1341777 發明說明： 099年12月1〇日隹正雜頁| 097114111 [0001] [0002] [0003] [0004] 【發明所屬之技術領域】 本發明涉及一種機械手 機械手。 特別涉及_種用於抓取物料之 L无則技術】 機器人係近幾十年發展起來之 備，機械手係機器人之—重要：科技自動化生產設 時，通常係槿磁人车 77 機械手在抓取物料 機械丰丰管 之抓取動作，藉由機械手手指配合 ==外部夾持住物料之外表面，從而實現對物 現^料及卸料。惟，該機械手-般採用連桿機構來實 2料之抓取，該種連桿機構往往結構比較複雜，且體 乂大使用時不靈心另，該機械手往往只能單面抓 :及卸料且服務於—台機床。在-次物料加工完成後該 機械手需要將已加工物料抓走’並重新抓取待加工物料 將其裝於工作台上。此增加了機床之待機時間，從而導 致生產效率較低。 【發明内容】 繁於以上内谷’提供—種結構簡單、可多面抓料及卸料 之機械手實為必要。 一種機械手’其包括一手掌體、一支臂及複數夾持裝置 ，該手掌體包括至少二連接面，該複數夾持裝置藉由該 至少二連接面連接於該手掌體，該夾持裝置用於抓取或 卸下物料，該手掌體固定連接於該支臂，該支臂用於帶 動該手掌體轉動，以實現該機械手之多面抓取或卸下該 物料。 表單編號Α0101 苐3頁/共24頁 0993442763-0 «41777 099年12月10日按正替換頁 [0005] 本發明之機械手採用多面取料之手掌體，可以一次抓取 複數未加工之物料’當某台CNC機床空載後，該機械手空 置之灸持裝置立刻將已加工之物料抓取走，換上新物料 。如此該機械手可同時為多台CNC機床實現更換物料，減 少了待機時間’提高了 CNC機床之稼動率。且該夾持裝置 無需採用連桿機構，結構簡單、輕巧。 【實施方式】 [0006] [0007] 下面將結合附圖及較佳實施例對本發明之機械手做進一 步詳細說明》 請參閱圖1，本實施构乏碱y年㈣分為.igg於cNC铣床之氣 動式機械手。該機械手一支臂2〇及 複數失持裝m失持裝，實現機 械手100之抓取或卸下物料60。 : ' 齡.1341777 Description of Invention: December 1st, 099 隹 杂 】 | 097114111 [0001] [0002] [0004] [Technical Field] The present invention relates to a robot hand. In particular, it relates to the L-free technology for grabbing materials. The robotics system has been developed in recent decades, and the robot is a robot. Important: When the technology is automated, it is usually a robot. Grab the grasping action of the material mechanical Fengfeng tube, and hold the outer surface of the material by the finger of the robot == externally, so as to realize the material and discharge. However, the manipulator generally adopts a link mechanism to grasp the material, and the type of the link mechanism tends to be complicated in structure, and the body is often incapable of being used. And unloading and serving the machine. After the processing of the secondary material is completed, the robot needs to take the processed material away and re-grab the material to be processed and mount it on the workbench. This increases the standby time of the machine, resulting in lower production efficiency. SUMMARY OF THE INVENTION It is necessary to provide a robot with a simple structure and multi-faceted grasping and unloading. A robot comprising a palm body, an arm and a plurality of clamping devices, the palm body comprising at least two connecting faces, the plurality of clamping devices being connected to the palm body by the at least two connecting faces, the clamping device For grasping or unloading materials, the palm body is fixedly coupled to the arm, and the arm is used to drive the palm body to rotate to achieve multi-face grabbing or unloading of the material. Form No. Α0101 苐3 pages/ Total 24 pages 0993442763-0 «41777 December 10, 2010, press the replacement page [0005] The manipulator of the present invention adopts the multi-faceted hand palm body, and can capture a plurality of unprocessed materials at a time. 