201208838六、發明說明： 【發明所屬之技術領域】 [0001]本發明係關於一種機械手，尤其涉及一種吸盤式機械手 [0002] ❹ [0003] [0004]201208838 VI. Description of the Invention: [Technical Field] [0001] The present invention relates to a robot, and more particularly to a suction cup type robot [0002] [0003] [0004]
【先前技術】 機械手廣泛應用於成型機、機床、組裝流水線等設備或 裝置上，以用於執行移動物體、吸取工件等操作。習知 之該等機械手大多採用夾钮、夾爪等裝置來线物體或 工件’然，料制_ '綠式侧龄體積一般都 比較大重量重、言裝調試搬運極不方便；而且，所述 夹钳、爽爪式機械手因其自身之體積比較大且比較笨重 ，不利於夾取小工件。 【發明内容】 有鑒於此，有必要提供1體積較小、安裝調試方便且 利於夾取小工件之吸盤式機械手。 -種吸盤式機械手，^包括1定座…移動裝置、_ 連接件、-旋轉裝置及1盤I置，所述移動裝置可調 節地裝設於該IU定座上，並藉由所述連接件與該旋轉裝 置可相對滑動地裝設’用以調節該旋轉裝置與固定座之 間的距離；所述吸《置__裝置可相對旋轉地裝 設，由該旋轉裝置媒動，整所述吸盤裝置相對固定座 轉過的角度。 _5]相較習知之機械手，所述讀式機械手結構簡單、安裳 調試方便，可伸人到狹窄的模具空間内吸取成型後的小工件及料頭。所述吸盤式機械手藉由採用一微型移動裝 099127816 表單編號A0101 第3頁/共15頁 0992048864-0 201208838 置及一微型旋轉裝置，有效實現了對吸盤裝置的位置調 節及角度控制，同時，大大縮小了該吸盤式機械手的整 體體積，極大地減少了設備的佔地空間及成本。 【實施方式】 [0006] 請參閱圖1及圖2，本發明吸盤式機械手以應用於一成型 設備（圖未示）中的吸盤式機械手100為較佳實施例，該 吸盤式機械手100用於伸入該成型設備中之狹窄模具區吸 取成型後之工件或料頭，並將吸取的工件或料頭取出。 [0007] 所述吸盤式機械手100包括一固定座10、一移動裝置30、 一旋轉裝置50、一連接件60及一吸盤裝置80，該吸盤式 機械手100使用時，其固定座10對應裝設於所述成型設備 上或裝設於該成型設備一側，以吸取成型後的工件或料 頭。所述移動裝置30對應可調節地裝設於該固定座10上 ，並藉由所述連接件60與該旋轉裝置50裝設於一起。所 述移動裝置30用以驅動旋轉裝置50相對固定座10滑移以 調節該旋轉裝置50與固定座10之間的距離。所述吸盤裝 置80與該旋轉裝置50可相對旋轉地裝設於一起，由該旋 轉裝置50驅動以調整所述吸盤裝置80相對固定座10轉過 的角度，以伸入所述成型設備内更好地吸取成型後的工 件或料頭。 [0008] 請一併參閱圖3及圖4，所述固定座10大致呈“U”型板狀 ，其包括一主體11及二安裝臂13 ;該主體11大致呈矩形 板狀，其上沿縱向方向相對平行地貫通開設有二條形安 裝槽112，以將所述移動裝置30可調節地裝設於該固定座 10之主體11上。所述二安裝臂13相對平行設置，並分別 099127816 表單編號A0101 第4頁/共15頁 0992048864-0 201208838 [0009][Prior Art] Robots are widely used in molding machines, machine tools, assembly lines, and other equipment or devices for performing moving objects, sucking workpieces, and the like. Most of these robots use clips, jaws and other devices to wire objects or workpieces. However, the green side-age volume is generally relatively heavy and heavy, and it is extremely inconvenient to talk about loading and unloading. The clamp and the cool-claw robot are relatively large and cumbersome due to their own size, which is not conducive to clamping small workpieces. SUMMARY OF THE INVENTION In view of the above, it is necessary to provide a suction cup type robot which is small in size, convenient in installation and debugging, and which is advantageous for gripping small workpieces. - a suction cup type robot, comprising a fixed seat, a moving device, a connecting member, a rotating device and a disk I, the moving device being adjustably mounted on the IU seat, and by the The connecting member and the rotating device are slidably mounted to adjust a distance between the rotating device and the fixed seat; the suction device is rotatably mounted, and is rotated by the rotating device. The angle at which the suction cup device is rotated relative to the fixed seat. _5] Compared with the conventional manipulator, the reading manipulator has a simple structure, convenient installation and debugging, and can be extended into a narrow mold space to absorb the formed small workpiece and the material head. The suction cup robot effectively realizes position adjustment and angle control of the suction cup device