TWM613435U

TWM613435U - Robotic arm equipment

Info

Publication number: TWM613435U
Application number: TW109216504U
Authority: TW
Inventors: 蕭棟斌
Original assignee: 華嶸精密機械股份有限公司
Priority date: 2020-12-14
Filing date: 2020-12-14
Publication date: 2021-06-21

Abstract

一種機械手臂設備，包含一旋轉座機構、一第一延伸臂機構、一第二延伸臂機構及一驅動機構。旋轉座機構包括固定座，及可旋轉地安裝在固定座上之旋轉座。第一延伸臂機構可位移地安裝在旋轉座上。第二延伸臂機構是可位移地安裝在第一延伸臂機構上。該驅動機構包括用以驅動第一延伸臂機構位移的第一驅動模組、用以傳動第二延伸臂機構位移的第二驅動模組，及用以驅轉旋轉座的第三驅動模組。透過旋轉座可帶動第一延伸臂機構與第二延伸臂機構相對固定座旋轉以改變作業方向的設計，可大幅減少安裝該機械手臂設備所需的空間。A mechanical arm device includes a rotating seat mechanism, a first extension arm mechanism, a second extension arm mechanism and a driving mechanism. The rotating seat mechanism includes a fixed seat and a rotating seat rotatably installed on the fixed seat. The first extension arm mechanism is movably mounted on the rotating seat. The second extension arm mechanism is movably mounted on the first extension arm mechanism. The driving mechanism includes a first driving module for driving the displacement of the first extension arm mechanism, a second driving module for driving the displacement of the second extension arm mechanism, and a third driving module for driving the rotating base. The rotating base can drive the first extension arm mechanism and the second extension arm mechanism to rotate relative to the fixed base to change the working direction, which can greatly reduce the space required for installing the mechanical arm equipment.

Description

機械手臂設備Robotic arm equipment

本新型是有關於一種機械設備，特別是指一種機械手臂設備。 This new model relates to a mechanical equipment, especially a mechanical arm equipment.

傳統的軌道式機械手臂機構設計，通常會具有一水平設置的X軸向滑軌、一個設置在該X軸向滑軌上的滑塊模組、一個水平設置在該滑塊模組上的Y軸向滑軌、一個設置在該Y軸向滑軌上的第二滑塊、一個上下延伸設置在該第二滑塊上的Z軸向滑軌，及一個安裝在該Z軸向滑軌的取放裝置。 The traditional orbital mechanical arm mechanism design usually has a horizontal X-axis slide rail, a slider module set on the X-axis slide rail, and a Y axis horizontally set on the slider module. Axial slide rail, a second slide block arranged on the Y-axis slide rail, a Z-axis slide rail arranged on the second slide block extending up and down, and a Z-axis slide rail installed on the Z-axis slide rail Pick and place device.

雖然這種三軸軌道式機械手臂可進行三度空間位移以抓取或移送物品，但因為必須設置該X軸向滑軌與該Y軸向滑軌，以至於會需要較大的安裝作業空間。 Although this three-axis orbital robot arm can perform three-degree spatial displacement to grab or transfer items, but because the X-axis slide rail and the Y-axis slide rail must be provided, a larger installation space is required. .

因此，本新型之目的，即在提供一種能改善先前技術的至少一個缺點的機械手臂設備。 Therefore, the purpose of the present invention is to provide a robotic arm device that can improve at least one of the disadvantages of the prior art.

於是，本新型機械手臂設備，包含一個旋轉座機構、一個安裝在該旋轉座機構的第一延伸臂機構、一個安裝在該第一延伸臂機構的第二延伸臂機構，及一個驅動機構。 Therefore, the new robot arm equipment includes a rotating base mechanism, a first extension arm mechanism mounted on the rotating base mechanism, a second extension arm mechanism mounted on the first extension arm mechanism, and a driving mechanism.

該旋轉座機構包括一個固定座，及一個可繞一第一軸線相對該固定座旋轉地安裝在該固定座上之旋轉座。該第一延伸臂機構是沿一相對正交於該第一軸線之第二軸線延伸，且可沿該第二軸線相對該旋轉座位移地安裝在該旋轉座上。該第二延伸臂機構是可沿該第一軸線方向相對該第一延伸臂機構位移地安裝在該第一延伸臂機構上。該驅動機構包括一個安裝在該旋轉座且與該第一延伸臂機構連結而用以驅動該第一延伸臂機構位移的第一驅動模組、一個安裝在該第一延伸臂機構且與該第二延伸臂機構連結而用以傳動該第二延伸臂機構位移的第二驅動模組，及一個安裝在該固定座且與該旋轉座連結而用以驅轉該旋轉座的第三驅動模組。 The rotating base mechanism includes a fixed base and a rotating base that can be rotatably mounted on the fixed base about a first axis relative to the fixed base. The first extension arm mechanism extends along a second axis that is relatively orthogonal to the first axis, and is mounted on the rotating base so as to be displaceable relative to the rotating base along the second axis. The second extension arm mechanism is mounted on the first extension arm mechanism so as to be displaceable relative to the first extension arm mechanism along the first axis direction. The driving mechanism includes a first driving module installed on the rotating base and connected with the first extension arm mechanism to drive the displacement of the first extension arm mechanism, and a first driving module installed on the first extension arm mechanism and connected to the first extension arm mechanism. A second drive module connected to two extension arm mechanisms to drive the displacement of the second extension arm mechanism, and a third drive module installed on the fixing base and connected to the rotating base to drive the rotating base .