'When a CNC machine is unloaded, the moxibustion device that the robot is vacant immediately grabs the processed material and replaces it with new materials. In this way, the robot can replace materials for multiple CNC machines at the same time, reducing the standby time and increasing the productivity of CNC machine tools. Moreover, the clamping device does not need to adopt a link mechanism, and the structure is simple and light. [Embodiment] [0007] [0007] The robot of the present invention will be further described in detail below with reference to the accompanying drawings and preferred embodiments. Referring to Figure 1, the present invention is based on the y-year (four) divided into .igg in cNC milling machine. Pneumatic manipulator. The robot has an arm 2 〇 and a plurality of misloaded m misloaded to realize the grasping or unloading of the material 60 by the robot 100. : ' Age.
[0008] ........ *·^.ΙΓ|· · 請一併參閱圖2，手掌體10為矩形立方其上表面設有 一通孔106及對稱分佈於該|和，通孔 106用於連接支臂20，通孔貧梦掌體1〇之重量。 手掌體10之側面為四個分之連接面1011、 101 2、1 01 3、1 014。本實施例中每兩相鄰之連接面之間 由一段弧形曲面連接。手掌體10之連接面1〇11、1012、 1013、1014分別開設有複數螺紋孔1016，用於連接相應 之夾持裝置30。該手掌體10之連接面1011、1〇12、 1013、1014之中心還分別開設有一裝配孔1〇17，其中連 接面1011之裝配孔1017與連接面1013之裝配孔1017相 對應。 097114111 手掌體10之上表面沿與連接面1011之螺紋孔101 6垂直之 表單編號A0101 第4頁/共24頁 0993442763-0 [0009] 1341777 099年12月10日按正替換頁 方向上還開設有兩對氣孔1〇7、1〇8，該氣孔1〇7、1〇8對 應穿過沿垂直於該手掌體丨〇之上表面方向排列之二螺紋 孔1016。另外’手掌體1〇之上表面也分別對應開設有多 對氣孔107、108，其與連接面1012、丨〇13、1014相通 ’藉由向氣孔107、1〇8充氣或抽氣以控制夾持裝置3〇之 抓料及卸料。 [0010] 支臂20包括為桿狀，其包括一扁平部202，該扁平部202 上依次設有複數錐槽2 〇 2 2。藉由螺絲（圖未示）旋入手 本體10之裝配孔1017進而卡入支臂20之錐槽2022，從而 將支臂20固定於手掌體1〇上，且支臂2〇可帶動該手掌體 10轉動’以實現多面抓取或卸下物料6〇。 [0011] 請參閱圊3，該夹持裝置30包括卡持件3〇1 '頂針302、 緊固件303、彈簧304、制動體305、氣缸軸306、氣缸塞 307及滾珠309，手掌體1〇之氣孔1〇7、108與夾持裝置 30之氣缸轴306、氣缸塞307組成一氣缸結構。 [0012] 卡持件301大致呈圓筒狀，其包括凸設於其下方之一段夾 持部3 01 2及由夹持部3 012底端延伸出之一傾斜部3 〇 14。 該卡持件3 01之遠離傾斜部3 014之另一端3 015上開設有 螺紋’以與手掌體1〇之連接面1011、1〇12、1〇丨3、 1014之螺紋孔101 6配合，以將卡持件3 01連接於手掌體 10。夹持部3012為一中空圓柱體，其用於與物料60之卡 孔3 016間隙配合。卡持件3 01上還開設有一貫穿其頂部及 底部之通孔3017，通孔3017呈階梯狀，其中貫穿傾斜部 3014部分之直徑比其他部分小，用於供緊固件3〇3***其 中。通孔3017自底部向頂部還用於依次容納頂針3〇2、彈 097114111 表單編號A0101 第5頁/共24頁 0993442763-0 1341777 [0013] [0014] [0015] [0016] 097114111 099年12月10日移正替換頁 簧304及制動體305。卡持件3〇1夾持部3012之圓週側面 之同一向度上均勻分佈有三容納孔3〇13，容納孔3013與 通孔3017相通’其用於容納滾珠3〇9，且容納孔3013於 卡持件301外側之開口小於滾珠3〇9之直徑從而防止滾珠 309從卡持件301外側開口處滑出容納孔3〇13外。 頂針302包括主體部及由主體部底端延伸出之抵持部3〇24 ’該抵持部3024為錐狀。該主體部與卡持件301之通孔 3017間隙配合以使頂針3〇2可於通孔3〇17内沿通孔3〇17 之軸向運動’抵持部3024用於當頊針302與滾珠309相互 抵壓時’頂針302將滾珠30#朝卡持件301外側推頂，或 滾珠309將頂錡302向上推 軸向運動與滾珠3 0 9沿卡持 卡持件301 動進行相 互轉化。頂針302上還開設有一貫通其请部及底部之插孔 . 1 ·· ·. 3022，插孔3022内登调設有螺紋。一 緊固件303為一螺釘，該螺，緊固件 303用於與頂針302螺合固矣广.:_，-Ί ‘ 彈簧304為一壓縮彈簧，制為一圓筒體，其容納 於與卡持件301之通孔3017内且與卡持件301緊配合而固 定於通孔3017之上部，制動體305上還開設有一貫穿孔 3052。 氣虹軸306包括活塞3062及活塞桿3064，氣缸軸306 —端 伸入至卡持件301内，該活塞桿3064下方形成有一短小之 料段3065，該轴段3065用於與頂針302之插孔3022螺合 固定從而使氣缸轴306與頂針302相對固定。 表軍編號A0101 第6頁/共24頁 0993442763-0 [0017] [0017] 099年12月10日後正替換頁 請參閱圖4，組裝時’首先將三滾珠3G9經由卡持件301内 之通孔3017分別放置於卡持件3()1之三容納孔3〇13内。 接著將頂針302放人通孔3G17内，使其抵持部3Q24接觸 並抵壓二滚珠3〇9從而使滾珠3〇9沿卡持件3〇1之徑向伸 出並路出卡持件3〇1外。然後依次放入彈簧3〇4及制動體 305 ’使彈簧3〇4抵持於頂針3〇2及制動體之間同時 將制動體305藉由與卡持件3〇1内通孔3〇17之緊配合固定 於通孔3017之内側上方，其次將帶有氣缸塞3Q7之氣缸轴 3〇6依次穿過制動體3〇5之貫穿孔3〇52及彈簧3〇4後將軸 段3065螺旋入插孔3022上方從而與頂針3〇2固定連接。 