M327777 八、新型說明： 【新型所屬之技術領域】 本創作係-種工具磨床的配件裝置，尤指—種上料作 用的機械手上下料裝置。 【先前技術】 既有的工具磨床對主軸裝置上料的時候係以人工的方 =，：工件放於治具内反覆校正夹持的長度，藉此定 寸後’手持治具將露出治具的工件部分插入主 内2於主軸裝置夹持工件時會產生外推力量，為要使 持後露出的工件長度確實，因此柱 以 ::作者需要對治具施力’施加一定力量 工的精度。 ^度固疋，維持磨床加 上述方式雖可以達到上料目 作的方式上料，因此造成以下二;、、而由於係以人工操 上料上‘由：上料前需要利用治具夾持工件並定尺寸，於 瑣且二二7广拆卸治具，因此使得上料的實施過程繁 貝且浪費時間，操作的過程較長。 不》 2、主軸裝置夹持工件， 造成每次上料時+ 人工施加預力的方式會 置夹持工件露出^^= 同’因此造成主轴裝 件路出的長紐無法精確受控制 f新型内容】 7力工不丰確。 由於既有工具磨床需要以治具加 位置，g} If i 、 上人工來疋位上料的 心成上料操作浪費時間、上料不準確，因此不 M327777 利於生產的缺點。有鑑於前述上料的問題，本創作主要目 的在於藉由機械手臂配合氣壓缸彈性的手段，提供一種 上料準確、快速且利於大量生產的上料裝置。 二達丨上述目的，本創作係提供一種工具磨床機械手 上下料裝置，其係包括： 一機械手臂； 一減速機，該減速機設於該機械手臂的自由端；以及 、一夾爪組，該夾爪組設有一減速機連接座，該減速機 連接座結合於該減速機，於該減速機連接座結合—滑台氣 紅’於該滑台氣缸結合—夾爪固定座，於該夾爪固定座的 相對兩側各結合_氣壓夾頭’兩氣壓夾頭的外端分別形成 、軚佺的，機械手臂設有一底座，於該底座樞接一後臂， 於β後臂自由端樞接_前t，所述減速機係固設於該前 的自由端。M327777 VIII. New description: [New technical field] This creation is a fitting device for tool grinding machines, especially a mechanical hand-feeding device for loading and unloading. [Prior Art] When the existing tool grinder is used to load the spindle device, the manual side is used. The workpiece is placed in the jig to repeatedly correct the length of the clamp. After the inch is fixed, the hand-held jig will expose the jig. The part of the workpiece is inserted into the main body 2 and the external force is generated when the spindle device grips the workpiece. The length of the workpiece exposed after the holding is confirmed, so the column is: The author needs to apply force to the fixture to apply a certain strength precision. . ^度固疋, maintaining the grinding machine plus the above method can achieve the feeding method, so the following two;, and because of the manual operation of the material 'by: need to use the fixture before loading The workpiece is dimensioned, and the fixture is disassembled in a cumbersome and sturdy manner. Therefore, the implementation process of the loading is complicated and wastes time, and the operation process is long. No. 2. The spindle device holds the workpiece, causing the method of manually applying the pre-force to apply the pre-stress. The workpiece will be exposed. ^^= Same as the result, so the long-term of the spindle assembly can not be accurately controlled. Content] 7 strength is not good. Because the existing tool grinder needs to be equipped with the fixture, the g}If i, the manual loading and unloading of the heart is a waste of time and the feeding is not accurate, so the M327777 is not good for production. In view of the above-mentioned problem of loading, the main purpose of this creation is to provide a feeding device that is accurate, fast, and advantageous for mass production by means of a mechanical arm in combination with the elasticity of the pneumatic cylinder. In the above-mentioned purpose, the present invention provides a tool grinder robotic hand unloading device, which comprises: a mechanical arm; a reducer, the reducer is disposed at a free end of the robot arm; and a jaw set The jaw set is provided with a reducer connecting seat, and the reducer connecting seat is coupled to the reducer, and the reducer connecting seat is combined with the sliding table gas red to the sliding table cylinder combined with the clamping claw fixing seat. The opposite ends of the claw fixing seat are combined with each other. The outer ends of the two air pressure chucks are respectively formed, and the mechanical arm is provided with a base, and the rear arm is pivotally connected to the rear arm of the β rear arm. Connected to the front, the reducer is fixed to the front free end.
