200934626 九、發明說明： 【發明所屬之技術領域】 ' 本發明涉及一種機械手及採用該機械手之生產線，尤其 涉及一種氣動機械手及採用該氣動機械手之生產線。 【先前技術】 在傳統工業生產中，採用機械手取代人工進行操作已成 為一種趨勢，因為採用機械手作業可獲得較高之工作效率及 可進行一些較危險而人類無法或較難完成之工作。 一種習知機械手，其包括一升降氣缸、一托盤、一驅動 氣缸、一齒條、一齒輪、一回轉盤及一擺臂。該托盤固設於 升降氣缸之活塞桿上，且該托盤中心延伸有一轉轴。齒輪可 轉動套設於轉軸上。該驅動氣缸固設於托盤上。齒條固定連 接於該驅動氣缸之活塞桿上，且與齒輪相嚙合。該回轉盤固 定連接於齒輪遠離托盤之端面上。該擺臂固設於該回轉盤 上。升降氣缸之活塞桿於缸體中運動可帶動托盤升降。驅動 ®氣缸之活塞桿於缸體中運動可帶動齒條直線運動，從而帶動 齒輪旋轉以實現擺臂之旋轉。 然，該種機械手需要採用二氣缸及齒輪齒條等元件才能 實現擺臂之升降及旋轉，結構較為複雜且製造成本較高。 【發明内容】 鑒於上述狀況，有必要提供一種結構簡單、製造成本低 之機械手及採用該機械手之生產線。 一種機械手，其包括氣缸及擺臂’該氣缸包括一缸體、 一活塞桿及一活塞，該活塞桿至少部分伸入缸體中，該擺臂 200934626 連接於該活塞桿上，該活塞設於缸體内且與活塞桿固定連 接，該缸體和活塞桿之—個設有—導向銷，另―個設有盘導 向銷配合之導槽’且該導槽至少部分為相對活塞桿轴線傾 設置之傾斜槽。 、 一種生產線，其包括機台及位於該機台一側之傳送裝 置、’、該機台上設有至少-機械手用於將機台上之卫件搬運^ 傳运裝置上，該機械手包括氣缸及擺臂，該氣缸包括—缸200934626 IX. Description of the invention: [Technical field to which the invention pertains] The present invention relates to a robot and a production line using the same, and more particularly to a pneumatic manipulator and a production line using the same. [Prior Art] In the conventional industrial production, the use of a robot to replace the manual operation has become a trend because the use of the robot operation can achieve higher work efficiency and can perform some work that is dangerous and difficult for humans to perform. A conventional robot includes a lifting cylinder, a tray, a driving cylinder, a rack, a gear, a rotating disc and a swing arm. The tray is fixed on the piston rod of the lifting cylinder, and a rotating shaft is extended in the center of the tray. The gear can be rotatably sleeved on the shaft. The drive cylinder is fixed to the tray. The rack is fixedly coupled to the piston rod of the drive cylinder and meshes with the gear. The rotary disk is fixedly coupled to the end surface of the gear away from the tray. The swing arm is fixed to the rotary disk. The movement of the piston rod of the lifting cylinder in the cylinder can drive the tray to lift. The movement of the piston rod of the drive ® cylinder in the cylinder can drive the linear motion of the rack, thereby driving the gear to rotate to realize the rotation of the swing arm. However, the manipulator needs to use two cylinders and gear racks to achieve the lifting and rotating of the swing arm, which is complicated in structure and high in manufacturing cost. SUMMARY OF THE INVENTION In view of the above circumstances, it is necessary to provide a robot having a simple structure and a low manufacturing cost and a production line using the robot. A manipulator includes a cylinder and a swing arm. The cylinder includes a cylinder, a piston rod and a piston. The piston rod at least partially protrudes into the cylinder. The swing arm 200934626 is connected to the piston rod. In the cylinder body and fixedly connected with the piston rod, the cylinder body and the piston rod are provided with a guide pin, and another guide groove is provided with a disk guide pin, and the guide groove is at least partially opposed to the piston rod shaft. Tilt groove for line tilting. a production line comprising a machine and a conveyor on a side of the machine, ', the machine is provided with at least a robot for transporting the guard on the machine, the robot Including a cylinder and a swing arm, the cylinder includes a cylinder
