TW201627116A - System and method for transporting workpieces - Google Patents

Abstract

The present invention relates to a system and method for transporting workpieces, wherein the system comprises a base, a lifting mechanism configured on the base, a first joint arm, a second joint arm, a turnover mechanism and an actuating set. The first and the second joint arms are respectively provided with a pivot end pivoted to the lifting mechanism and an operation end, and the pivot ends of the first and the second joint arms are arranged with an interval. The turnover mechanism comprises a seat body and a swing arm. The operation ends of the first and the two joint arms are pivoted to the same face of the seat body, and the swing arm has an actuating end and a pivot end pivoted to the seat body. The actuating set is linked to the lifting mechanism, the first joint arm or the second joint arm, and the swing arm of the turnover mechanism. Thereby, the turnover mechanism can horizontally and vertically displace relative to the base to achieve the function of movement in a narrow space.

Description

System and method for conveying a workpiece

The present invention relates to a system and method for transporting workpieces, and more particularly to a system and method for picking up and placing workpieces in a narrow space.

In the industry, automation equipment is often used to replace manpower to save costs and increase production. The commonly used automation equipment has a mechanical arm, which also includes a horizontal mechanical arm and a gantry type mechanical arm. The gantry type robot arm comprises a frame and an actuating mechanism, the frame spanning the machine tool, the feeding table and the loading table, and the actuating mechanism is suspended from the frame and located at the machine tool and the feeding table and Above the loading table, the actuating mechanism can be displaced relative to the frame in the X-axis, Y-axis and Z-axis directions, so that the workpiece can be gripped from the top to the bottom of the feeding table, and then the workpiece can be placed from top to bottom. Move the finished workpiece to the loading table. It can be known from the above description that the frame of the gantry type mechanical arm must straddle the machine tool, the feeding table and the loading table, and the actuating mechanism is suspended on the frame, so the frame must have sufficient The space is used for the three-dimensional displacement action of the actuating mechanism, and the horizontal working range of the actuating mechanism covers at least the total horizontal area of the machine tool, the feeding table and the loading table. Therefore, the overall size of the gantry type mechanical arm is large, resulting in a small number of gantry type mechanical arms that can be set in a fixed environment space.

Another type of robotic arm, the horizontal robot arm, comprises a base and a mechanical swing arm, the mechanical swing arm is pivoted at one end, and the other end of the mechanical swing arm has a workpiece In the take-out portion, the mechanical swing arm is pivoted at one end of the base, and the horizontal displacement operation around the base is performed by taking the distance from the take-up portion to the base as a radius. Therefore, the machine tool, the feeding table and the loading table must be placed on a circular path around the base of the mechanical swing arm. Since the range of motion of the mechanical swing arm of the horizontal robot arm depends on the size of the working radius. When the working radius of the mechanical swing arm of the horizontal robot arm is larger, the distance between the horizontally arranged robot arms is larger than the working radius, so the horizontal working robot with the larger working radius needs more environmental space. . Therefore, the number of horizontal robot arms that can be set in a fixed environmental space is small.

In summary, the overall size of the gantry type mechanical arm is large, resulting in a small number of settings in a fixed-size environmental space. The horizontal manipulator has a larger working radius, so the spacing of adjacent horizontal manipulators needs to be larger, and there is also a small number of missing in a fixed-size environmental space.

In view of the above, the present invention is primarily directed to providing a system and method for transporting a workpiece that is small in size and that provides activity in a narrow range.

