43b內，第二固定件41b固定於第二固定孔34b以及第一固定槽43a內， 第三固定件41c固定於第四固定孔34d以及第五固定槽43e內，且第四固定件41d固定於第五固定孔34e以及第四固定槽43d內。由於第一固定孔34a、第二固定孔34b、第四固定孔34d以及第五固定孔34e構成此時行程調整座3與第二臂4之間最大的重疊面積，故所於此四固定孔，可提高行程調整座3設置於第二臂4的穩固性。此時，第一固定孔34a至第二軸線A2的距離為第二長度G2以及第三長度G3之和。如此表示第二位置時第二臂4的旋轉半徑H2小於第一位置時第二臂4的旋轉半徑H1。 In the second position (as shown in FIG. 14 and FIG. 15), the first fixing member 41a is fixed in the first fixing hole 34a and the second fixing groove 43b, and the second fixing member 41b is fixed in the second fixing member 41b. Two fixing holes 34b and the first fixing groove 43a, The third fixing member 41c is fixed in the fourth fixing hole 34d and the fifth fixing groove 43e, and the fourth fixing member 41d is fixed in the fifth fixing hole 34e and the fourth fixing groove 43d. Since the first fixing hole 34a, the second fixing hole 34b, the fourth fixing hole 34d, and the fifth fixing hole 34e constitute the largest overlapping area between the stroke adjusting seat 3 and the second arm 4 at this time, the four fixing holes are The stability of the stroke adjustment seat 3 provided to the second arm 4 can be improved. At this time, the distance from the first fixing hole 34a to the second axis A2 is the sum of the second length G2 and the third length G3. Thus, the rotation radius H2 of the second arm 4 when the second position is smaller than the rotation radius H1 of the second arm 4 when the first position is indicated.
於第三位置時(如『第14圖』以及『第16圖』所示)，第一固定件41a固定於第一固定孔34a以及第三固定槽43c內，第二固定件41b固定於第三固定孔34c以及第一固定槽43a內，第三固定件41c固定於第四固定孔34d以及第六固定槽43f內，第四固定件41d固定於第六固定孔34f以及第四固定槽43d內。由於第一固定孔34a、第二固定孔34b、第四固定孔34d以及第六固定孔34f構成此時行程調整座3與第二臂4之間最大的重疊面積，故鎖於此四固定孔，可提高行程調整座3設置於第二臂4的穩固性。此時，第一固定孔34a至第二軸線A2的距離為第三長度G3。如此表示第三位置時第二臂4的旋轉半徑H3小於第二位置時第二臂4的旋轉半徑H2。 In the third position (as shown in FIG. 14 and FIG. 16), the first fixing member 41a is fixed in the first fixing hole 34a and the third fixing groove 43c, and the second fixing member 41b is fixed in the first position. In the third fixing hole 34c and the first fixing groove 43a, the third fixing member 41c is fixed in the fourth fixing hole 34d and the sixth fixing groove 43f, and the fourth fixing member 41d is fixed to the sixth fixing hole 34f and the fourth fixing groove 43d. Inside. Since the first fixing hole 34a, the second fixing hole 34b, the fourth fixing hole 34d, and the sixth fixing hole 34f constitute the largest overlapping area between the stroke adjusting seat 3 and the second arm 4 at this time, the four fixing holes are locked. The stability of the stroke adjustment seat 3 provided to the second arm 4 can be improved. At this time, the distance from the first fixing hole 34a to the second axis A2 is the third length G3. Thus, the rotation radius H3 of the second arm 4 when the third position is smaller is smaller than the rotation radius H2 of the second arm 4 when the second position is.
