五、新型說明： 【新型所屬之技術領域】 工機’並且特別的是 工機。 本創作有關於一種具有機械手臂之加 關於一種使用機械手臂移動加工物件之加 f先前技術】 一般加工機的作業村翁待加工邮件置於加工機的 =台上，亚予叹位、_。f知的作法係由作業員以手動 方式將物件移至工作台上，再予以定位、固定。由於是人工進 步定位’因此對於精度要求較高的加工程序，必須再耗時 各丁加工刀具無相之纽，並且此定崎常㈣借助作業 貝的判斷以確認是否達觸需要的定位。 於罝產的情況下’因後者定位有作業員主觀騎因素的加 入’ 1此擴大了此加喊权成品製造公差。此時，為彌瀬 乍業員）|入而造成的成品製造公差，通常解決的方法之一就是 J用辅助/ σ具啸制作業員⑼造成的成品製造公差範圍，但治 /、的本身亦有製造公差，因此因健員*引人的公差並無法完 王/肖除。另—種解決方法就是使用具有更高加工精度的加工機 二減夕加：11機本身造成的製造公差，進*縮小成品製造公差， 或摘使成品製造公差在可容許的，但此方法除了大幅 增加设備成品，而且其所能縮小的成品製造公差實在有限。 仁貝際上’只要有基於人的判斷而引入的加工程序中，不 M377280 可避免的，因為影響人的判斷因素實在太多，例如作業環境(例 如光線)、個人情緒(例如因焦躁而失去耐性)、個人生理狀況(例 如近視眼、眼睛疲勞)等等，並且每位作業員即使在最佳狀況， 亦不見得均有相同的作業品質，因此成品製造公差必然無法控 制在相當小的範圍中。 因此’有需要提供—種可摒除作業員因素而可將待加工之 物件疋位於可料的定位度之内的加讀，以解決前述先前技 術中的問題。 【新型内容】 本創作之-齡在於提供—種具有機械手臂之加工機。 本創作之具有機械手臂之加卫機包含-基座、-床台、一 床柱、-加卫裝置及—機械手臂。絲台設置於該基座上並 可相對於該基座義，該床台包含―卫作台，用以承載一 待加工之物件。該床柱與該基麵定連接。該加工裝置滑 動設置於該床柱上並可相對於該工作台線性移動。該機械 手臂包含-固定座及—抓持部，該固定座固定於該床柱 上’該抓持部肖以輯鋪件財置或移除於該工作台。 =藉此，本創作之加工機利用機械手臂來達到該物件定位於 該f作台上，排除了人為定位的問題，如先前技術中所提及的 問，’並且’該機械手臂之控制系統可數位化，故該機械手臂 疋位A差可縮小至相當小的範圍。另外，本創作之加工機之 4 M377280 機械手臂亦負責自該工作台上移除加工完後的物件，有助於自 動化。 於一具體實施例中，本創作之加工機之機械手臂係一選擇 順應性裝配機器手臂(Selective Compliance Assembly R〇b〇tV. New type of description: [Technical field to which the new type belongs] Machines' and especially work machines. This creation is about a kind of robotic arm. About the use of a robotic arm to move the workpiece to the processing of the f prior art. The general processing machine of the processing village to be processed mail placed on the processing machine = stage, Ya sigh, _. f knows that the operator manually moves the object to the workbench, and then locates and fixes it. Since it is a manual advancement position, it is necessary to process the machining program with high precision, and it is necessary to take time to process each of the machining tools, and this is often determined by the workbench to confirm whether the required positioning is reached. In the case of Yu's production, 'the latter is positioned with the operator's subjective riding factor'. This expands the manufacturing tolerance of the finished product. At this time, one of the methods commonly used to solve the manufacturing tolerances caused by the entry is the range of manufacturing tolerances caused by the auxiliary/sigma operator (9), but the treatment itself. There are also manufacturing tolerances, so the tolerances introduced by the health officer* cannot be removed. Another solution is to use a processing machine with higher machining accuracy to reduce the manufacturing tolerance caused by the 11 machine itself, to reduce the manufacturing tolerances of the finished product, or to make the manufacturing tolerances acceptable, but this method is Significantly increase the finished product, and the manufacturing tolerances that can be reduced are limited. On Renbei's process, as long as there is a processing procedure introduced based on human judgment, M377280 can be avoided because there are too many factors that influence people, such as the working environment (such as light) and personal emotions (such as loss due to anxiety). Patience), personal physiological conditions (such as myopia, eye fatigue), etc., and each operator does not necessarily have the same quality of work even in the best condition, so the manufacturing tolerances of the finished product must not be controlled in a relatively small range. . Therefore, there is a need to provide an add-on that can eliminate the operator factor and place the object to be