❹ 體、-活塞桿及-活塞，該活塞桿至少部分伸人紅體中，該 擺臂連接於該活塞桿上，該活塞設於缸體Μ與活塞桿固定/ =接’該缸體和活塞桿中之—個上設有—導仙，另一個上 β又有與導向銷配合之導槽，且該導槽至少部分 軸線傾斜設置之傾斜槽。 舌塞杯 相較習知技術，該機械手之氣缸藉由導向銷與具有傾斜 槽之導槽相配合，可實現活塞桿之升降及旋轉，從而帶動連 接於活塞桿上之擺臂進行升降運動及旋轉運動，故，該機械 手應用於生產線時，僅藉由一氣缸及一擺臂即可實現搬運工 件之功此，其具有結構簡單、製造成本低之優點。 【實施方式】 下面將結合附圖及實施例對本發明之機械手及採用該 機械手之生產線作進一步詳細說明。 5月參閱圖1’本發明較佳實施例一提供一種機械手1〇〇, 其包括—氣缸10、一擺臂20及一吸盤30，該擺臂2〇之一 端開設有—通孔（圖未標），另一端與吸盤30相連。 °月同時參閱圖2，該氣缸1〇包括一紅體11、一活夷才曰 200934626 12、一活塞13、一導向銷14、一第一氣閥15、一第二氣閥 16、一位移感測器17及一控制器（圖未示）。 ' 該缸體11包括一主體部111及一導向套112。該主體部 111為長方體狀，其包括依次相連之四側壁1111及位於該側 壁1111 一端並與侧壁1111相連之底壁1112。該四側壁1111 及底壁1112共同圍城一空腔1113,且該側壁1111遠離底壁 1112之端部向該空腔1113内垂直側壁1111延伸有凸緣 1114。該導向套112包括一第一套合部1121及一尺寸大於 該第一套合部1121之第二套合部1122，且該導向套112軸 向開設有一圓柱形通孔（圖未標）。該空腔1113、第一套合 部1121及第二套合部1122均為圓柱狀，且導向套112與主 體部111相配合以將主體部111密封。該第二套合部1122 容納於空腔1113中，該第一套合部1121從凸緣1114圍成 之開口處伸出該主體部111外。銷釘18穿過主體部111之 一側壁1111及第二套合部1122將主體部111及導向套112 ❹固定在一起。 請同時參閱圖3,該活塞桿12為圓柱狀，其一端部轴向 延伸有凸柱121，另一端部軸向開設有螺孔122。該活塞桿 12穿過導向套112上之通孔，並與主體部111之底壁1112 相抵。螺釘19穿過擺臂20上之通孔後螺入活塞桿12上之 螺孔122，從而將擺臂20固定至活塞桿12上。該活塞桿12 之側面上還開設有導槽123,該導槽123包括與活塞桿12 軸線平行之直線槽1231，以及相對活塞桿12之軸線傾斜設 置之傾斜曲線槽1233。 200934626 該活塞13容納於主體部111之空腔1112中且與活塞桿 12之凸柱121固定連接，此時，活塞13與主體部111之底 壁1112間隔一定距離，從而將空腔1113分為A、B二腔室。 該活塞13與主體部111之侧壁1111緊密配合，以防止A、 B腔室内之氣體相互流通。 該導向銷14插設於第二套合部1122中，且其末端伸入 活塞桿12之導槽123中。 該第一氣閥15及第二氣閥16均設於侧壁1111上，且 分別位於該活塞13之二側。該第一氣閥15包括一進氣通道 151及一放氣通道152，且該進氣通道151與外界氣源（圖 未示）相連。該第二氣閥16包括一進氣通道161及一放氣 通道162，且該進氣通道161與外界氣源相連。 該位移感測器17設於活塞13之底端。控制器分別與吸 盤30、第一氣閥15、第二氣閥16及位移感測器17相連。 請同時參閱圖4，該機械手100可應用於生產線400進 ❿行工件搬運作業。該生產線400包括機台401、位於該機台 401 —側之傳送帶405及分別固定於該機台401二端部之機 械手100。該機台401上裝載有加工模具402，工件403放 置於該加工模具402上。 進行工件搬運作業時，機械手100之控制器先控制吸盤 30將工件403吸附起來，然後控制第一氣閥15之進氣通道 151開啟，從而將外界氣源與A腔室導通，隨著A腔室中氣 體壓強增大，使得活塞13及活塞桿12開始向上運動，由於 導向銷14此時處於直線槽1231中，故該擺臂20開始垂直 200934626 上升，將工件403帶離加工模具402。當活塞桿12上升一段 距離後，該導向銷14開始進入傾斜曲線槽1233，此時活塞 % 桿12除了受到A腔室内之氣體推力作用而繼續上升外，該 活塞桿12還將受到導向銷14之抵推力而發生旋轉。當導向 銷14滑動至傾斜曲線槽1233之末端時，活塞桿12停止運 動，此時，工件403定位於傳送帶405上方，位移感測器17 感測到活塞桿12停止運動，並將感測信號傳送給控制器， ©控制器接收該感測信號並控制吸盤30鬆開工件403,從而將 工件403放置於傳送帶405上，使工件403隨傳送帶405進 入下一工序。接著控制器控制第二氣閥16之進氣通道161 開啟，從而將外界氣源與B腔室導通，並控制第一氣閥15 之進氣通道151關閉，而開啟放氣通道152。隨著B腔室壓 強逐漸增大，A腔室壓強逐漸減小，該活塞桿12將經過旋 轉下降及直線下降二階段，直至抵持至底壁1112上，此時， 該擺臂20也回轉並下降直至回到原吸取工件403之位置。 ❹位移感測器17感測到活塞桿12停止運動，並將感測信號傳 送給控制器，控制器接收該感測信號並控制第一氣閥15之 進氣通道151開啟，放氣通道152關閉，且控制第二氣閥16 之進氣通道161關閉，放氣通道162開啟。如此，控制器可 控制該機械手100實現取、放工件403之循環作業，實現生 產線400之高度自動化。 由於氣缸10之缸體11上設有導向銷14，且活塞桿12 上設有部分為傾斜曲線槽1233之導槽123，故該氣缸10可 使固定於該活塞桿12上之擺臂20做升降及旋轉運動，從而 11 200934626 使該機械手僅藉由一氣缸10及一擺臂20即可實現搬運工件 之功能，故，該種機械手100相對習知之機械手具有結構簡 '單、製造成本低之優點。 請參閱圖5,本發明較佳實施例二提供一種機械手600， 其與較佳實施例一中之機械手1〇〇具有相似之結構，其不同 在於該氣缸60之導向銷64固設於活塞桿62上，該缸體61 上開設有導槽611，該導槽611包括與活塞桿62轴線平行之 直線槽6111，以及相對活塞桿62之轴線傾斜設置之傾斜曲 ®線槽6112。該導向銷64插入該導槽611中。該機械手600 可取得與較佳實施一之機械手1〇〇相同之實施效果。 可以理解，本發明機械手之氣缸之氣閥也可設置一個或 複數個，以調節缸體内進、放氣之速度，設置一氣閥時，該 氣閥應當設置於缸體之底部。另，該導槽也可全部為傾斜曲 線槽，該傾斜曲線槽之長短可控制該擺臂之旋轉角度，而 且，該傾斜曲線槽也可由與活塞桿軸線平行之直線相交成一 ❹銳角之傾斜直線槽取代。 綜上所述，本發明符合發明專利要件，爰依法提出專利 申請。惟，以上所述者僅為本發明之較佳實施例，舉凡熟悉 本案技藝之人士，在爰依本發明精神所作之等效修飾或變 化，皆應涵蓋於以下之申請專利範圍内。 【圖式簡單說明】 圖1係本發明較佳實施例一之機械手之立體示意圖。 圖2係圖1所示氣缸之剖面示意圖。 圖3係圖2所示之活塞桿之立體示意圖。 12 200934626 圖4係採用圖1所示機械手之生產線之立體示意圖。 圖5係本發明較佳實施例二之機械手之剖面示意圖。 【主要元件符號說明】 (本發明）a piston, a piston rod and a piston, the piston rod at least partially extending into the red body, the swing arm being coupled to the piston rod, the piston being disposed in the cylinder block and fixed to the piston rod One of the piston rods is provided with a guide guide, and the other upper portion β has a guide groove for engaging with the guide pin, and the guide groove is inclined at least partially in an axially inclined groove. Compared with the prior art, the cylinder of the manipulator can realize the lifting and rotating of the piston rod by the guiding pin and the guiding groove having the inclined groove, thereby driving the swing arm connected to the piston rod to perform lifting movement. And the rotary motion, therefore, when the manipulator is applied to the production line, the work of transporting the workpiece can be realized by only one cylinder