M363353 五、新型說明： 【新型所屬之技術領域】 本創作係一種組裝設備，尤指一種可多軸向進行組裝 作業的複合式輪盤多軸矩陣組裝設備。 【先前技術】 於一般組裝產線上，會設置具有機械手臂之組裝設備 ，利用機械手臂於玫置零件之托盤上進行零件抓取及吸取 與t配的作業’並可搭配人工進行托盤換置。 目丽組裝產線係設置一具有輸送帶可直線運輸托盤的 輸送裝置，並於該輸送帶外側邊設置有複數組裝設備，使 用者依據組裝零件的多募而配置所需要的組裝設備個數， 依照處理組裝作業的先後順序，可以將該些組裝設備依序 劃分為第一組裝設備、第二組裝設備、第三組裝設備等， 其中，所述之組裝設備係包含有一可抓取及吸取零件之機 械手臂’托盤上先行放置欲組裝之零件，待減輸送至第 ’、且裝。又備日寸，第一組1设備上的機械手臂便會將零件抓 取及吸取並進行第—步驟的組裝，完成後，輸送裝置再將 托盤輸送至第二組裝設備，再利用機械手臂將尚未組裝之 零件組裝至第-組Μ備已組裳好的半成品上，完成第二 步驟的組裝並接續進行後續的組製作業。 然上述中，若成品越精密且組裝零件越多，則需要足 夠作業空間設置輸送帶，且所需的組裝設備個數也越多， 同時提高設備成本，且一組裝設備進行一種零件的組裝方 式，於組裝零件增加時，會相對提高產線上組裝的時間， M363353 且重複的輸送組裝過程中也會影塑紐壯， θ，及裝成品的精密度，故 不符合經濟效益。 【新塑内容】 本創作之主要目的在於提供一 組裝設備進行單一 種贺合式輪盤多軸矩陣 組裝設備’希糟此設計，改善以往單 零件組裝’所導致不符經濟效益的問題。 為達成前揭目的，本創作所設訃 又nt之複合式輪盤多軸矩 陣組裝設備，包含有： 一機台’其側邊形成一工作區； 一多軸移動裝置，其包含有一=也 __ —轴向移動模組及一旋 轉模組，該三軸向移動模組係設置於該機台1，並可受控 進行三轴立體移動’該旋轉模組係設置於該三軸向移動模 組上並可受控移動至工作區中； -抓取及吸取裝置，其包含有複數可受控伸入工作區 中的抓取及吸取單元，該些抓取及吸取單元皆具有至少一 抓取及吸取手臂，I皆設置於該旋轉模組上受控二旋 轉模組而轉動；以及 -輸送裝置’其係設置於該機台側邊並通過工作區， 該輸送，置包含有-可輸送托盤之輸送台及—驅動單元， 該驅動單元係可受控驅動該輸送台運轉。 由上述可以仔知，該複合式輪盤多軸矩陣組裝設備利 用該多軸移動裝置的設置，該三軸向移動模組可以提供抓 取及吸取裝置進行立體三軸向的移動，並可搭配該旋轉模 組提供，轉方式的作動，以及藉由電性連接之控制裝置控 制4和里及方疋轉角纟，提高組裝的精密度，另外，該輸送 4 M363353 裝置可以提供托盤放置，並於托盤上放置各組裝零件，使 者可以依照組裝零件的多寡設置適當的抓取及吸取單元 與抓取及吸取手臂，因此該抓取及吸取裝置可以藉由該多 轴移動裝置進行多種零件的組裝，達到縮短工時、節省工 '及節省a又備的構買成本，故本創作複合 ，陣組装設備於使用上更為實用、便利，有利 之利用。 【實施方式】 月多閱第一至二圖，為本創作複合式輪盤多軸矩陣組 裝設備之一較佳實施例，其包含有一側邊形成工作區（U) 之機台（10)、_多軸移動裝置(20)、一抓取及吸取裝置 (30)及一輪送裝置（4〇)。 該多軸移動裝置（2〇)係設置於該機台（1〇)上，該多軸 移動裝置(20)包含有一三軸向移動模組(21)及一旋轉模組 (22)’該三軸向移動模組（21)包含有一 X軸移動組件（23) 馨 Y軸移動組件（24)及一 z軸移動組件（25),該χ軸移 動組件（23)係設置於該機台（1〇)機台（1〇)上並可進行χ軸 向的位移，該Υ軸移動組件（24)係設置於χ軸移動組件 • (23)並可進行Υ軸向的位移，該Ζ轴移動組件（25)係設置 於該Υ軸移動組件（24)上並可進行ζ轴向的移動，該旋轉 楱組（22)係設置於該ζ軸移動組件（25)上，且藉由該三軸 向移動模組（21)可使該旋轉模組（22)移動至工作區〇丨）中（ 如第四圖所示）’其中，該三軸向移動模組（21)與旋轉模組 (22)皆電性連接一外部控制裝置（圖中未示）。 該抓取及吸取裝置（30)係設置於該旋轉模組（22)中並 5 M363353 電性連接該外部和告丨驶$ 制名置，可隨該三軸向移動模組（21)而 仃二軸向移動，並可隨該旋轉模组⑵)帶動而轉動，該 抓取及吸取I置⑽）包含有複數抓取及吸取單元（3D，且 該些抓取及吸取單元（31)上設有至少—抓取及吸取手臂 、）/、中使用者可以依照組裝零件（60)的總類數量設 置適田數里的抓取及吸取單元(31)於旋轉模組(⑵上.，使 為二抓取及吸取早π (31)可以進行多種零件⑽）的組農作 業。M363353 V. New description: [New technical field] This creation is an assembly equipment, especially a compound wheel multi-axis matrix assembly equipment that can be assembled in multiple axial directions. [Prior Art] On the general assembly line, an assembly device with a robot arm is provided, and the robot arm is used to carry out part picking and suction and t-setting work on the tray of the parts to be placed, and the tray can be manually replaced. The mesh assembly line is provided with a conveying device having a conveyor belt linear transporting tray, and a plurality of assembling devices are arranged on the outer side of the conveyor belt, and the number of assembling equipment required by the user according to the multiple assembly of the assembled parts is provided. According to the sequence of processing the assembly operations, the assembly devices may be sequentially divided into a first assembly device, a second assembly device, a third assembly device, and the like, wherein the assembly device includes a graspable and absorbable device. The robot arm of the part is placed on the pallet first, and the parts to be assembled are placed first, and then transported to the first and installed. In addition, the robot arm on the first group of 1 equipment will grab and absorb the parts and assemble the first step. After the completion, the conveyor will transport the tray to the second assembly equipment, and then use the robot arm. The parts that have not been