M310051 八、新型說明： 【新型所屬之技術領域】 本創作係涉及一種工具機設備，尤指一種於工具機内 設置機械手臂進而達到下料、上料速度快且保養容易、廠 -房所需空間小的内置機械手臂的車床裝置。 * 【先前技術】 既有工具機的自動化生產係以工具機配合門型機械手 f或關節型機械手臂使用，藉此達到自動上、下料並加工 的功效。 、：。第八圖所示’其係-工具機（60)配合一門型機 械手詹（7 〇 )使用的形態，該門型機械手臂（7 〇 )設 有-懸吊式的夾頭袭置（川，工具機（6〇)於頂： 配”頭裝置（7 1 )設有-活動門（6 i )。 前述設備上、下料時係重複打開工具機（6 〇 ) 1 \，藉此使門型機械手臂（7 0 ) ::,1);4人工具機（"）内上料或者下料，然而= 動門（61)的構造以及挑高設置的門型機械 乎# ( 7 〇 )會造成以下問題： 門二下料過程中卫具機（6Q)|打開上方活動 半嚴重。0造成切削水以及油霧飛散出纟，造成廠房污 2 、 f- )會打開 向外傳出 使 影 、下料的過程上方活動門（6 1 得以氣壓清理忠& ndb 又爪蚪所造成的高分貝噪音會 響工作環境。 4 M310051 3、自動上、下料時間約為 下料時間約7秒，多了約6秒 的誘因降低。 1 2 · 8秒，比一般人工上、 ，造成生產設備加裝自動化 4、由於需同時設置工呈 機械手臂（7 〇 ) η… 〇 )以及額外的門型 报多。 積大，廠房的投資相對增加M310051 VIII. New description: [New technical field] This creation relates to a machine tool, especially a machine arm set in the machine tool to achieve the cutting, fast feeding and easy maintenance, space required for the factory-room Small lathe device with built-in robot arm. * [Prior Art] The automated production of existing machine tools is achieved by using a machine tool with a door type robot f or an articulated robot arm to achieve automatic loading and unloading and processing. , :. In the eighth figure, the 'the machine-tool machine (60) is used in conjunction with the one-hand manipulator Zhan (7 〇). The door type robot arm (7 〇) is equipped with a suspension type collet. , machine tool (6 〇) on top: with "head device (7 1) - movable door (6 i). When the above equipment is loaded and unloaded, the machine tool (6 〇) 1 \ is repeatedly opened, thereby making Door type robot arm (7 0 ) ::, 1); 4 person machine tool (") loading or unloading, however = construction of the moving door (61) and door type mechanical (#) 〇) will cause the following problems: Guarding machine in the second door cutting process (6Q)|The upper activity is half serious. 0 causes the cutting water and the oil mist to fly out, causing the factory pollution 2, f-) to open and send out The moving door above the process of shadowing and unloading (6 1 is able to clean the loyal & ndb and the high decibel noise caused by the claws will ring the working environment. 4 M310051 3, the automatic loading and unloading time is about the cutting time 7 seconds, the incentive for about 6 seconds is reduced. 1 2 · 8 seconds, compared with the general manual, resulting in the automation of production equipment 4, due to the simultaneous design The labor is in the robotic arm (7 〇) η... 〇 ) and the extra door type is reported.
=置1因此廠房高度限制多，-般較低的廠房便無法使用， 且谷易與廠房内的管線干涉，產生問題。 如第九圖所示，其係一工具機（8 〇 )配合 機械手臂（q q&讲…匕 p 1 、 $ ( 9 0 )使用的形怨，該關節型機械手臂（9 於自由端設有一夾頭（9 1 )， 人+ /、栻（8 〇 )於前側配 σ夹頭（9 1 )設有一活動門（8丄）。 、前述設備上、下料時係重複打開工具機（8 〇 )前側 的活動門（8 ]_ )，藉此關節型機械手臂（9 〇 )的2頭= set to 1 so the plant height limit is too much, the lower-than-normal plant can not be used, and Gu Yi interferes with the pipeline inside the plant, causing problems. As shown in the ninth figure, it is a machine tool (8 〇) with a mechanical arm (q q& speak... 匕p 1 , $ ( 9 0 ) used in the form of complaints, the articulated robotic arm (9 at the free end There is a collet (9 1 ), a person + /, 栻 (8 〇) on the front side with a σ collet (9 1) is provided with a movable door (8 丄). The above equipment is repeatedly opened to open the machine tool when loading and unloading ( 8 〇) The front side of the movable door (8 ]_ ), which is the 2 heads of the articulated robotic arm (9 〇)
