TWI498188B - Robot for machining machine arm - Google Patents

Description

Robotic arm for processing machine

The invention relates to a processing machine, and more particularly to a robotic arm for a processing machine.

In the technical field related to robots, especially the robot arm has been used in many automated factories. For example, the robot arm disclosed in Japanese Patent Laid-Open No. Hei 11-77566 can lift, swing, turn left and right, and the like. The action is to clamp the glass substrate to achieve the purpose of transporting the glass substrate. However, the conventional robot arm needs to use at least three sets of servo motors to complete the aforementioned complicated actions, resulting in an overall high production cost and is not conducive to mass use. . In addition, the Japanese Patent Application No. 4-109815 discloses that the arm clamping mechanism allows the arm to change posture according to various conditions, so that the workpieces placed in different directions can be gripped so that the workpiece can be maintained in the same state. Processing, but this conventional arm is only turned over with a single rotating shaft, and the work efficiency is slightly insufficient to be improved.

SUMMARY OF THE INVENTION A primary object of the present invention is to provide a robot arm for a processing machine which can reduce manufacturing costs and improve work efficiency.

In order to achieve the foregoing main object, the robot arm of the present invention comprises a fixing base, a driving device, a linear transmission device, a gripping device, and a positioning device. The driving device has a motor, a first pulley, a second pulley, and a transmission belt, and the motor is disposed on the fixing base and has a drive shaft, the first pulley is rotatably disposed in the fixed seat and connected to the drive shaft of the motor, and the second pulley is rotatably disposed in the fixed seat, and the drive belt is connected to the first a second pulley for synchronously rotating the first and second pulleys; the linear transmission device has a spline screw, a ball nut, and a spline sleeve, the spline screw being axially movable In the fixing seat, the ball nut is coupled to the second pulley of the driving device and sleeved to the spline screw, and the spline sleeve is fixed to the fixing seat and sleeved to the spline screw, so that the ball nut The spline screw can be moved up and down by the driving of the second pulley; the positioning device has a pull rod and a stopping member, and the pulling rod is axially movably disposed on the fixing seat, the stopping member is radial The utility model is disposed on the pull rod and detachably abuts against the fixing base; the gripping device has a movable wrist seat and a clamp connecting the movable wrist seat, the movable wrist seat has a first pivoting portion and a second a pivoting portion, the first pivoting portion is pivoted on the a bottom end of the spline screw of the sexual transmission device, the second pivoting portion is pivoted at a bottom end of the pull rod of the positioning device, so that the movable wrist seat can move up and down synchronously with the spline screw, and the stop member When the fixed seat is abutted by the pull rod, the clamp is driven to pivot.

Preferably, the top mask of the fixing seat has a card slot, and the card slot is inserted into the blocking member to limit the stroke of the lever.

Preferably, the pull rod has an axial groove, a screw hole communicating with the axial groove, and a spring groove communicating with the axial groove, the axial groove is for the stopper to pass through, the axial groove The positioning device further has an adjusting bolt and a first compression spring. The adjusting bolt is screwed on the screw hole of the pull rod and abuts against the stopping member. The first compression spring is disposed in the spring groove of the pull rod and is pushed up. At this stop Thus, the amount of downward displacement of the lever can be adjusted by changing the position of the stopper.

Preferably, the bottom end of the pull rod has a flange, and the positioning device further has a second compression spring. The second compression spring is sleeved on the pull rod and abuts between the fixed seat and the flange of the pull rod. To provide the spring force to maintain the level of the gripping device.

10‧‧‧Processing machine

11‧‧‧ machine

12‧‧‧ chuck

13‧‧‧First moving arm

14‧‧‧Second moving arm

15‧‧‧Servo motor

16‧‧‧ protective cover

17‧‧‧ Robotic arm

20‧‧‧ Fixed seat

22‧‧‧ card slot

30‧‧‧ drive

32‧‧‧Motor

322‧‧‧Drive shaft

34‧‧‧First pulley

36‧‧‧Second pulley

38‧‧‧Drive belt

40‧‧‧Linear transmission

42‧‧‧ spline screw

44‧‧‧Ball nuts

46‧‧‧ splined sleeve

50‧‧‧ Positioning device

52‧‧‧ lever

522‧‧‧Axial groove

524‧‧‧ screw holes

526‧‧‧Spring slot

528‧‧‧Flange

53‧‧‧stops

54‧‧‧Adjusting bolts

55‧‧‧First compression spring

56‧‧‧Second compression spring

60‧‧‧ Grab device

62‧‧‧ activity wrist seat

622‧‧‧First pivotal

624‧‧‧Second pivotal

64‧‧‧Clamp

Fig. 1 is a perspective view of a processing machine using the present invention.