緊接著將緊固件303螺旋入插孔3022之下方從而將緊固件 303與頂針3〇2固定連接，且使緊固件3〇3一端露出卡持 件301外。 [0018] 請同時參閱圖2及圖3，將夾持裝置30旋入手掌體1〇之連 接面1011、1012、1013、1〇14之螺紋孔1016 ,使夾持 裝置30之氣缸軸306另一端伸入手掌體10之氣孔1〇7及 108中，並使活塞3062位於氣孔1〇7、1〇8之間，此時活 塞3062與氣孔107及1〇8配合形成兩密閉之空間》最後將 支臂20***該手掌體1〇之通孔1〇6，並使支臂2〇之一錐 槽2022對準手掌體1〇之連接面1〇11及1〇13之裝配孔 1017，用螺絲分別旋入連接面1〇11及1013之裝配孔 1017及支臂20之錐槽2022，從而將支臂20連接於手掌體 30。組裝完成後，該支臂20可帶動手掌體30轉動，從而 使該機械手100可為CNC機床換料。 [0019] 當需要抓料時，首先將失持裝置30之卡持件301之夾持部 097114111 表單編號A0101 第7頁/共24頁 0993442763-0 1341777 099年12月10日接正替换頁 3012對準物料6〇之一卡孔（圖未示），此時 ，滾珠309 部分伸出卡持件3〇1外，接著往通氣孔1〇8充氣或從通氣 孔107往外抽氣，使氣缸塞307之活塞3062之下部分比上 部分乳壓大’則該氣壓差將使活塞3〇62朝著氣孔1〇8方向 運動，同時帶動活塞桿3〇64一起運動，接著活塞桿3〇64 帶動頂針3G2及緊固件303運動並推頂彈簧3D4而使彈簧 304壓縮，此時，滾珠3〇9脫離了頂針302之推抵，然後 將卡持件301推入卡孔112中，此過程中滾珠咖由於受 到卡孔孔壁之擠壓如讀件斯内。當卡㈣斯運動 至使滾珠309與卡孔來卡槽（圖来乐 )接觸之位置時，停 止往通氣孔10名充氣，而往從通氣孔 urn主外減，㈣塞則比下部分 氣壓大’則該氣壓差使氣朝著氣孔 107方向運動，同時㈣活塞桿3064.動，使頂針 302推動滾珠伸出卡持件3〇1外並|卡槽内卡住物 料110。 ' ··. ·« · [0020] 當需要㈣時，再次往“孔從通氣孔ι〇8往 外抽氣，而停止往通氣孔1〇7充^使活塞體3〇?之活塞 3062下部分比上部分氣壓大，則該氣壓差使活塞桿讓4 及頂針3G2朝著氣孔1G8方向運動，使滾珠則脫離頂針 302之推抵並縮入卡持件如内而退出卡槽，從而使物料 60脫離卡持件301。 以下結合圖6至圖10對機械手100為-台CNC機床換料之 工作過程進行詳細說明。取料前，機械手⑽之連接面 mi、im ' urn ' ι〇14之夾持裝置3〇均為空置（見 097114111 表單編號A0101 第8頁/共 頁 0993442763-0 [0021] 1341,777 __ 099年12月10日修正替换頁 圖6);然後順時針轉動機械手100之支臂20，使機械手 100抓好三片相同型號之未加工物料60，預留連接面 1011空置（見圖7);再用手掌體10之連接面1011之夾 持裝置30將工作台（圖未示）上已加工物料60’抓走（見 圖8);接著順時針轉動支臂20,使機械手100之手掌體 10轉動90度，即手掌體10之連接面101 2朝向工作台，再 將連接面1012之未加工物料60卸裝於工作台（見圖9); 待未加工物料60被加工完畢後，用連接面1012之夾持裝 置30將已加工物料60’抓走（見圖10)。最後再順時針轉 動支臂20，使手掌體10之連接面1013、1014依次朝向工 作台，重複以上過程直至連接面1014之夾持裝置30上之 未加工物料60被加工完畢並抓走。 [0022] 相對於習知技術，本發明之機械手100採用多面取料之手 • 掌體10，可以一次抓取複數未加工物料60，當某台CNC機 床空載後，該機械手100之空置之夾持裝置30立刻將已加 工物料60’抓取走，換上新之未加工物料60。如此該機械 手100可同時為多台CNC機床實現更換未加工物料60，減 少了待機時間，提高了 CNC機床之稼動率。同時，該機械 手100採用内張卡扣式夾持裝置30進行取料，實現自動抓 料及卸料，此可減少機械手100整體佔用之空間範圍，且 該夾持裝置30無需採用連桿機構，結構簡單、輕巧。 [0023] 可以理解，該手掌體10還可設計成具有六個、八個等複 數連接面1011之結構。 [0024] 該手掌體10還可藉由卡合等方式連接於夾持裝置30。 097114111 表單編號A0101 第9頁/共24頁 0993442763-0 1341777 099年12月10日梭正替換頁 [0025] 夾持裝置30之緊固件303可省略，彈簧304可為其他彈性 件，如彈片等，滾珠309也可為其他可縮入或伸出卡持件 3 0 1之卡合件，如包括一傾斜底面之柱狀卡合件。 [0026] 夾持裝置30還可為機械式等抓取方式，即藉由一定之軸 向拉力帶動頂針302脫離或抵壓該卡持件301，以實現該 夾持裝置30之抓料及卸料，此時手掌體10無需開設氣孔 107、108。 [0027] 可根據該物料60之型號不同而採用相對應之夾持裝置30 ，該機械手100還可以同時為多台CNC機床進行即時換料[0008] ........ *·^.ΙΓ|· · Please refer to FIG. 2 together, the palm body 10 is a rectangular cube having a through hole 106 on its upper surface and symmetrically distributed in the | and through holes 106 is used to connect the arm 20, and the through hole is the weight of the palm body. The side of the palm body 10 is a four-part connecting surface 1011, 101 2, 1 01 3, 1 014. In this embodiment, each of the two adjacent connecting faces is connected by a curved curved surface. The connecting faces 1〇11, 1012, 1013, and 1014 of the palm body 10 are respectively provided with a plurality of threaded holes 1016 for connecting the corresponding holding devices 30. The center of the connecting faces 1011, 1〇12, 1013, and 1014 of the palm body 10 is further provided with a fitting hole 1〇17, wherein the fitting hole 1017 of the connecting face 1011 corresponds to the fitting hole 1017 of the connecting face 1013. 