本新型之功效在於：透過該第三驅動模組可驅動該旋轉座帶動該第一延伸臂機構與該第二延伸臂機構相對該固定座旋轉，以改變作業方向的設計，可大幅減少安裝該機械手臂設備所需的空間，且可更方便進行該機械手臂設備之水平位置的調移。是一種相當方便實用的創作，而確實能達成本新型之目的。 The effect of the present invention is that the rotating base can be driven by the third driving module to drive the first extension arm mechanism and the second extension arm mechanism to rotate relative to the fixed base, so as to change the design of the working direction, which can greatly reduce the installation of the The space required by the robotic arm equipment, and the adjustment of the horizontal position of the robotic arm equipment can be more convenient. It is a very convenient and practical creation, and it can indeed achieve the purpose of a new model.

200:機械手臂設備 200: Robotic arm equipment

3:旋轉座機構 3: Rotating seat mechanism

31:固定座 31: fixed seat

32:旋轉座 32: Rotating seat

321:座體部 321: Seat

322:滑塊部 322: Slider part

4:第一延伸臂機構 4: The first extension arm mechanism

41:第一臂體 41: first arm body

42:第一軌條 42: The first track

43:滑塊模組 43: Slider module

431:固定座體 431: fixed base

432:滑塊 432: Slider

5:第二延伸臂機構 5: The second extension arm mechanism

51:第二臂體 51: second arm body

510:嵌置槽 510: Embedding Slot

52:第二軌條 52: The second track

53:滑塊 53: Slider

54:第三軌條 54: The third track

55:第三臂體 55: third arm

6:驅動機構 6: Drive mechanism

61:第一驅動模組 61: The first drive module

611:第一驅動器 611: first drive

612:第一傳動件 612: The first transmission part

613:連結件 613: link

62:第二驅動模組 62: The second drive module

621:安裝座體 621: Mounting the base

622:第二驅動器 622: second drive

623:驅動輪 623: drive wheel

624:從動輪 624: driven wheel

625:第二傳動件 625: second transmission

626:頂端部 626: Tip

627:底端部 627: bottom end

628:傳動輪 628: drive wheel

629:連動件 629: Linkage

620:連動段 620: Linkage

6201:固定部 6201: fixed part

6202:連動部 6202: Linkage Department

63:第三驅動模組 63: The third drive module

901:第一軸線 901: first axis

902:第二軸線 902: second axis

903:第三軸線 903: third axis

本新型之其他的特徵及功效，將於參照圖式的實施方式中清楚地呈現，其中：圖1是本新型機械手臂設備的一個實施例的立體圖；圖2是該實施例的另一個視角的立體圖；圖3是該實施例的左側視圖；圖4是該實施例之不完整的局部剖視俯視圖；圖5是該實施例之不完整的前視圖，並說明一個第二延伸臂機構的一個第三臂體位於一個內縮狀態時的情況；圖6是該實施例之前側視圖，並說明一個第一延伸臂機構備驅動而相對一個旋轉座機構沿一第一軸線位移的情況；及圖7是類似圖5之視圖，並說明該第三臂體位於一個伸展狀態時的情況。 The other features and effects of the present invention will be clearly presented in the embodiments with reference to the drawings, in which: FIG. 1 is a perspective view of an embodiment of the new robot arm device; FIG. 2 is another perspective view of the embodiment Figure 3 is a left side view of this embodiment; Figure 4 is an incomplete partial cross-sectional top view of this embodiment; Figure 5 is an incomplete front view of this embodiment, and illustrates a second extension arm mechanism When the third arm body is in a retracted state; Figure 6 is a front side view of this embodiment, and illustrates a situation in which a first extension arm mechanism is ready to drive and is displaced along a first axis relative to a rotating seat mechanism; and 7 is a view similar to FIG. 5, and illustrates the situation when the third arm is in an extended state.