Figure 2 is a perspective view of the present invention.

Figure 3 is a side view of the invention.

Fig. 4 is similar to Fig. 3 and mainly shows the state after the spline screw is moved downward.

Fig. 5 is similar to Fig. 1 and mainly shows the state after the jig is pivoted.

Referring to Figures 1 and 2, the processing machine 10 shown in the drawing mainly comprises a machine table 11. One side of the machine table 11 is provided with a chuck 12, and the top surface of the machine table 11 is provided with one of the first pivotal connections. The moving arm 13 and the second moving arm 14 are respectively mounted with a servo motor 15 as a power source on the top surfaces of the first and second moving arms 13, 14. Referring to Figures 2 and 3 again, the robot arm 17 of the present invention includes a mounting base 20, a driving device 30, a linear actuator 40, a positioning device 50, and a gripping device 60.

Referring to Figures 2 and 3, the fixing base 20 is fixed to one end of the second moving arm 14 of the processing machine 10 in this embodiment, but not Limited.

Referring to FIG. 3, the driving device 30 has a motor 32, a first pulley 34, a second pulley 36, and a transmission belt 38. The motor 32 is fixed to the top surface of the fixing base 20 and has a driving shaft 322 extending into the fixing base 20; the first pulley 34 is rotatably mounted in the fixing base 20 and connected to the driving shaft 322 of the motor 32; The pulley 36 is rotatably mounted in the fixed seat 20 and at a distance from the first pulley 34; the drive belt 38 connects the first and second pulleys 34, 36.

The linear actuator 40 has a splined screw 42, a ball nut 44, and a splined sleeve 46. The spline screw 42 is disposed in the fixing base 20 in parallel with the driving shaft 322 of the motor 32, and extends through the second pulley 36 to protrude outside the bottom surface of the fixing base 20; the ball nut 44 is rotatably mounted to The second pulley 36 of the driving device 30 is connected to the fixing pulley 20 and is sleeved to the spline screw 42. The spline sleeve 46 is fixed to the fixing base 20 and sleeved on the spline screw 42 and above the ball nut 44.

The positioning device 50 has a pull rod 52, a stop member 53, an adjusting bolt 54, and a first compression spring 55. The pull rod 52 is axially movably disposed on the fixing base 20, and the pull rod 52 has an axial groove 522 extending through the blocking member 53 so that the stopping member 53 can be moved downward by the pull rod 52. It is embedded in the slot 22 of the fixing base 20 to limit the stroke of the pull rod 52. In addition, the pull rod 52 further has a screw hole 524 communicating with the axial groove 522 and a spring groove 526 communicating with the axial groove 522. The adjusting bolt 54 is screwed into the screw hole 524 and abuts against the top of the stopper 53. The first compression spring 55 is received in the spring groove 526 and pushed against the bottom surface of the stopper 53 , whereby when the adjusting bolt 54 is tightened, The stopper 53 is pressed downward by the adjusting bolt 54 to move downward along the axial groove 522. When the adjusting bolt 54 is loosened, the stopper 53 is pushed up by the first compression spring 55 along the shaft. Moves up the groove 522. In other words, by rotating the adjusting bolt 54, the position of the stopper 53 can be changed, and the downward displacement amount of the tie rod 52 can be adjusted.

The gripping device 60 has a movable wrist 62 and a clamp 64. The movable wrist rest 62 has a first pivoting portion 622 and a second pivoting portion 624. The first pivoting portion 622 is pivotally disposed at the bottom end of the spline screw 42 of the linear transmission 40, and the second pivoting portion 624 The bottom end of the pull rod 52 of the positioning device 50 is disposed; the clamp 64 is coupled to a side of the movable wrist 62 that faces away from the collet 12 of the processing machine 10.

