TW202335813A - Material picking arm device - Google Patents
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- TW202335813A TW202335813A TW111144300A TW111144300A TW202335813A TW 202335813 A TW202335813 A TW 202335813A TW 111144300 A TW111144300 A TW 111144300A TW 111144300 A TW111144300 A TW 111144300A TW 202335813 A TW202335813 A TW 202335813A
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
- B65G47/00—Article or material-handling devices associated with conveyors; Methods employing such devices
- B65G47/74—Feeding, transfer, or discharging devices of particular kinds or types
- B65G47/90—Devices for picking-up and depositing articles or materials
- B65G47/91—Devices for picking-up and depositing articles or materials incorporating pneumatic, e.g. suction, grippers
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
- B65G2201/00—Indexing codes relating to handling devices, e.g. conveyors, characterised by the type of product or load being conveyed or handled
- B65G2201/02—Articles
- B65G2201/0214—Articles of special size, shape or weigh
- B65G2201/022—Flat
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
- B65G2207/00—Indexing codes relating to constructional details, configuration and additional features of a handling device, e.g. Conveyors
- B65G2207/08—Adjustable and/or adaptable to the article size
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Abstract
Description
本發明有關於一種取料手臂装置,尤指一種具有取料頭機構之取料手臂装置。The present invention relates to a material picking arm device, in particular to a material picking arm device with a material picking head mechanism.
一般來說,測試者欲對待測物(例如電路板模組)進行電性測試時,會透過機械手臂來拾起且搬運待測物至測試站。因為不同待測物之電路佈局通常有所不同,所以機械手臂所配置之吸嘴往往被待測物之物件所阻礙,無法順利地面向並吸附至待測物之可吸附平面。Generally speaking, when a tester wants to conduct electrical testing on an object under test (such as a circuit board module), he or she will use a robotic arm to pick up and carry the object under test to the test station. Because the circuit layout of different objects under test is usually different, the suction nozzle equipped with the robot arm is often blocked by the object under test and cannot smoothly face and adsorb to the adsorbable surface of the object under test.
然而,雖然業者陸續發展出魚骨結構之承載架,然而,所述承載架仍存在位置調整不易、調整時間過長以及鎖固過程繁雜等不足與缺點,從而導致拉長整體測試時間。However, although the industry has successively developed carrier frames with fish-bone structures, the carrier frames still have shortcomings such as difficulty in position adjustment, long adjustment time, and complicated locking processes, which results in a longer overall test time.
本發明之一目的在於提供一種取料手臂装置,用以解決以上先前技術所提到的困難。One object of the present invention is to provide a material picking arm device to solve the above difficulties mentioned in the prior art.
本發明提供一種取料手臂装置。取料手臂装置包含一取料頭機構、至少一個第一吸附裝置、至少一個第二吸附裝置與一機械手臂。取料頭機構包括一承載件、至少一個第一延伸支架與至少一個第二延伸支架。承載件具有一第一狹長溝槽。第一延伸支架設置於第一狹長溝槽内。第二延伸支架設置於第一狹長溝槽内,並且與第一延伸支架為不同長度。第一吸附裝置設置於第一延伸支架上,並能夠相對第一延伸支架移動,第一吸附裝置用以吸附至一待取物上。第二吸附裝置設置於第二延伸支架上,並能夠相對第二延伸支架移動,第二吸附裝置用以吸附至待取物上。機械手臂連接承載件,用以移動取料頭機構。The invention provides a material taking arm device. The picking arm device includes a picking head mechanism, at least one first adsorption device, at least one second adsorption device and a robotic arm. The material pickup head mechanism includes a bearing member, at least one first extension bracket and at least one second extension bracket. The bearing member has a first long and narrow groove. The first extension bracket is disposed in the first elongated groove. The second extension bracket is disposed in the first elongated groove and has different lengths from the first extension bracket. The first adsorption device is disposed on the first extension bracket and can move relative to the first extension bracket. The first adsorption device is used to adsorb an object to be picked up. The second adsorption device is disposed on the second extension bracket and can move relative to the second extension bracket. The second adsorption device is used to adsorb the object to be picked up. The mechanical arm is connected to the bearing member to move the material pickup head mechanism.
依據本發明一或複數個實施例,在上述取料手臂装置中,承載件包含一板狀結構。板狀結構具有彼此相對之一第一表面與一第二表面,且第一狹長溝槽接通第一表面與第二表面。第一延伸支架平放至承載件之第一表面與第二表面其中之一。第二延伸支架平放至承載件之第一表面與第二表面其中之一。According to one or more embodiments of the present invention, in the above-mentioned picking arm device, the bearing member includes a plate-like structure. The plate-like structure has a first surface and a second surface that are opposite to each other, and the first long and narrow groove connects the first surface and the second surface. The first extension bracket is placed flatly on one of the first surface and the second surface of the bearing member. The second extension bracket is placed flatly on one of the first surface and the second surface of the bearing member.