In order to achieve the foregoing object, a system for transporting a workpiece includes a mechanical arm including a base, a set of lifting mechanisms disposed on the base, a first joint arm, and a second Joint arm, a flip mechanism and a consistent group. The first joint arm is provided with a pivoting end pivoted to the top surface of the lifting mechanism and an operating end, and the second joint arm is provided with a pivoting end pivoted to the top surface of the lifting mechanism and an operating end, the second joint The arm is opposite to the first joint arm, and the pivot end of the first joint arm is spaced from the pivot end of the second joint arm. The operating ends of the first and second joint arms can be horizontally displaced between the first joint arm and the second joint arm to the opposite sides of the base. The turning mechanism comprises a body and a swing arm, the operating end of the first joint arm and the operating end of the second joint arm are pivotally disposed on the same end surface of the base body, the swing arm has an actuating end and a pivoting end pivotally connected to the seat body; The actuating group linkage lifting mechanism causes the lifting mechanism to vertically move up and down relative to the base, interlocking the first joint arm or the second joint arm, so that one of the joint arms drives the other joint arm while horizontal displacement relative to the base, and the swing arm of the inversion mechanism The swing arm swings back and forth on opposite sides of the seat.

Thereby, the inverting mechanism can be horizontally displaced and vertically displaced relative to the base to achieve a function of being active in a narrow range.

The present invention further provides a method for transporting a workpiece by using the aforementioned mechanical arm and providing a machine tool on one side of the robot arm and a rack on the other opposite side of the robot arm. The robot arm picks up the workpiece on the rack and the machine tool. The robot arm has a swing arm, and the workpiece has a gripping end. The method comprises the following steps: a) the arm of the robot arm takes the workpiece from the machine tool ; b) the mechanical arm rotates to drive the swing arm to the direction of the rack, the swing arm is flipped between the machine tool and the rack, and the mechanical arm is lowered to move the swing arm from above the feed layer of the rack Displacement under the feed layer to place the workpiece onto the feed layer. When the swing arm places the workpiece to the feed layer, the feed layer is closer to the feed layer than the inner side of the mechanical arm. The workpiece is placed on the outer side of the robot arm; c) the mechanical arm drives the swing arm below a discharge layer, and the mechanical arm is raised and moved to move the swing arm upward from below the discharge layer of the rack to be taken out and discharged. The workpiece on the layer, and the pendulum When taking the workpiece from the discharge layer, the workpiece is sequentially taken out from the outer side of the discharge layer to the discharge layer away from the inner side of the robot arm; and d) the mechanical arm rotates to drive the swing arm material Displacement in the direction of the machine tool, the swing arm is flipped between the machine tool and the material rack, and the robot arm is displaced from the top of the machine tool to the workpiece; wherein the workpiece placed in the feeding layer is clamped End system Below the material layer; the workpiece placed on the discharge layer has a gripping end facing downward of the discharge layer; the workpiece placed on the machine tool has a gripping end facing the upper side of the machine tool; thereby, the present invention The method provided allows the robotic arm to pick and place workpieces to the rack and machine tool in a narrow range.