by using a micro mobile device 099127816 form number A0101 page 3/15 page 0992048864-0 201208838 and a micro-rotating device. The overall volume of the suction cup robot is greatly reduced, and the space and cost of the equipment are greatly reduced. Embodiments [0006] Referring to FIG. 1 and FIG. 2, a suction cup type robot of the present invention is a suction cup type robot 100 used in a molding apparatus (not shown). The suction cup type robot is a preferred embodiment. 100 is used for drawing into the formed workpiece or the material head in the narrow mold area of the molding apparatus, and taking out the sucked workpiece or the material head. [0007] The suction cup type robot 100 includes a fixing base 10, a moving device 30, a rotating device 50, a connecting member 60 and a suction cup device 80. When the suction cup type robot 100 is used, the fixing base 10 corresponds to the fixing body 10. It is installed on the molding device or installed on one side of the molding device to suck the formed workpiece or the material head. The moving device 30 is adjustably mounted on the fixing base 10 and is mounted together with the rotating device 50 by the connecting member 60. The moving device 30 is configured to drive the rotating device 50 to slide relative to the fixed base 10 to adjust the distance between the rotating device 50 and the fixed seat 10. The sucker device 80 and the rotating device 50 are rotatably mounted together, and are driven by the rotating device 50 to adjust an angle at which the sucker device 80 rotates relative to the fixed seat 10 to extend into the molding apparatus. The molded workpiece or the material head is well absorbed. Referring to FIG. 3 and FIG. 4 together, the fixing base 10 is substantially in the shape of a U-shaped plate, and includes a main body 11 and two mounting arms 13; the main body 11 has a substantially rectangular plate shape and an upper edge thereof. Two longitudinally-shaped mounting slots 112 are formed in the longitudinal direction so as to extend the parallel movement of the moving device 30 to the main body 11 of the fixing base 10. The two mounting arms 13 are arranged in parallel and are respectively 099127816 Form No. A0101 Page 4 / Total 15 Page 0992048864-0 201208838 [0009]
[0010][0010]
[0011] 099127816 由5玄主體11之兩端沿垂直於該主體11方向向外延伸形成 ，每—安裝臂13上貫通開設有一條形裝設槽132，以將該 固定座10隨同整個吸盤式機械手100裝設於使用該吸盤式 機械手100的設備、機臺上。 所述移動裝置30於本較佳實施例中為一微型伸縮氣缸， 其包括—缸體31、可滑動地裝設於缸體31内的活塞椁33 及—安裝板35，該紅體31上對應所述固定座1〇的主體n 上的二安裝槽112凸設有兩列共四個導向柱312，以將該 移動裝置30的缸體31可調餘地裝設於所述固定座1〇的主 體11上。所述安裝板35大致呈矩形板狀，固接於所述活 塞桿33的末端，隨同該活塞桿33相對缸體31滑移。 所述疑轉裝置50於本較佳實施例中為一微型旋轉氣紅， 其藉由所述連接件60與移動裝置30的安裳权35固定襞設 於一起，以使得該旋轉裝置50可由移動裝置3〇驅動相對 固定座10滑移。所述旋轉裝置50包括—缸體51及與該缸 體51可旋轉地裝設於^起的轉盤53。 所述連接件60大致呈階梯型板’由~~第—固接板61及— 第二固接板63拼接而成’用於將所迷移動裝置3〇與旋轉 裝置50裝設於-起。所述第-固接板61上義該移動装 置30的安裝板35凹設有-大致矩形的|配槽6U，以與該 移動裝置30的安裝板35固定裝設於〜起。所第二固接板Λ 63與該第-固接板61相接，其上块巾部位置處對應該 旋轉裝置50的轉盤53貫通開設有1形|配孔咖。所述 第二固接板63固定裝設於該旋轉裝置5〇的缸體51上，該 旋轉裝置50的轉盤53對應穿過並伸出於該第二固接板μ 表單編號Α0101 第5頁/共15頁 0992〇48864~〇 201208838 的裝配孔633，以與所述吸盤裝置80裝設於一起。 [0012] 所述吸盤裝置80固定裝設於該旋轉裝置50的轉盤53上， 由該旋轉裝置50驅動旋轉，以調節該吸盤式機械手100相 對待吸取工件的角度。