依據本發明一或複數個實施例,在上述取料手臂装置中,第一延伸支架與第二延伸支架分別疊放於承載件之同一表面。According to one or more embodiments of the present invention, in the above-mentioned picking arm device, the first extension bracket and the second extension bracket are respectively stacked on the same surface of the bearing member.
依據本發明一或複數個實施例,在上述取料手臂装置中,第一延伸支架與第二延伸支架分別疊放於承載件之不同表面。According to one or more embodiments of the present invention, in the above-mentioned picking arm device, the first extension bracket and the second extension bracket are respectively stacked on different surfaces of the bearing member.
依據本發明一或複數個實施例,在上述取料手臂装置中,第一延伸支架之長軸方向與第二延伸支架之長軸方向彼此相交。第一吸附裝置之長軸方向平行第二吸附裝置之長軸方向,且與第一延伸支架之長軸方向彼此正交。According to one or more embodiments of the present invention, in the above-mentioned picking arm device, the long axis direction of the first extension bracket and the long axis direction of the second extension bracket intersect with each other. The long axis direction of the first adsorption device is parallel to the long axis direction of the second adsorption device, and is orthogonal to the long axis direction of the first extension bracket.
依據本發明一或複數個實施例,在上述取料手臂装置中,第一延伸支架包含一第一支臂、一第一螺柱、至少一第一孔及二第一螺母,第一支臂之一端部透過第一螺柱鎖固於第一狹長溝槽内,第一孔貫設於第一支臂之另一端部,且與第一支臂彼此共軸,其中第一吸附裝置穿過第一孔與這些第一螺母,且這些第一螺母鎖附於第一支臂之二相對面,使得第一吸附裝置穿設於第一孔內並能夠沿著第一孔内滑移。第二延伸支架包含一第二支臂、一第二螺柱、至少一第二孔及二第二螺母,第二支臂之一端部透過第二螺柱鎖固於第一狹長溝槽内,第二孔貫設於第二支臂之另一端部,且與第二支臂彼此共軸,其中第二吸附裝置穿過第二孔與這些第二螺母,且這些第二螺母鎖附於第二支臂之二相對面,使得第二吸附裝置穿設於第二孔內並能夠沿著第二孔内滑移。According to one or more embodiments of the present invention, in the above-mentioned picking arm device, the first extension bracket includes a first arm, a first stud, at least a first hole and two first nuts. The first arm One end is locked in the first narrow groove through the first stud, and the first hole runs through the other end of the first arm and is coaxial with the first arm, in which the first adsorption device passes through The first hole and the first nuts are locked to the two opposite surfaces of the first arm, so that the first adsorption device is disposed in the first hole and can slide along the first hole. The second extension bracket includes a second arm, a second stud, at least one second hole and two second nuts. One end of the second arm is locked in the first narrow groove through the second stud. The second hole runs through the other end of the second arm and is coaxial with the second arm. The second adsorption device passes through the second hole and the second nuts, and the second nuts are locked on the second arm. The two opposing surfaces of the two arms enable the second adsorption device to penetrate the second hole and slide along the second hole.
依據本發明一或複數個實施例,在上述取料手臂装置中,第一孔與第二孔分別為一長型孔。第一孔之一端較其另端更接近第一狹長溝槽,第二孔之一端較其另端更接近第一狹長溝槽。According to one or more embodiments of the present invention, in the above-mentioned material picking arm device, the first hole and the second hole are respectively elongated holes. One end of the first hole is closer to the first elongated groove than the other end, and one end of the second hole is closer to the first elongated groove than the other end.
依據本發明一或複數個實施例,在上述取料手臂装置中,第一吸附裝置朝待取物伸出第一孔之長度不同於第二吸附裝置朝待取物伸出第二孔之長度。According to one or more embodiments of the present invention, in the above-mentioned picking arm device, the length of the first adsorption device extending toward the object to be retrieved through the first hole is different from the length of the second adsorption device extending toward the second hole toward the object to be retrieved. .
依據本發明一或複數個實施例,在上述取料手臂装置中,第一吸附裝置包含一第一吸附頭及一第一吸盤。第一吸附頭連接一真空產生裝置。第一吸盤位於第一吸附頭之一端,用以透過真空產生裝置之真空吸力吸附至待取物上。第二吸附裝置包含一第二吸附頭及一第二吸盤。第二吸附頭連接真空產生裝置,第二吸盤位於第二吸附頭之一端,用以透過真空產生裝置之真空吸力吸附至待取物上。According to one or more embodiments of the present invention, in the above-mentioned picking arm device, the first adsorption device includes a first adsorption head and a first suction cup. The first adsorption head is connected to a vacuum generating device. The first suction cup is located at one end of the first adsorption head and is used to adsorb the object to be picked up through the vacuum suction force of the vacuum generating device. The second adsorption device includes a second adsorption head and a second suction cup. The second adsorption head is connected to the vacuum generating device, and the second suction cup is located at one end of the second adsorption head for adsorbing the object to be picked up through the vacuum suction of the vacuum generating device.