097114111 The upper surface of the palm body 10 is perpendicular to the threaded hole 101 6 of the connecting surface 1011. Form No. A0101 Page 4 / Total 24 pages 0993442763-0 [0009] 1341777 December 10, 2010 Opened in the direction of the replacement page There are two pairs of air holes 1〇7, 1〇8, and the air holes 1〇7, 1〇8 correspond to two threaded holes 1016 arranged in a direction perpendicular to the upper surface of the palm body. In addition, the upper surface of the palm body 1 is also respectively provided with a plurality of pairs of air holes 107, 108 which are in communication with the connecting surfaces 1012, 丨〇 13, 1014 'by inflating or pumping air holes 107, 1 〇 8 to control the clip Holding and unloading the device. [0010] The arm 20 is formed in a rod shape and includes a flat portion 202 on which a plurality of tapered grooves 2 〇 2 2 are sequentially disposed. The screw 20 (not shown) is screwed into the fitting hole 1017 of the hand body 10 to be engaged with the tapered groove 2022 of the arm 20, thereby fixing the arm 20 to the palm body 1〇, and the arm 2〇 can drive the palm body 10 Turn 'to achieve multi-face grabbing or unloading material 6〇. [0011] Referring to FIG. 3, the clamping device 30 includes a holding member 3〇1' ejector 302, a fastener 303, a spring 304, a braking body 305, a cylinder shaft 306, a cylinder plug 307, and a ball 309, and the palm body 1〇 The air holes 1〇7, 108 and the cylinder shaft 306 of the clamping device 30 and the cylinder plug 307 form a cylinder structure. [0012] The holding member 301 is substantially cylindrical, and includes a clamping portion 301 2 protruding from the lower portion thereof and an inclined portion 3 〇 14 extending from the bottom end of the clamping portion 3 012. The other end 3 015 of the holding member 301 away from the inclined portion 3 014 is provided with a threaded end to cooperate with the threaded hole 1016 of the connecting surface 1011, 1〇12, 1〇丨3, 1014 of the palm body 1〇, The holding member 310 is connected to the palm body 10. The clamping portion 3012 is a hollow cylinder for clearance fit with the card hole 3 016 of the material 60. The retaining member 301 further defines a through hole 3017 extending through the top and the bottom thereof. The through hole 3017 has a stepped shape, and the portion of the through-inclined portion 3014 has a smaller diameter than the other portions for inserting the fastener 3〇3 therein. The through hole 3017 is also used for accommodating the ejector pins 3 〇 2, 097114111 from the bottom to the top. Form No. A0101 Page 5 / Total 24 Pages 0993442763-0 1341777 [0014] [0015] [0016] 097114111 December 099 On the 10th, the page spring 304 and the braking body 305 are replaced. The receiving side 301 is uniformly distributed with the three receiving