所述吸盤裝置80包括一基座81、 至少一吸嘴83及一連接臂87。該基座81大致呈矩形條狀 ，其包括一固接端815，藉由所述連接臂87與轉盤53固定 裝設於一起。所述至少一吸嘴8 3於本實施例中為二個， 其相對間隔地固定裝設於該基座81上，並分別與一氣管 接頭85相接，以與一氣源（圖未示）相接，用於控制所 述吸嘴83實施對工件、料頭等的吸取或釋放。所述連接 臂87大致呈矩形條狀，其一端固接於該基座81的固接端 815上，另一端固接於旋轉裝置50的轉盤53上。 [0013] 請一併參閲圖1至圖4，組裝該吸盤式機械手100時，先將 所述移動裝置30的缸體31的導向柱312對應穿過並容置於 該固定座10的主體11上的安裝槽112内，使該缸體31與 該固定座10裝設於一起。接下來，將所述連接件60的第 一固接板61固定裝設於該移動裝置30的安裝板35上，該 安裝板35對應裝設並容置於所述第一固接板61的裝配槽 611内。再接下來，將所述旋轉裝置50的轉盤53對準並穿 過該第二固接板63的裝配孔633，對應地，將該第二固接 板63與該旋轉裝置50的缸體51固定裝設於一起。最後， 將所述吸盤裝置80固定裝設於該旋轉裝置50的轉盤53上 ，即完成所述吸盤式機械手100的組裝。 [0014] 所述吸盤式機械手100使用時其固定座10對應固定裝設於 一成型設備或機臺上或一側，藉由控制該移動裝置30可 099127816 表單編號A0101 第6頁/共15頁 0992048864-0 201208838 [0015] Ο [0016] G [0017] [0018] [0019] [0020] 調節4吸盤裝置80相Sf待吸取王件或料頭的距離；藉由 控制錢轉裝置5G可調節所述吸盤裝置8()㈣工件或料 頭的吸取角度，讀確無誤地吸取該辑或料頭。最後 藉由控制所述吸盤裴置8 〇實施對工件或料頭的吸取及 釋放。 所述吸盤式機械手100結構簡單、安裝調試方便 ，可伸入 到狹乍的模具空間内吸取成型後的小工件及料頭。所述 吸盤式機械手100藉由採用一微型移動裝置3〇及一微型旋 轉裂置50，有效實現了對吸盤裝置8〇的位置調節及角度 控制，同時，大大縮小了該吸槃式機械手1Θ〇的整體體積 ’極大地減少了設備的佔地空間及成本。 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，本發 明之範圍並不以上述實施例為限，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飾或變化，皆應涵 蓋於以下申請專利範圍内。 【圖式簡單說明】 圖1係本發明較佳實施例之吸盤式機械手之立體組裝示意 圖。 圖2係具本發明較佳實施例之吸盤式機械手之另一視角下 之立體組裝示意圖。 圖3係本發明較佳實施例之吸盤式機械手之立體分解示意 圖。 圖4係本發明較佳實施例之吸盤式機械爭之另一視角下之 099127816 表單編號Α0101 第7頁/共15頁 0992048864-0 201208838 立體分解示意圖。 【主要元件符號說明】 [0021] 吸盤式機械手：100 [0022] 固定座：1 0 [0023] 主體：11 [0024] 安裝槽：112 [0025] 安裝臂：13 [0026] 裝設槽：132 [0027] 移動裝置：30 [0028] 缸體：31 [0029] 導向柱：312 [0030] 活塞桿：33 [0031] 安裝板：35 [0032] 旋轉裝置：50 [0033] 缸體：51 [0034] 轉盤：53 [0035] 連接件：60 [0036] 第一固接板：61 [0037] 裝配槽：611 [0038] 第二固接板：63 表單編號A0101 099127816 第8頁/共15頁 0992048864-0 201208838 [0039] [0040] [0041] [0042] [0043] [0044] [0045] Ο 裝配孔：633 吸盤裝置：80 基座：81 固接端：815 吸嘴：83 氣管接頭：85 連接臂：87 ο 099127816 表單編號Α0101 第9頁/共15頁 0992048864-0[0011] 099127816 is formed by extending the two ends of the 5 main body 11 in a direction perpendicular to the main body 11, and each of the mounting arms 13 is provided with a strip-shaped mounting groove 132 so as to follow the whole suction cup The robot 100 is mounted on a device or a machine using the suction cup type robot 100. The mobile device 30 is a micro telescopic cylinder in the preferred embodiment, and includes a cylinder 31, a piston cymbal 33 slidably mounted in the cylinder 31, and a mounting plate 35 on the red body 31. Two rows of four guiding posts 312 are protruded from the two mounting slots 112 corresponding to the main body n of the fixing base 1 to mount the cylinder 31 of the moving device 30 to the fixing base 1 . On the main body 11. The mounting plate 35 has a substantially rectangular plate shape and is fixed to the end of the piston rod 33, and the piston rod 33 slides relative to the cylinder block 31. In the preferred embodiment, the suspecting device 50 is a micro-rotation gas red, which is fixedly coupled to the mobile device 30 by the connecting member 60, so that the rotating device 50 can be The mobile device 3 is driven to slide relative to the fixed base 10. The rotating device 50 includes a cylinder 51 and a turntable 