processed within the available positioning degree to solve the aforementioned prior art problems. [New Content] The age of this creation is to provide a processing machine with a robotic arm. The robot with a robotic arm of this creation includes a base, a bed, a bed column, a guarding device, and a robot arm. The wire table is disposed on the base and is slidable relative to the base, and the bed includes a "guarding table" for carrying an object to be processed. The bed column is connected to the base surface. The processing device is slidably disposed on the bed column and linearly movable relative to the table. The robot arm includes a holder and a grip portion, the holder being fixed to the bed column. The grip portion is disposed of or removed from the table. = Thereby, the processing machine of the present invention uses the robot arm to achieve the positioning of the object on the table, eliminating the problem of artificial positioning, as mentioned in the prior art, and 'and the control system of the robot arm It can be digitized, so the arm A difference can be reduced to a relatively small range. In addition, the 4 M377280 robotic arm of the machine is also responsible for removing the processed objects from the workbench and facilitating automation. In a specific embodiment, the robot of the processing machine of the present invention is a compliant assembly robot (Selective Compliance Assembly R〇b〇t)
Arm, SCARA) ’但本創作不以此為限，其他多軸之機械手臂亦 可。SCARA機械手臂係一四轴機械手臂，具有三維空間定位 • 能力及一旋轉定位能力，並且在2轴方向(即前述轉旋方向)相 對於其他方向具有較大的剛性，可運送具有相當重量之物件。 右本創作之加工機進一步包含一控制系統，電性連接至各部件 (可包含該床台、該床柱、該加工裝置、該機械手臂等等），則 可藉由該控制系統之控制而達到自動化製造的目的。 補充說明的是’本創作之加工機之加工裝置可為一旋轉加 工裝置，例如(銑床的)銑切削裝置或(鑽床的)鑽孔裝置，但本 • _不以此為限；並且本創作之加工機之加工裝置亦可為其他 •加工類型’例如研磨加工、放電加工、車削加工、沖屋加工等 等’但本創作亦不以此為限。 關於本創作之優點與精神可以#由以下的創作詳述及所 附圖式得到進一步的瞭解。 【實施方式】 請參閱圖-。圖一係緣示根據本創作之一具體實施例之具 有機械手臂之加工機i之立體圖#據該具體實施例之加工機 5 M377280 1主要包含基座12、床台η、床柱16、加工裝置18及機械手 臂20(例如屬於多軸機械手臂的SCARA，但本創作不以此限， 於實際產品設計，宜配合不同設計目標’使用不同軸數之機械 手臂）。床台14設置於基座12上並可相對於基座12移動， 床台14包含一工作台142,用以承載待加工之物件3(未繪 示於圖一中）。床柱16與基座12固定連接，以提供加工機_ 1於垂直方向的作動的支撐結構。加工裝置18滑動設置於 床柱16上並可相對於工作台144線性移動。機械手臂％ · 包含固疋座202及抓持部204，固定座202固定於床柱16 上，抓持部204用以抓持物件3以放置於工作台142上或 自工作台142上移除。 進一步來說，基座12包含第一滑轨12a，此第一滑執12a 沿第一方向D1延伸。床台14尚包含滑座144，滑座144於其 上包含第二滑執144a’此第二滑轨144a沿第二方向D2延伸， 工作台142即滑動於第二滑軌14知上，因此工作台142可相鲁 對於滑座144滑動。滑座144亦滑動於第一滑軌12a上，因此· 整個床台14藉由第一滑執12a可相對於基座12滑動；換句話 s兄，工作台142相對於基座12可產生二個自由度的滑動，於 該具體實施例中，即產生於由第—方向D1及第二方向D2形 成之平面上之滑動，其中第一方向D1垂直於第二方向D2。 補充說明的是，但本創作之第—方向D1與第二方向D2 6 不以相互垂直為限。基本上僅需第一方向D1與第二方向 互不平行即可。也就是說，沿相互不平行的第—方向及第 -方向D2延伸、設置之第一滑執以及第二滑執_，足以 達到控制工作台142於由第一方向m及第二方向D2形成之 平面上移動、定位之目的。 &另外’床柱16其上包含第三滑執⑹，此第三滑軌咏 沿第三方向D3延伸，加工袭置i8滑動於第三滑執恤上， 因而可使加工褒置18能相對於工作# M2、線性移動。於該 -體實施例中’第二方向D3垂直於第—方向Μ及第二方 向Μ，也就是第三方向D3為由第-方向D1及第二方向 D2形成之平面之鼓方向。杨讀丨之實際加讀作中， 加工裝置18即沿第二方向m對固定於工作台ι42上之物件 3(未緣示於圖—中），進行加卫。其中加卫裝置可為旋轉加 工褒置’例如銑切縣f、鑽孔裝置轉，但本創作不以 此為限，故本創作絲翻於其他加卫_之加工裝置，例如 輪磨加工、放電加工等等。 此外，於該具體實施例，機械手臂2〇尚包含第一懸臂 挪、第二懸臂观及操作桿21〇。第_懸臂之—端斑 固定座202枢接，第一懸臂2〇6之另—端則與第二懸臂挪 之-端樞接，操作桿21G難設於第二懸臂之另一端 内並且其-端與抓持部綱連接。其中操作桿別除了可 動=—懸臂208旋轉外’亦可相對於第二縣臂遍移 動於該具體實施例中，操作捍210、㈣移 相對於第二懸臂移動，但本創作不以2三方向D3 說’操作桿210之移動非必需與加工=也就是 行於第三方向M)平行，操作桿21=；^方向(平 或收取物件而相對工作台142產 動^的在於放置 移動亦當然不以線性為限。 ㈣桿210之 由於機械手臂20包含二個懸臂206、208，因此機姑 手臂2〇可進行二維的平面定位；並且更由於機械手 包含可相對第二懸臂208移 、機械手# 20 Ψ 20 -Γ ^ _ 之刼作# 210，因此機械手 抓持订二維的空間定位。換言之，機械手臂20可對 =持部綱之物件3進行空間定位而將物件3正確 =工作台142上’或是正確地自工作台H2上將物 、移除。更特別的是，機械手臂2q之操作桿训 =可相對第二懸臂_轉動，因此抓持於抓持部綱之物 /可破轉動，亦即機械手臂2〇可進行對點的三維的空間 疋位外加一角度定位。 ★補充說明的是，於該具體實施例中，第-懸臂206與 固定座202之樞接轴、第—懸臂施與第二懸臂雇之枢 接轴、操作桿训相對第二懸臂之旋轉軸及操作桿別 相對第—懸臂遞之移動方向均相互平行，也與第三方向 D3平行，因此機械手臂2〇可針 軸)、第二方❹2(定⑽y軸)及第三方向叫 為基準轴所建構出來的xyz立體空間進行空間定位，而前 述角歧位難平行於xy平面之旋轉角度定位(或相對於 =之旋轉_位），也由於㈣面即為工作台142供固 疋件之工作平面’換言之，機械手臂如可相對於工作台 =之工作平面進行帶有—角度定位之空間定位，用以正 =地放置物件3打作台142上。此外，§_機械手臂 軸具有較大的剛性，可運送具有相當重量之物件。另外， 抓持部綱之抓持機構可利用吸盤、抓勾或磁力吸附來達成， 視#作條件喊，但本锻糾此為限。 -月參閱圖―。圖二係繪示圖一之加工機工之上視圖，盆中 用以承載待加工物件3及已力—例如利用 雨心並W虛鱗示機械手f %於實際操作上作動之位 置’另亦以虛線表示待加工物件3及已加工物件3於輸送裝置 、上由於機械手臂2〇之懸臂延伸為二軸控制，因此圖二僅 臂20作動之示意，實際作動位置細節可視實際作業 衣兄而作不同的設定。 配合之滑座Μ可相對於基座12滑動以 二 /σ弟一方向D1之最大伸展距離，並且工作 σ 142亦可相對於滑座I44滑動以配合機械手臂2〇沿第二方 2 ^之最大伸展轉。於該具施例 動中，機械丰劈土 π Μ 揭:Κ餘作作 -)抓持待加工的物件3 : 52上以抓持部2〇4(請參閱圖 件3έ-η 再補移至工作台Η2放置，而後物 加裝置18對其加工。加工完畢德， =她合滑座144之滑一 κ持之區域，由機械手臂2()之抓持部綱抓持加工後的 f 3，再_移續钱置52上放置，而輸縣置52則可 k擇性地進行輸送，以利後續加工後的物件3之收納；當然輸 裝置52之輸送作動亦可使待加工的物件3移至機械手臂如之 作動區域内’使其可轉。補充綱的是，_具體實施例中， 雖以單一機械手臂20來達到物件3之放置、移除，但本創作 不以此為限。例如本創作之加工機可配置兩個機械手臂，相對 設置於床柱之兩側，各自負責不同的作動(例如專門放置物 件、專門移除物件）’以增加物件3移動速率，以縮短整個製 程中非加工的時間。 請參閲圖-及圖三A ’圖三A鱗示根據本創作之另一 具體實施例之具有機械手I 20,之加工機r之立體圖。與圖一 之加工機1不同之處在於加工機1之機械手臂20之固定座202 由一軌道202a及一旋轉座202b取代，因此機械手臂2〇，以軌 道202a固定於床柱16上’旋轉座2〇2b則可在執道2〇2a上滑 M377280 於此頻實施财，其物方向平行於第二方向 本創作不以此為限。 §月參閱圖二及圖三B，同_ 圖二B係繪示圖三A之加工檣 之上視圖。由於圖三Β 機1 … 之機械手f 2σ包含執道2G2a，因心 械手臂20,的抓持部2〇4( 此機 ^ 1明麥考圖二Α)可沿第二方向ϋ2 伸，其伸長之最遠處丨# _ 、 继班 虛_碰圖三？中）甚至可超出輪接Arm, SCARA) ‘But this creation is not limited to this, other multi-axis robots are also available. The SCARA robotic arm is a four-axis robotic arm with three-dimensional positioning capability and a rotational positioning capability, and has greater rigidity in the 2-axis direction (ie, the aforementioned direction of rotation) relative to other directions, and can be transported with considerable weight. object. The processing machine of the present invention further comprises a control system electrically connected to each component (which may include the bed, the bed, the processing device, the robot arm, etc.), which can be controlled by the control system The purpose of automated manufacturing. It is added that the processing device of the processing machine of the present invention may be a rotary processing device, such as a milling device (milling machine) or a drilling device (drilling machine), but this is not limited thereto; The processing equipment of the processing machine can also be other types of processing such as grinding, electric discharge machining, turning machining, punching, etc. 'But this creation is not limited to this. The advantages and spirits of this creation can be further understood from the following detailed description of the creation and the drawings. [Embodiment] Please refer to Figure -. 1 is a perspective view of a processing machine i having a robot arm according to an embodiment of the present invention. The processing machine 5 M377280 1 according to the specific embodiment mainly includes a base 12, a bed η, a bed column 16, and a processing device. 18 and the robot arm 20 (for example, SCARA belonging to the multi-axis robot arm, but this creation is not limited to this, in the actual product design, it is appropriate to use different robots with different number of axes for different design goals). The bed 14 is disposed on the base 12 and movable relative to the base 12. The bed 14 includes a table 142 for carrying the object 3 to be processed (not shown in FIG. 1). The bed post 16 is fixedly coupled to the base 12 to provide a support structure for the machine 1 to act in a vertical direction. The processing device 18 is slidably disposed on the bed column 16 and is linearly movable