holes 3〇13 in the same direction of the circumferential side of the holding portion 3012, and the receiving hole 3013 communicates with the through hole 3017. The receiving hole 3013 is for receiving the ball 3〇9, and the receiving hole 3013 is The opening outside the holding member 301 is smaller than the diameter of the ball 3〇9 to prevent the ball 309 from sliding out of the receiving hole 3〇13 from the opening of the outside of the holding member 301. The thimble 302 includes a main body portion and a resisting portion 3〇24' extending from a bottom end of the main body portion. The abutting portion 3024 has a tapered shape. The main body portion is in clearance with the through hole 3017 of the holding member 301 to enable the ejector pin 3 〇 2 to move in the axial direction of the through hole 3 〇 17 in the through hole 3 〇 17 'the abutting portion 3024 is used for the 顼 pin 302 and When the balls 309 are pressed against each other, the ejector pin 302 pushes the ball 30# toward the outside of the holding member 301, or the ball 309 pushes the top cymbal 302 upward to move axially and the ball 309 moves along the holding member 301. . The ejector pin 302 also has a socket extending through the front portion and the bottom portion thereof. 1 ·· · 3022, the socket 3022 is threaded. A fastener 303 is a screw, and the screw 303 is used for screwing with the thimble 302. The _, - Ί ' spring 304 is a compression spring, which is formed into a cylindrical body, which is accommodated and held. The through hole 3017 of the member 301 is fixed to the upper portion of the through hole 3017 in close cooperation with the holding member 301, and the permanent hole 3052 is further formed on the braking body 305. The gas shaft 306 includes a piston 3062 and a piston rod 3064. The end of the cylinder shaft 306 extends into the holding member 301. Below the piston rod 3064, a short section 3065 is formed. The shaft section 3065 is used for inserting with the thimble 302. The hole 3022 is screwed and fixed so that the cylinder shaft 306 and the ejector pin 302 are relatively fixed. Table Army No. A0101 Page 6 / Total 24 Page 0993442763-0 [0017] [0017] After December 10, 2010, the replacement page is referred to Figure 4, when assembling, the first three balls 3G9 pass through the holder 301. The holes 3017 are respectively placed in the three receiving holes 3〇13 of the holding member 3()1. Then, the thimble 302 is placed in the through hole 3G17, and the abutting portion 3Q24 is brought into contact with and pressed against the two balls 3〇9 so that the balls 3〇9 protrude in the radial direction of the holding member 3〇1 and the retaining member is pulled out. 3〇1 outside. Then, the spring 3〇4 and the braking body 305′ are sequentially placed to abut the spring 3〇4 between the thimble 3〇2 and the braking body while the braking body 305 is passed through the through hole 3〇17 of the holding member 3〇1. The tight fit is fixed on the