53 rotatably mounted to the cylinder 51. The connecting member 60 is substantially formed of a stepped plate 'confused by the ~~ first fixing plate 61 and the second fixing plate 63' for mounting the moving device 3〇 and the rotating device 50 . The mounting plate 35 of the moving device 30 is recessed with a substantially rectangular | matching groove 6U for fixing to the mounting plate 35 of the moving device 30. The second fixing plate Λ 63 is in contact with the first fixing plate 61, and the first rotating plate 53 corresponding to the rotating device 50 is disposed at a position of the upper portion of the towel portion. The second fixing plate 63 is fixedly mounted on the cylinder 51 of the rotating device 5, and the turntable 53 of the rotating device 50 passes through and protrudes from the second fixing plate. Form No. Α0101 Page 5 A total of 15 pages 0992〇48864~〇201208838 are assembled holes 633 for mounting with the chuck device 80. [0012] The suction cup device 80 is fixedly mounted on the turntable 53 of the rotating device 50, and is rotated by the rotating device 50 to adjust the angle of the sucker-type robot 100 to be sucked by the workpiece. The chuck device 80 includes a base 81, at least one suction nozzle 83, and a connecting arm 87. The base 81 has a substantially rectangular strip shape and includes a fixed end 815 which is fixedly mounted to the turntable 53 by the connecting arm 87. The at least one suction nozzle 8 3 is two in the embodiment, and is fixedly mounted on the base 81 at a relatively spaced interval, and is respectively connected to a gas pipe joint 85 to be connected with a gas source (not shown). The connection is for controlling the suction nozzle 83 to perform suction or release of the workpiece, the material head, and the like. The connecting arm 87 has a substantially rectangular strip shape, and one end of the connecting arm 87 is fixed to the fixing end 815 of the base 81, and the other end is fixed to the turntable 53 of the rotating device 50. [0013] Referring to FIG. 1 to FIG. 4 together, when the suction cup type robot 100 is assembled, the guide post 312 of the cylinder block 31 of the moving device 30 is correspondingly passed through and accommodated in the fixing base 10. In the mounting groove 112 of the main body 11, the cylinder 31 and the fixing base 10 are mounted together. Next, the first fixing plate 61 of the connecting member 60 is fixedly mounted on the mounting plate 35 of the moving device 30, and the mounting plate 35 is correspondingly mounted and received in the first fixing plate 61. The inside of the fitting groove 611. Next, the turntable 53 of the rotating device 50 is aligned and passed through the mounting hole 633 of the second fixing plate 63, correspondingly, the second fixing plate 63 and the cylinder 51 of the rotating device 50. Fixed together. Finally, the suction cup device 80 is fixedly mounted on the turntable 53 of the rotating device 50, that is, the assembly of the suction cup type robot 100 is completed. [0014] When the suction-type