and one swing arm, which has the advantages of simple structure and low manufacturing cost. [Embodiment] Hereinafter, a manipulator of the present invention and a production line using the same will be further described in detail with reference to the accompanying drawings and embodiments. Referring to FIG. 1 a preferred embodiment of the present invention, a robot 1 includes a cylinder 10, a swing arm 20 and a suction cup 30. One end of the swing arm 2 is provided with a through hole (Fig. The other end is connected to the suction cup 30. Referring to FIG. 2 at the same time, the cylinder 1〇 includes a red body 11 , a live piston 200934626 12 , a piston 13 , a guide pin 14 , a first air valve 15 , a second air valve 16 , and a displacement The sensor 17 and a controller (not shown). The cylinder 11 includes a main body portion 111 and a guide sleeve 112. The main body portion 111 has a rectangular parallelepiped shape and includes four side walls 1111 connected in sequence and a bottom wall 1112 at one end of the side wall 1111 and connected to the side wall 1111. The four side walls 1111 and the bottom wall 1112 together define a cavity 1113, and the side wall 1111 extends away from the end of the bottom wall 1112 to extend a flange 1114 to the vertical side wall 1111 of the cavity 1113. The guide sleeve 112 includes a first sleeve portion 1121 and a second sleeve portion 1122 having a size larger than the first sleeve portion 1121. The guide sleeve 112 is axially opened with a cylindrical through hole (not shown). The cavity 1113, the first nesting portion 1121, and the second nesting portion 1122 are all cylindrical, and the guide sleeve 112 cooperates with the main body portion 111 to seal the main body portion 111. The second fitting portion 1122 is received in the cavity 1113, and the first fitting portion 1121 projects out of the main body portion 111 from the opening surrounded by the flange 1114. The pin 18 passes through the side wall 1111 of the main body portion 111 and the second fitting portion 1122 to fix the main body portion 111 and the guide sleeve 112 together. Referring to FIG. 3 at the same time, the piston rod 12 has a cylindrical shape, and one end portion has a boss 121 extending axially at one end thereof, and a screw hole 122 is axially opened at the other end portion. The piston rod 12 passes through the through hole in the guide sleeve 112 and abuts against the bottom wall 1112 of the main body portion 111. The screw 19 is threaded through the through hole in the swing arm 20 and screwed into the screw hole 122 of the piston rod 12, thereby fixing the swing arm 20 to the piston rod 12. A guide groove 123 is further formed on the side of the piston rod 12, and the guide groove 123 includes a linear groove 1231 parallel to the axis of the piston rod 12, and an inclined curved groove 1233 which is inclined with respect to the axis of the piston rod 12. 200934626 The piston 13 is received in the cavity 1112 of the main body portion 111 and is fixedly connected with the boss 121 of the piston rod 12. At this time, the piston 13 is spaced apart from the bottom wall 1112 of the main body portion 111, thereby dividing the cavity 1113 into A, B two chambers. The piston 13 is closely fitted to the side wall 1111 of the main body portion 111 to prevent gas in the chambers A and B from flowing into each other. The guide pin 14 is inserted into the second sleeve portion 1122, and its end extends into the guide groove 123 of the piston rod 12. The first air valve 15 and the second air valve 16 are both disposed on the side wall 1111 and