inner side of the through hole 3017, and then the cylinder shaft 3〇6 with the cylinder plug 3Q7 is sequentially passed through the through hole 3〇52 of the braking body 3〇5 and the spring 3〇4, and the shaft section 3065 is spiraled. It is inserted above the jack 3022 to be fixedly connected to the ejector pin 3〇2. The fastener 303 is then screwed under the socket 3022 to securely attach the fastener 303 to the thimble 3〇2 and expose one end of the fastener 3〇3 out of the holder 301. [0018] Referring to FIG. 2 and FIG. 3 simultaneously, the clamping device 30 is screwed into the threaded hole 1016 of the connecting surface 1011, 1012, 1013, 1〇14 of the palm body 1〇, so that the cylinder shaft 306 of the clamping device 30 is further One end extends into the air holes 1〇7 and 108 of the palm body 10, and the piston 3062 is located between the air holes 1〇7, 1〇8, at which time the piston 3062 cooperates with the air holes 107 and 1〇8 to form two sealed spaces. Inserting the arm 20 into the through hole 1〇6 of the palm body 1,, and aligning one of the flanges 2022 of the arm 2〇 with the mounting hole 1017 of the connecting faces 1〇11 and 1〇13 of the palm body 1,, The screws are screwed into the fitting holes 1017 of the joint faces 1〇11 and 1013 and the taper grooves 2022 of the arms 20, respectively, thereby connecting the arms 20 to the palm body 30. After the assembly is completed, the arm 20 can drive the palm body 30 to rotate, so that the robot 100 can refuel the CNC machine tool. [0019] When the material is required to be picked up, the clamping portion 097114111 of the holding member 30 of the lost device 30 is firstly formed. Form No. A0101 Page 7/24 pages 0993442763-0 1341777 December 10, 2010 Replacement page 3012 Align one of the holes of the material 6 (not shown). At this time, the ball 309 partially protrudes beyond the holding member 3〇1, and then inflates the vent hole 1〇8 or draws air from the vent hole 107 to make the cylinder. The lower portion of the piston 3062 of the plug 307 is larger than the upper portion of the milk pressure, and the air pressure difference will cause the piston 3〇62 to move toward the air hole 1〇8, while driving the piston rod 3〇64 to move together, and then the piston rod 3〇64 Driving the ejector pin 3G2 and the fastener 303 to move and push the spring 3D4 to compress the spring 304. At this time, the ball 3〇9 is disengaged from the ejector pin 302, and then the holding member 301 is pushed into the card hole 112, in the process. The ball coffee is squeezed by the wall of the card hole as in the reading piece. When the card (4) moves to the position where the ball 309 is in contact with the card hole to the card slot (Tulaole), the airing of the vent hole is stopped, and the air is vented to the vent hole, and the (4) plug is lower than the lower part of the air pressure. The large air pressure difference causes the air to move toward the air hole 107, and (4) the piston rod 