依據本發明一或複數個實施例,上述取料手臂装置更包含至少一個第三吸附裝置與至少一個第四吸附裝置。承載件更具有一連接部與一第二狹長溝槽,第二狹長溝槽與第一狹長溝槽彼此相對配置,連接部位於第一狹長溝槽與第二狹長溝槽之間,用以連接機械手臂。取料頭機構更包括至少一個第三延伸支架與至少一個第四延伸支架,第三延伸支架與第四延伸支架分別可滑移地設置於第二狹長溝槽内,且第四延伸支架與第三延伸支架之長度不同,第三吸附裝置可滑移地設置於第三延伸支架上,用以吸附至待取物上,第四吸附裝置可滑移地設置於第四延伸支架上,用以吸附至待取物上。According to one or more embodiments of the present invention, the above-mentioned material picking arm device further includes at least one third adsorption device and at least one fourth adsorption device. The bearing member further has a connecting portion and a second long and narrow groove. The second and first long and narrow grooves are arranged opposite to each other. The connecting portion is located between the first and second long and narrow grooves for connection. Robotic arm. The pickup head mechanism further includes at least one third extension bracket and at least one fourth extension bracket. The third extension bracket and the fourth extension bracket are respectively slidably disposed in the second narrow groove, and the fourth extension bracket and the fourth extension bracket are slidably disposed in the second elongated groove. The lengths of the three extension brackets are different. The third adsorption device is slidably disposed on the third extension bracket to adsorb the object to be picked up. The fourth adsorption device is slidably disposed on the fourth extension bracket to adsorb the object to be picked up. Adsorb to the object to be taken.
依據本發明一或複數個實施例,在上述取料手臂装置中,第三延伸支架與第四延伸支架分別疊放於承載件之不同表面。According to one or more embodiments of the present invention, in the above-mentioned picking arm device, the third extension bracket and the fourth extension bracket are respectively stacked on different surfaces of the bearing member.
依據本發明一或複數個實施例,在上述取料手臂装置中,第三延伸支架與第四延伸支架分別疊放於承載件之同一表面。According to one or more embodiments of the present invention, in the above-mentioned material picking arm device, the third extension bracket and the fourth extension bracket are respectively stacked on the same surface of the bearing member.
如此,透過以上各實施例之所述架構,本發明之取料手臂装置不僅能夠簡化調整機構及方便人員操作,更能夠因應待取物之特徵彈性調整吸附裝置之配置,從而縮短機構調整時間。In this way, through the structures described in the above embodiments, the picking arm device of the present invention can not only simplify the adjustment mechanism and facilitate operator operation, but also can flexibly adjust the configuration of the adsorption device according to the characteristics of the objects to be picked, thereby shortening the mechanism adjustment time.
以上所述僅係用以闡述本發明所欲解決的問題、解決問題的技術手段、及其產生的功效等等,本發明之具體細節將在下文的實施方式及相關圖式中詳細介紹。The above is only used to describe the problems to be solved by the present invention, the technical means to solve the problems, the effects thereof, etc. The specific details of the present invention will be introduced in detail in the following embodiments and related drawings.
以下將以圖式揭露本發明之複數個實施例,為明確說明起見,許多實務上的細節將在以下敘述中一併說明。然而,應瞭解到,這些實務上的細節不應用以限制本發明。也就是說,在本發明各實施例中,這些實務上的細節是非必要的。此外,為簡化圖式起見,一些習知慣用的結構與元件在圖式中將以簡單示意的方式繪示之。The following will disclose multiple embodiments of the present invention in the drawings. For the sake of clarity, many practical details will be explained in the following description. However, it will be understood that these practical details should not limit the invention. That is to say, in various embodiments of the present invention, these practical details are not necessary. In addition, for the sake of simplifying the drawings, some commonly used structures and components will be illustrated in a simple schematic manner in the drawings.