10‧‧‧Workpiece

101‧‧‧Clip end

1‧‧‧ Robotic arm

11‧‧‧Base

12‧‧‧ Lifting mechanism

121‧‧‧ top surface

13‧‧‧First joint arm

131‧‧‧First arm

132‧‧‧second arm

1311, 1321, 1411, 1421‧‧‧ proximal end

1312, 1322, 1412, 1422‧‧ ‧ remote

14‧‧‧Second joint arm

141‧‧‧ third arm

142‧‧‧fourth arm

15‧‧‧ flip mechanism

151‧‧‧

152‧‧‧ swing arm

1521‧‧‧ actuation

1522‧‧‧ pivot end

1523‧‧‧End effector

16‧‧‧Activity Group

161‧‧‧First Actuator

162‧‧‧Second Actuator

163‧‧‧third actuating piece

2‧‧‧ shelf

21‧‧‧Incoming layer

22‧‧‧Output layer

23‧‧‧Inlet

24‧‧‧Outlet

25‧‧‧ activities channel

26‧‧‧Activity Channel

3‧‧‧Tool machine

31‧‧‧ Magnetic seat

1 is a perspective view of a mechanical arm of a system for conveying a workpiece according to a preferred embodiment of the present invention; FIG. 2 is the same as FIG. 1 to disclose that the third actuating member is disposed in the housing and is coupled to the pendulum 3 is a perspective view of a system for transporting a workpiece provided by the preferred embodiment of the present invention, which discloses a schematic diagram of a first actuating member and a second actuating member; FIG. 4 is a view of the present invention A perspective view of a mechanical arm gripping a workpiece of a system for transporting a workpiece provided by the preferred embodiment; FIGS. 5 through 7 are mechanical arms of a system for transporting a workpiece provided by the preferred embodiment of the present invention. Actuation diagram of horizontal displacement of the first joint arm and the second joint arm relative to the base; FIGS. 8 to 10 are mechanical arms of the system for transporting the workpiece provided by the preferred embodiment of the present invention, Actuation diagram of the arm relative to the pivoting of the seat; FIG. 11 is a schematic view of the system for conveying a workpiece provided by the preferred embodiment of the present invention, wherein the swing arm of the mechanical arm is displaced upward from the bottom of the discharge layer; 12 is a preferred embodiment of the present invention It provided a system for transporting a workpiece manipulator FIG. 13 is a perspective view showing the arm and the rack of the system for conveying a workpiece provided by the preferred embodiment of the present invention; FIG. Figure 14 is a system for conveying a workpiece provided by the preferred embodiment of the present invention, the machine arm is adjacent to the rack, and the other side of the robot arm is disposed adjacent to the machine tool; and the 15th system A flow chart of a method for conveying a workpiece provided by a preferred embodiment of the present invention.

The technical contents and features of the present invention will be described in detail below with reference to the embodiments illustrated herein.

Referring to Figures 1 through 4, a robotic arm of a system for transporting a workpiece is provided in accordance with a preferred embodiment of the present invention. The robot arm 1 includes a base 11, a lifting mechanism 12, a first joint arm 13, a second joint arm 14, a turning mechanism 15, and an actuating group 16.

The lifting mechanism 12 is sleeved on the base 11 , and the lifting mechanism 12 has a top surface 121 . The first joint arm 13 has a pivoting end and an operating end pivotally disposed on the top surface 121 of the lifting mechanism 12. The first joint arm 13 includes a first arm 131 and a second arm 132. The arm 131 and the second arm 132 respectively have a proximal end 1311, 1321 and a distal end 1312, 1322. The proximal end 1311 of the first arm 131 is a pivoting end of the first joint arm 13, and the second arm 132 is near. The end 1321 pivots the distal end 1312 of the first arm 131, and the distal end 1322 of the second arm 132 is the operating end of the first articulating arm 13; the second articulating arm 14 is disposed opposite the first articulating arm 13.

The second joint arm 14 has a pivoting end and an operating end pivoted on the top surface 121 of the lifting mechanism 12. The second joint arm 14 includes a third arm 141 and a fourth arm 142. The third arm The 141 and the fourth arm 142 respectively have a proximal end 1411, 1421 and a distal end 1412, 1422. The proximal end 1411 of the third arm 141 is a pivot end of the second articulation arm 14 and the proximal end of the third arm 141. 1411 is disposed at a distance from the proximal end 1311 of the first arm 131. The proximal end 1421 of the fourth arm 142 pivots the distal end 1412 of the third arm 141, and the distal end 1422 of the fourth arm 142 is the operation of the second articulation arm 14. end.

The inverting mechanism 15 includes a body 151 and two oppositely disposed swing arms 152. The base body 151 is a rectangular parallelepiped. The distal end 1322 of the second arm 132 and the distal end 1422 of the fourth arm 142 are pivotally mounted on the base 151. The bottom end faces are arranged at a pitch. Each of the swing arms 152 has an actuating end 1521 and a pivoting end 1522 pivotally connected to the base 151. The actuating end 1521 is provided with an end effector 1523 for grasping and placing the workpiece 10. The two swing arms 152 respectively The two sides are pivotally disposed on the opposite sides of the base 151 as shown in FIG.