由於'型機械手臂（7 〇) t要挑高的廠房方能 (9 1 )由前方進入工具機（8 〇 )内上料或者下料Y然 而需要重複打開活動門（8 1 )的構造以及需要另外設置、 於工具機（8 0 )前方的關節型機械手臂（9 〇 )备、生上 乂下問題： 1、 換料過程工具機（8 0 )要打開前方活動門（8 1 )會造成切削水以及油霧飛散出來，廉房污染非常嚴重。 2、 上、下料過程中工具機（8 0 )前方活動門（8 1)會打開，造成以氣壓清理夾爪時所產生的高分貝噪音 向外傳出，非常影響工作環境。 5 M310051 ,、3、自動上、下料時間約為1 1.8秒，比一般人工上、 下料時間約7秒，多了约ζ 4/1、 、、秒，造成生產設備加裝自動化 的誘因降低。 4、由於關節型機械手臂（9〇)係額外設置，會佔 操作區域’使得人員操作不方便。 【新型内容】 由於既有工具機配合門型以及關節型機械手臂下料以 $上料的過程花費時間，並造成環境、噪音污染等問題。 :::此，本創作的創作目的在於，於工具機内設有一機 械手#，藉由此機械手臂的設置，達到下料、上料快速以 及避免開關門所產生的污染並噪音之良好功效。 為達到上述目的，本創作提供一種内置機械手臂的車 木裝置’其係設有一車床，該車床包括一機殼以及一裝設 於该機殼内的車床主機，於該機殼的一側形成一開口並由 f併靠一供收料設備，於機殼内的-側並設置-底座，於 该底座上固設一機械手臂，其中·· 該機械手臂係三轴關節型機械手臂並位於該供收料設 備以及該車床主機之間； 該供收料設備對應該開口設有一取放料檯面。 八〜進一步，本創作之機械手臂設有一基座，以該基座結 口方、^底座上’於該基座一側結合一第一關節馬達，該第 ^關即馬達以可朝左、右方向樞擺形態樞接一朝上伸設的 後臂’於該後臂自由端結合一第二關節馬達，該第二關節 馬達以可朝力、女士人t ， 右方向樞擺形態樞接一朝下伸設的前臂， M310051 於該前臂的自由端結合一第三關節馬達，該第三關節馬達 以可朝左、右方向直向自轉的形態樞設一夾爪座，於該夾 爪座設有一素材爪以及一成品爪。 本創作使用時係分別以成品爪穿經開口將車床裝置上 的成σ口下料放至供收料設備的取放料楼面，再以素材爪由 取放料檯面上取料，再將素材上料至車床主機，由於機械 手臂的動作係以垂直樞擺的形態移動，因此所佔空間小而 能設置於車床的機殼内，並由於可藉此直接穿過機殼的開 口至供收料設備上、下料不需要等待開關門，因此以機械 手臂直接的上、下料動作節省各素材加工時間的間隔，達 到降低上、下料時間的功效，大幅提昇加工的效率並減少 士產的成丨，並提昇使用者購置本創作此種自動化設備的 文盃於内置式 場面積能夠縮小’並且不需要挑高的廠房，藉此，於同樣。 的：房：可以設置較多的數量，增加產量並節省廠房土地 租金的钯費，並由於本創作於上、 因此能夠減少時間、啐音以及^枓中不需要開關門’ 佳的環保效果。 -内油霧的散逸’達到較 【實施方式】 ^ 一步揭路本創作詳細實施構造以將本創作的4 士 大顯出來，以下接著說明本 不創作的4寸點 及動作方式所能發揮的功效。^實施例詳細的構造以 本創作係一種内置機械手臂的車床裝置，請參看第 M310051 一、二圖的較佳實施例，其係設有一車床（A )，車床（a) 包括一機殼（1 〇)以及一設置於機殼（丄〇)内左側的 車床主機（2 0 )，於機殼（1 〇 )的右側形成一開口（工 1 )，於機殼（1 0 )設有開〇 (丄i )處的右侧由外併 -靠一供收料設備（3 〇 )，於機殼（丄〇 )内的右側設有 底座（40)，底座（40)位於車床主機（2〇)與 供收料設備（3 0 )之間，於底座（4 〇 )上固設一機械 手臂（5 0 )，其中： 車床主機（2 0 )係固設於機殼（1 〇 )内，並於朝 向機械手臂（50)的一側設有一夾頭（21)，於夾頭 (2 1 )周緣組設有一組夾爪（2 1 1 )。 供收料設備（3 0 )於對應開口（ X i )的位置形成 k供成品以及素材放置的取放料檯面（3 1 )。 底座（40)係一座體並固定於機殼（1 〇)内，底 座（4 〇 )於頂部形成一組裝面（4 1 )。 • 機械手臂（5 0 )係三軸關節型機械手臂，其係設有 基座（5 1 )，基座（5 1 )係固設於底座（4 〇 )的 、、、’面（4 1 )上，於基座（5 1 ) —側結合一第一關節 … 5 2) ’於第一關節馬達（5 2 )以可朝左、右方 向柘擺形態樞接-朝上伸設的後臂（5 3 )，於後臂（5 3 )頂側的自由端的一側結合一第二關節馬達（$ 4 ); 品於第一關節馬達（5 4 )以可朝左、右方向樞擺形態 =接朝下伸設的前臂（5 5 )，於前臂（5 5 )自由端 的侧亚結合一第三關節馬達（5 6 )，於第三關節馬達 8 M310051 (56) 以可朝产、士 r ^ ^ λ 工右方向直向自轉的形態樞設一夾爪座 7 )設有一素材爪（5 7 1 ) 以 ^ 5 7 )，於失爪座（ 及一成品爪（5 7 2 ) 達^ 口關即馬達（5 2 ) ( 5 4 ) ( 5 6 )係步進馬 • _ 以為伺服馬達的選配，本創作在此不加以 限制。 々 1乍使用於自動化加工素材時，以下以步驟的方 •:說明’製程共有12個步驟，並請參看第二至六圖: 車床外取放料準備：步驟1至2。 車床成品下料：步驟3至5。 車床夾爪清潔：步驟6至7。 車床素材上料：步驟8至1 2。 成品^ f M m # μ的供收料設備取素材及放 °“第-圖’機械手臂（5 〇 )將夾爪座（5 7 ) 如A 71)牙過機殼（10)的開口（ i i)， 朝向供收料設備（3 M ^ a , , r： )上的素材並夾持素材，此時成品 被成品爪（5 7 2 )釋放並收集。 =2、機械手待車床加卫完成：請 广供收料設備（3〇)回復到原位，避 並且等uj )加工時與車床主機（2 G)產生碰撞， 古主夫^驟3、機械手臂夹爪座移動至車床裝置夹頭位置·· 二:看弟四圖，當素材於車床主機（2㈧ 成 口口後，機械手臂（$ 〇 ) γ — 兀戚為成 5 0 )的夾爪座（5 7 )移動至車床主 9 M310051 機（2 0 )的夾頭（2工）位置。 步騍4、機械手臂的成品爪夾··機械手臂（$ 〇 )以 成品爪（5 7 2 )夾住夾頭（2 i )處的成品。 步驟5、車床夹爪放：車床主機（2 〇 )的夾爪（2 1 1 )將成品釋放。 步驟6、機械手臂夾爪座退至安全位置：機 0)移動至車床（A)内的安全位置。 主步驟7、機械手臂的素材爪與成品爪交換位置，同時 ^糸車床主機的夾爪：請參看第五圖，機械手臂（ 夾爪座（5 7 )的素材爪旋轉朝向夹頭 ;車床主機（⑴的夾爪（211)吹氣清潔位^ 床主機（20)的夾爪（211)。 