參閱圖1、2、3，本新型機械手臂設備200的一個實施例，適用於安裝在一個加工設備(圖未示)上，而可用以進行工件與產品的移送。所述加工設備例如但不限於射出成型機、鍛造部品成型機、鑽孔機等。為方便說明，在以下實施例中，是以圖1之左右兩側定義為該機械手臂設備200之左右向，並據此定義出該機械手臂設備200之前後向。 Referring to Figures 1, 2, and 3, an embodiment of the new robotic arm device 200 is suitable for installation on a processing device (not shown in the figure), and can be used to transfer workpieces and products. The processing equipment is, for example, but not limited to, an injection molding machine, a forging part molding machine, a drilling machine, and the like. For the convenience of description, in the following embodiments, the left and right sides of FIG. 1 are defined as the left and right directions of the robotic arm device 200, and the front and back directions of the robotic arm device 200 are defined accordingly.

該機械手臂設備200包括一個用以安裝固定在該加工設備上的旋轉座機構3、一個可被驅動水平位移地安裝在該旋轉座機構3的第一延伸臂機構4、一個可被驅動上下位移地安裝在該第一延伸臂機構4的第二延伸臂機構5，及一個安裝連結於該旋轉座機構3、該第一延伸臂機構4與該第二延伸臂機構5的驅動機構6。 The robotic arm device 200 includes a device for mounting and fixing on the processing equipment Swivel base mechanism 3 provided, a first extension arm mechanism 4 that can be driven horizontally and installed on the rotation base mechanism 3, and a second extension arm mechanism 4 that can be driven up and down to be installed on the first extension arm mechanism 4 The arm mechanism 5, and a drive mechanism 6 that is installed and connected to the rotating base mechanism 3, the first extension arm mechanism 4, and the second extension arm mechanism 5.

該旋轉座機構3包括一個用以安裝固定在該加工設備上的固定座31，及一個可繞一上下延伸的第一軸線901旋轉地安裝在該固定座31上的旋轉座32。該旋轉座32包括一個可轉動地樞設在該固定座31頂側的座體部321，及兩個上下間隔安裝在該座體部321的滑塊部322。 The rotating base mechanism 3 includes a fixed base 31 for mounting and fixing on the processing equipment, and a rotating base 32 rotatably mounted on the fixed base 31 about a first axis 901 extending up and down. The rotating base 32 includes a base portion 321 rotatably pivoted on the top side of the fixed base 31, and two slider portions 322 mounted on the base portion 321 at intervals.

該第一延伸臂機構4包括一個沿一相對正交於該第一軸線901之第二軸線902方向左右水平延伸的第一臂體41、兩個上下間隔平行且沿該第二軸線902方向延伸地安裝在該第一臂體41後側面並分別嵌裝在該等滑塊部322的第一軌條42，及一個安裝在該第一臂體41之右端部前側面的滑塊模組43。該滑塊模組43具有一個固定在該第一臂體41之板片狀的固定座體431，及兩個沿該第一軸線901方向上下間隔安裝在該固定座體431而供該第二延伸臂機構5安裝的滑塊432。該第一延伸臂機構4可被驅動而經由該等第一軌條42相對該等滑塊部322沿該第二軸線902方向滑移。 The first extension arm mechanism 4 includes a first arm 41 extending horizontally and left and right along a second axis 902 that is relatively orthogonal to the first axis 901, and two upper and lower spaces are parallel and extend along the second axis 902. Groundly installed on the rear side of the first arm body 41 and respectively embedded in the first rails 42 of the slider portions 322, and a slider module 43 installed on the front side of the right end portion of the first arm body 41 . The slider module 43 has a plate-shaped fixed seat body 431 fixed on the first arm body 41, and two fixed seat bodies 431 are installed up and down along the first axis 901 at intervals for the second The slider 432 mounted on the extension arm mechanism 5. The first extension arm mechanism 4 can be driven to slide in the direction of the second axis 902 relative to the slider portions 322 via the first rails 42.

參閱圖3、4、5，該第二延伸臂機構5包括一個上下延伸的第二臂體51、一個沿該第一軸線901方向上下延伸地安裝在該第二臂體51並嵌裝在該等滑塊432的第二軌條52、兩個上下間隔固定在該第二臂體51之滑塊53、一個沿該第一軸線901方向延伸且可上滑移地嵌置於該等滑塊53之第三軌條54，及一個沿該第一軸線901方向上下延伸地固接於在該第三軌條54的第三臂體55。 3, 4, and 5, the second extension arm mechanism 5 includes a second arm body 51 that extends up and down, and a second arm body 51 that extends up and down along the first axis 901 and is mounted on the first axis 901. Two arms 51 are embedded in the second rail 52 of the sliders 432, two sliders 53 are fixed to the second arm 51 at intervals up and down, and one extends along the direction of the first axis 901 and can slide upward. The third rail 54 is movably embedded in the sliding blocks 53, and a third arm 55 is fixed to the third rail 54 and extends up and down along the first axis 901.