The actuation group 16 includes a first actuation member 161, a second actuation member 162 and a third actuation member 163. The first actuating member 161 is disposed in the base 11 , and the first actuating member 161 is coupled to the lifting mechanism 12 to vertically raise and lower the lifting mechanism 12 relative to the base 11 . The second actuating member 162 is disposed on the lifting mechanism 12, so that the second actuating member 162 is synchronously displaced with the lifting mechanism 12, and the second actuating member 162 is linked and drives the second joint arm 14 to make the second The joint arm 14 drives the first joint arm 13 to horizontally displaced relative to the base 11 (the second actuating member 162 of the present invention can also be designed to interlock and drive the first joint arm 13 to drive the second joint arm 14 to be horizontally displaced simultaneously. ). The third actuating member 163 is disposed in the seat body 151 and interlocks and drives the swing arm 152 to swing relative to the seat body 163.

Please refer to Figures 5 to 7, the robot arm provided in the preferred embodiment of the present invention. The horizontal displacement actuation diagram of 1 is such that the distal end 1322 of the second arm 132 and the distal end 1422 of the fourth arm 142 are simultaneously displaced between the first joint arm 131 and the second joint arm 132 from one side of the base 11 Through the upper side of the lifting mechanism 12 to the other side of the base 11, the distal ends 1322 and 1422 of the first joint arm 131 and the second joint arm 132 can be maintained at a horizontal level to and from the base 11 Opposite side. As shown in the fifth and sixth figures, the second joint arm 14 first pivots the distal end 1412 of the third arm 141 to drive the fourth arm 142 to pivot horizontally counterclockwise relative to the third arm 141, while the first joint arm 13 The second arm 132 is driven by the second joint arm 14 such that the second arm 132 pivots horizontally clockwise with the distal end 1312 of the first arm 131 as a fulcrum. The distal end 1322 and the fourth arm 142 of the second arm 132 The distal end 1422 begins horizontally linearly displaced between the first and second articulating arms 13, 14. As shown in FIGS. 6 and 7, when the distal end 1322 of the second arm 132 and the distal end 1422 of the fourth arm 142 are displaced above the base 11, the third arm 141 of the second articulated arm 14 is proximal 1411. The fulcrum is horizontally pivoted to the other side of the base 11 with respect to the lifting mechanism 12, while the first arm 131 of the first joint arm 13 is pivoted horizontally counterclockwise relative to the base 11 to the base with the proximal end 1311 as a fulcrum. The other side of 11.

Thereby, the distal end 1322 of the second arm 132 and the distal end 1422 of the fourth arm 142 can be simultaneously maintained on the opposite sides of the trajectory 11 from the straight track.

As shown in FIGS. 8-10, the third actuating member 163 pivots the second swing arm 152 relative to the base 11, so that the swing arm 152 can maintain an appropriate angle with the base 11, such as the swing arm 152 and the seat. A degree of 0 (horizontal state), 180 degrees (horizontal state), and 90 degrees (vertical state) are maintained between 11 to adjust the direction of the end effector 1523 for facilitating the gripping of the workpiece 10.

The inverting mechanism 15 pivots the distal end 1322 of the second arm 132 and the distal end 1422 of the fourth arm 142. Therefore, when the first joint arm 13 and the second joint arm 14 are actuated, At the same time, the inverting mechanism 15 is horizontally displaced relative to the base 11; and the first joint arm 13 and the second joint arm 14 are pivoted to the lifting mechanism 12, so that the lifting mechanism 12 drives the turning mechanism 15 perpendicular to the base 11 when vertically lifting. Up and down displacement; the third actuator 163 then pivots the second swing arm 152 relative to the base 151.

As shown in Figures 13 and 14, a rack 2 of the system for transporting workpieces of the preferred embodiment of the present invention is further described in detail, which is disposed adjacent to one side of the robot arm 1 and the robot arm 1 The other side of the system is provided with a power tool 3. The material rack is provided with an input layer 21 disposed above and below, a discharge layer 22, a feed port 23 communicating with the feed layer 21, and a discharge port 24 communicating with the discharge layer 22, the feed port The mouth 23 and the discharge port 24 are located on the side of the rack 2 corresponding to the robot arm 1. The middle layer of the feeding layer 21 and the discharging layer 22 respectively provide a first joint arm 1, a second joint arm 2 and a turning mechanism 15 The movable passages 25, 26 in the inner layer of the feed layer 21 communicate with the feed port 23, and the movable passage 26 of the discharge layer 22 communicates with the discharge port 24, and the feed layers 21 are arranged at intervals. Below the layer 22.