ή車 步驟8、機械手臂的辛材丈 位置.社夫吾楚 _文爪私動至車床主機的夾頭 位置翏看弟六圖，機械手臂（5 移動至車床主機(2〇 又爪…7) (5 7 1 „ 人貝I Z 1 )位置，將素材爪 )所夾持的素材放入夾爪（2 1 1 )之間。 步驟9、機械手臂的素材爪放·· 素材爪（57 1)釋放素材。 Η (5 0)的 步驟10、車床主機的夾爪夾：車床 央爪的 1 1 )將素材夾持固定以待加工。 :驟11、機械手臂離開車床主機的 第七圖，機械手臂（50)回復到原位 y看 0)加工時與車床主機（2〇)產生碰撞。"’2 步驟1 2、啟動車床主機：啟動車床主機（2 0)加 10 M310051 工素材成為成品。 自動仆：作使用日“系重複上述步驟1至步驟12，不斷地 自動化加工素材成為成品。 由於本創作於車床（A)的 械手臂（5 〇 )，在車床““ υ )内。又置了枝 )方的供收料設備（1 0) 共早床CA)内的車庆主趟 需在機殼（10)夕卜之間下料並上料’不 °又置而要挑南空間的門型機械手臂或 佔用工作現場面積大 即尘钺槭手臂，加上機械手臂（5 〇)1關節構造單純，因此具有以下使用上的優點·· 、使用效益高··由於本創作的機械手臂（50)設 置於内，不若既有的機械手臂 台匕验ώ h Μ 于#而要開關門以下料或上料， 月匕將自動換料時間大幅減 私Υ /、 30又人工上、下料的時問 拉近，所需時間幾乎相同，其 ^ 1 ^ ^ yu , 更快’增加了國内產業生 產5又備加裝自動化的誘因。 ’、 H 保養成本低·由於機械手臂傳動系統都是使用關 即式傳動設計，因此、、$右本M+ I疋便用關 滑的元件，節省” 者螺桿此類需要隨時的濁 仵即名了报多的保養成本。 3佔地面積小：由於本創作機 於内因此整體所佔體積小，在同……0 ) §又置 預j在问樣廠房的投資下，能鈎相 對增加报多工具機的設置。 此夠相 4、 廠房高度需求低： 廠房，本創作…“ 門型機械手需要較高的 J fF 而要一般的礙房即可。 5、 運轉時安靜：本創作生產過程中車床（ 不吊要打開即可進行上、下㈣^ M310051 6、環境整潔：由於上 不會打開，因此不會有切削 可以保持潔淨。 下料過程中車床（A )的門 水氣與油霧飛出，工廠環境Since the 'type robot arm (7 〇) t is to be able to raise the height of the plant (9 1 ) from the front into the machine tool (8 〇) loading or unloading Y, however, the structure of the movable door (8 1 ) needs to be repeatedly opened and Need to set up another, the articulated robotic arm (9 〇) in front of the machine tool (8 0), and the problem of squatting: 1. Refueling process machine tool (8 0 ) to open the front movable door (8 1 ) will The cutting water and the oil mist are scattered, and the pollution of the low-cost house is very serious. 2. During the loading and unloading process, the front movable door (8 1) of the machine tool (8 0 ) will open, causing the high decibel noise generated when the jaws are cleaned by air pressure to be transmitted outward, which greatly affects the working environment. 5 M310051, 3, automatic loading and unloading time is about 1 1.8 seconds, about 7 seconds longer than the normal manual loading and unloading time, and about 4/1, and seconds, which causes the automation of production equipment. reduce. 4. Since the articulated mechanical arm (9〇) is additionally set, it will occupy the operating area, making it inconvenient for personnel to operate. [New content] Due to the time when the existing machine tool cooperates with the door type and the joint type robot arm to take the material, it takes time and causes environmental and noise pollution. :::This is the purpose of this creation. It is equipped with a mechanical hand # in the machine tool. With this robot arm setting, it can achieve the good effect of cutting and feeding, and avoiding the pollution and noise generated by the door. In order to achieve the above object, the present invention provides a vehicle-mounted device with a built-in robot arm, which is provided with a lathe, the lathe includes a casing and a lathe main body installed in the casing, and is formed on one side of the casing. An opening is provided by a f and a receiving device, and a base is disposed on the side of the casing, and a mechanical arm is fixed on the base, wherein the mechanical arm is a triaxial joint type mechanical arm and is located The feeding and receiving device and the lathe main machine are arranged; the feeding and receiving device is provided with a receiving and discharging table corresponding to the opening.