3064. moves, so that the thimble 302 pushes the ball out of the holding member 3〇1 and the card slot jams the material 110. '····« · [0020] When (4) is required, the hole is again evacuated from the vent hole ι8, and the lower portion of the piston 3062 that stops the vent hole 1〇7 to the piston body 3〇 is stopped. When the air pressure is greater than the upper portion of the air pressure, the air pressure difference causes the piston rod to move the 4 and the thimble 3G2 toward the air hole 1G8, so that the ball is disengaged from the ejector pin 302 and retracts into the holding member to exit the card slot, thereby making the material 60 The working process of refueling the CNC machine for the robot 100 is described in detail below with reference to FIG. 6 to FIG. 10. Before the reclaiming, the connecting surface of the robot (10) is mi, im ' urn ' ι〇14 The clamping device 3〇 is vacant (see 097114111 Form No. A0101 Page 8 / Total Page 0993442763-0 [0021] 1341, 777 __ December 10, 1099 revised replacement page Figure 6); then turn the robot clockwise The arm 20 of the 100 causes the robot 100 to grasp three pieces of unprocessed material 60 of the same type, and the reserved connecting surface 1011 is vacant (see FIG. 7); and the clamping device 30 of the connecting surface 1011 of the palm body 10 will work. The processed material 60' is removed from the table (not shown) (see Figure 8); then the arm 20 is rotated clockwise to make the robot 100 The palm body 10 is rotated 90 degrees, that is, the connecting surface 101 2 of the palm body 10 faces the table, and the unprocessed material 60 of the connecting surface 1012 is unloaded on the table (see FIG. 9); after the unprocessed material 60 is processed The workpiece 60' is grasped by the clamping device 30 of the connecting surface 1012 (see Fig. 10). Finally, the arm 20 is rotated clockwise so that the connecting faces 1013, 1014 of the palm body 10 are sequentially directed toward the table, and the above is repeated. The process until the unprocessed material 60 on the gripping device 30 of the joint surface 1014 is processed and caught. [0022] Compared to the prior art, the robot 100 of the present invention adopts a multi-faceted retracting hand • the palm body 10, which can The plurality of unprocessed materials 60 are taken at a time. When a CNC machine tool is unloaded, the vacant clamping device 30 of the robot 100 immediately grabs the processed material 60' and replaces it with the new unprocessed material 60. The manipulator 100 can simultaneously replace the unprocessed material 60 for a plurality of CNC machine tools, reducing the standby time and improving the utilization rate of the CNC machine tool. At the same time, the robot 100 uses the internal snap-type clamping device 30 for reclaiming. , automatic picking and unloading This can reduce the space occupied by the robot 100 as a whole, and the clamping device 30 does not need to adopt a link mechanism, and