Since the feeding layer 21 and the discharging layer 22 of the rack 2 are arranged up and down, the horizontal area occupied by the rack 2 can be reduced, and the processed workpiece and the unfinished workpiece can be classified.

Furthermore, the first joint arm 13 and the second joint arm 14 of the robot arm 1 drive the turning mechanism 15 into and out of the feed layer 21 from the inlet port 23, and the discharge layer 22 enters and exits the discharge layer 22, and then enters the feed layer 21. The movable channel 25 and the active channel 26 of the discharge layer 22 are vertically displaced to pick up and place the workpiece. The workpiece is taken up and down only by moving between the rack 2 and the machine tool 3 in the horizontal direction. Since the turning mechanism 15 of the robot arm 1 can be horizontally displaced and vertically displaced relative to the base 11, when the rack 2 and the robot arm 1 are adjacently disposed, the horizontal movement range of the turning mechanism 15 of the base 11 is in the machine tool 3 and Rack Therefore, the system for transporting the workpiece as a whole occupies a small area in a fixed space, so that the systems for transporting the workpieces can be closely arranged adjacent to each other to increase the energy in the same fixed space. The number of systems placed to transport the workpiece.

In addition, a method for conveying a workpiece provided by a preferred embodiment of the present invention provides a mechanical arm 1 and a working machine 3 on one side of the robot arm 1 and another mechanical arm 1 A rack 2 is disposed on the opposite side. The method is to take the workpiece 10 on the rack 2 and the machine tool 3 by the robot arm 1, in particular, a method for picking up and placing an elongated workpiece. The rack 2 is disposed at a first direction of the robot arm 1 and the machine tool 3 is disposed at a second direction of the robot arm 2. The workpiece 10 has a gripping end 101 for gripping the swing arm 152, and the structure of the robot arm 1 and the rack 2 has been described in detail above, so that the description will not be repeated here, only for the method. Partially further explained. Referring to FIG. 15, a method according to a preferred embodiment of the present invention includes the following steps: a) the swing arm of the robot arm takes a workpiece from a machine tool; b) the robot arm rotates to drive the swing arm Displacement in the direction of the rack, the swing arm is flipped between the machine tool and the rack, and the lowering of the arm moves the swing arm from above the feeding layer of the rack to the bottom of the feeding layer to place the workpiece into the On the material layer, when the swing arm places the workpiece to the feeding layer, the workpiece is placed from the inner side of the feeding layer away from the inner side of the mechanical arm to the outer side of the mechanical arm; c) the mechanical arm Driving the swing arm to a lower layer of the discharge layer, the mechanical arm is raised and moved to move the swing arm upward from below the discharge layer of the rack to take out the workpiece placed on the discharge layer, and the swing arm is from the discharge layer When taking the workpiece, the workpiece is taken out from the outer side of the discharging layer to the inner side of the discharging layer and away from the inner side of the mechanical arm; d) the rotating arm of the mechanical arm drives the swing arm from the material rack to the machine tool direction Displacement, the swing arm is between the machine tool and the rack Line flipping action, the machine The arm is displaced from the top of the machine tool to the workpiece.

The method provided by the preferred embodiment of the present invention enables the robot arm to horizontally pick up and place the workpiece to the machine tool and the rack in a narrow space through the above steps, and the feeding layer and the discharging layer of the rack. The vertical displacement is taken between the workpieces.

The process of picking and placing the workpiece on the rack 2 and the machine tool 3 according to the preferred embodiment of the present invention will be further described in the following.

As shown in FIG. 8, before the step a), the robot arm 1 is horizontally disposed with the base body 151 through the lift arm 152, and the actuating end 1521 of the swing arm 152 is located on the side of the seat body 151 facing the second direction position and Downwardly toward the power tool 3, the swing arm 152 is displaced linearly downwards to the machine tool 3 and the workpiece 10 placed on the machine tool 3 is gripped by the actuating end 1521.