Referring to Figures 3 and 4, when the motor 32 starts to start, the drive shaft 322 of the motor 32 first drives the first pulley 34 to rotate, and the first pulley 34 transmits the second pulley 36 synchronously through the transmission belt 38, and then the second. The pulley 36 will re-synchronize the rotation of the ball nut 44. In this case, the spline screw 42 will be driven by the ball nut 44 on the one hand and the spline sleeve 46 on the other hand, so that the spline screw 42 Only axial motion can be produced without rotating motion. During the gradual downward movement of the spline screw 42 , the gripping device 60 moves downward synchronously and simultaneously drives the pull rod 52 to move downward until the stopper 53 is engaged in the slot 22 of the fixing base 20 , such as As shown in Fig. 4, the spline screw 42 will continue to move downward, but the movable wrist 62 at this time will be blocked by the stopper 53 and cannot move down with the spline screw 42, due to the movable wrist 62 The first and second pivoting portions 622, 624 are separated by a distance therebetween, so that the movable wrist rest 62 can drive the clamp 64 to the direction of the collet 12 of the processing machine 10 during the continuous downward movement of the spline screw 42. Turn, as in the first As shown in Fig. 5, the jig 64 is caused to remove the workpiece (not shown) placed on the collet 12. After the clamp 64 removes the workpiece, the motor 32 is then controlled to reverse, the spline screw 42 is moved upwards, and the drive clamp 64 is pivoted away from the collet 12, and the pull rod 52 is used to drive the gripping device 60. Moving to the initial position as shown in Fig. 3, the first and second moving arms 13, 14 are then driven by the servo motor 15 of the processing machine 10 to move the workpiece to the proper position for placement.

It is worth mentioning that, in order to keep the gripping device 60 in a good horizontal position when it is not actuated, the positioning device 50 further provides a second compression spring 56, which is sleeved on the pull rod 52 and abuts on the fixed Between the seat 20 and one of the flanges 528 of the pull rod 52, the appropriate thrust is provided to the movable wrist rest 62 to effectively maintain the balance of the gripping device. In addition, the second moving arm 14 of the processing machine 10 and the fixing base 20 of the present invention can be collectively covered with a protective cover 16 so that the driving device 30, the linear transmission device 40 and the positioning device 50 are all located in the protective cover 16 to avoid the foregoing. The component is damaged by dust, foreign matter or other debris.

In summary, the robot arm 17 of the present invention can easily achieve the movement of the grasping device 60 to move up and down and pivot by using the combination of the driving device 30, the linear transmission device 40 and the positioning device 50, and the conventional patent. In contrast, the robot arm 17 of the present invention can solve the problems of excessive manufacturing cost and low work efficiency to effectively achieve the object of the present invention.

10‧‧‧Processing machine

11‧‧‧ machine

12‧‧‧ chuck

13‧‧‧First moving arm

14‧‧‧Second moving arm

15‧‧‧Servo motor

17‧‧‧ Robotic arm

20‧‧‧ Fixed seat

32‧‧‧Motor

40‧‧‧Linear transmission

50‧‧‧ Positioning device

60‧‧‧ Grab device

62‧‧‧ activity wrist seat

64‧‧‧Clamp

Claims (4)

A robot arm for a processing machine, comprising: a fixing base; a driving device having a motor, a first pulley, a second pulley, and a transmission belt, wherein the motor is disposed on the fixing base and has a driving a shaft, the first pulley is rotatably disposed in the fixing base and connected to the driving shaft of the motor, the second pulley is rotatably disposed in the fixing seat, and the transmission belt is connected to the first and the second a linear transmission device having a spline screw, a ball nut, and a spline sleeve, the spline screw being axially movably disposed on the fixing seat, the ball nut connecting the driving device The second pulley is sleeved on the spline screw, the spline sleeve is fixed to the fixing seat and sleeved on the spline screw; a positioning device has a pull rod and a stop member, the pull rod can be axially Movingly disposed in the fixing seat, the stopping member is radially disposed on the pulling rod and detachably abuts the fixing seat; and a gripping device having a movable wrist seat and a connecting movable wrist seat Fixture, the active wristband has a first pivoting portion and a second pivoting portion, the first pivoting portion is pivotally disposed at a bottom end of the spline screw of the linear transmission device, and the second pivoting portion is pivotally disposed at a bottom of the rod of the positioning device end. The robot arm for a processing machine according to claim 1, wherein the top mask of the fixing seat has a card slot for the card to be inserted. The robot arm for a processing machine according to claim 1, wherein the pull rod has an axial groove, a screw hole communicating with the axial groove, and a communication hole a spring groove of the axial groove, the axial groove is provided for the stopper; the positioning device further has an adjusting bolt and a first compression spring, the adjusting bolt is screwed on the screw hole of the rod and resists In the stopping member, the first compression spring is disposed in the spring groove of the pull rod and is pushed against the stopping member. The robot arm for a processing machine according to claim 1, wherein the bottom end of the pull rod has a flange, and the positioning device further has a second compression spring, the second compression spring is sleeved on the pull rod and abuts Between the mount and the flange of the tie rod.