八〜 Further, the robot arm of the present invention is provided with a base, and the first joint motor is coupled to the side of the base on the base of the base, and the motor is turned to the left. The right arm pivoting form pivotally extends upwardly from the rear arm' to the second joint motor at the free end of the rear arm, and the second joint motor is pivotally connected in a right direction, a lady's t, and a right direction a forearm extending downward, the M310051 is coupled to a third joint motor at a free end of the forearm, and the third joint motor pivots a jaw seat in a manner of being able to rotate straight in the left and right directions. The seat is provided with a material claw and a finished claw. When the creation is used, the finished jaws are respectively passed through the opening to place the σ port on the lathe device to the receiving and discharging floor of the receiving device, and then the material claw is taken from the receiving and discharging table, and then The material is fed to the lathe main machine. Since the movement of the robot arm moves in a vertical pivoting manner, the space is small and can be placed in the casing of the lathe, and can be directly passed through the opening of the casing to provide The receiving and unloading equipment does not need to wait for the opening and closing of the door. Therefore, the upper and lower feeding actions of the robot arm can save the interval of processing time of each material, thereby reducing the effect of reducing the loading and unloading time, greatly improving the processing efficiency and reducing the efficiency. The production of the shackles and the promotion of the user's purchase of the automatic equipment of this creation of the cup can be reduced in the built-in field area 'and do not need to raise the height of the plant, thereby, the same. The room: can set a larger number, increase production and save the palladium fee for the rent of the factory land, and because of this creation, it can reduce the time, sound and the environmental protection effect of the door. - The internal dissipating of the oil mist is achieved. [Implementation] ^ One step is to unravel the creation of the detailed structure of the creation to show the 4th of this creation. The following is a description of the 4 inch points and movement modes that can not be created. efficacy. The detailed construction of the embodiment is a lathe device with a built-in mechanical arm. Please refer to the preferred embodiment of the first and second figures of M310051, which is provided with a lathe (A), and the lathe (a) includes a casing ( 1 〇) and a lathe main unit (20) installed on the left side of the casing (丄〇), forming an opening (work 1) on the right side of the casing (1 〇), and opening in