are respectively located on two sides of the piston 13. The first air valve 15 includes an intake passage 151 and a deflation passage 152, and the intake passage 151 is connected to an external air source (not shown). The second air valve 16 includes an intake passage 161 and a deflation passage 162, and the intake passage 161 is connected to an external air source. The displacement sensor 17 is provided at the bottom end of the piston 13. The controller is connected to the suction cup 30, the first air valve 15, the second air valve 16, and the displacement sensor 17, respectively. Referring also to Figure 4, the robot 100 can be applied to the production line 400 for workpiece handling operations. The production line 400 includes a machine 401, a conveyor belt 405 on the side of the machine 401, and a robot 100 fixed to both ends of the machine 401. The machine table 401 is loaded with a processing die 402 on which the workpiece 403 is placed. During the workpiece handling operation, the controller of the robot 100 first controls the suction cup 30 to adsorb the workpiece 403, and then controls the inlet passage 151 of the first air valve 15 to open, thereby conducting the external air source and the A chamber, with A The gas pressure in the chamber is increased, so that the piston 13 and the piston rod 12 start to move upward. Since the guide pin 14 is now in the linear groove 1231, the swing arm 20 starts to rise vertically at 200934626, and the workpiece 403 is taken away from the machining mold 402. When the piston rod 12 is raised a certain distance, the guide pin 14 begins to enter the inclined curve groove 1233. At this time, the piston % rod 12 continues to rise in addition to the gas thrust in the chamber A, and the piston rod 12 will also receive the guide pin 14 It rotates against the thrust. When the guide pin 14 slides to the end of the inclined curve groove 1233, the piston rod 12 stops moving. At this time, the workpiece 403 is positioned above the conveyor belt 405, and the displacement sensor 17 senses that the piston rod 12 stops moving and senses the signal. The controller transmits the sensing signal and controls the suction cup 30 to release the workpiece 403, thereby placing the workpiece 403 on the conveyor belt 405, causing the workpiece 403 to follow the conveyor belt 405 to the next process. The controller then controls the intake passage 161 of the second gas valve 16 to open, thereby conducting the external air source to the B chamber, and controlling the intake passage 151 of the first air valve 15 to close, and opening the deflation passage 152. As the pressure of the B chamber gradually increases, the pressure of the A chamber gradually decreases, and the piston rod 12 will undergo two stages of rotation down and straight down until it abuts against the bottom wall 1112. At this time, the swing arm 20 also rotates. And descending until returning to the position where the workpiece 403 was originally taken. The ❹ displacement sensor 17 senses that the piston rod 12 stops moving and transmits a sensing signal to the controller, and the controller receives the sensing signal and controls the intake passage 151 of the first air valve 15 to open, and the deflation passage 152 It is closed, and the intake passage 161 that controls the second gas valve 16 is closed, and the deflation passage 162 is opened. In this way, the controller can control the robot 100 to realize the cycle of taking and placing the workpiece 403, thereby realizing a high degree of automation of the production line 400. Since the cylinder 11 of the cylinder 