assembled are assembled to the semi-finished products that have been assembled by the first group, and the assembly of the second step is completed and the subsequent assembly operations are continued. However, in the above, if the finished product is more precise and the more parts are assembled, a sufficient working space is required to set the conveyor belt, and the number of assembly equipment required is also increased, and the equipment cost is increased, and an assembly device performs a component assembly manner. When the number of assembled parts increases, the assembly time on the production line will be relatively increased. The M363353 and repeated transport assembly process will also affect the strength of the new strong, θ, and finished products, so it is not economical. [New Plastic Content] The main purpose of this creation is to provide an assembly equipment for a single Hehe wheel multi-axis matrix assembly equipment, which is a design that improves the previous economics of single parts. In order to achieve the purpose of the previous disclosure, the present invention provides a multi-axis matrix assembly device for a composite roulette comprising: a machine table whose sides form a working area; a multi-axis moving device, which includes a = also __ - an axial movement module and a rotation module, the three-axis movement module is disposed on the machine table 1, and can be controlled to perform three-axis stereo movement. The rotation module is disposed in the three-axis The mobile module is controllably movable into the work area; - a grasping and picking device comprising a plurality of gripping and sucking units that are controllably extendable into the work area, the gripping and sucking units having at least A grabbing and sucking arm, I are disposed on the rotating module to control the two rotating modules to rotate; and - the conveying device is disposed on the side of the machine and passes through the working area, the conveying, including a conveyor table capable of transporting the pallet and a drive unit, the drive unit being controllable to drive the conveyor table to operate. It can be known from the above that the composite wheel multi-axis matrix assembling device utilizes the arrangement of the multi-axis moving device, and the three-axis moving module can provide the three-axis movement of the grasping and sucking device, and can be matched with The rotary module provides the operation of the rotation mode, and the control unit 4 and the inner corner angle 纟 are controlled by the electrical connection control device to improve the precision of the assembly. In addition, the transport 4 M363353 device can provide the tray placement and The assembly parts are placed on the tray, so that the appropriate grasping and sucking unit and the grasping and sucking arm can be set according to the number of assembled parts, so that the grasping and sucking device can assemble various parts by the multi-axis moving device. The invention realizes shortening the working hours, saving the work, and saving the manufacturing cost of the a, and thus the composite assembly and the assembly equipment are more practical, convenient and advantageous to use. [Embodiment] Referring to the first to second figures, a preferred embodiment of the composite disk multi-axis matrix assembling device of the present invention comprises a machine (10) having a working area (U) on one side, _ Multi-axis moving device (20), a grabbing and picking device (30) and a wheeling device (4 turns). The multi-axis moving device (2〇) is disposed on the machine (1〇), the multi-axis moving device (20) comprises a three-axis moving module (21) and a rotating module (22)' The three-axis moving module (21) comprises an X-axis moving component (23), a y-axis moving component (24) and a z-axis moving component (25), wherein the cymbal moving component (23) is disposed on the machine On the table (1〇) machine (1〇), the axial displacement of the cymbal can be performed. The cymbal moving component (24) is disposed on the cymbal moving component (23) and can perform axial displacement. The cymbal moving component (25) is disposed on the cymbal moving component (24) and can perform an axial movement, the rotating cymbal set (22) is disposed on the cymbal moving component (25), and The three-axis moving module (21) can move the rotating module (22) into the working area () (as shown in the fourth figure), wherein the three-axis moving module (21) and The rotating module (22) is electrically connected to an external control device (not shown). The grasping and sucking device (30) is disposed in the rotating module (22) and the 5 M363353 is electrically connected to the external and the driving device, and can be connected with the three-axis moving module (21). The second axis moves axially and can be rotated by the rotation module (2). The grasping and sucking I (10) includes a plurality of grasping and sucking units (3D, and the grasping and sucking units (31) There are at least - grab and suck the arm, / /, the user can set the picking and picking unit (31) in the field of the rotation module ((2) according to the total number of assembled parts (60). In order to capture and absorb the early π (31), a variety of parts (10) can be used for group farming operations.
該輸送裝置（40)係設置於該機台（1〇)側邊並通過工作 =⑴）中，該輸送裝置（4〇)包括有一輸送台（41)及一驅動 早兀（42)，該輸送台（41)上可以置放托盤（5〇)，並進一步 帶動托盤⑼)移動，其中，該輸送台⑷)可為輪帶式之直 線型輸送台（41)(如第-、二圖所示），並可帶動托盤⑽ 往復移動，或為迴轉型輪送台（41)，該驅動單元（42)電性 連接該外部控制裝置，並與該輸送台（41)相連接，進而可 驅動該輸送台（41)帶動托盤（5〇)移動。 請參閱第一、二圖所示，該χ軸移動組件（23)具有一 X軸軌道（231)、一 X軸基座（232)及一 X軸驅動件（233)， 該X軸軌道（23〇係設置於該機台（1〇)上，該χ軸基座 (232)係可移動地設置於χ軸軌道（231)上，並可沿χ軸軌 道（231)移動，該χ軸驅動件（233)係連接該χ軸基座 (232)，且可帶動χ軸基座（232)移動，並電性連接該外部 控制裝置。 該Υ軸移動組件（24)包括有一 γ軸執道（241 )、一 γ 軸基座（242)及一 Υ軸驅動件（243)，該Υ軸軌道（241)係 6 M363353 設置於該x軸基座(232)的側邊面上，該γ軸基座(2⑵係 設置於該γ軸軌道（241)上，並可沿γ軸軌道（24〗）進行γ 軸向之位移，該γ軸驅動件（243)係電性連接該外部控制 裝置，以及連接該γ軸基座（242) ’進而可帶動該γ軸基 座（242) 。 ^ §玄Ζ軸移動組件（25)包含有一 ζ軸執道（251 )、一 ζ 軸基座（252)及一ζ轴驅動件（253 )，該ζ軸軌道（251)係 设置於該Υ軸基座（242)的側邊面上，該ζ軸基座（252)設 於該Ζ軸軌道（251)上，該Ζ軸驅動件（253)電性連接該外 部控制裝置以及連接該Ζ軸基座（252)，並可帶動該ζ轴 基座（252)於Ζ軸軌道（251)上移動。 於本創作較佳實施例中’該旋轉模組（22)具有至少一 旋轉組件（26)，且架設於該Ζ軸基座（252)上，所述之旋 轉組件（26)包含有一可提供抓取及吸取單元（31)設置之旋 轉軸（2 61)’以及一電性連接該外部控制裝置之旋轉驅動 件（262) ’該旋轉驅動件（262)連接並可帶動該旋轉轴 (2 61 )，且旋轉轴（2 61)上可設置有至少一抓取及吸取單元 (31 )，如第二圖所示，該旋轉模組（2 2 )具有二旋轉組件 (26) ’且每一旋轉軸（261)上設有二抓取及吸取單元（31) ，每一抓取及吸取單元（31)上可設有四抓取及吸取手臂 (32)。 請參閱第一至三圖所示，該輸送台（41)上可設置有三 個托盤（50)，且每一托盤（50)上形成有複數零件區（51)及 一成品區（52)，該些零件區（51)中各放置一種類之零件 (60)，該輸送台（41)可將帶組裝之托盤（50)輸送至該機台 7 M363353 〇〇)之工作區（n)中’該多軸移動裝置（2〇)利用該三軸向 移動模組（21)進行X軸、γ軸與z軸的位移，使抓取及吸 取單元（31)之一抓取及吸取手臂（32)可以對準托盤（5〇)上 對應之零件（6 〇 )(如第四圖所示），進而抓取及吸取對應之 零件（60)並移送至成品區（52)中進行組裝，在不移動托盤 (50)的情況下’利用該多軸移動裝置（2〇)及抓取及吸取裝 置（30)的搭配’便可完成零件（6〇)的組裝，已完成零件 (60)組裝的托盤（50)經輸送台（41)移動出來，操作人員可 取出組裝好之成品’以及填補零件（6〇)至托盤（5〇)中，其 中’該輸送台（41)可以往復地移動托盤（5〇)。