the casing (10) The right side of the 〇(丄i) is externally connected to a receiving device (3 〇), and the base (40) is located on the right side of the casing (丄〇), and the base (40) is located at the lathe main machine (2) 〇) Between the supply and receiving equipment (30), a mechanical arm (50) is fixed on the base (4 〇), wherein: the lathe main unit (20) is fixed in the casing (1 〇) And a collet (21) is arranged on a side facing the robot arm (50), and a set of jaws (2 1 1) is arranged on the periphery of the collet (2 1 ). The feeding and receiving device (30) forms a pick-and-place table (3 1 ) for the finished product and the material to be placed at the position corresponding to the opening (X i ). The base (40) is a body and is fixed in the casing (1 〇), and the bottom seat (4 〇) forms an assembly surface (4 1 ) at the top. • The robot arm (50) is a three-axis articulated robot arm with a base (5 1 ), and the base (5 1 ) is fixed to the base (4 〇), 'face' (4 1 ), on the base (5 1 ) - side combined with a first joint ... 5 2) 'after the first joint motor (5 2 ) can be pivoted in the left and right directions - upwards The arm (53) is coupled to a second joint motor ($4) on one side of the free end of the top side of the rear arm (53); the first joint motor (5 4) is pivoted to the left and right directions Form = the forearm (5 5 ) extending downward, the third joint motor (5 6 ) is coupled to the side of the free end of the forearm (5 5 ), and the third joint motor 8 M310051 (56) can be produced.士r ^ ^ λ The right direction of the rotation of the right direction of the rotation of a jaw seat 7) is provided with a material claw (5 7 1) to ^ 5 7), in the claw block (and a finished claw (5 7 2) The motor is (5 2 ) ( 5 4 ) ( 5 6 ) is the stepping horse • _ As the servo motor is optional, this creation is not limited here. 々1乍 used for automatic processing of materials, the following Step by step •: Description There are 12 steps in the process, and please refer to the second to sixth figures: Preparation for the lathe and the discharge: Steps 1 to 2. Lathe finished product cutting: Steps 3 to 5. Lathe jaw cleaning: Steps 6 to 7. Lathe material Material: Steps 8 to 12. 2. Finished product ^ f M m # μ for the receiving and receiving equipment to take the material and put the "Picture - Figure 'mechanical arm (5 〇) will clamp the jaw seat (5 7) such as A 71) The opening (ii) of the casing (10) faces the material on the receiving device (3 M ^ a , , r: ) and holds the material, at which time the finished product is released and collected by the finished claw (5 7 2 ). 2, the robot is waiting for the lathe to complete the defensive: please return the wide supply equipment (3 〇) to the original position, avoid and wait for uj) when the machining and the lathe host (2 G) collide, the ancient master ^ 3, the robot The jaw seat moves to the position of the lathe device chuck. · Two: Look at the brother's four pictures, when the material is on the lathe main machine (2 (eight) into the mouth, the mechanical arm ($ 〇) γ - 兀戚 is