relative to the table 144. The robot arm % includes a fixing seat 202 and a gripping portion 204. The fixing base 202 is fixed on the bed post 16. The gripping portion 204 is used for grasping the object 3 to be placed on the work table 142 or removed from the work table 142. Further, the base 12 includes a first slide rail 12a that extends in the first direction D1. The bed 14 further includes a sliding block 144. The sliding block 144 includes a second sliding 144a' thereon. The second sliding rail 144a extends in the second direction D2, and the table 142 slides on the second sliding rail 14. The table 142 can slide against the slider 144. The slide 144 also slides on the first slide rail 12a, so that the entire bed 14 can be slid relative to the base 12 by the first slide 12a; in other words, the table 142 can be generated relative to the base 12. The sliding of the two degrees of freedom, in this embodiment, is the sliding in the plane formed by the first direction D1 and the second direction D2, wherein the first direction D1 is perpendicular to the second direction D2. It should be added that the first direction D1 and the second direction D2 6 of the present creation are not limited to each other. Basically, only the first direction D1 and the second direction are not parallel to each other. That is, the first sliding and the second sliding _ extending along the mutually non-parallel first direction and the first direction D2 are sufficient to achieve the control table 142 formed by the first direction m and the second direction D2. The purpose of moving and positioning on the plane. & additionally, the bed column 16 includes a third sliding handle (6) thereon, the third sliding rail 延伸 extends in the third direction D3, and the processing hits the i8 to slide on the third sliding shirt, thereby enabling the processing device 18 to be relatively For work # M2, linear movement. In the embodiment, the second direction D3 is perpendicular to the first direction Μ and the second direction Μ, that is, the third direction D3 is the drum direction of the plane formed by the first direction D1 and the second direction D2. In the actual reading of the reading of the yang, the processing device 18 clamps the object 3 fixed on the table ι42 in the second direction m (not shown in the figure). The garrison device can be a rotary processing device, such as milling and cutting, and the drilling device is rotated, but the creation is not limited thereto, so the original wire is turned over to other processing devices such as wheel grinding, EDM and so on. Moreover, in this embodiment, the robot arm 2 includes a first cantilever, a second cantilever, and an operating lever 21A. The first cantilever-end spot holder 202 is pivotally connected, and the other end of the first cantilever 2〇6 is pivotally connected to the second cantilevered end, and the operating rod 21G is difficult to be disposed in the other end of the second cantilever and The end is connected to the gripping section. Wherein the operating lever is not movable except that the cantilever 208 is rotated, it can also be moved relative to the second county arm in the specific embodiment, and the operation 捍210, (4) shifts relative to the second cantilever movement, but the creation does not take 2 3 Direction D3 says that the movement of the operating lever 210 is not necessarily parallel to the machining=that is, in the third direction M. The operating