The conveying device (40) is disposed on the side of the machine (1〇) and passes through the work = (1)), the conveying device (4) includes a conveying table (41) and a driving early (42), A tray (5〇) can be placed on the conveying table (41), and the tray (9)) can be further moved. The conveying table (4) can be a belt type linear conveying platform (41) (such as the first and second figures). The driving tray (10) is electrically connected to the external control device and connected to the conveying table (41), and can be driven to reciprocately move the tray (10). The transport table (41) is driven to drive the tray (5 inches) to move. Referring to the first and second figures, the x-axis moving assembly (23) has an X-axis rail (231), an X-axis base (232) and an X-axis driving member (233), the X-axis rail ( The rafter is disposed on the machine (1 〇), and the shank base (232) is movably disposed on the yoke track (231) and is movable along the yoke track (231). The driving member (233) is connected to the yoke base (232), and can drive the yoke base (232) to move and electrically connect the external control device. The cymbal moving assembly (24) includes a γ axis a track (241), a γ-axis base (242) and a cymbal drive member (243), the yoke track (241) 6 M363353 being disposed on a side surface of the x-axis base (232), The γ-axis base (2(2) is disposed on the γ-axis track (241) and can be displaced in the γ-axis along the γ-axis track (24), and the γ-axis drive member (243) is electrically connected to the external control. The device, and the γ-axis base (242)' is coupled to the γ-axis base (242). ^ The 玄玄轴moving component (25) includes a ζ axle (251), a 轴 shaft base (252) and one shaft drive (253), the yoke track (251) is disposed on a side surface of the yoke base (242), and the yoke base (252) is disposed on the yoke track (251), the yoke axis The driving component (253) is electrically connected to the external control device and connected to the yoke base (252), and can drive the yoke base (252) to move on the yoke rail (251). In the example, the rotating module (22) has at least one rotating component (26) and is mounted on the yoke base (252). The rotating component (26) includes a gripping and sucking unit ( 31) a rotating shaft (2 61)' and a rotary driving member (262) electrically connected to the external control device. The rotating driving member (262) is connected and can drive the rotating shaft (2 61 ), and the rotating shaft (2 61) may be provided with at least one grasping and sucking unit (31). As shown in the second figure, the rotating module (2 2 ) has two rotating components (26) ' and each rotating shaft (261) There are two gripping and sucking units (31), and each of the gripping and sucking units (31) can be provided with four gripping and sucking arms (32). Please refer to Figures 1 to 3 The tray (41) can be provided with three trays (50), and each tray (50) is formed with a plurality of parts (51) and a finished area (52), and each of the parts (51) A type of component (60) is placed, and the conveyor (41) can transport the assembled pallet (50) to the working area (n) of the machine 7 M363353 〇〇) 'the multi-axis moving device (2〇 The displacement of the X-axis, the γ-axis and the z-axis is performed by the three-axis moving module (21), so that one of the grasping and sucking unit (31) grasping and sucking the arm (32) can be aligned with the tray (5〇) The corresponding part (6 〇) (as shown in the fourth figure), and then grab and draw the