除此之外，可調整長度之機械手臂3000更包含多個定位件45(『第14圖』以一個定位件45為例)，行程調整座3更具有定位穿孔35a、35b、35c、35d、35e、35f，第二臂4具有第 一定位槽44a、44b、第二定位槽44c、44d以及第三定位槽44e、44f，於第一位置時，定位穿孔35a、35b對應於第一定位槽44a、44b，且定位件45係設置於定位穿孔35a、35b以及第一定位槽44a、44b內，於第二位置時，定位穿孔35a、35b、35c、35d對應於第二定位槽44c、44d以及第一定位槽44a、44b，且定位件45係設置於定位穿孔35a、35b、35c、35d以及第一定位槽44a、44b與第二定位槽44c、44d內，於第三位置時，定位穿孔35a、35b、35c、35d、35e、35f對應於第三定位槽44e、44f、第二定位槽44c、44d以及第一定位槽44a、44b，且定位件45係設置於定位穿孔35a、35b、35c、35d、35e、35f以及第一定位槽44a、44b、第二定位槽44a、44b以及第三定位槽44e、44f內。藉由定位件45設置於定位穿孔35a、35b、35c、35d、35e、35f，以選擇性於不同位置時定位於第一定位槽44a、44b、第二定位槽44c、44d以及第三定位槽44e、44f內，以加強定位的效果。 In addition, the length-adjustable robot arm 3000 further includes a plurality of positioning members 45 ("14" is exemplified by a positioning member 45), and the stroke adjusting seat 3 further has positioning through holes 35a, 35b, 35c, 35d, 35e, 35f, second arm 4 has the first a positioning groove 44a, 44b, a second positioning groove 44c, 44d and a third positioning groove 44e, 44f, in the first position, the positioning through holes 35a, 35b correspond to the first positioning grooves 44a, 44b, and the positioning member 45 is set In the positioning through holes 35a, 35b and the first positioning grooves 44a, 44b, in the second position, the positioning through holes 35a, 35b, 35c, 35d correspond to the second positioning grooves 44c, 44d and the first positioning grooves 44a, 44b, and The positioning member 45 is disposed in the positioning through holes 35a, 35b, 35c, 35d and the first positioning grooves 44a, 44b and the second positioning grooves 44c, 44d. In the third position, the positioning holes 35a, 35b, 35c, 35d, 35e are positioned. 35f corresponds to the third positioning grooves 44e, 44f, the second positioning grooves 44c, 44d and the first positioning grooves 44a, 44b, and the positioning member 45 is disposed on the positioning through holes 35a, 35b, 35c, 35d, 35e, 35f and A positioning groove 44a, 44b, a second positioning groove 44a, 44b and a third positioning groove 44e, 44f. The positioning member 45 is disposed on the positioning through holes 35a, 35b, 35c, 35d, 35e, 35f to be positioned at the first positioning grooves 44a, 44b, the second positioning grooves 44c, 44d and the third positioning groove when selectively selected at different positions. 44e, 44f to enhance the positioning effect.
是以，藉由第一臂2上設置多個固定孔，行程調整座3藉由固定件而可選擇性地固定於部分的固定孔，以調整可調整長度之機械手臂3000的整體行程(總旋轉半徑)。此外，當選擇不同位置時，亦可利用部分相同的固定孔，而使固定件設於固定孔而固定行程調整座3，如此可節省固定孔的設置。 Therefore, by providing a plurality of fixing holes on the first arm 2, the stroke adjusting seat 3 can be selectively fixed to the partial fixing holes by the fixing member to adjust the overall stroke of the adjustable length robot arm 3000 (total Rotation radius). In addition, when different positions are selected, the same fixing holes may be utilized, and the fixing member is disposed in the fixing hole to fix the stroke adjusting seat 3, thereby saving the setting of the fixing holes.
綜合上述，根據本提案實施例所揭露的可調整長度之機械手臂，藉由行程調整座以可調整至第一軸線之距離的方式設於第一臂，以改變第二臂設置於第一臂的位置，進而調整可調 整長度之機械手臂的整體行程。當行程減少時，其負載越小；當行程增加時，其負載越大。如此，可不用更換其他的機器手臂，即可調整負載以及行程，大幅降低了設備成本以及組裝更換時間。 In summary, the adjustable length robot arm according to the embodiment of the present invention is disposed on the first arm by adjusting the distance to the first axis by the stroke adjusting seat to change the second arm to be disposed on the first arm. Position, and then adjustable The overall travel of the robot arm over the entire length. When the stroke is reduced, the load is smaller; when the stroke is increased, the load is increased. In this way, the load and stroke can be adjusted without replacing other robot arms, which greatly reduces equipment costs and assembly replacement time.
於部分實施例中，藉由第一臂上設置多個固定孔，行程調整座藉由固定件而可選擇性地固定於部分的固定孔，以調整可調整長度之機械手臂的整體行程。此外，亦可設置定位件而插設於相對應的定位穿孔和定位槽，藉以增加頂位的準確性以及穩定度。 In some embodiments, the plurality of fixing holes are disposed on the first arm, and the stroke adjusting seat is selectively fixed to the partial fixing holes by the fixing member to adjust the overall stroke of the adjustable length robot arm. In addition, a positioning member may be disposed to be inserted into the corresponding positioning through hole and the positioning groove, thereby increasing the accuracy and stability of the top position.
於另一部分實施例中，行程調整座包的線性移動模組以可移動的方式設置於第一臂的滑軌上，以調整行程調整座至第一軸線之距離。如此，行程調整座可相對於第一臂移動，以改變可調整長度之機械手臂的行程。 In another embodiment, the linear movement module of the stroke adjustment seat is movably disposed on the slide rail of the first arm to adjust the distance of the stroke adjustment seat to the first axis. As such, the stroke adjuster can be moved relative to the first arm to change the stroke of the adjustable length robotic arm.
