201139255 六、發明說明： 【發明所屬之技術領域】 ⑽01] 本發明涉及一種機器人，尤其涉及—錄描机 種碼垛用之機器人201139255 VI. Description of the invention: [Technical field to which the invention pertains] (10) 01] The present invention relates to a robot, and more particularly to a robot for recording and writing a code
【先前技術J[Prior Art J
[0002] [0003] ❹ 習知之工業生產線上常使用機器人代替人力 並整齊排列於貨板上。 搬運 一種碼操機器人，其包括旋轉基座、升㈣、伸縮手臂 、末端執行器及配重件。升降架固定於該旋轉基座上 伸縮手臂與升降架可滑動連接。末端執行器及配重件八 二定於伸縮手臂之兩端。配重件與栽重相對於升降： 衡’使伸縮手臂處於平衡狀態。該伸縮手臂 Μ身長度，使末端執行H抓取載 制:縮手臂於升降架上之升降將載重調整到 。取後藉由旋轉基座之轉動，將載重碼操排列於貨= [0004]惟》告· 上述剩機ϋ人之伸料数長度改變或載重之 以::重件相對於支架產生之轉動力矩再亦難 產生架產生之轉動力矩，從而對升降架 零矩，使传上述碼躁機器人之平衡性較差。 【發明内容】 [0005] 鑒於上述内容，有必要提供一 人 種平衡性較好之碼垛機 器 與升降架滑，動連接之 [_]—種科機器人，其包括升降架、 099114144 表單編號ΑΟίοι 第3頁/共17頁 0992025020-0 201139255 、、手’、分別設於伸縮手臂兩端之末端執行器及平衡 構’平衡機構包括設於伸縮手臂上之絲桿、與絲桿螺 之滑動件、與絲桿之1固定連接之堪動件及固 調-I動件上之配重件，驅動件驅動絲桿轉動，以滑動 °°即Μ動件相對於絲桿之位置。 [0007] [0008] [0009] [0010] [0011] [0012] j碼垛機器人藉由平衡機構之驅動件驅動絲桿轉動， 二件與轉螺聽合_料桿朴，㈣縮手臂處 降衡狀態’從而消除承載於末端執行器上之載重對升 好:產生之f矩。故’本發明之碼蜾機S人之平衡性較 【實施方式】 將、° Q附圖及具體實施方式對本細之碼碌機器人 作進一步詳細說明。 請參閱圖1、圖2及圖6，本發明較佳實施方式之碼操機器 人100包括旋轉底座20、升降架30'伸縮手臂4〇、平衡 機構50及末端執行_。升降_與旋轉底座20轉動連 接伸縮手#40與升降架30可滑動連接。平衡機構5〇及 末端執行器60分別設於伸縮手臂40之兩端。 方疋轉底座20大致為一圓台。 升降架3G包括底板31、頂板32及連接底板31與頂板32之 二側板35。底板31可轉動地設置於旋轉底座2〇上。二侧 板35相對設置，且二側板35於相對之表面上各形成有二 相互平行之滑轨351。 請一併參閱圖3，伸縮手臂40包括二限位件41、„主體43 099114144 表單編號A0101 第4頁/共17頁 0992025020-0 201139255 〇 、一延伸臂45、—安裝件47及—升降IU未圖示）。主體 43為-方形筒，延伸臂45 —端收容於主體彻，另一端 位於主體43外。_43遠離延伸臂45之_端之側壁開設 有收容槽432。延伸臂45遠離主⑽之—端為可伸縮之自 由端。安裝件4⑼設於該自由端之—側。二限位件㈣ 別固定於主體43兩側’每一限位件41上開設有與滑軌351 相對應之細圖未㈤，並藉由滑槽與祕351之配合， 使該二限位件41可於升降細内滑動升降，從而使伸縮 手臂40可相對於旋轉底㈣於升降架㈣滑動升降。升 降器設置於主體43上’以驅動限位件41清動並控制其滑 動方向。固定於安裝件47上之末端執行器_對於旋轉 底座20之三維位置，可藉由升降㈣之旋轉、伸縮手臂 40於升降架3G上之升降及伸縮手臂4Q之伸縮來調整。 [0013] 請再參閱圖3 ’平衡機構50包括二配重件51、一滑動件53 、二滑動導轨55、-絲桿57、三固定件58及一驅動件59 〇 [0014] ...... V 每一配重件51固定於滑動件p上’其重量可根據碼垛機 器人100之載重70而選擇。 [0015] 請一併參閱圖4，滑動件53包括一連接塊532、二滑塊 534及一螺紋件535 ^連接塊532大致呈“I”型，二滑塊 534分別固定於連接塊532之兩端。每一滑塊534上開設 有滑槽5341。於本實施方式中，滑槽5341為燕尾槽。螺 紋件535固定於連接塊532之中部，且位於二滑塊534中 間。螺紋·件535上開設有螺孔5351，絲桿57穿設螺孔 5351 » 099114144 表單編號A0101 第5頁/共17頁 0992025020-0 201139255 [0016] 請參閱圖3及圖5，二滑動導執55相互平行地固定於收容 槽432之底部。每一滑動導軌55上設有導向凸起552。於 本實施方式中，導向凸起552為燕尾型凸起。二固定件58 固定於收容槽432之底部，且位於二滑動導軌55之端部之 間。絲桿57上設有外螺紋，其兩端可轉動地穿設二固定 件58，且其中一端與驅動件59固定連接。驅動件59驅動 絲桿57轉動，使滑動件53之螺紋件535相對於絲桿57滑 動。於本實施方式中，驅動件59為驅動馬達。 [0017] 請參閱圖3至6，碼垛機器人100搬運載重70時，平衡機構 50之驅動件59驅動絲桿57轉動，滑動件53之螺紋件535 相對絲桿57滑動，從而調節配重件51相對於伸縮手臂40 之位置。平衡機構50與載重70相對於升降架30形成一杠 桿平衡結構。平衡機構50之配重件51及滑動件53之總重 為，其相對於升降架30之力臂為、。伸縮手臂40之安 裝件47、末端執行器60及載重70之總重為m2g，其相對於 升降架30之力臂為12。根據力矩平衡原理可知： [0018] m.gxl, =m,gxii(1) [0019] 由上述公式（1)可得： [_ Γ %㈣⑺ Μ = [0021] 當載重70之重量發生變化時，總重m2g亦隨著發生變化； 當伸縮手臂40之長度發生變化時，力臂12亦會發生變化 。故，當載重70之重量或力臂當伸縮手臂40之長度發生 099114144 表單編號 A0101 第 6 頁/共 17 頁 0992025020-0 201139255 變=時’可藉由公式（2)計算得出力臂12之變化值。碼祿 ^ 〇〇可藉由平衡機構50之驅動件59驅動絲桿57轉 動使滑動件53之螺紋件535相對絲桿57滑動，從而使配 + 及π動件53滑動至新之平衡位置，即力之所 在位置。 2 ，：月之碼垛機器人1〇〇藉由平衡機構之驅動件Μ驅動 : 轉自/月動件53與絲桿57螺紋配合而相對絲桿57 使伸縮手臂4〇處於平衡狀態，從而消除載重對[0002] [0003] Conventional industrial production lines often use robots instead of human resources and are neatly arranged on the pallet. Handling A coded robot that includes a rotating base, a lift (four), a telescopic arm, an end effector, and a counterweight. The lifting frame is fixed on the rotating base, and the telescopic arm is slidably connected to the lifting frame. The end effector and counterweight are fixed at both ends of the telescopic arm. The weights and the weight of the load are relative to the lift: the balance 'balances the telescopic arms. The length of the telescopic arm is such that the end performs H-grass loading: the lifting of the retracting arm on the lifting frame adjusts the load to . After the rotation, the load code is arranged in the goods by the rotation of the rotating base. [0004] Only the length of the extension of the above-mentioned remaining machine or the load is changed: the rotation of the heavy part relative to the bracket It is also difficult for the torque to generate the rotational moment generated by the frame, so that the zero moment of the lifting frame makes the balance of the above-mentioned palletizing robot poor. SUMMARY OF THE INVENTION [0005] In view of the above, it is necessary to provide a well-balanced palletizing machine and a lifting frame for sliding and moving the [_]-species robot, which includes a lifting frame, 099114144 form number ΑΟίοι 3 pages / total 17 pages 0992025020-0 201139255 , , hand ', the end of the end of the telescopic arm and the balance structure 'balance mechanism including the screw on the telescopic arm, and the screw of the screw screw, The movable member fixedly connected with the screw rod 1 and the weight member on the fixed-I moving member, the driving member drives the screw to rotate to slide the position of the tilting member relative to the screw rod. [0010] [0012] [0012] The j-coded robot drives the screw to rotate by the driving member of the balance mechanism, and the two pieces are combined with the turning screw. The balance state 'to thereby eliminate the load on the end effector to the lift: the resulting f moment. Therefore, the balance of the S-type robot of the present invention is more detailed. The embodiments of the present invention will be further described in detail with reference to the drawings and specific embodiments. Referring to Figures 1, 2 and 6, a code robot 100 of the preferred embodiment of the present invention includes a rotating base 20, a lifting frame 30' telescopic arm 4, a balancing mechanism 50, and an end effecting_. The lifter_ is rotatably coupled to the rotary base 20 by the telescopic hand #40 and the lift frame 30. The balance mechanism 5'' and the end effector 60 are respectively disposed at both ends of the telescopic arm 40. The square turn base 20 is roughly a round table. The lifting frame 3G includes a bottom plate 31, a top plate 32, and two side plates 35 connecting the bottom plate 31 and the top plate 32. The bottom plate 31 is rotatably disposed on the rotating base 2〇. The two side plates 35 are oppositely disposed, and the two side plates 35 are formed with two mutually parallel sliding rails 351 on opposite surfaces. Referring to FIG. 3 together, the telescopic arm 40 includes two limiting members 41, „body 43 099114144 Form No. A0101 Page 4 / Total 17 Page 0992025020-0 201139255 〇, an extension arm 45, a mounting member 47 and a lifting IU The main body 43 is a square cylinder, the end of the extension arm 45 is received in the main body, and the other end is located outside the main body 43. The left side of the end of the extension arm 45 is provided with a receiving groove 432. The extension arm 45 is away from the main body. (10) The end is a retractable free end. The mounting member 4 (9) is disposed on the side of the free end. The second limiting member (4) is not fixed to the two sides of the main body 43. Each of the limiting members 41 is open to the sliding rail 351. The corresponding fine figure is not (5), and by the cooperation of the chute and the secret 351, the two limiting members 41 can be slid and lifted in the lifting and lowering, so that the telescopic arm 40 can be slid and lifted relative to the rotating bottom (four) on the lifting frame (four). The lifter is disposed on the main body 43 to clear the drive limiter 41 and control the sliding direction thereof. The end effector fixed to the mounting member 47 can be rotated by the lifting (four) for the three-dimensional position of the rotating base 20. Lifting and telescopic arm of telescopic arm 40 on lifting frame 3G [0013] Please refer to FIG. 3 again. 