lever 21=;^ direction (flat or collects the object and is generated relative to the table 142) Of course, it is not limited to linearity. (4) Since the robot arm 20 includes two cantilevers 206, 208, the robot arm 2 can perform two-dimensional planar positioning; and more because the robot includes a second cantilever 208. , robot # 20 Ψ 20 - Γ ^ _ 刼 # # 210, so the robot grasps the two-dimensional spatial positioning. In other words, the robot arm 20 can spatially locate the object 3 of the squad and the object 3 Correct = on the workbench 142 'or correctly remove the object from the workbench H2. More specifically, the operating arm of the robot arm 2q can be rotated relative to the second cantilever _, thus grasping the gripping portion The object / can be broken, that is, the robot arm 2〇 The three-dimensional space clamping of the point can be performed plus an angular positioning. In addition, in the specific embodiment, the pivoting shaft of the first cantilever 206 and the fixed seat 202, the first cantilever and the second cantilever are employed. The pivoting shaft and the operating lever are opposite to the rotating axis of the second cantilever and the operating lever are parallel to the moving direction of the first cantilever, and are also parallel with the third direction D3, so the robot arm 2 can be needle shaft) The square ❹ 2 (set (10) y axis) and the third direction are called the xyz stereo space constructed by the reference axis for spatial positioning, and the aforementioned angular position is difficult to be positioned parallel to the rotation angle of the xy plane (or relative to the rotation _ bit of = ), also because the (four) plane is the work plane of the workbench 142 for the solid part. In other words, the robot arm can be positioned with the angle of the angle relative to the work plane of the workbench to positively place the object. 3 playing on the table 142. In addition, the §_mechanical arm shaft is relatively rigid and can carry objects of considerable weight. In addition, the gripping mechanism of the gripping department can be achieved by using a suction cup, a grab hook or a magnetic attraction, depending on the condition of the shouting, but this forging is limited. - month see picture -. Figure 2 is a top view of the processing machine of Figure 1. The bowl is used to carry the object to be processed 3 and has been forced - for example, using the rain heart and the virtual scale to indicate that the robot f % is in the actual operation. The dashed line indicates that the object to be processed 3 and the processed object 3 are on the conveying device, and the cantilever of the robot arm 2 is extended to the two-axis control. Therefore, only the movement of the arm 20 is shown in FIG. 2, and the actual working position details can be visualized by the actual working clothes. Make different settings. The mating sliding seat can slide relative to the base 12 by a maximum extension distance of the second/sigma direction D1, and the working σ 142 can also slide relative to the sliding seat I44 to match the robot arm 2 along the second side. Maximum stretch. In the case of this example, the mechanical 劈 劈 π Κ Κ Κ Κ Κ Κ Κ ) ) ) ) ) ) ) ) ) ) ) ) ) ) ) ) ) ) ) ) ) ) ) ) ) ) ) ) ) ) ) ) ) ( ( ( ( ( ( It is placed on the workbench 2, and the post-adding device 18 processes it. After the processing is completed, = she slides the slide 144 to the area where the slide is held by the grasping part of the robot arm 2 (). 