本創作係以機械手臂裝設於工具磨床並位於主軸裝置 與承料台之間，機械手f於主軸裝置與承 -研磨裝置，於承料台旁設有一基準桿。 ’並。又有 田本創作進行工件朝主軸裝置的進料作業時，係以夾 =承料台夾抓直桿狀的m朝下以底端抵靠基 準柃的頂® ’糟此校正夾爪所夾抓的長度，接著利用機械 :臂帶動爽爪組以及工件移動至夾爪前，在工件進入夾爪 則停止動作著以滑台氣缸前伸並，將工件的前端送入 夾爪内’當確認滑台氣飯確實前伸定位後’機械手臂再度The author is equipped with a robotic arm mounted on a tool grinder and located between the spindle device and the loading table. The manipulator f is provided on the spindle device and the bearing-grinding device, and a reference rod is arranged beside the receiving table. 'and. In addition, when Tamben created the workpiece to the spindle device, the clamp = the loading table clamp grasps the straight rod shape m downwards and the bottom end abuts against the top of the reference ®' The length, then the use of the machine: the arm drives the cool claw group and the workpiece moves to the front of the jaw, when the workpiece enters the jaw, it stops moving to extend the cylinder and pushes the front end of the workpiece into the jaw. The gas of the rice is indeed stretched out and the 'mechanical arm is again
M327777 月ίι移’令夾持工件的夾爪頂靠主軸 择义似^ 菲 表置，同時機械手臂持 續别移一段距離，過程中由於滑台 寻 德π .,, π'月口孔缸具有彈性因此會向 後退，使夾爪對主軸裝置施加一定的預壓力量。 ，著主軸裝置夹持工件，主軸震置夾持工件的過程令 I且ί:工ΓΓ卜推的力量，然而由於夾爪有預麼相抗衡 研磨：：力I置’因此確保工件可露出固定的長度以供 衣置加工，最後頂靠主軸裝置的夹爪脫離受主 夾持的工件並朝後退，完成本創作進料的作業。 又 由於本創作於夹爪固定座與減速機連接座 缸，因此於進料作業時能夠以失爪對主轴裝置施加-定: 預壓力量，因此可以達到以下功效： 的 1、由於本創作利用夹爪配合基準桿校正夹抓 長度，因此使用過程中不雲亜 而晋X人工配合治具校準 寸，可以節省操作的時間以及人工的浪費。 β \本創作以夾爪進料，當主軸I置夹抓卫件時能夠 提供固定的預壓力量，加上夹抓 人抓過耘緊緊頂靠主軸裝置的 料，能夠確保夾抓後露出加工的尺寸正確無誤，可以 貫提昇加工的精度。 3、由於本創作能加快上料的時間且能有效提昇夹抓 以及力曰°工的精度’因此提供配合裝設本創作的工具磨床容 易大罝加工的效果。 【實施方式】 本創作係一種工具磨庄祕#丈 床機械手上下料裝置，請參看第 一至三圖的較佳實施例，其係包括· M327777 -機械手臂（ίο) ’機械手臂（10)包括一底座 (1 1 )於底座（1 1 ) 4區接-後臂（1 2 )，於後臂 (1 2 )自由端樞接一前臂（工3 。 一減速機（2 0 )，減速機（2 0 )係固設於前臂（1 3 )的自由端。 -夾爪組（3 0 )，失爪組（3 〇 )設有_減速機連 接座（3 1 )，減速機連接座（3 i )結合於減速機（2 0)，藉此可由減速機（2〇)驅動迴轉動作，於減速機 連接座（3 1 )外面結合_滑台氣缸（3 2 )，於滑台^ 缸（32)外面結合—夾爪固定座（33)，於夾爪固定 座（3 3 )周圍的相對兩側各結合-氣壓夾頭（3 4 )， 兩氣壓夾Ό 4 )的外端分別形成-夾爪（3 4 1 )。 明蒼看第至四圖的較佳實施例，本創作使用時係裝 设於工具磨床（4〇)，工具磨床"〇)設有一床台 1 )，於床口 （ 4 1 )前後兩側分別設有一主軸裝置（4 :2 )以及-承料台（4 3 )，於主軸裝置（4 2 )與承料 -台（43)之間於床台（41)設有一研磨裝置（44)， 本創作係以底座（1 1 )裝設於床台（4 1 )並位於主軸 裝置（4 2 )以及主軸骏置（4 2 )之間。 前述主軸裝置（4 2 )設有一夾頭（4 2 1 )，失頭 (4 2 1 )於朝向承料台（4 3 )的内端形成一夾爪（4 2 2 )’研磨裝置（4 4 )於朝向主軸裝置（4 2 )的一 側樞設一砂輪（4 4 1 )，承料台（4 3 )上插設複數個 工件（4 5 ) ’於承料台（4 3 )前設有一直立柱狀的基 M327777 準桿（4 6 )，发、隹# 基準桿（4 、 1)。 ）頂端形成一基準面（46 當使用時，如第一 已加工的工件（4 。—圖所示，機械手臂（1 〇 )將 的夾爪（3 4 ] λ 5 )回放承料台（4 3 )時，係先以空 丄）夾取工件 臂（1 0 )妝 4 5 )的頂端’再以機械手 端抵靠基準桿（ 朝前移動，使工件（4 5 )底 5)受失爪6)的基準面（461)，校正工件（4 ^41) ii ΛΑ c 裝置（4 9 Af的長度’並藉此確保稍後主軸 乙J爽爪（4 2 ?、+ (4 5 )露 ^ 2 )失取工件（4 5 )時，工件 ϋ工的長度固定。 才妾著減逮機f 9 η ^ 將已加工的工件〔）驅動夾爪（3 4 1 )的位置迴轉， 口 士 Τ ΛΑ 4 5 )旋轉朝下並回放於承料台（4 3 )， 已加工的工件f 认+ γ / 4 b )回放後，機械手臂（1 〇 )驅動空 的夾爪（3 4 Ί、4 置)朝主軸裝置（42)移動，並至主軸裝 2 )的失爪（4 2 2 )處，以空的夾爪（4 2 2 ) 取下已加工的τ/ J工件（4 5 )，接著減速機（2 0 )驅動夾 )的位置迴轉，使未加工的工件（4 5 )朝向 夾頭 丄」的夾爪（422)，如第七圖所示。 