'The balance mechanism 50 includes two weight members 51, a sliding member 53, two sliding guides 55, a lead screw 57, three fixing members 58, and a driving member 59. 〇[0014] ... V Each weight 51 is fixed to the slider p's weight can be selected according to the load 70 of the palletizing robot 100. [0015] Please refer to FIG. 4 together, the slider The base member 532 includes a connecting block 532, two sliders 534 and a screw member 535. The connecting block 532 is substantially "I" shaped, and the two sliders 534 are respectively fixed at the two ends of the connecting block 532. Each slider 534 is provided with a sliding The slot 5341 is a dovetail slot. The threaded member 535 is fixed to the middle of the connecting block 532 and is located in the middle of the two sliders 534. The threaded member 535 is provided with a screw hole 5351 through which the lead screw 57 is inserted. Screw hole 5351 » 099114144 Form No. A0101 Page 5 / Total 17 page 0992025020-0 201139255 [0016] Referring to FIG. 3 and FIG. 5, the two sliding guides 55 are fixed to the bottom of the receiving groove 432 in parallel with each other. A guide protrusion 552 is disposed on the guide rail 55. In the embodiment, the guide protrusion 552 is a dovetail type protrusion. It is fixed to the bottom of the receiving groove 432 and is located between the ends of the two sliding guides 55. The screw rod 57 is provided with an external thread, and two ends of the screw rod 57 are rotatably inserted through the fixing member 58, and one end thereof is fixed to the driving member 59. The driving member 59 drives the screw 57 to rotate, so that the screw 535 of the slider 53 slides relative to the screw 57. In the present embodiment, the driving member 59 is a driving motor. Referring to FIGS. 3 to 6, when the palletizing robot 100 carries the load 70, the driving member 59 of the balancing mechanism 50 drives the screw 57 to rotate, and the screw member 535 of the sliding member 53 slides relative to the screw 57, thereby adjusting the weight member. 51 relative to the position of the telescopic arm 40. The balance mechanism 50 and the load 70 form a lever balance structure with respect to the crane frame 30. The total weight of the weight member 51 and the slider 53 of the balance mechanism 50 is such that it is opposite to the arm of the crane frame 30. The total weight of the mounting member 47, the end effector 60 and the load 70 of the telescopic arm 40 is m2g, which is 12 with respect to the arm of the crane 30. According to the principle of torque balance, [0018] m.gxl, =m, gxii(1) [0019] From the above formula (1): [_ Γ %(4)(7) Μ = [0021] When the weight of the load 70 changes The total weight m2g also changes with the force; when the length of the telescopic arm 40 changes, the force arm 12 also changes. Therefore, when the weight of the load 70 or the force arm occurs when the length of the telescopic arm 40 occurs 099114144 Form No. A0101 Page 6 of 17 0992025020-0 201139255 Change = When the force arm 12 is calculated by the formula (2) value. The rotation of the screw 57 by the driving member 59 of the balancing mechanism 50 causes the screw member 535 of the sliding member 53 to slide relative to the screw 57, thereby sliding the matching + and π moving members 53 to a new equilibrium position. The location of the force. 2: The code of the robot 〇〇 is driven by the driving member 平衡 of the balance mechanism: the rotary/moon moving member 53 is threadedly engaged with the screw rod 57 and the screw rod 57 is balanced with respect to the screw rod 57, thereby eliminating the load. Correct