into a 50 0) jaw seat (5 7) Move to the chuck (2 work) position of the lathe main 9 M310051 machine (2 0). Step 4, the finished claw clip of the robot arm · The mechanical arm ($ 〇) with the finished claw (5 7 2) Clamp the finished product at the chuck (2 i ) Step 5: Lathe jaws release: The jaws (2 1 1) of the lathe main unit (2 〇) release the finished product. Step 6. The mechanical arm jaws retract to Safe position: Machine 0) Move to the safe position in the lathe (A). Main step 7, the material claw of the robot arm exchanges position with the finished claw, and at the same time ^ jaw of the lathe main machine: Please refer to the fifth figure, the robot arm ( The claw of the jaw seat (57) rotates toward the chuck; the chuck (211) of the lathe main unit ((1) blows the cleaning device to the jaws (211) of the bed host (20). Step 8 of the brakes, the position of the mechanical arm of the Xinzhangzhang. The husband and wife _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ ) (5 7 1 „人贝 IZ 1 ) position, put the material held by the material claws between the jaws (2 1 1 ). Step 9. The claws of the robot arm are placed on the claws ( 57 1 Release the material. Step 10 of the Η (5 0), the jaw clamp of the lathe main machine: 1 1 of the central claw of the lathe) The material is clamped and fixed for processing. Step 11: The seventh figure of the mechanical arm leaving the lathe host, The robot arm (50) returns to the original position y to see 0) Collision with the lathe main machine (2〇) during machining."'2 Step 1 2. Start the lathe host: start the lathe main unit (2 0) plus 10 M310051 Finished product. Automatic servant: for the use of the day "Repeat the above steps 1 to 12, continuously automate the processing of the material into a finished product. Due to the creation of the lathe (A) arm (5 〇), in the lathe "" υ). Also set the branch) The equipment for receiving and receiving (1 0) The car in the morning bed CA) needs to be unloaded between the casing (10) and the feeding is not The door type robot arm of the South Space or the large area of the work site, that is, the dust mites maple arm, plus the mechanical arm (5 〇) 1 joint structure is simple, so it has the following advantages of use ························ The mechanical arm (50) is set inside, not the existing mechanical arm 匕 匕 Μ Μ 而 而 而 而 而 而 而 而 而 而 而 而 而 而 而 而 而 而 而 而 而 而 而 而 而 而 而 而 而 而 而 而 而 而 而 而 而 而 而The time for manual loading and unloading is close, and the time required is almost the same. Its ^ 1 ^ ^ yu, faster 'increased the incentives for domestic industrial production 5 and additional automation. ', H low maintenance costs · Because the mechanical arm drive system is designed to use the off-the-line drive, so, $ right M + I 疋 will use the sliding element, saving "the screw needs to be turbid at any time" The maintenance cost of the newspaper is large. 