取下已加工工彼/ ^ ^ 件（4 5 )後繼續進行工件（4 5 )朝 主軸衣置（4 2 ) & % , ^ ^ ( Λ 的進料作業，請參看第七、八圖，機械 手臂（1 0 )帶私+ 至夾爪（4 2 ……w . 別’在工件（4 5 )進入夾爪（4 2 2 ) 刖tr止動作，接菩 ^ , 嘗以滑台氣缸（3 2 )前伸並驅動夾爪固 定座（3 3 )朝拿^ 輔裝置（4 2 )前進，藉此將工件（4 φ功爽爪組（3 0 )以及工件（4 5 )移動 /1 Ο η \ M327777 5)的前端送入夾爪（422)内。 當確認滑台氣缸（3 2 )確實前伸定位後，請參看第 九圖，機械手臂（1 〇 )再度前移，當夾持工件（4 5 ) 的夾爪（341)頂靠主軸裝置（42)的夾爪（422) 時’機械手臂（1 0 )仍會持續前移一段距離，過程中由 於滑台氣缸（3 2 )具有彈性因此會向後退，形成爽爪（3 4 1 )對主軸裝置（4 2 )夾爪（4 2 2 ) —定的預壓力 量。 接著主軸裝置（4 2 )的夾爪（4 2 2 )動作夾持工 件（4 5 )，過程中產生將工件（4 5 )向外推的力量， 然而由於夾爪（3 4 1 )有預壓相抗衡並且緊靠主軸裝置 (42)的夾爪（422) ’因此可確保主軸裝置（42) 所爽持的工件（45)可露出固定的長度，並且露出的長 度與先珂利用基準面（4 6 1 )定位時校正的長度相同， 如此，當工件（4 5 )研磨加工時能夠確保精度。 最後頂靠主軸裝置（42)的夾爪（42 2)脫離受 主軸裳置（4 2 )夾持的工件（4 5 )並朝後退，重複前 述以機械手臂（1 〇 )將已加工的工件（4 5 )回放承料 台（4 3 )之操作，當機械手臂（1 〇 )夾持新工件（4 5)並回放已加工的工件（45)同時，研磨裝置（44) 會驅動砂輪（4 4 1 )對主軸裝置（4 2 )前端的工件（4 5 )作研磨加工。 【圖式簡單說明】 第一圖係本創作較佳實施例裝設於工具磨床之立體圖 9 M327777 設於工具磨床之側視圖 第二圖係本創作較佳實施例裝 第三圖係本創作較佳實施例裝設於卫具磨床放大之俯 視圖。 第四至六圖係本創作較佳實施例將已加工的工件回放 承料台之實施示意圖。 第七至九圖係本創作較佳實施例工件朝主軸裝置進料 之實施示意圖。 【主要元件符號說明】 (1 〇)機械手臂 （1 1 )底座 (1 2 )後臂 （1 3 )前臂 (2 0 )減速機 （3 0 )夾爪組 (3 1 )減速機連接座（3 2 )滑台氣缸 (33)夾爪固定座 （34)氣壓失頭 (3 4 1 )夾爪 (41)床台 (4 2 1 )夾頭 (4 3 )承料台 (4 4 1 )砂輪 (4 6 )基準桿 (4 0 )工具磨床 (42)主軸裝置 (4 2 2 )失爪 (44)研磨裝置 (4 5 )工件 (4 6 1 )基準面M327777 ̄ ̄ ̄ ̄ ̄ ̄ ̄ ̄ ̄ ̄ ̄ ̄ ̄ ̄ ̄ ̄ ̄ ̄ ̄ ̄ ̄ ̄ ̄ ̄ ̄ ̄ ̄ ̄ ̄ ̄ ̄ ̄ ̄ ̄ ̄ ̄ ̄ ̄ ̄ ̄ ̄ ̄ ̄ ̄ ̄ ̄ ̄ ̄ ̄ ̄ The elasticity therefore reverses, causing the jaws to apply a certain amount of pre-stress to the spindle device. The spindle device holds the workpiece, and the process of clamping the workpiece by the spindle causes I and ί: the force of the work, but because the jaw has a pre-phase to counter the grinding: the force I is set to 'make sure the workpiece can be exposed and fixed The length is used for the garment processing, and finally the jaws of the spindle device are separated from the workpiece held by the main body and are moved backwards to complete the creation of the original feeding operation. Moreover, since the creation of the jaw holder and the speed reducer is connected to the seat cylinder, the spindle can be applied with the claws in the feeding operation: the pre-pressure amount can be achieved, thereby achieving the following effects: 1. Due to the use of the creation The jaws are matched with the reference rod to correct the grip length, so the use of the process is not clouded and the X is manually matched with the fixture calibration inch, which can save operation time and labor waste. β \ This creation is fed by the jaws. When the spindle I is placed on the gripper, it can provide a fixed amount of pre-pressure, and the gripper grips the gripper and presses the material of the spindle device tightly to ensure that the grip is exposed. The size of the machining is correct and can improve the precision of the machining. 