第1圖為本發明一實施例之取料頭機構10的示意圖。如第1圖所示,取料頭機構10包括一承載件100、至少一個第一延伸支架200、至少一個第二延伸支架300、至少一個第三延伸支架400與至少一個第四延伸支架500。承載件100具有一第一狹長溝槽110與一第二狹長溝槽120。第二狹長溝槽120與第一狹長溝槽110彼此相對配置。第一延伸支架200與第二延伸支架300分別設置於第一狹長溝槽110内。第三延伸支架400與第四延伸支架500分別設置於第二狹長溝槽120内。第一延伸支架200、第二延伸支架300、第三延伸支架400與第四延伸支架500分別用以承載一吸附裝置,以供拾取一待取物800(圖中未示)。Figure 1 is a schematic diagram of the material
如此,在拾取待取物800之前,這些第一延伸支架200與第二延伸支架300能夠分別沿著第一狹長溝槽110任意滑移至合適位置,第三延伸支架400與第四延伸支架500能夠分別沿著第二狹長溝槽120任意滑移至合適位置,以調整各別吸附裝置於待取物800之對應位置。In this way, before picking up the
舉例來說,第一狹長溝槽110與第二狹長溝槽120分別呈弧型或者C字形,更進一步地,第一狹長溝槽110與第二狹長溝槽120具有相同曲率之弧度。然而,本發明不限於此,其他實施例中,第一狹長溝槽110與第二狹長溝槽120未必需要具有相同曲率。For example, the first
然而,本發明不限於此,本發明所屬領域具有通常知識者能夠依據實際限制與需求對應調整第一狹長溝槽110與第二狹長溝槽120之各別外型,意即,本發明之第一狹長溝槽110與第二狹長溝槽120之外型也不必相同,其他實施例中,第一狹長溝槽110與第二狹長溝槽120之外型也可能改為U字形或直線形等等。However, the present invention is not limited thereto. Those skilled in the art of the present invention can adjust the respective shapes of the first and second
又,第一延伸支架200與第二延伸支架300分別為不同長度,且第三延伸支架400與第四延伸支架500分別為不同長度。更具體地,第一延伸支架200之長度小於第二延伸支架300之長度,等於第三延伸支架400之長度,第四延伸支架500之長度大於第三延伸支架400之長度,等於第二延伸支架300之長度。然而,本發明不限於此,其他實施例中,第一延伸支架200、第二延伸支架300、第三延伸支架400與第四延伸支架500也可能為四種不同長度。如此,本發明所屬領域具有通常知識者能夠依據第一延伸支架200至第四延伸支架500之各別長度對應調整其吸附裝置於待取物800之對應位置。In addition, the
此外,在本實施例中,第一延伸支架200、第二延伸支架300、第三延伸支架400與第四延伸支架500分別疊放於承載件100之同一表面,然而,本發明不限於此,其他實施例中,第一延伸支架200、第二延伸支架300、第三延伸支架400與第四延伸支架500也可能任意地位於承載件100之不同表面。如此,由於第一延伸支架200至第四延伸支架500對應至第一狹長溝槽110與第二狹長溝槽120的鎖固介面都大致位於同一平面度上,使用者所使用之鎖固工具不需要反覆更改操作方向,以鎖固或解鎖鎖固介面。In addition, in this embodiment, the
更具體地,第一延伸支架200包含一第一支臂210、一第一孔220與一第一螺柱230。第一支臂210之一端部211透過第一螺柱230鎖固於第一狹長溝槽110内。第一孔220貫設於第一支臂210之另一端部212。在本實施例中,第一孔220為單一個且為長型孔,且第一孔220之長軸方向L1與第一支臂210之長軸方向L1彼此同軸。第一孔220之一端(即近端221)較其另端(即遠端222)更接近第一狹長溝槽110。第二延伸支架300包含一第二支臂310、一第二孔320與一第二螺柱330。第二支臂310之一端部311透過第二螺柱330鎖固於第二狹長溝槽120内。第二孔320貫設於第二支臂310之另一端部312。在本實施例中,第二孔320為單一個且為長型孔,且第二孔320之長軸方向L2與第二支臂310之長軸方向L2彼此同軸。第二孔320之一端(即近端321)較其另端(即遠端322)更接近第一狹長溝槽110。More specifically, the
第三延伸支架400包含一第三支臂410、一第三孔420與一第三螺柱430。第三支臂410之一端部411透過第三螺柱430鎖固於第二狹長溝槽120内。第三孔420貫設於第三支臂410之另一端部412。在本實施例中,第三孔420為單一個且為長型孔,且第三孔420之長軸方向L3與第三支臂410之長軸方向L3彼此同軸。第三孔420之一端(即近端421)較其另端(即遠端422)更接近第二狹長溝槽120。第四延伸支架500包含一第四支臂510、一第四孔520與一第四螺柱530。第四支臂510之一端部511透過第四螺柱530鎖固於第二狹長溝槽120内。第四孔520貫設於第四支臂510之另一端部512。在本實施例中,第四孔520為單一個且為長型孔,且第四孔520之長軸方向L4與第四支臂510之長軸方向L4彼此同軸。第四孔520之一端(即近端521)較其另端(即遠端522)更接近第二狹長溝槽120。The
第2圖為本發明一實施例之取料頭機構11的示意圖。如第2圖所示,本實施例之取料頭機構11與上述取料頭機構10大致相同,其差異在於,第一延伸支架200更包含一第一固定柱240。第一固定柱240亦穿過第一支臂210之此端部211而鎖固於承載件100上,且與第一螺柱230彼此平行。第二延伸支架300更包含一第二固定柱340。第二固定柱340亦穿過第二支臂310之此端部311而鎖固於承載件100上,且與第二螺柱330彼此平行。如此,透過第一螺柱230與第一固定柱240對第一支臂210之固定,可避免第一支臂210因晃動而產生非預期的旋轉。同理,透過第二螺柱330與第二固定柱340對第二支臂310之固定,可避免第二支臂310因晃動而產生非預期的旋轉。Figure 2 is a schematic diagram of the discharging
第三延伸支架400更包含一第三固定柱440。第三固定柱440亦穿過第三支臂410之此端部411而鎖固於承載件100上,且與第三螺柱430彼此平行。第四延伸支架500更包含一第四固定柱540。第四固定柱540亦穿過第四支臂510之此端部511而鎖固於承載件100上,且與第四螺柱530彼此平行。如此,透過第三螺柱430與第三固定柱440對第三支臂410之固定,可避免第三支臂410因晃動而產生非預期的旋轉。同理,透過第四螺柱530與第四固定柱540對第四支臂510之固定,可避免第四支臂510因晃動而產生非預期的旋轉。The