該第二臂體51可藉由該第二軌條52相對該等滑塊432上下滑移，也就是可相對該第一臂體41上下位移，且該第二臂體51之左側面凹設有一上下延伸的嵌置槽510，該等滑塊53、該第三軌條54與該第三臂體55是位於該嵌置槽510中，該第三臂體55能相對該第二臂體41在一個往上回縮在該嵌置槽510中的回縮狀態(如圖5所示)，及一個往下突伸出該嵌置槽510外的伸展狀態(如圖7所示)間變化。 The second arm body 51 can move up and down relative to the sliding blocks 432 by the second rail 52, that is, can move up and down relative to the first arm body 41, and the left side surface of the second arm body 51 is recessed There is an embedding groove 510 extending up and down. The sliding blocks 53, the third rail 54 and the third arm body 55 are located in the embedding groove 510, and the third arm body 55 can be opposed to the second arm body. 41 is between a retracted state (as shown in FIG. 5) retracted upward in the embedding groove 510, and an extended state (as shown in FIG. 7) protruding downward from the embedding groove 510 Variety.

參閱圖1、3、6，該驅動機構6包括一個安裝在該旋轉座32且與該第一延伸臂機構4連結之第一驅動模組61、一個安裝在該第一臂體41之右端且與該第二臂體51連結的第二驅動模組62，及一個安裝在該固定座31且與該旋轉座32連結的第三驅動模組63。 1, 3, 6, the driving mechanism 6 includes a first driving module 61 installed on the rotating base 32 and connected with the first extension arm mechanism 4, a first driving module 61 installed on the right end of the first arm 41 and A second drive module 62 connected to the second arm body 51 and a third drive module 63 installed on the fixed base 31 and connected to the rotating base 32.

該第一驅動模組61包括一個固定在該旋轉座32之該座體部321頂側的第一驅動器611、一個沿該第二軸線902方向延伸地安裝固定在該第一臂體41頂側的第一傳動件612，及一個連結於該第一驅動器611與該連結件613間的連結件613。在本實施例中，該第一傳動件612為沿該第二軸線902方向延伸的齒軌，該第一驅動器611為馬達，該連結件613為嚙合於該連結件613的齒輪，該第一驅動器611可驅轉該連結件613，以傳動該第一傳動件612帶動該第一臂體41沿該第二軸線902方向左右位移。實施時，由於用以驅動該第一延伸臂機構4相對該旋轉座32左右位移的該第一驅動模組61類型眾多，因此實施時不以上述實施態樣為限。 The first driving module 61 includes a first driver 611 fixed on the top side of the base portion 321 of the rotating seat 32, and a first driver 611 extending along the second axis 902 and fixed on the top side of the first arm body 41 The first transmission member 612 of the, and a connecting member 613 connected between the first driver 611 and the connecting member 613. In this embodiment, the first transmission member 612 is a rack extending along the direction of the second axis 902, and the first driving The motor 611 is a motor, and the connecting member 613 is a gear meshed with the connecting member 613. The first driver 611 can drive the connecting member 613 to drive the first transmission member 612 to drive the first arm 41 along the first The two axis 902 are displaced left and right. During implementation, since there are many types of the first driving module 61 used to drive the first extension arm mechanism 4 to move left and right relative to the rotating base 32, the implementation is not limited to the above-mentioned implementation aspects.

參閱圖3、4、5，該第二驅動模組62包括一個固定於該第一臂體41右端部前側的安裝座體621、一個固定於該安裝座體621頂側的第二驅動器622、一個可轉動地安裝在該安裝座體621前側且與該第二驅動器622連結的驅動輪623、多個可轉動地安裝在該安裝座體621前側的從動輪624、一個延伸繞經該驅動輪623與該等從動輪624而連接於該第二臂體51的第二傳動件625、兩個上下間隔地分別樞設在該第二臂體51前側面之頂底兩端部的傳動輪628，及一個上下延伸套接在該等傳動輪628上之環狀的連動件629。 3, 4, and 5, the second drive module 62 includes a mounting base 621 fixed on the front side of the right end of the first arm body 41, a second driver 622 fixed on the top side of the mounting base 621, A driving wheel 623 rotatably mounted on the front side of the mounting base 621 and connected to the second driver 622, a plurality of driven wheels 624 rotatably mounted on the front side of the mounting base 621, and one extending around the driving wheel 623 and the driven wheels 624 are connected to the second transmission member 625 of the second arm 51, and two transmission wheels 628 pivoted at the top and bottom ends of the front side of the second arm 51 at intervals. , And a ring-shaped linkage 629 that extends up and down and sleeves on the transmission wheels 628.

該驅動輪623可被該第二驅動器622驅動而繞一相對正交於該第一軸線901與該第二軸線902之第三軸線903轉動，該等從動輪624是與該驅動輪623同軸向地安裝在該安裝座體621。 The driving wheel 623 can be driven by the second driver 622 to rotate about a third axis 903 that is relatively orthogonal to the first axis 901 and the second axis 902. The driven wheels 624 are coaxial with the driving wheel 623. Ground mounted on the mounting base 621.