3. Since this creation can speed up the feeding time and can effectively improve the precision of the gripping and the force of the work, it provides the effect of the tool grinding machine equipped with the creation of the creation. [Embodiment] This creation is a tool grinding machine. The mechanical bed cutting device, please refer to the preferred embodiment of the first to third figures, including M327777 - mechanical arm (ίο) 'mechanical arm (10 ) includes a base (1 1 ) connected to the base (1 1 ) 4 - the rear arm (1 2 ), and a free end of the rear arm (1 2 ) is pivotally connected to a forearm (3), a reducer (2 0), The reducer (2 0 ) is fixed to the free end of the forearm (1 3 ). - The jaw set (3 0 ), the lost claw set (3 〇) is equipped with the _ reducer base (3 1 ), the reducer is connected The seat (3 i ) is coupled to the reducer (20), whereby the rotary motion can be driven by the reducer (2〇), and the _ slide cylinder (3 2 ) is coupled to the slide base (3 1 ) on the slide base. ^ The outer side of the cylinder (32) is combined with the jaw holder (33), and the opposite ends of the jaw holder (3 3 ) are combined with the air pressure chuck (3 4 ), the outer end of the two air pressure clamps 4 ) The jaws (3 4 1 ) are formed separately. Ming Cang sees the preferred embodiment of Figures 4 to 4, which is installed in a tool grinder (4〇), a tool grinder "〇) with a bed 1), before and after the bed (4 1 ) The side is respectively provided with a spindle device (4:2) and a receiving platform (43), and a grinding device (44) is arranged between the spindle device (42) and the receiving-stage (43) on the bed (41). The creation is installed on the bed (4 1 ) with the base (1 1 ) and is located between the spindle unit (4 2 ) and the spindle (4 2 ). The spindle device (42) is provided with a collet (4 2 1 ), and the head (4 2 1 ) is formed at the inner end of the receiving table (43) to form a clamping jaw (4 2 2 ) 'grinding device (4) 4) A grinding wheel (4 4 1 ) is pivoted on a side facing the spindle device (4 2 ), and a plurality of workpieces (4 5 ) are inserted into the receiving table (4 3 ) in front of the receiving table (4 3 ) It has a base-shaped M327777 pole (4 6 ), hair, and 隹# reference rods (4, 1). The top end forms a reference surface (46 when used, such as the first machined workpiece (4. - the robot arm (1 〇) will clamp the jaws (3 4 ] λ 5 ) to the loading table (4 3), the first end of the workpiece arm (1 0 ) makeup 4 5 ) is first grasped by the space 再) and then the mechanical end is abutted against the reference rod (moving forward, causing the workpiece (4 5 ) bottom 5) to be lost. The reference surface (461) of the claw 6), correct the workpiece (4 ^ 41) ii ΛΑ c device (4 9 Af length ' and thereby ensure that the spindle S (cooling claws (4 2 ?, + (4 5 )) ^ 2) When the workpiece (4 5 ) is lost, the length of the workpiece is fixed. Only the reduction machine f 9 η ^ rotates the position of the workpiece () drive jaw (3 4 1 ). Τ ΛΑ 4 5 ) Rotate down and play back on the loading table (4 3 ), the machined workpiece f recognizes + γ / 4 b ) After playback, the robot arm (1 〇) drives the empty jaws (3 4 Ί, 4) Move to the spindle unit (42) and to the lost claw (4 2 2 ) of the spindle assembly 2). Remove the machined τ/J workpiece (4 5 ) with the empty jaw (4 2 2 ). Then, the position of the reducer (2 0 ) drive clamp) is swung, so that The work piece (45) toward the cartridge Shang "jaw (422), as shown in the seventh FIG. After removing the processed worker / ^ ^ (4 5 ), continue to work on the workpiece (4 5 ) toward