robot 100 is in use, its fixing base 10 is fixedly mounted on a molding apparatus or a machine or on one side, and by controlling the mobile device 30, 099127816 Form No. A0101 Page 6 of 15 Page 0992048864-0 201208838 [0015] [0020] [0020] [0020] Adjusting the distance of the 4 sucker device 80 phase Sf to absorb the king piece or the material head; by controlling the money transfer device 5G Adjusting the suction angle of the workpiece or the material of the suction cup device 8 () (4), and reading the cartridge or the material head without fail. Finally, the suction and release of the workpiece or the material head is carried out by controlling the suction cup device 8 . The suction cup type robot 100 has a simple structure, convenient installation and debugging, and can be inserted into a narrow mold space to absorb the formed small workpiece and the material head. The suction-type robot 100 effectively realizes position adjustment and angle control of the suction device 8 by using a micro-movement device 3 and a micro-rotation slit 50, and greatly reduces the suction robot. The overall volume of 1Θ〇 greatly reduces the floor space and cost of the equipment. In summary, the present invention complies with the requirements of the invention patent and submits a patent application according to law. The above is only the preferred embodiment of the present invention, and the scope of the present invention is not limited to the above-described embodiments, and equivalent modifications or variations made by those skilled in the art in light of the spirit of the present invention are It should be covered by the following patent application. BRIEF DESCRIPTION OF THE DRAWINGS Fig. 1 is a perspective view showing the three-dimensional assembly of a suction cup type manipulator according to a preferred embodiment of the present invention. Fig. 2 is a perspective view showing the three-dimensional assembly of the suction cup type robot of the preferred embodiment of the present invention. Figure 3 is a perspective exploded view of a suction cup type manipulator in accordance with a preferred embodiment of the present invention. Figure 4 is a perspective view of a preferred embodiment of the suction cup type of the present invention. 099127816 Form No. 1010101 Page 7 of 15 0992048864-0 201208838 [Main component symbol description] [0021] Suction cup type robot: 100 [0022] Fixing seat: 1 0 [0023] Main body: 11 [0024] Mounting groove: 112 [0025] Mounting arm: 13 [0026] Mounting groove: 132 [0027] Mobile device: 30 [0028] Cylinder: 31 [0029] Guide post: 312 [0030] Piston rod: 33 [0031] Mounting plate: 35 [0032] Rotating device: 50 [0033] Cylinder block: 51 [0034] Turntable: 53 [0035] Connector: 60 [0036] First fastening plate: 61 [0037] Assembly groove: 611 [0038] Second fastening plate: 63 Form No. A0101 099127816 Page 8 of 15 [0040] [0044] [0045] [0045] [0045] 装配 Assembly holes: 633 Suction device: 80 Base: 81 Fixed end: 815 Nozzle: 83 Air pipe joints :85 Connecting arm: 87 ο 099127816 Form number Α0101 Page 9/Total 15 page 0992048864-0