3, then _ move the money set 52, and the county set 52 can be selectively transported to facilitate the storage of the object 3 after the subsequent processing; of course, the transport of the transport device 52 can also be processed The object 3 is moved to the robot arm as the moving area to make it turnable. In addition, in the specific embodiment, although the single robot arm 20 is used to achieve the placement and removal of the object 3, the present creation does not For example, the processing machine of the present invention can be configured with two robot arms, which are oppositely disposed on two sides of the bed column, and each is responsible for different actuations (for example, special objects, specifically removing objects) to increase the moving speed of the object 3 to shorten The time of non-machining in the whole process. Please refer to Figure- and Figure 3A' Figure 3A scale according to this A different perspective view of a processing machine r having a robot I 20, which is different from the processing machine 1 of FIG. 1 in that the fixing base 202 of the robot arm 20 of the processing machine 1 is rotated by a track 202a and a rotation The seat 202b is replaced, so the robot arm 2〇 is fixed to the bed column 16 by the track 202a. The rotating seat 2〇2b can slide the M377280 on the road 2〇2a, and the object direction is parallel to the second direction. The creation is not limited to this. § The month refers to Figure 2 and Figure 3B, and the same as _ Figure 2B shows the top view of the processing 图 of Figure 3A. Since the robot f 2σ of Figure 3 is included 2G2a, due to the armor arm 20, the gripping part 2〇4 (this machine ^1 明麦考图二Α) can extend in the second direction ϋ2, the farthest point of its elongation # _, succession _ _ touch Figure 3?) can even exceed the rotation
有效抓持放置於輸送裝置％上之物件 置物件3於輪送裝置52上(並 U、甲物件3以虛線繪示於圖二 )。同理，機械手臂2〇,的抓持部綱亦可沿第-方㈣ 伸’其伸長之财處(以虛、_示於圖三3中诚可超出工作a 142 ’故可有效抓持放置於工作台142上之物件3或是放料 件3於工作台142上。 勿The object member 3 placed on the conveying device % is effectively gripped on the conveying device 52 (and U and A objects 3 are shown in broken lines in Fig. 2). In the same way, the gripping arm of the robot arm can also be extended along the first-square (four)'s extension of its wealth (in the virtual, _ shown in Figure 3 3 can exceed the work a 142 ' so it can effectively grasp The object 3 placed on the table 142 or the discharge member 3 is placed on the table 142.
D2,但 …補充說明的是，由於一般機械手臂多以多連桿旋轉的方式 定位，因此多以機械手臂的基縣圓續出的扇形為定位範 圍。然而’根據本創作之機械手臂2〇，因具有執道職而可增 一個自由度’因此其抓持部綱於工作台142上之作動範圍將 不受限於單_辆彡，而是_各帶有伟細彡且具相當寬度 之矩形。另外，雖於圖三B中僅有一個輸送裝置W，但本創 作不以此躲。例如，顧手臂2G，之雜肖度可大至⑽ 度’因此於-具體實施例中，可於圖三肢視圖中加工機Y 之上方再加置-個輸送裝置52，亦仍得為機械手臂抑之作業 11 =圍^持作動)内，可增加製程作業觸彈性，例如一個用作 月'm待加工之物件，另一侧作輸送加工後之物件。 :於電腦數值控制（computer numerical con㈣之加工 别述作動均可藉由電腦控制系統控制執行。請參閱圖四， 2四鱗示具有控⑽統之加工機3之功能方塊圖。基本上， ，系統分卿編144相對於基座12滑動之 工制）卫作台滑動系統(工作台⑷相對於滑座⑷滑動之控 心加U作動系統(加工裝置18相對於床柱16滑動之^ 臂作叙/ $置18之旋縣糊如馬達)旋轉之蝴)及機械手 糸、_械手臂20作動之控制)進行控制、協調。加工 她妨自㈣工，錢—步再加上偵測系 、、‘ k供回饋資訊(例如機台作動失效、加工瑕庇等等)給 控制糸統，增加自動化加工的可靠度。補充說明的是，雖 界慣以電_输_統，但賴作抑此秘，對於辟的 控制系統，亦得以電酬、氣壓元躲實現。 、 藉由以上較佳具體實施例之詳述’係希望能更加清楚描述 來與精神’而並非以上述所揭露的較佳具體實施例 4乍之範嘴加以限制。相反地，其目的是希望能涵蓋各 種改變及具输的條湖州㈣利範圍的範 =作申請1利範圍的範麵該根據上述的 /、的解釋’以致使其涵蓋所有可能的改變以及具相 12 等性的安排。 【圖式簡單說明】 具體實施例之具有機械手臂 圖一係繪示根據本創作之一 之加工機之立體圖。 圖 圖 二係繪示圖一之加工機之上視圖。 圖三B係繪示圖三 -A之加工機之上視圖。 圖四係緣不具有控制系統之加工機之功能方塊 【主要元件符號說明】 1、Γ:加工機 3 :物件 12 .