在本實施例中，該驅動輪623為皮帶輪，該第二傳動件625為連結於該驅動輪623之傳動皮帶，該第二傳動件625是以其頂端部626往上延伸連結固定於該第二臂體51的頂端部626，而以其底端部627往下延伸固定於該地二臂體的底端部627。但實施時，在本新型之另一實施態樣中，該第二傳動件625可改為鏈條，該驅動輪623可改為齒輪，而具有同樣的傳動功能。 In this embodiment, the driving wheel 623 is a belt pulley, the second transmission member 625 is a transmission belt connected to the driving wheel 623, and the second transmission member 625 is fixed to the first transmission member 625 by extending upward from its top end 626. The top end 626 of the two arm body 51, and its The bottom end portion 627 extends downward and is fixed to the bottom end portion 627 of the second arm body. However, when implemented, in another embodiment of the present invention, the second transmission member 625 can be replaced by a chain, and the driving wheel 623 can be replaced by a gear, which has the same transmission function.

當該驅動輪623被驅動正轉以傳動該第二傳動件625時，該第二傳動件625會經由該等從動輪624的轉向導引，而產生以其頂端部626往下拉引該第二臂體51的動作，進而傳動該第二臂體51經由該第二軌條52相對該等滑塊模組43下移，也就是相對該第一臂體41下移。當該驅動輪623被驅動反轉以傳動該第二傳動件625時，該第二傳動件625會經由該等從動輪624的轉向導引，而產生以其底端部627往上拉引該第二臂體51的動作，進而傳動該第二臂體51經由該第二軌條52相對該等第二滑塊上移，也就是相對該第一臂體41上移。 When the driving wheel 623 is driven to rotate forward to drive the second transmission member 625, the second transmission member 625 will be guided by the turning guides of the driven wheels 624, and the top end 626 of the second transmission member 625 will be pulled downward. The action of the arm body 51 further drives the second arm body 51 to move down relative to the slider modules 43 via the second rail 52, that is, move down relative to the first arm body 41. When the driving wheel 623 is driven reversely to drive the second transmission member 625, the second transmission member 625 will be guided by the turning guides of the driven wheels 624 to cause the bottom end 627 to pull the second transmission member 625 upward. The action of the second arm body 51 further drives the second arm body 51 to move upward relative to the second sliding blocks via the second rail 52, that is, to move upward relative to the first arm body 41.

該等傳動輪628是與第三軸線903同軸向地安裝在該第二臂體51。該連動件629具有兩個上下延伸且分別位於該等傳動輪628之徑向左右兩側的連動段620，其中一連動段620具有一固接於該安裝座體621的固定部6201，另一連動620具有一固接於該第三臂體55的連動部6202。藉此設計，當該第二臂體51相對該第一臂體41下移時(如圖7所示)，該第二臂體51會同步帶動該等傳動輪628下移，而同步傳動該連動件629轉動並相對該安裝座體621下移，進而傳動該第三臂體55經由該第三軌條54相對該第二臂體51 下移，使該第三臂體55自該回縮狀態變化至該伸展狀態。 The transmission wheels 628 are mounted on the second arm body 51 coaxially with the third axis 903. The linkage member 629 has two linkage sections 620 extending up and down and located on the left and right sides of the transmission wheels 628 in the radial direction. One linkage section 620 has a fixed portion 6201 fixed to the mounting base 621, and the other The linkage 620 has a linkage portion 6202 fixed to the third arm body 55. With this design, when the second arm body 51 moves down relative to the first arm body 41 (as shown in FIG. 7), the second arm body 51 will synchronously drive the transmission wheels 628 to move down, and synchronously drive the The linkage 629 rotates and moves downward relative to the mounting base 621, and then drives the third arm body 55 relative to the second arm body 51 via the third rail 54 Moving down makes the third arm body 55 change from the retracted state to the extended state.

參閱圖1，該第三驅動模組63可驅動該旋轉座32相對該固定座31繞該第一軸線901旋轉。由於用驅動該旋轉座32相對固定座31旋轉的該第三驅動模組63為現有技術且類型眾多，因此不再詳述。 Referring to FIG. 1, the third driving module 63 can drive the rotating base 32 to rotate relative to the fixed base 31 around the first axis 901. Since the third driving module 63 for driving the rotating base 32 to rotate relative to the fixed base 31 is a prior art and has many types, it will not be described in detail.

本新型機械手臂設備200安裝在該加工設備上使用時，可在該第三臂體55底端加裝用以抓取、釋放加工產品的取放裝置(圖未示)，所述取放裝置例如但不限於夾爪與負壓吸附裝置等。當需要相對該加工設備旋轉調移該取放裝置時，可控制該第三驅動模組63之運轉，以傳動該旋轉座32帶動該第一延伸臂機構4與該第二延伸臂機構5相對該固定座31旋轉，藉以相對該加工設備調轉該取放裝置。 When the new mechanical arm equipment 200 is installed on the processing equipment for use, a pick-and-place device (not shown) for grabbing and releasing processed products can be installed at the bottom end of the third arm body 55. The pick-and-place device For example, but not limited to clamping jaws and negative pressure adsorption devices. When the pick-and-place device needs to be rotated and adjusted relative to the processing equipment, the operation of the third drive module 63 can be controlled to drive the rotating base 32 to drive the first extension arm mechanism 4 and the second extension arm mechanism 5 to face each other The fixed seat 31 rotates, so as to rotate the pick-and-place device relative to the processing equipment.