Next, the above steps a) to b) are further described in detail. The robot arm 1 moves the workpiece processed by the machine tool 3 to the feeding layer 21 of the rack.

As shown in Fig. 9, in step a), the swing arm 152 grips the processed workpiece 10 and then moves away from the machine tool 3 and pauses at a predetermined height corresponding to the position of the feed layer 21 of the rack 2. . At this time, the swing arm 152 is reversed counterclockwise with respect to the seat body 151, so that the swing arm 152 is in a vertical state, and the end effector 1523 is directed toward the machine tool 3. Referring to Figure 14, the machined workpiece 10 placed in the machine tool 3 has its gripping end 101 facing upwards to facilitate the gripping of the workpiece 10 by the swing arm 152.

As shown in FIG. 10, step b) the rotation of the mechanical arm drives the swing arm 152 horizontally to the direction of the rack 2 and pauses between the rack 2 and the machine tool 3. The swing arm 152 is turned counterclockwise with respect to the base 151, so that The swing arm 152 is in a horizontal state, at which time the actuating end 1521 is located on the side of the seat body 151 facing the first direction position and upwardly facing the processed workpiece 10 upwards; see FIG. 12, the swing arm 152 is directed to the rack 1 The direction is horizontally displaced and extends above the feed layer 21 of the rack 1, while the swing arm 152 is fed by the rack 1 The layer 21 is displaced linearly downward in the direction below the feed layer 21, and the processed workpiece 10 is placed on the feed layer 21. The swing arm 152 is then displaced downwardly to a predetermined height to disengage the machined workpiece from a distance that can be detached from the machined workpiece 10. Referring to Fig. 14, the workpiece 10 placed on the feed layer 21 has its gripping end 101 facing downward to facilitate the gripping of the workpiece 10 by the swing arm 152.

Further explaining the above steps c) to d), the robot arm 1 takes out the unprocessed workpiece 10 placed on the discharge layer 22 from the discharge layer 22 of the rack 2, and then moves the unprocessed workpiece 10 to The steps of processing on the machine tool 3.

As shown in Fig. 11, step c) the swing arm 152 of the robot arm 1 is horizontally disposed, and the swing arm 152 is located at a position of the seat body 151 facing the first direction and faces upward, and the swing arm 152 extends into the rack 2 and then After the discharge layer 22 of the rack 2 is displaced above the discharge layer 22 and the unprocessed workpiece 10 placed on the discharge layer 22 is gripped, the swing arm 152 continues to be displaced upward to disengage the unprocessed workpiece 10. Material layer 22. Referring to Fig. 14, the workpiece 10 placed on the discharge layer 22 has a gripping end 101 facing downward of the discharge layer 22 to facilitate the gripping of the workpiece 10 by the swing arm 152.

Step d) The swing arm 152 is horizontally displaced away from the rack 2 in the direction of the machine tool 3, and the swing arm 152 is suspended between the rack 2 and the machine tool 3, and the swing arm 152 is clockwise with respect to the seat body 151 in a horizontal state. The flip is in a vertical state and the end effector 1523 is oriented in the direction of the machine tool 3. As shown in Figures 8 and 14, the swing arm 152 is maintained in a vertical state and horizontally displaced in the direction of the machine tool 3; when the swing arm 152 is displaced above the machine tool 3, the swing arm 152 is turned clockwise relative to the base 151. The actuating end 1521 is located at a position corresponding to the second direction of the seat body 151 and facing the top surface of the machine tool 3, while the unprocessed workpiece 10 is also directed downward toward the top surface of the machine tool 3. In succession, the swing arm 152 is displaced linearly downward from the top of the machine tool 3 to the machine tool 3 and the unmachined workpiece 10 is placed on the machine tool 3.