第3圖為本發明一實施例之取料手臂装置1的示意圖。第4圖為第3圖之取料頭機構12的使用操作圖。如第3圖至第4圖所示,取料手臂装置1包含上述取料頭機構12、至少一個(例如4個)第一吸附裝置610、至少一個第二吸附裝置620、至少一個(例如3個)第三吸附裝置630、至少一個第四吸附裝置640與一機械手臂700。每個第一吸附裝置610設置於其中一第一延伸支架200上,並能夠相對對應的第一延伸支架200移動。每個第二吸附裝置620設置於其中一第二延伸支架300上,並能夠相對對應的第二延伸支架300移動。每個第三吸附裝置630設置於其中一第三延伸支架400上,並能夠相對對應的第三延伸支架400移動。每個第四吸附裝置640設置於其中一第四延伸支架500上,並能夠相對對應的第四延伸支架500移動。第一吸附裝置610、第二吸附裝置620、第三吸附裝置630與第四吸附裝置640共同吸附至一待取物800(例如電路板模組)之不同位置。機械手臂700連接取料頭機構12之承載件100,用以拾起並移動取料頭機構12上之待取物800。Figure 3 is a schematic diagram of the material picking
如此,藉由生物螃蟹的八隻腳為靈感來設計取料頭機構12,使得第一延伸支架200至第四延伸支架500能夠分別從承載件100之中心沿著徑向不對稱地伸出,從而能夠更靈活地配置第一吸附裝置610至第四吸附裝置640所吸附待取物800之位置。In this way, the feeding
第5圖為第4圖沿線段AA之局部剖視圖。如第4圖與第5圖所示,更具體地,承載件100包含一板狀結構,板狀結構具有彼此相對之一第一表面101與一第二表面102,且第一狹長溝槽110與第二狹長溝槽120分別接通第一表面101與第二表面102。一部分之第一延伸支架200平放至承載件100之第一表面101,另一部分之第一延伸支架200平放至承載件100之第二表面102,第二延伸支架300平放至承載件100之第二表面102,更具體地,第一延伸支架200與第二延伸支架300疊放於承載件100之不同表面。然而,本發明不限於此。一部分之第三延伸支架400平放至承載件100之第一表面101,另一部分之第三延伸支架400平放至承載件100之第二表面102,第四延伸支架500平放至承載件100之第二表面102,更具體地,第三延伸支架400與第四延伸支架500疊放於承載件100之不同表面。然而,本發明不限於此。Figure 5 is a partial cross-sectional view along line AA in Figure 4. As shown in FIGS. 4 and 5 , more specifically, the
第6圖為第4圖之取料頭機構12的側向立體圖。如第4圖與第6圖所示,更具體地,第一延伸支架200之長軸方向L4與第二延伸支架300之長軸方向L2彼此相交。第三延伸支架400之長軸方向L3與第四延伸支架500之長軸方向L4彼此相交。第一吸附裝置610之長軸方向D1與第一延伸支架200之長軸方向L1彼此正交。第二吸附裝置620之長軸方向D2與第二延伸支架300之長軸方向L2彼此正交。第三吸附裝置630之長軸方向D3與第三延伸支架400之長軸方向L3彼此正交。第四吸附裝置640之長軸方向D4與第四延伸支架500之長軸方向L4彼此正交。第一吸附裝置610、第二吸附裝置620、第三吸附裝置630與第四吸附裝置640之長軸方向L1~L4彼此平行。Figure 6 is a side perspective view of the
在本實施例中,由於第一孔220至第四孔520分別為長型孔,第一孔220至第四孔520之近端大致可以定義出一內圈假想線I,且第一孔220至第四孔520之遠端大致可以定義出一外圈假想線O,如此可知內圈假想線I與外圈假想線O之間的範圍即為第一吸附裝置610至第四吸附裝置640能夠配置之範圍。In this embodiment, since the
如第4圖與第6圖所示,第一延伸支架200更包含二第一螺母250。第一吸附裝置610穿過第一孔220與這些第一螺母250,且這些第一螺母250鎖附於第一支臂210之二相對面,使得第一吸附裝置610穿設於第一孔220內。第二延伸支架300更包含二第二螺母350。第二吸附裝置620穿過第二孔320與這些第二螺母350,且這些第二螺母350鎖附於第二支臂310之二相對面,使得第二吸附裝置620穿設於第二孔320內。第三延伸支架400更包含二第三螺母450。第三吸附裝置630穿過第三孔420與這些第三螺母450,且這些第三螺母450鎖附於第三支臂410之二相對面,使得第三吸附裝置630穿設於第三孔420內。第四延伸支架500更包含二第四螺母550。第四吸附裝置640穿過第四孔520與這些第四螺母550,且這些第四螺母550鎖附於第四支臂510之二相對面,使得第四吸附裝置640穿設於第四孔520內。As shown in FIGS. 4 and 6 , the
如此,在鎖緊第一螺柱230及第二螺柱330至第一狹長溝槽110之前,使用者能夠沿著第一狹長溝槽110之延伸路徑分別調整第一延伸支架200與第二延伸支架300之位置,以及繞著第一螺柱230調整第一延伸支架200之旋轉角度,繞著第二螺柱330調整第二延伸支架300之旋轉角度。同理,在鎖緊第三螺柱430及第四螺柱530至第二狹長溝槽120之前,使用者能夠沿著第二狹長溝槽120之延伸路徑分別調整第三延伸支架400與第四延伸支架500之位置,以及繞著第三螺柱430調整第三延伸支架400之旋轉角度,繞著第四螺柱530調整第四延伸支架500之旋轉角度。In this way, before locking the
此外,由於第一孔220至第四孔520為長型孔,第一吸附裝置610至第四吸附裝置640能夠於對應之第一孔220至第四孔520內直向或橫向運動以調整其配置位置。舉例來說,為了調整第一吸附裝置610與第二吸附裝置620於待取物800之對應位置,能夠讓第二吸附裝置620較第一吸附裝置610更接近第一狹長溝槽110;或者,讓第二吸附裝置620較第一吸附裝置610更接近待取物800之表面;或者,讓其中一第一吸附裝置610較另一個第一吸附裝置610更接近第一狹長溝槽110。In addition, since the
第7圖為本發明一實施例之第一吸附裝置610與第二吸附裝置620分別吸附待取物800的示意圖。如第6圖與第7圖所示,第一吸附裝置610包含一第一吸附頭611及一第一吸盤612。第一吸附頭611透過一管體650連接一真空產生裝置(圖中未示)。第一吸盤612位於第一吸附頭611之一端,用以透過真空產生裝置之真空吸力吸附至待取物800之表面上。第二吸附裝置620包含一第二吸附頭621及一第二吸盤622。第二吸附頭621透過一管體650連接真空產生裝置,第二吸盤622位於第二吸附頭621之一端,用以透過真空產生裝置之真空吸力吸附至待取物800上。Figure 7 is a schematic diagram of the