參閱圖6，當需要相對該加工設備水平調移該取放裝置時，可透過控制該第一驅動器611之運轉，經由該第一傳動件612與該連結件613相配合傳動該第一臂體41帶動該第二延伸臂機構5沿該第二軸線902方向相對該旋轉座32位移。 Referring to FIG. 6, when the pick-and-place device needs to be adjusted horizontally with respect to the processing equipment, the operation of the first driver 611 can be controlled to drive the first arm body through the cooperation of the first transmission member 612 and the connecting member 613 41 drives the second extension arm mechanism 5 to move relative to the rotating base 32 along the direction of the second axis 902.

參閱圖5、7，而當要相對該加工設備往下調移該取放裝置時，可控制該第二驅動器622之運轉，藉以驅轉該驅動輪623傳動該第二傳動件625往下位移，而同步傳動該第二臂體51相對該第一臂體41往下位移。於此同時，因為該連動件629是經由該等傳動輪628而連結在該安裝座體621與該第三臂體55間，所以當該第二臂體51被傳動相對該安裝座體621下移的過程中，該等傳動輪628會同步傳動該連動件629運轉並相對該安裝座體621下移，進而傳動該第三臂體55相對往下突伸出該第二臂體51底端外，而帶動該取放裝置相對該加工設備下移。當要驅使該取放裝置相對該加工設備上移復位時，則驅動該第二驅動器622反向傳動該第二傳動件625，藉以傳動該第二臂體51相對該第一臂體41上移，在該第二臂體51上移期間，該第二臂體51會經由該等傳動輪628與該連動件629同步連動該第三臂體55沿該第三軌條54往上回縮入該第二臂體51中。 Referring to Figures 5 and 7, when the pick-and-place device is to be adjusted downward relative to the processing equipment, the operation of the second driver 622 can be controlled to drive the driving wheel 623 to drive the second transmission member 625 downwardly. The second arm body 51 is synchronously driven to move downward relative to the first arm body 41. At the same time, because the linkage 629 is through the transmission The wheels 628 are connected between the mounting base body 621 and the third arm body 55, so when the second arm body 51 is driven to move down relative to the mounting base body 621, the transmission wheels 628 will synchronously drive the The linkage 629 operates and moves down relative to the mounting base 621, and then drives the third arm body 55 to protrude downwards from the bottom end of the second arm body 51 to drive the pick-and-place device to move down relative to the processing equipment. . When the pick-and-place device is driven to move up and reset relative to the processing equipment, the second driver 622 is driven to reversely drive the second transmission member 625, thereby driving the second arm body 51 to move up relative to the first arm body 41 During the upward movement of the second arm body 51, the second arm body 51 will be synchronized with the linkage member 629 via the transmission wheels 628 and the third arm body 55 will be retracted upward along the third rail 54. In the second arm body 51.

綜上所述，透過該第三驅動模組63可驅動該旋轉座32帶動該第一延伸臂機構4與該第二延伸臂機構5相對該固定座31旋轉，以改變作業方向的設計，可大幅減少安裝該機械手臂設備200所需的空間，且可更方便進行該機械手臂設備200之水平位置的調移。並可進一步配合該第二延伸臂機構5之該第二臂體51的上下位移，會同步傳動該第三臂體55相對上下伸縮位移的傳動結構設計，可用以延長該第二延伸臂機構5的上下伸展長度。因此，本新型機械手臂設備200確實是一種相當方便實用的創作，而確實能達成本新型之目的。 In summary, the rotating base 32 can be driven by the third drive module 63 to drive the first extension arm mechanism 4 and the second extension arm mechanism 5 to rotate relative to the fixed base 31 to change the design of the working direction. The space required for installing the robotic arm device 200 is greatly reduced, and the horizontal position adjustment of the robotic arm device 200 can be more convenient. It can be further matched with the up and down displacement of the second arm body 51 of the second extension arm mechanism 5 to synchronously drive the third arm body 55 relative to the up and down telescopic displacement transmission structure design, which can be used to extend the second extension arm mechanism 5 The up and down stretch length. Therefore, the robotic arm device 200 of the present invention is indeed a very convenient and practical creation, and it can indeed achieve the purpose of the new model.

