TWI498188B - Robot for machining machine arm - Google Patents

Robot for machining machine arm Download PDF

Info

Publication number
TWI498188B
TWI498188B TW102134603A TW102134603A TWI498188B TW I498188 B TWI498188 B TW I498188B TW 102134603 A TW102134603 A TW 102134603A TW 102134603 A TW102134603 A TW 102134603A TW I498188 B TWI498188 B TW I498188B
Authority
TW
Taiwan
Prior art keywords
pull rod
pulley
disposed
spline
screw
Prior art date
Application number
TW102134603A
Other languages
Chinese (zh)
Other versions
TW201511882A (en
Original Assignee
Hiwin Tech Corp
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Hiwin Tech Corp filed Critical Hiwin Tech Corp
Priority to TW102134603A priority Critical patent/TWI498188B/en
Publication of TW201511882A publication Critical patent/TW201511882A/en
Application granted granted Critical
Publication of TWI498188B publication Critical patent/TWI498188B/en

Links

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)

  1. 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.
  2. 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.
  3. 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.
  4. 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.
TW102134603A 2013-09-25 2013-09-25 Robot for machining machine arm TWI498188B (en)

Priority Applications (1)

Application Number Priority Date Filing Date Title
TW102134603A TWI498188B (en) 2013-09-25 2013-09-25 Robot for machining machine arm

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
TW102134603A TWI498188B (en) 2013-09-25 2013-09-25 Robot for machining machine arm

Publications (2)

Publication Number Publication Date
TW201511882A TW201511882A (en) 2015-04-01
TWI498188B true TWI498188B (en) 2015-09-01

Family

ID=53436939

Family Applications (1)

Application Number Title Priority Date Filing Date
TW102134603A TWI498188B (en) 2013-09-25 2013-09-25 Robot for machining machine arm

Country Status (1)

Country Link
TW (1) TWI498188B (en)

Cited By (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
TWI668073B (en) * 2018-11-22 2019-08-11 陳鵬任 CNC milling machine that can be connected to the robot arm unit
TWI721513B (en) * 2019-07-29 2021-03-11 財團法人工業技術研究院 Support mechanism

Citations (9)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US4922430A (en) * 1987-10-30 1990-05-01 U.S. Philips Corporation Method and apparatus for controlling the movement of a guided object
US5309368A (en) * 1992-01-21 1994-05-03 Chern Shyi Tsae Workpiece handling mechanism of a C-N-C lathe machine
TWM310051U (en) * 2006-11-21 2007-04-21 Wen-Shan Tsai Lathe apparatus with built-in robot arm
WO2007059907A1 (en) * 2005-11-22 2007-05-31 Werner Conen Machine tool
TWM333247U (en) * 2007-10-19 2008-06-01 Toptek Automation Co Ltd Auto-cutting apparatus with a movable robot arm
TWM363374U (en) * 2009-04-24 2009-08-21 li-yu Cai Structure of robotic arm
US8308419B2 (en) * 2008-08-01 2012-11-13 Fanuc Ltd Robot system using robot to load and unload workpiece into and from machine tool
CN202606878U (en) * 2012-05-10 2012-12-19 沈阳市大鑫数控机械有限责任公司 Material jacking device achieving automatic feeding
TWM457589U (en) * 2013-01-07 2013-07-21 Toptek Automation Co Ltd Processing equipment capable of reducing feeding circulation time

Patent Citations (9)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US4922430A (en) * 1987-10-30 1990-05-01 U.S. Philips Corporation Method and apparatus for controlling the movement of a guided object
US5309368A (en) * 1992-01-21 1994-05-03 Chern Shyi Tsae Workpiece handling mechanism of a C-N-C lathe machine
WO2007059907A1 (en) * 2005-11-22 2007-05-31 Werner Conen Machine tool
TWM310051U (en) * 2006-11-21 2007-04-21 Wen-Shan Tsai Lathe apparatus with built-in robot arm
TWM333247U (en) * 2007-10-19 2008-06-01 Toptek Automation Co Ltd Auto-cutting apparatus with a movable robot arm
US8308419B2 (en) * 2008-08-01 2012-11-13 Fanuc Ltd Robot system using robot to load and unload workpiece into and from machine tool
TWM363374U (en) * 2009-04-24 2009-08-21 li-yu Cai Structure of robotic arm
CN202606878U (en) * 2012-05-10 2012-12-19 沈阳市大鑫数控机械有限责任公司 Material jacking device achieving automatic feeding
TWM457589U (en) * 2013-01-07 2013-07-21 Toptek Automation Co Ltd Processing equipment capable of reducing feeding circulation time

Cited By (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
TWI668073B (en) * 2018-11-22 2019-08-11 陳鵬任 CNC milling machine that can be connected to the robot arm unit
TWI721513B (en) * 2019-07-29 2021-03-11 財團法人工業技術研究院 Support mechanism

Also Published As

Publication number Publication date
TW201511882A (en) 2015-04-01

Similar Documents

Publication Publication Date Title
US9308644B2 (en) Robotic arm for processing machine
CN105563513A (en) Flexible self-adaption under-actuated robot hand
JP5766235B2 (en) Robot arm
WO2016155469A1 (en) Robot based on parallelogram principle
CN203003902U (en) Universal mechanical gripper
TWI498188B (en) Robot for machining machine arm
JP2019534165A (en) Robot-assisted surface processing machine
WO2021017187A1 (en) Industrial robot for grabbing work
JP2016182664A (en) Mechanical gripper driving device
WO2021017528A1 (en) Arm stretching and bending mechanism for industrial robot
KR101405055B1 (en) Car brake module for assembly robot hand
US20020158426A1 (en) Chuck device
CN103465200B (en) A kind of clamping device
CN107627319A (en) A kind of robot clamp of parallel clamping
CN104511783B (en) Mechanical arm for processing machine
CN104044008A (en) Workpiece transferring device
US9015917B2 (en) Clamping and gripping device with high mechanical advantage and energy saving attributes
CN102528793A (en) End effector overturnable mechanism for carrying plate-shaped workpiece
TWM510223U (en) Transmission structure of mechanical arm
JP6693978B2 (en) Transport tools and robots
CN206383134U (en) A kind of wu-zhi-shan pig
CN108098803B (en) Many specifications clamping device
CN208305081U (en) A kind of translating type external clamping manipulator and handling equipment
CN212445287U (en) Robot clamp
TWI568556B (en) Device for catching electronic objects