雖然本提案以前述之較佳實施例揭露如上，然其並非用以限定本提案，任何熟習相像技藝者，在不脫離本提案之精神和範圍內，當可作些許之更動與潤飾，因此本提案之專利保護範圍須視本說明書所附之申請專利範圍所界定者為準。 While the present invention has been disclosed in the foregoing preferred embodiments, it is not intended to limit the present invention. Any skilled person skilled in the art can make some changes and refinements without departing from the spirit and scope of the present proposal. The scope of patent protection of the proposal shall be subject to the definition of the scope of the patent application attached to this specification.
1000‧‧‧可調整長度之機械手臂 1000‧‧‧ adjustable length robot
1‧‧‧基座 1‧‧‧Base
2‧‧‧第一臂 2‧‧‧First arm
21‧‧‧第一機台 21‧‧‧First machine
22‧‧‧固定板 22‧‧‧ Fixed plate
3‧‧‧行程調整座 3‧‧‧Travel adjustment seat
4‧‧‧第二臂 4‧‧‧second arm
41‧‧‧第二機台 41‧‧‧Second machine
42‧‧‧移動桿件 42‧‧‧Mobile rods
9‧‧‧連接管 9‧‧‧Connecting tube
A1‧‧‧第一軸線 A1‧‧‧first axis
A2‧‧‧第二軸線 A2‧‧‧second axis
A3‧‧‧第三軸線 A3‧‧‧ third axis
B1‧‧‧軸向 B1‧‧‧ axial
Claims (15)
Priority Applications (2)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| TW103140528A TWI558524B (en) | 2014-11-21 | 2014-11-21 | Articulated robot having adjustable-length arm |
| CN201410779835.1A CN105751243B (en) | 2014-11-21 | 2014-12-16 | Mechanical arm with adjustable length |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| TW103140528A TWI558524B (en) | 2014-11-21 | 2014-11-21 | Articulated robot having adjustable-length arm |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| TW201618910A TW201618910A (en) | 2016-06-01 |
| TWI558524B true TWI558524B (en) | 2016-11-21 |
Family
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| TW103140528A TWI558524B (en) | 2014-11-21 | 2014-11-21 | Articulated robot having adjustable-length arm |
Country Status (2)
| Country | Link |
|---|---|
| CN (1) | CN105751243B (en) |
| TW (1) | TWI558524B (en) |
Families Citing this family (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP6506324B2 (en) | 2017-02-16 | 2019-04-24 | ファナック株式会社 | Horizontal articulated robot and its installation method |
| CN107457771B (en) * | 2017-08-17 | 2020-11-17 | 临沂大学 | Heavy manipulator device of assembly line processing |
| TWI668541B (en) | 2017-09-29 | 2019-08-11 | 財團法人工業技術研究院 | System and method for calibrating tool center point of robot |
Citations (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| TW436398B (en) * | 1998-07-29 | 2001-05-28 | Janome Sewing Machine Co Ltd | A robot with multiple articulated arms capable of moving horizontally |
| CN102050330B (en) * | 2010-11-05 | 2013-02-06 | 深圳市华星光电技术有限公司 | Mechanical arm and transport device provided with same |
| CN202967537U (en) * | 2012-11-23 | 2013-06-05 | 李莉 | Expandable mechanical hand |
Family Cites Families (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN201792335U (en) * | 2010-02-08 | 2011-04-13 | 大同铸石工业（集团）有限责任公司 | Stripping manipulator for cast stone production lines |
| JP2013022715A (en) * | 2011-07-25 | 2013-02-04 | Yamaha Motor Co Ltd | Scara robot |
-
2014
- 2014-11-21 TW TW103140528A patent/TWI558524B/en active
- 2014-12-16 CN CN201410779835.1A patent/CN105751243B/en active Active
Patent Citations (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| TW436398B (en) * | 1998-07-29 | 2001-05-28 | Janome Sewing Machine Co Ltd | A robot with multiple articulated arms capable of moving horizontally |
| CN102050330B (en) * | 2010-11-05 | 2013-02-06 | 深圳市华星光电技术有限公司 | Mechanical arm and transport device provided with same |
| CN202967537U (en) * | 2012-11-23 | 2013-06-05 | 李莉 | Expandable mechanical hand |
Also Published As
| Publication number | Publication date |
|---|---|
| CN105751243A (en) | 2016-07-13 |
| CN105751243B (en) | 2017-11-10 |
| TW201618910A (en) | 2016-06-01 |
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