惟以上所述者，僅為本新型之實施例而已，當不能以此限定本新型實施之範圍，凡是依本新型申請專利範圍及專利說明書內容所作之簡單的等效變化與修飾，皆仍屬本新型專利涵蓋之範圍內。 However, the above is only an embodiment of the present invention, and it cannot be used To limit the scope of implementation of the present model, all simple equivalent changes and modifications made in accordance with the scope of the patent application for the present model and the contents of the patent specification are still within the scope of the present model patent.

200:機械手臂設備 200: Robotic arm equipment

3:旋轉座機構 3: Rotating seat mechanism

31:固定座 31: fixed seat

32:旋轉座 32: Rotating seat

321:座體部 321: Seat

322:滑塊部 322: Slider part

4:第一延伸臂機構 4: The first extension arm mechanism

41:第一臂體 41: first arm body

42:第一軌條 42: The first track

5:第二延伸臂機構 5: The second extension arm mechanism

51:第二臂體 51: second arm body

55:第三臂體 55: third arm

6:驅動機構 6: Drive mechanism

61:第一驅動模組 61: The first drive module

611:第一驅動器 611: first drive

612:第一傳動件 612: The first transmission part

62:第二驅動模組 62: The second drive module

621:安裝座體 621: Mounting the base

622:第二驅動器 622: second drive

629:連動件 629: Linkage

63:第三驅動模組 63: The third drive module

901:第一軸線 901: first axis

902:第二軸線 902: second axis

Claims

一種機械手臂設備，包含：一個旋轉座機構，包括一個固定座，及一個可繞一第一軸線相對該固定座旋轉地安裝在該固定座上之旋轉座；一個第一延伸臂機構，沿一相對正交於該第一軸線之第二軸線延伸，且可沿該第二軸線相對該旋轉座位移地安裝在該旋轉座上：一個第二延伸臂機構，可沿該第一軸線方向相對該第一延伸臂機構位移地安裝在該第一延伸臂機構上；及一個驅動機構，包括一個安裝在該旋轉座且與該第一延伸臂機構連結而用以驅動該第一延伸臂機構位移的第一驅動模組、一個安裝在該第一延伸臂機構且與該第二延伸臂機構連結而用以傳動該第二延伸臂機構位移的第二驅動模組，及一個安裝在該固定座且與該旋轉座連結而用以驅轉該旋轉座的第三驅動模組。 A mechanical arm device, including: A rotating seat mechanism includes a fixed seat, and a rotating seat rotatably mounted on the fixed seat about a first axis relative to the fixed seat; A first extension arm mechanism extends along a second axis that is relatively orthogonal to the first axis, and is mounted on the rotating base so as to be displaceable relative to the rotating base along the second axis: A second extension arm mechanism that is displaceably mounted on the first extension arm mechanism along the first axis direction relative to the first extension arm mechanism; and A driving mechanism includes a first driving module installed on the rotating base and connected with the first extension arm mechanism to drive the displacement of the first extension arm mechanism, and a first drive module installed on the first extension arm mechanism and connected to the first extension arm mechanism. A second drive module connected to the second extension arm mechanism to drive the displacement of the second extension arm mechanism, and a third drive module installed on the fixed base and connected to the rotating base to drive the rotating base group.

如請求項1所述的機械手臂設備，其中，該第一延伸臂機構具有一個沿該第二軸線方向延伸的第一臂體、一個沿該第一臂體長度方向延伸地設置在該第一臂體且可沿該第一方向滑移地嵌裝在該旋轉座上的第一軌條，該第一驅動模組具有一個沿該第一臂體長度方向延伸地設置在該第一臂體上的第一傳動件、一個固定在該旋轉座上的第一驅動器，及一個連結於該第一驅動器與該第一傳動件間的連結件，該連結件能被該第一驅動器驅動運轉，而傳動該第一傳動件帶動該第一臂體相對該第一軌條位移。The robotic arm device according to claim 1, wherein the first extension arm mechanism has a first arm body extending along the second axis direction, and a first arm body extending along the length direction of the first arm body. The arm body is slidably embedded in the first rail on the rotating seat along the first direction, and the first driving module has a first arm body extending along the length direction of the first arm body. The first transmission part on the upper part, a first driver fixed on the rotating base, and a connecting part connected between the first driver and the first transmission part, and the connection part can be driven by the first driver to operate, The transmission of the first transmission member drives the displacement of the first arm body relative to the first rail.

如請求項2所述的機械手臂設備，其中，該旋轉座具有一個可轉動地安裝在該固定座上的座體部，及一個安裝在該座體部且供該第一軌條可滑移地嵌裝之滑塊部。The robotic arm device according to claim 2, wherein the rotating base has a base portion rotatably mounted on the fixed base, and a base portion mounted on the base portion for the first rail to be slidable The slider part of the ground embedded.

如請求項2所述的機械手臂設備，其中，該第一傳動件為齒軌，該連結件為可被該驅動器驅轉且嚙合於該連結件的齒輪。The robotic arm device according to claim 2, wherein the first transmission member is a rack, and the connecting member is a gear that can be driven by the driver and meshed with the connecting member.