From the description of the above steps a) to d), the preferred embodiment of the present invention can be known. The method provided by the example only needs to be horizontally displaced to and from the tool machine 3 and the rack 1 through the swing arm 152, and linearly displaced up and down to correspond to the height of each layer of the rack 1 and the height of the machine tool 3 for pick and place. The workpiece is placed on the rack 1 and the machine tool 3. Then, the swing arm 152 is inverted relative to the base 151 to adjust the angle of the actuating end 1521 to adjust the angle at which the swing arm 152 picks up the workpiece. Accordingly, the method of the preferred embodiment provided by the present invention uses the robot arm 1 to drive the swing arm 152 to horizontally transport the workpiece 10 between the machine tool 3 and the rack 2, and adjust the height by vertical displacement, and only The angle of the swing arm 152 is adjusted by the rotation of the swing arm 152 to maintain the long side of the elongated workpiece corresponding to the machine tool 3 and the rack 2. Thus, the preferred embodiment of the present invention is capable of transporting elongated workpieces with a small range of motion. In addition, the operation of inverting between the rack 1 and the machine tool 3, because of the large space of the rack 1 and the machine tool 3, the degree of freedom of the swing arm 152 when inverting is not affected by the rack 1 and the tool. Limitation of machine 3.

In addition, the method provided by the preferred embodiment of the present invention, when the processed workpiece 10 is placed in the feed layer 21 of the rack 1 in step b), is separated from the feed layer 21 of the rack 1 The inside of the robot arm 1 is placed in the direction of the feed port 23 in order to place the workpiece 10. Therefore, the swing arm 152 of the robot arm 1 only needs to be maintained at a fixed height each time the workpiece is placed to the feed layer 21.

In step c), when the unprocessed workpiece 10 placed on the discharge layer 22 is taken from the discharge layer 22 of the rack 2, the discharge port 24 of the discharge layer 22 is sequentially moved away from the discharge layer 22 The inside of the robot arm 1 takes the workpiece 10 so that the swing arm 152 is displaced to the discharge layer 22 each time to take the unprocessed workpiece 10, and only needs to be maintained at a fixed height.

Therefore, both of the above methods are for the swing arm 152 to maintain and position the workpiece at a fixed height, and when the robot arm 1 picks up the workpiece 10, the workpiece 10 originally placed on the rack 1 is not Interfering with the robot arm 1 to pick up and place the workpiece 10, and shortening the cost of the step execution time.

It is worth mentioning that when the swing arm 152 places the processed workpiece 10 on the feed layer 21, it is then horizontally displaced out of the feed layer 21 in the direction of the machine tool 3, and then the swing arm 152 is vertically displaced upward to the material. The discharge layer 22 of the frame 2 is horizontally displaced and extends horizontally into the discharge layer 22 to take the workpiece. This step is to make the process of discharging and reclaiming smoother and more time-saving. In addition, if the workpiece has magnetic permeability, a magnetic seat 31 can be arranged on the power tool 3 for positioning the workpiece.

1‧‧‧ Robotic arm

11‧‧‧Base

12‧‧‧ Lifting mechanism

121‧‧‧ top surface

13‧‧‧First joint arm

131‧‧‧First arm

132‧‧‧second arm

1311, 1321, 1411, 1421‧‧‧ proximal end

1312, 1322, 1412, 1422‧‧ ‧ remote

14‧‧‧Second joint arm

141‧‧‧ third arm

142‧‧‧fourth arm

15‧‧‧ flip mechanism

151‧‧‧

152‧‧‧ swing arm

1521‧‧‧ actuation

1522‧‧‧ pivot end

1523‧‧‧End effector

Claims (10)