10 is provided with the guide pin 14 and the piston rod 12 is provided with the guide groove 123 partially inclined by the curved groove 1233, the cylinder 10 can be made of the swing arm 20 fixed to the piston rod 12. Lifting and rotating motion, thus 11 200934626 enables the robot to realize the function of carrying the workpiece by only one cylinder 10 and one swing arm 20, so the robot 100 has a simple structure and manufacture compared with the conventional robot. The advantage of low cost. Referring to FIG. 5, a preferred embodiment of the present invention provides a robot 600 having a structure similar to that of the robot 1 of the first embodiment, except that the guide pin 64 of the cylinder 60 is fixed to On the piston rod 62, the cylinder 61 is provided with a guiding groove 611. The guiding groove 611 includes a linear groove 6111 parallel to the axis of the piston rod 62, and a curved curved wire slot 6112 which is inclined with respect to the axis of the piston rod 62. . The guide pin 64 is inserted into the guide groove 611. The robot 600 can achieve the same effect as the robot 1 of the preferred embodiment. It can be understood that the air valve of the cylinder of the robot of the present invention can also be provided with one or more valves to adjust the speed of entering and releasing air in the cylinder. When a gas valve is provided, the gas valve should be disposed at the bottom of the cylinder. In addition, the guiding grooves may also all be inclined curved grooves, the length of the inclined curved grooves can control the rotation angle of the swing arm, and the inclined curved grooves can also be intersected by a straight line parallel to the axis of the piston rod to form an oblique straight line of an acute angle. Replace the slot. In summary, the present invention complies with the requirements of the invention patent and submits a patent application according to law. However, the above description is only the preferred embodiment of the present invention, and equivalent modifications or variations made by those skilled in the art of the present invention should be included in the following claims. BRIEF DESCRIPTION OF THE DRAWINGS FIG. 1 is a perspective view of a manipulator according to a preferred embodiment of the present invention. Figure 2 is a schematic cross-sectional view of the cylinder shown in Figure 1. Figure 3 is a perspective view of the piston rod shown in Figure 2. 12 200934626 Figure 4 is a perspective view of the production line of the robot shown in Figure 1. Figure 5 is a cross-sectional view showing the robot of the second preferred embodiment of the present invention. [Main component symbol description] (Invention)
機械手 100 、 600 氣缸 10 缸體 11、61 主體部 111 側壁 1111 底壁 1112 ^ 空腔 1113 凸緣 1114 導向套 112 第一套合部 1121 第二套合部 1122 活塞桿 12、62 凸柱 121 螺孔 122 導槽 123 、 611 直線槽 1231、6111 傾斜曲線槽 1233 、 6112 活塞 13 導向銷 14、64 第一氣閥 15 進氣通道 151 、 161 放氣通道 152、162 © 第二氣閥 16 位移感測器 17 銷釘 18 螺釘 19 擺臂 20 吸盤 30 生產線 400 機台 401 加工模具 402 工件 403 傳送帶 405 腔室 A、B 13Manipulator 100, 600 Cylinder 10 Cylinder 11, 61 Main body 111 Side wall 1111 Bottom wall 1112 ^ Cavity 1113 Flange 1114 Guide sleeve 112 First set of joints 1121 Second set of parts 1122 Piston rods 12, 62 Posts 121 Screw hole 122 Guide groove 123, 611 Straight groove 1231, 6111 Tilt curve groove 1233, 6112 Piston 13 Guide pin 14, 64 First air valve 15 Intake passage 151, 161 Venting passage 152, 162 © Second valve 16 Displacement Sensor 17 Pin 18 Screw 19 Swing arm 20 Suction cup 30 Production line 400 Machine 401 Machining die 402 Work piece 403 Conveyor belt 405 Chamber A, B 13