如請求項2所述的機械手臂設備，其中，該第二驅動模組包括一個固定在該第一臂體的安裝座體、一個固定於該安裝座體的第二驅動器、一個安裝在該安裝座體且會被該第二驅動器驅轉之驅動輪、多個間隔安裝在該安裝座體的從動輪，及一個以其兩端分別固接於該第二延伸臂機構之兩相反端部並延伸繞設於該驅動輪與該等從動輪的第二傳動件，該驅動輪可被該第二驅動器驅轉以傳動該第二傳動件位移，而傳動該第二延伸臂機構沿該第一軸線方向相對該第一臂體位移。The robotic arm device according to claim 2, wherein the second drive module includes a mounting base fixed on the first arm body, a second driver fixed on the mounting base, and a second driver mounted on the mounting base. A driving wheel that is driven by the second driver, a plurality of driven wheels installed at intervals on the mounting seat, and a drive wheel with its two ends respectively fixed to the two opposite ends of the second extension arm mechanism. A second transmission member extending around the driving wheel and the driven wheels, the driving wheel can be driven by the second driver to drive the displacement of the second transmission member, and the second extension arm mechanism is driven along the first The axis direction is displaced relative to the first arm body.

如請求項5所述的機械手臂設備，其中，該第一延伸臂機構還具有一個安裝在該第一臂體之滑塊模組，該第二延伸臂機構具有一個沿該第一軸線方向延伸且以其兩相反端部分別固接於該第二傳動件兩端的第二臂體、一個沿該第二臂體長度方向延伸地固接於該第二臂體且可滑移地嵌裝該滑塊模組的第二軌條。The robotic arm device according to claim 5, wherein the first extension arm mechanism further has a slider module mounted on the first arm body, and the second extension arm mechanism has an extension along the first axis. And the two opposite ends are respectively fixed to the second arm body at both ends of the second transmission member, and one is fixed to the second arm body extending along the length direction of the second arm body and is slidably embedded in the second arm body. The second rail of the slider module.

如請求項6所述的機械手臂設備，其中，該滑塊模組具有一個固定在該第一臂體的固定座體，及兩個沿該第一軸線方向排列且供該第二軌條可滑移地嵌裝的滑塊。The robotic arm device according to claim 6, wherein the slider module has a fixed base fixed to the first arm body, and two are arranged along the first axis direction for the second rail to be able to A slidingly embedded slider.

如請求項6所述的機械手臂設備，其中，該第一軸線是上下延伸，該第二延伸臂機構還包括一個固定在該第二臂體的滑塊、一個沿該第一軸線方向延伸且可上下位移地設置在該滑塊的第三軌條，及一個沿該第一軸線方向延伸地固定在該第三軌條的第三臂體，該第二驅動模組還包括兩個上下間隔地分別樞設在該第二臂體之頂底兩端部的傳動輪，及一個上下延伸套接於該等傳動輪之環狀的連動件，該連動件具有二上下延伸且分別位於該等傳動輪之徑向兩相反側，並分別固接於該安裝座體與該第三臂體的連動段，該第二臂體被驅動沿該第一軸線方向上下位移時，會經由該連動件同步傳動該第三臂體帶動該第三軌條相對該滑塊上下位移。The robotic arm device according to claim 6, wherein the first axis extends up and down, and the second extension arm mechanism further includes a slider fixed to the second arm body, and a slider that extends along the direction of the first axis. A third rail that can be displaced up and down on the slider, and a third arm body that is fixed to the third rail and extends along the first axis direction. The second drive module also includes two up and down intervals The ground is respectively pivoted on the transmission wheels at the top and bottom ends of the second arm body, and a ring-shaped linkage member extending up and down sleeved on the transmission wheels. The linkage member has two vertical extensions and respectively located at the The two opposite radial sides of the transmission wheel are respectively fixed to the linkage section of the mounting base and the third arm. When the second arm is driven to move up and down along the first axis, it will pass through the linkage. Synchronous transmission of the third arm body drives the third rail to move up and down relative to the slider.

如請求項8所述的機械手臂設備，其中，該第二臂體側面凹設有一個沿該第一軸線方向往下延伸貫穿的嵌置槽，該滑塊是固定在該嵌置槽中，該第三臂體是位於該嵌置槽中，並可被該連動件傳動而相對該第二臂體在一個往上縮入該嵌置槽之回縮狀態，及一個往下突伸出該第二臂體底端之伸展狀態間變化。The robotic arm device according to claim 8, wherein the side surface of the second arm body is recessed with an embedding groove extending downward along the first axis direction, and the sliding block is fixed in the embedding groove, The third arm is located in the embedding groove and can be driven by the linkage to be in a retracted state where the second arm is retracted upwards into the embedding groove, and a protruding downwards The extended state of the bottom end of the second arm body changes.