A system for conveying a workpiece includes a mechanical arm including: a base; a lifting mechanism is disposed on the base, the lifting mechanism has a top surface; and a first joint arm is provided with a a pivoting end of the top surface of the lifting mechanism and an operating end; a second joint arm is provided with a pivoting end pivoted to the top surface of the lifting mechanism and an operating end, the second joint arm and the first The one-armed arm is oppositely disposed, and the pivoting end of the first joint arm is disposed at a distance from the pivoting end of the second joint arm, and the operating end of the first joint arm and the operating end of the second joint arm can be simultaneously at the same time The joint arm and the second joint arm are horizontally displaced to and from opposite sides of the base; a turning mechanism includes a body and at least one swing arm, the distal end of the first joint arm and the second joint arm The distal end is pivotally disposed on the same end surface of the base body, and the swing arm is pivotally disposed on the base body, the swing arm has an actuating end and a pivoting end pivotally connected to the base body; The mechanism causes the lifting mechanism to hang relative to the base Lifting and interlocking the first joint arm or the second joint arm, so that one of the joint arms drives the other joint arm while horizontally displaces relative to the base, and interlocks the swing arm of the inverting mechanism, so that the swing arm is pivoted to the seat body The opposite sides of the swing swing back and forth. The system for conveying a workpiece according to claim 1, wherein the first joint arm comprises a first arm and a second arm, and one end of the first arm is a pivot of the first joint arm End, the other end of the first arm pivots one end of the second arm, and the other end of the second arm is an operation end of the first joint arm; The second joint arm includes a third arm and a fourth arm, one end of the third arm is a pivot end of the second joint arm, and the other end of the third arm pivots one end of the fourth arm, the fourth The other end of the arm is the operating end of the second joint arm. The system for transporting a workpiece according to claim 1, wherein the actuating group comprises a first actuating member disposed in the base, a second actuating member disposed on the elevating mechanism, and a a third actuating member disposed in the seat body, the first actuating member interlocking the lifting mechanism, the second actuating member interlocking the first joint arm or the second joint arm, the three actuating members interlocking the swing arm. A system for transporting a workpiece according to the invention of claim 1, wherein the actuating end of the swing arm is provided with an end effector for gripping the object. The system for conveying a workpiece according to claim 1, further comprising a rack disposed adjacent to one side of the robot arm, the rack being provided with an input layer, an output layer, and a a feeding port communicating with the feeding layer and a discharging port communicating with the discharging layer, the feeding port and the discharging opening are located on one side of the corresponding robot arm of the material rack, and the feeding layer and the discharging layer are upper and lower The spacing between the feeding layer and the discharging layer respectively defines an active channel for the first joint arm, the second joint arm and the turning mechanism to move, and the active channel of the feeding layer communicates with the inlet port, The active channel of the discharge layer communicates with the discharge port. A method for conveying a workpiece using a system for conveying a workpiece as described in claim 1, wherein a machine tool is disposed on one side of the robot arm and a material is disposed on the other opposite side of the robot arm a rack having an upper feeding layer and an discharging layer, and a workpiece having a gripping end for the swing arm, the method comprising the steps of: a) the mechanical arm The swing arm takes the workpiece from the machine tool; b) the robot arm rotates to move the swing arm to the rack direction, and the swing arm is in the machine tool And rotating the rack between the rack, the mechanical arm drives the swing arm to be displaced from above the feeding layer of the rack to the underlying layer to place the workpiece onto the feeding layer; c) the mechanical arm drives Swinging the arm below the discharge layer, the mechanical arm drives the swing arm to be displaced upward from below the discharge layer of the rack to take out the workpiece placed in the discharge layer; and the robot arm rotates to move the swing arm The rack is displaced in the direction of the machine tool, and the swing arm is flipped between the machine tool and the rack. The arm is displaced from the top of the machine tool to the workpiece. According to the method for conveying a workpiece according to the sixth aspect of the patent application, in the step b), when the swing arm places the workpiece to the feeding layer, the feeding layer is sequentially moved away from the inner side of the robot arm. The workpiece layer is placed closer to the outside of the robot arm. According to the method for conveying a workpiece according to claim 6 of the patent application, in the step c), when the swing arm takes the workpiece from the discharge layer, the discharge layer is sequentially closer to the outer side of the robot arm to the out The material layer is taken away from the inner side of the robot arm. The method for conveying a workpiece according to claim 6, wherein the workpiece placed on the feed layer has a gripping end facing downward of the feed layer; and the workpiece placed on the discharge layer is clipped The take-up end faces the lower side of the discharge layer; the workpiece placed on the machine tool has its gripping end facing the upper part of the machine tool. The method for transporting a workpiece according to claim 6, wherein the machine tool is provided with a magnetic seat for positioning the workpiece.