升降木3〇產生之弯矩。故，本發明之碼躁機器人1〇〇之平 衡性較好。 [0023] [0024] 本發月之瑪垛機器人100還可藉由控制器（未圖示）控制驅 使平衡機構50自動調節g&重件51及滑動件聊目 對於升降架30之力臂 綜上所述，本發明確已符合發明專利之要件，遂依法提 申月淮，以上所述者僅為本發明泛較佳實施方 式’自不能以此限制本案之申請專利範圍。舉凡熟悉本 案技藝之人士援依本發明之精神所作之等效修部或變化 ’皆應涵蓋於以Tt請柄範圍内。 【圖式簡單說明】 [_ @1係本發日枝佳實施方式之卿機器人之立體圖 阔圖2係圖1所示碼«器人之伸縮手臂之立體圖。 剛圖3係則翁卿制人之平衡機構之分解圖。 圖4係圖3所示碼操機器人之平衡機構之滑動件之放大分 解圖。 099114144 表單編號A0101 第7頁/共17頁 0992025020-0 [0028] 201139255 [0029] 圖5係圖3所示碼垛機器人之平衡機構之局部立體圖。 [0030] 圖6係圖1所示碼垛機器人工作時之狀態示意圖。 【主要元件符號說明】 [0031] 碼垛機器人100 [0032] 旋轉底座20 [0033] 升降架3 0 [0034] 底板 31 [0035] 頂板 32 [0036] 側板 35 [0037] 滑軌 351 [0038] 伸縮手臂40 [0039] 限位件41 [0040] 主體 43 [0041] 收容槽432 [0042] 延伸臂4 5 [0043] 安裝件47 [0044] 平衡機構50 [0045] 配重件51 [0046] 滑動件53 [0047] 連接塊532 099114144 表單編號A0101 第8頁/共17頁 0992025020-0 201139255 [0048] [0049] [0050] [0051] [0052] [0053] [0054] Ο [0055] [0056] [0057] [0058] 滑塊534 滑槽5341 螺紋件535 螺孔5351 滑動導軌55 導向凸起552 絲桿57 固定件58 驅動件59 末端執行器60 載重70 〇 099114144 表單編號Α0101 第9頁/共17頁 0992025020-0The bending moment generated by the lifting wood 3〇. Therefore, the palletizing robot of the present invention has a good balance. [0024] The present month's Malang robot 100 can also be driven by a controller (not shown) to drive the balancing mechanism 50 to automatically adjust the g&weight 51 and the slider to the lifting arm 30. As described above, the present invention has indeed met the requirements of the invention patent, and the stipulations are based on the law. The above description is only a general embodiment of the present invention, and the scope of the patent application of the present invention cannot be limited thereby. Any equivalents or changes made by those who are familiar with the skill of the present invention in accordance with the spirit of the present invention should be covered by the Tt. [Simple description of the diagram] [_ @1 is a three-dimensional diagram of the robot of the implementation of the Japanese version of the Japanese version of the tree. Figure 2 is a perspective view of the telescopic arm of the figure shown in Figure 1. Just Figure 3 is an exploded view of the balance mechanism of Weng Qing. Fig. 4 is an enlarged exploded view of the slider of the balance mechanism of the code robot shown in Fig. 3. 099114144 Form No. A0101 Page 7 of 17 0992025020-0 [0028] FIG. 5 is a partial perspective view of the balancing mechanism of the palletizing robot shown in FIG. 3. 6 is a schematic diagram showing the state of the palletizing robot shown in FIG. 1 during operation. [Main Component Symbol Description] [0031] Palletizing Robot 100 [0032] Rotating Base 20 [0033] Lifting Frame 3 [0034] Base Plate 31 [0035] Top Plate 32 [0036] Side Plate 35 [0037] Slide Rail 351 [0038] Telescopic arm 40 [0039] Limiting member 41 [0040] Main body 43 [0041] receiving groove 432 [0042] Extension arm 4 5 [0043] Mounting member 47 [0044] Balancing mechanism 50 [0045] Counterweight member 51 [0046] Slide 53 [0047] Connection block 532 099114144 Form number A0101 Page 8 / Total 17 page 0992025020-0 201139255 [0049] [0054] [0054] [0055] [0055] 0056] [0058] [0058] Slider 534 Chute 5341 Screw 535 Screw hole 5351 Slide rail 55 Guide projection 552 Screw 57 Fixing member 58 Drive member 59 End effector 60 Load 70 〇099114144 Form No. Α0101 Page 9 / Total 17 pages 0992025020-0