corresponding part (60) and transfer it to the finished area (52) for assembly, without moving the tray (50) By using the multi-axis moving device (2〇) and the matching of the gripping and sucking device (30), the assembly of the parts (6〇) can be completed, and the pallet (50) of the finished component (60) is transported through the conveying table. (41) Moving out, the operator can take out the assembled finished product 'and fill the part (6〇) into the tray (5〇), where 'the conveying table (41) can reciprocate Mobile tray (5〇).
綜上所述’該複合式輪盤多軸矩陣組裝設備中，該X 軸移動組件（23)、Y軸移動組件（24)、Z軸移動組件（25) 與紅轉組件（2 6)的搭配設計，使得抓取及吸取裝置（3 〇)可 以進行多軸向的移動，並且該抓取及吸取裝置（3〇)設置有 複數抓取及吸取單元（31 )，可以在不移動托盤的情形下， 將數種種類的零件組裝好，進而提高組裝的精密度，且可 以縮小所需的作業空間與設備個數，以及縮短組裝工時與 降低成本，故該複合式輪盤多軸矩陣組裝設備的設計讓組 衣作業更符合經濟效益，並利於產業上之利用及促進產業 發展。 μ 【圖式簡單說明】 第一圖：為本創作複合式輪盤多軸矩陣組裝設備之一 較佳實施例之立體組合示意圖。 第二圖：為本創作複合式輪盤多軸矩陣組裝設備之一 較佳實施例之多軸運作示意圖。 8 M363353 第三圖：為本創作複合式輪盤多軸矩陣組裝設備之一 較佳實施例之側視示意圖。In summary, in the composite wheel multi-axis matrix assembling device, the X-axis moving component (23), the Y-axis moving component (24), the Z-axis moving component (25) and the red-turning component (26) The matching design enables the gripping and suction device (3 〇) to move in multiple directions, and the grasping and sucking device (3〇) is provided with a plurality of gripping and sucking units (31), which can be moved without moving the tray In this case, several types of parts are assembled, which improves the precision of assembly, and can reduce the required working space and equipment, shorten the assembly time and reduce the cost, so the composite wheel multi-axis matrix The design of the assembly equipment makes the assembly operation more economical, and is beneficial to the utilization of the industry and the promotion of industrial development. μ [Simplified description of the drawings] The first figure: a schematic diagram of a three-dimensional combination of a preferred embodiment of the composite disk multi-axis matrix assembly device. The second figure is a schematic diagram of the multi-axis operation of one of the preferred embodiments of the composite multi-axis matrix assembly device. 8 M363353 Third Picture: A side view of one of the preferred embodiments of the composite multi-axis matrix assembly device.
第圖.為本創作複合式輪盤多軸矩陣組裝設備於組 裝過私之一較佳實施例之側視示意圖。 【主要元件符號說明】 (10)機台 (11)工作區 (20)多轴移動裝置 (21)三軸向移動模組 (2 2)旋轉模組 (2 3 ) X轴移動組件 (231)X袖執道 (232)Χ軸基座 (233)X軸驅動件 (24)Υ軸移動組件 (241)Y軸執道 (2 4 2) Υ軸基座 (2 4 3) Υ轴驅動件 (2 5) Ζ軸移動組件 (251)Ζ軸轨道 (252)Ζ軸基座 (2 5 3) Ζ軸驅動件 (2 6)旋轉組件 (2 61)旋轉軸 (262)旋轉驅動件 (30)抓取及吸取裝置 (31)抓取及吸取單元 (32)抓取及吸取手臂 (40)輸送裝置 (41)輸送台 (42)驅動單元 (50)托盤 (51)零件區 (52)成品區 (60)零件 9Fig. is a side view showing a preferred embodiment of the present invention for a composite multi-axis matrix assembly device. [Description of main component symbols] (10) Machine table (11) Work area (20) Multi-axis moving device (21) Three-axis moving module (2 2) Rotating module (2 3 ) X-axis moving component (231) X-sleeve (232) Χ shaft base (233) X-axis drive (24) Υ axis moving assembly (241) Y-axis (2 4 2) Υ shaft base (2 4 3) Υ shaft drive (2 5) Ζ axis moving assembly (251) Ζ axis track (252) Ζ shaft base (2 5 3) Ζ shaft drive (26) rotating assembly (2 61) rotating shaft (262) rotary drive (30 ) Grab and suction device (31) Grab and take-up unit (32) Grab and take-up arm (40) Conveying device (41) Conveying station (42) Drive unit (50) Pallet (51) Parts area (52) Finished product Zone (60) Parts 9