此外,如第4圖與第6圖所示,第三吸附裝置630包含一第三吸附頭631及一第三吸盤632。第三吸附頭631透過一管體650連接真空產生裝置。第三吸盤632位於第三吸附頭631之一端,用以透過真空產生裝置之真空吸力吸附至待取物800之表面上。第四吸附裝置640包含一第四吸附頭641及一第四吸盤642。第四吸附頭641透過一管體650連接真空產生裝置,第四吸盤642位於第四吸附頭641之一端,用以透過真空產生裝置之真空吸力吸附至待取物800上。In addition, as shown in FIGS. 4 and 6 , the
須了解到,在本實施例中,上述第一吸盤612至第四吸盤642分別為具有彈性之彈簧吸嘴,能輕易克服各別吸嘴平面度問題。It should be understood that in this embodiment, the first to
如第6圖所示,由於第一吸附裝置610與第二吸附裝置620分別位於承載件100之不同表面,第一吸附裝置610之第一吸盤612用以吸附至待取物800之端面與第二吸附裝置620之第二吸盤622用以吸附至待取物800之端面彼此不共平面。此時,第一吸附裝置610朝待取物800伸出第一孔220之長度相同於第二吸附裝置620朝待取物800伸出第二孔320之長度。然而,本發明不限於此。As shown in Figure 6, since the
如第7圖所示,透過調整第一吸附頭611於第一孔220內之前後位置,以及第二吸附頭621於第二孔320內之前後位置,第一吸附裝置610朝待取物800伸出第一孔220之長度不同於第二吸附裝置620朝待取物800伸出第二孔320之長度,使得第一吸盤612與第二吸盤622能夠吸附至待取物800之不同平面,例如第一吸附裝置610之第一吸盤612能夠吸附至待取物800之一平面810,第二吸附裝置620之第二吸盤622卻能夠吸附至待取物800之平面810上之突起物820。As shown in Figure 7, by adjusting the front and rear positions of the
如第3圖所示,取料頭機構12更包括一連接部130。連接部130凸設於承載件100之第一表面101,且介於第二狹長溝槽120與第一狹長溝槽110之間。機械手臂700例如為多軸向手臂。多軸向手臂連接承載件100之連接部130,能夠多軸向轉動,用以拾起並移動取料頭機構12上之待取物800。多軸向手臂具有可執行六軸機械臂的工作特性,以執行柔性角度動作(可達六自由度)。然而,本發明不限於機械手臂700的種類。As shown in FIG. 3 , the feeding
如此,透過以上各實施例之所述架構,本發明之取料手臂装置及其取料頭機構不僅能夠簡化調整機構及方便人員操作,更能夠因應待取物800之特徵彈性調整吸附裝置之配置,從而縮短機構調整時間。In this way, through the structures described in the above embodiments, the picking arm device and its picking head mechanism of the present invention can not only simplify the adjustment mechanism and facilitate personnel operation, but also can flexibly adjust the configuration of the adsorption device according to the characteristics of the
第8圖為本發明一實施例之第一延伸支架201的示意圖。如第8圖所示,本實施例之第一延伸支架201與上述第一延伸支架200大致相同,其差異在於,第一延伸支架201之第一孔並非長型孔,而為多數個開孔260,這些開孔260沿著第一支臂210之長軸方向L1等距排列。如此,第一吸附裝置610能夠根據需要選擇性地鎖固於其中一開孔260內,不會因為滑移而導致第一吸附裝置610脫離原有預設之位置。Figure 8 is a schematic diagram of the
在本實施例中,第二延伸支架300至第四延伸支架500至少其中之一也可以從長型孔改為多數個開孔260。In this embodiment, at least one of the
最後,上述所揭露之各實施例中,並非用以限定本發明,任何熟習此技藝者,在不脫離本發明之精神和範圍內,當可作各種之更動與潤飾,皆可被保護於本發明中。因此本發明之保護範圍當視後附之申請專利範圍所界定者為準。Finally, the above disclosed embodiments are not intended to limit the present invention. Anyone skilled in the art can make various modifications and modifications without departing from the spirit and scope of the present invention, and all of them are protected by the present invention. Inventing. Therefore, the protection scope of the present invention shall be determined by the appended patent application scope.