3 The small footprint: Because the creation machine is inside, the overall volume is small, in the same... 0) § Pre-j in the investment of the sample factory, the hook can be relatively increased Multi-tool machine setting. This is enough, 4, the plant height demand is low: Plant, this creation... "The door type manipulator needs a higher J fF and it is necessary to have a general obstacle. 5, quiet during operation: the lathe in the production process (can not be lifted to open up and down (four) ^ M310051 6, the environment is clean: because it will not open, so there will be no cutting can be kept clean. The water vapor and oil mist of the lathe (A) fly out, the factory environment
8、容易操作：由於本創作的機械手臂（5 〇 )只使 節’因此運動路徑較簡單，所以只要一般的作 業貝都此夠才呆作使用。 本創作由於有效節省了上、下斜 .. %間，在車床主機（2 ◦)加工日守間與門型機械手臂、 &丁月猢即型機械手臂相同的前 提之下’將產量逼近於人工上、 口 卜料的方式，但由於容易 操作且自動化，因此以一個摔作 口刼邗#來呪可以同時操控六台 本創作生產’因此能大幅減少人事成本的支出，將投資本 創作此種自動化設備的支出於短期内回收，減少國内產業 界更換自動化設備的障礙。 〃 [圖式簡單說明】 第一圖係本創作較佳實施例之前視示意圖。 第二至七圖係本創作較佳實施例之實施動#的連續示 意圖。 ' 第八圖係既有工具機配合門型機械手臂使用的前視示 意圖。 第九圖係既有工具機配合關節型機械手臂使用的前視 不意圖。 12 M310051 【主要元件符號說明】 (A )車床 （1 0 )機殼 (1 1 )開口 （ 2 0 )車床主機 (2 1 )夾頭 （2 1 1 )夾爪 (3 0 )供收料設備 （3 1 )取放料檯面 (4 0 )底座 （4 1 )組裝面 (5 0 )機械手臂 （5 1 )基座 (5 2 )第一關節馬達（5 3 )後臂 (5 4 )第二關節馬達（5 5 )前臂 (5 6 )後臂 （5 7 )夾爪座 (5 7 1 )素材爪 （5 7 2 )成品爪 (6 0 )工具機 （6 1 )活動門 (7 0 )門型機械手臂（7 1 )夾頭裝置 (8 0 )工具機 （8 1 )活動門 (9 0 )關節型機械手臂 （9 1 )夾頭8. Easy to operate: Since the robotic arm (5 〇) of this creation only makes the section, so the movement path is relatively simple, so as long as the general work is enough to stay in use. This creation effectively saves the upper and lower slopes.. %, in the same time on the premise that the lathe main machine (2 ◦) processing day guard is the same as the door type robot arm and the Dingyue 猢 type robot arm In the way of manual and oral communication, but because of the ease of operation and automation, it is possible to control six productions at the same time by using one slamming 刼邗#, so it can greatly reduce the personnel cost. Expenditure on automated equipment is recycled in the short term, reducing barriers to the replacement of automation equipment in domestic industries. 〃 [Simple description of the drawings] The first figure is a front view of a preferred embodiment of the present creation. The second to seventh figures are continuous illustrations of the implementation of the preferred embodiment of the present invention. The eighth figure is a front view of the use of both the machine tool and the door type robot. The ninth figure is a front view of the use of a machine tool with an articulated robotic arm. 12 M310051 [Key component symbol description] (A) Lathe (1 0) Case (1 1 ) Opening ( 2 0 ) Lathe main machine (2 1 ) Chuck (2 1 1 ) Claw (3 0 ) for receiving equipment (3 1 ) take the discharge table (4 0 ) base (4 1 ) assembly surface (5 0 ) robot arm (5 1 ) base (5 2 ) first joint motor (5 3 ) rear arm (5 4 ) Two joint motor (5 5 ) forearm (5 6 ) rear arm (5 7 ) jaw seat (5 7 1 ) material claw (5 7 2 ) finished claw (6 0 ) machine tool (6 1 ) movable door (7 0 )Door type mechanical arm (7 1 ) collet device (8 0 ) machine tool (8 1 ) movable door (9 0 ) articulated mechanical arm (9 1 ) collet
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