基座 12a:第一滑轨 14 :床台 16 :床柱 16a :第三滑軌 18 :加工裝置 2〇、20':機械手臂 52 :輸送裝置 142 :工作台 144 ·滑座 144a :第二滑執 202 :固定座 202a :執道 202b :旋轉座 204 :抓持部 206 :第一懸臂 208 :第二懸臂 210 :操作桿 D1 :第一方向 D3 :第三方向 D2:第二方向 13D2, but ... It is added that since the general mechanical arm is mostly positioned by multi-link rotation, the fan shape of the base of the robot arm is often used as the positioning range. However, according to the robot arm 2 of this creation, a degree of freedom can be added because of having a duty. Therefore, the range of the gripping unit on the table 142 will not be limited to a single _ vehicle, but _ Each has a rectangle with a fine width and a considerable width. In addition, although there is only one conveying device W in Fig. 3B, this creation does not hide. For example, with the arm 2G, the degree of misunderstance can be as large as (10) degrees. Therefore, in a specific embodiment, a transport device 52 can be added above the processing machine Y in the view of the limbs, and it is still mechanical. In the arm inhibiting operation 11 = holding action, the process flexibility can be increased, for example, one object used for the month 'm to be processed, and the other side for the conveyed processed object. : The computer numerical control (computer numerical con (four) processing can be controlled by the computer control system. Please refer to Figure 4, 2 four scales showing the functional block diagram of the processing machine 3 with control (10). Basically, The system is divided into two parts: the sliding system of the sliding table relative to the base 12). The sliding table of the table (4) relative to the sliding seat (4) and the U-actuating system (the processing device 18 slides relative to the bed 16) 〗 〖Section / $ 之 县 县 糊 糊 糊 糊 马达 马达 马达 马达 马达 旋转 旋转 旋转 旋转 旋转 旋转 旋转 旋转 旋转 旋转 旋转 旋转 旋转 旋转 旋转 旋转 旋转 旋转 旋转 旋转Processing She may wish to increase the reliability of automated processing by (4) work, money-step plus detection system, ‘k for feedback information (such as machine failure, processing, etc.) to control the system. It is added that although the world is accustomed to electricity, the system is used to control the system, and the control system of the company can also be realized by electricity and gas. The detailed description of the preferred embodiments above is intended to be more clearly described in the context of the preferred embodiments. On the contrary, the purpose is to cover all kinds of changes and the extent of the profitability of the state of the state of the state of the state of the state of the state of the country. The scope of the scope of application 1 is based on the above explanation of ', so that it covers all possible changes and Phase 12 equal arrangement. BRIEF DESCRIPTION OF THE DRAWINGS A mechanical arm of a specific embodiment Fig. 1 is a perspective view of a processing machine according to one of the creations. Figure 2 is a top view of the processing machine of Figure 1. Figure 3B is a top view of the processing machine of Figure 3-A. Figure 4 Functional block of the processing machine without the control system [Key component symbol description] 1. Γ: Processing machine 3: Object 12. Base 12a: First slide rail 14: Bed table 16: Bed column 16a: Third Slide rail 18: processing device 2〇, 20': robot arm 52: transport device 142: table 144. slide 144a: second slip 202: mount 202a: obstruction 202b: swivel block 204: grip 206 : first cantilever 208 : second cantilever 210 : operating lever D1 : first direction D3 : third direction D2 : second direction 13