1:取料手臂装置 10、11、12:取料頭機構 100:承載件 101:第一表面 102:第二表面 110:第一狹長溝槽 120:第二狹長溝槽 130:連接部 200、201:第一延伸支架 210:第一支臂 211:端部 212:另一端部 220:第一孔 221:近端 222:遠端 230:第一螺柱 240:第一固定柱 250:第一螺母 260:開孔 300:第二延伸支架 310:第二支臂 311:端部 312:另一端部 320:第二孔 321:近端 322:遠端 330:第二螺柱 340:第二固定柱 350:第二螺母 400:第三延伸支架 410:第三支臂 411:端部 412:另一端部 420:第三孔 421:近端 422:遠端 430:第三螺柱 440:第三固定柱 450:第三螺母 500:第四延伸支架 510:第四支臂 511:端部 512:另一端部 520:第四孔 521:近端 522:遠端 530:第四螺柱 540:第四固定柱 550:第四螺母 610:第一吸附裝置 611:第一吸附頭 612:第一吸盤 620:第二吸附裝置 621:第二吸附頭 622:第二吸盤 630:第三吸附裝置 631:第三吸附頭 632:第三吸盤 640:第四吸附裝置 641:第四吸附頭 642:第四吸盤 650:管體 700:機械手臂 800:待取物 810:平面 820:突起物 AA:線段 L1、L2、L3、L4:長軸方向 D1、D2、D3、D4:長軸方向 I:內圈假想線 O:外圈假想線 1: Retrieving arm device 10, 11, 12: Retrieving head mechanism 100: Bearing part 101: First surface 102: Second surface 110: The first long and narrow groove 120: The second long and narrow groove 130:Connection part 200, 201: first extension bracket 210:First arm 211:End 212:The other end 220: first hole 221: Near end 222:Remote 230: First stud 240:First fixed column 250:First nut 260:Opening 300: Second extension bracket 310:Second arm 311:End 312:The other end 320:Second hole 321: Near end 322:Remote 330: Second stud 340:Second fixed column 350:Second nut 400:Third extension bracket 410:Third arm 411:End 412:The other end 420:Third hole 421: Near end 422:Remote 430:Third stud 440:Third fixed column 450:Third nut 500: The fourth extension bracket 510:Fourth arm 511:End 512:The other end 520:Fourth hole 521: near end 522:Remote 530:Fourth stud 540: The fourth fixed column 550:Fourth nut 610: First adsorption device 611: First adsorption head 612:The first sucker 620: Second adsorption device 621: Second adsorption head 622:Second suction cup 630: The third adsorption device 631: The third adsorption head 632:Third suction cup 640: The fourth adsorption device 641: The fourth adsorption head 642:The fourth sucker 650:tube body 700:Robotic arm 800: Item to be picked up 810:Plane 820:Protrusion AA: line segment L1, L2, L3, L4: long axis direction D1, D2, D3, D4: long axis direction I: Inner circle imaginary line O: Imaginary line of outer circle
為讓本發明之上述和其他目的、特徵、優點與實施例能更明顯易懂,所附圖式之說明如下: 第1圖為本發明一實施例之取料頭機構的示意圖; 第2圖為本發明一實施例之取料頭機構的示意圖; 第3圖為本發明一實施例之取料手臂装置的示意圖; 第4圖為第3圖之取料頭機構的使用操作圖; 第5圖為第4圖沿線段AA之局部剖視圖; 第6圖為第4圖之取料頭機構的側向立體圖; 第7圖為本發明一實施例之第一吸附裝置與第二吸附裝置分別吸附待取物的示意圖;以及 第8圖為本發明一實施例之第一延伸支架的示意圖。 In order to make the above and other objects, features, advantages and embodiments of the present invention more apparent and understandable, the accompanying drawings are described as follows: Figure 1 is a schematic diagram of the discharging head mechanism according to an embodiment of the present invention; Figure 2 is a schematic diagram of the discharging head mechanism according to an embodiment of the present invention; Figure 3 is a schematic diagram of a material picking arm device according to an embodiment of the present invention; Figure 4 is the operation diagram of the material taking head mechanism in Figure 3; Figure 5 is a partial cross-sectional view along line AA in Figure 4; Figure 6 is a side perspective view of the discharging head mechanism of Figure 4; Figure 7 is a schematic diagram of the first adsorption device and the second adsorption device respectively adsorbing objects to be extracted according to an embodiment of the present invention; and Figure 8 is a schematic diagram of the first extension bracket according to an embodiment of the present invention.