the spindle (4 2 ) & % , ^ ^ ( Λ feeding operation, please refer to the seventh and eighth figures , the mechanical arm (1 0) with private + to the jaws (4 2 ... w. Do not 'in the workpiece (4 5) into the jaws (4 2 2) 刖tr stop action, pick up the bo, ^ taste the slide cylinder (3 2) Forward and drive the jaw holder (3 3 ) to advance toward the auxiliary device (4 2 ), thereby moving the workpiece (4 φ functioning claw group (30) and workpiece (4 5)/ 1 Ο η \ M327777 5) The front end is fed into the jaws (422). When it is confirmed that the slide cylinder (3 2 ) is indeed positioned forward, please refer to the ninth diagram, and the robot arm (1 〇) moves forward again. When the jaw (341) holding the workpiece (4 5 ) abuts against the jaw (422) of the spindle unit (42), the 'arm (10) will continue to move forward a distance, due to the slide cylinder (3) 2) It has elasticity and therefore will retreat to form a pre-stress amount for the claw (4 2 1 ) of the spindle device (4 2 ). Then the jaw of the spindle device (4 2 ) (4 2 2) Action clamping workpiece (4 5 ), process Produces the force to push the workpiece (45) outwards, however, since the jaws (3 4 1 ) have a preloaded phase that opposes and abuts the jaws (422) of the spindle device (42) 'thereby ensuring the spindle device (42) The held workpiece (45) can be exposed to a fixed length, and the exposed length is the same as the length corrected when the first surface is positioned by the reference plane (4 6 1 ), so that the precision can be ensured when the workpiece (45) is ground. Finally, the jaw (42 2) of the spindle device (42) is disengaged from the workpiece (4 5 ) held by the spindle skirt (4 2 ) and is moved backwards, and the above-mentioned mechanical arm (1 〇) is processed. The workpiece (4 5 ) plays back the operation of the loading table (4 3 ). When the robot arm (1 〇) holds the new workpiece (45) and plays back the processed workpiece (45), the grinding device (44) drives the grinding wheel. (4 4 1 ) Grinding the workpiece (4 5 ) at the front end of the spindle unit (4 2 ). [Simplified illustration of the drawing] The first figure is a perspective view of the preferred embodiment of the present invention installed on a tool grinding machine. M327777 is located at Side view of the tool grinder, the second figure is the preferred embodiment of the present invention. The embodiment is mounted on a top view of the auger grinder enlargement. The fourth to sixth figures are schematic diagrams of the preferred embodiment of the present invention for replaying the processed workpiece loading table. The seventh to ninth drawings are the preferred embodiment of the present invention. Schematic diagram of the feed to the spindle unit. [Key component symbol description] (1 〇) Robot arm (1 1 ) Base (1 2 ) Rear arm (1 3 ) Forearm (2 0) Reducer (3 0 ) Claw group (3 1) Reducer connector (3 2 ) Slide cylinder (33) Claw mount (34) Air pressure loss (3 4 1 ) Claw (41) Bed (4 2 1 ) Chuck (4 3 Feeding table (4 4 1) grinding wheel (4 6 ) reference rod (4 0 ) tool grinding machine (42) spindle device (4 2 2 ) lost claw (44) grinding device (4 5 ) workpiece (4 6 1 ) reference surface