國內寄存資訊(請依寄存機構、日期、號碼順序註記) 無 國外寄存資訊(請依寄存國家、機構、日期、號碼順序註記) 無 Domestic storage information (please note in order of storage institution, date and number) without Overseas storage information (please note in order of storage country, institution, date, and number) without
10:取料頭機構 10: Retrieving head mechanism
100:承載件 100: Bearing part
110:第一狹長溝槽 110: The first long and narrow groove
120:第二狹長溝槽 120: The second long and narrow groove
200:第一延伸支架 200:First extension bracket
210:第一支臂 210:First arm
211:端部 211:End
212:另一端部 212:The other end
220:第一孔 220: first hole
221:近端 221: Near end
222:遠端 222:Remote
230:第一螺柱 230: First stud
300:第二延伸支架 300: Second extension bracket
310:第二支臂 310:Second arm
311:端部 311:End
312:另一端部 312:The other end
320:第二孔 320:Second hole
321:近端 321: Near end
322:遠端 322:Remote
330:第二螺柱 330: Second stud
400:第三延伸支架 400:Third extension bracket
410:第三支臂 410:Third arm
411:端部 411:End
412:另一端部 412:The other end
420:第三孔 420:Third hole
421:近端 421: Near end
422:遠端 422:Remote
430:第三螺柱 430:Third stud
500:第四延伸支架 500: The fourth extension bracket
510:第四支臂 510:Fourth arm
511:端部 511:End
512:另一端部 512:The other end
520:第四孔 520:Fourth hole
521:近端 521: Near end
522:遠端 522:Remote
530:第四螺柱 530:Fourth stud
L1、L2、L3、L4:長軸方向 L1, L2, L3, L4: long axis direction
Claims (12)
Applications Claiming Priority (2)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
CN202210215231.9 | 2022-03-07 | ||
CN202210215231.9A CN116767844A (en) | 2022-03-07 | 2022-03-07 | Material taking arm device |
Publications (2)
Publication Number | Publication Date |
---|---|
TW202335813A true TW202335813A (en) | 2023-09-16 |
TWI822475B TWI822475B (en) | 2023-11-11 |
Family
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Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
TW111144300A TWI822475B (en) | 2022-03-07 | 2022-11-18 | Material picking arm device |
Country Status (2)
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CN (1) | CN116767844A (en) |
TW (1) | TWI822475B (en) |
Family Cites Families (3)
Publication number | Priority date | Publication date | Assignee | Title |
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EP3369525A1 (en) * | 2017-03-01 | 2018-09-05 | Airbus SAS | Device for clamping a robotic tool to a workpiece |
CN108115716A (en) * | 2017-12-20 | 2018-06-05 | 辰星(天津)自动化设备有限公司 | A kind of sucking disc type mechanical hand |
CN215789877U (en) * | 2021-09-29 | 2022-02-11 | 深圳市一腾自动化科技有限公司 | Single-motor carrying manipulator |
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- 2022-03-07 CN CN202210215231.9A patent/CN116767844A/en active Pending
- 2022-11-18 TW TW111144300A patent/TWI822475B/en active
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TWI822475B (en) | 2023-11-11 |
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