has a simple structure and light weight. [0023] It can be understood that the palm body 10 can also be designed to have six or eight. The structure of the plurality of connecting faces 1011. [0024] The palm body 10 can also be coupled to the clamping device 30 by snapping or the like. 097114111 Form No. A0101 Page 9 / Total 24 Page 0993442763-0 1341777 December 10, 1099 The shuttle fastener 303 can be omitted. The spring 304 can be other elastic members, such as a spring piece, etc., and the ball 309 can also be other retractable or extendable holders. The engaging member, such as a cylindrical engaging member including an inclined bottom surface. [0026] The clamping device 30 can also be mechanically grasped, that is, the ejector pin 302 is detached or pressed against the holding member 301 by a certain axial pulling force to realize the grasping and discharging of the clamping device 30. At this time, the palm body 10 does not need to have the air holes 107, 108. [0027] The corresponding clamping device 30 can be adopted according to the model of the material 60, and the robot 100 can simultaneously refuel multiple CNC machines at the same time.
[0028][0028]
綜上所述，本發明符合發明提出專利 申請。惟，以上所述者僅施方式，本 發明之範圍並不以i述實施方式為限九熟悉本案技 藝之人士，於援依本案發明精神所作之等效修飾或變化 ，皆應包含於以下之申請4玲ί雜I 【圖式簡單說明】 r、r [0029] 圖1係本發明機械手之較佳貪4:例' 之立體分解圖； [0030] 圖2係圖1所示機械手之手掌體沿Π - Π之剖視圖 [0031] 圖3係圖1所示機械手之夾持裝置之分解立體圖； [0032] 圖4係圖1所示機械手之夾持裝置之剖視圖； [0033] 圖5係圖1所示機械手之組裝立體圖； [0034] 圖6係圊1所示機械手之工作步驟一示意圖； 0993442763-0 [0035] 圖7係圖1所示機械手之工作步驟二示意圖； 097114111 表單編號A0101 第10頁/共24頁 1341777 099年12月10日核:正替換頁 [0036] [0037] [0038] [0039] [0040] [0041] [0042] [0043] [0044] [0045] [0046] [0047] [0048] [0049] [0050] [0051] [0052] [0053] 圖8係圖1所不機械手之工作步驟三不意圖； 圖9係圖1所示機械手之工作步驟四示意圖； 圖10係圖1所示機械手之工作步驟五示意圖； 【主要元件符號說明】 機械手：100 手掌體：10 連接面：1011 1012 1013 1014 螺紋孔：1016 裝配孔：1017 通孔：105、106 氣孔：107、108 支臂：20 扁平部：2 0 2 錐槽：2022 夾持裝置：30 卡持件：301 夾持部：3012 容納孔：3013 傾斜部：3014 通孔：3017 097114111 表單編號A0101 第11頁/共24頁 0993442763-0 [0054] 1341777 099年12月10日修正替换頁 [0055] 頂針：302 [0056] 插孔：30 22 [0057] 抵持部：3024 [0058] 緊固件：303 [0059] 螺帽：3032 [0060] 彈簧：304 [0061] 制動體：30 5 [0062] 貫穿孔：3052 [0063] 氣缸軸：306 [0064] 活塞：3062 [0065] 活塞桿：30 64 [0066] 軸段：3065 [0067] 氣缸塞：307 [0068] 滚珠：30 9 [0069] 物料：60 [0070] 已加工物料：60’In summary, the present invention meets the invention patent application. However, the above description is only for the purpose of the present invention, and the scope of the present invention is not limited to those skilled in the art. The equivalent modifications or variations made by the invention in the spirit of the invention should be included in the following. [0029] FIG. 1 is a perspective exploded view of a preferred greedy 4:example of the manipulator of the present invention; [0030] FIG. 2 is a mechanical hand of FIG. [0031] FIG. 3 is an exploded perspective view of the gripping device of the robot shown in FIG. 1; [0032] FIG. 4 is a cross-sectional view of the gripping device of the robot shown in FIG. 1; [0033] 5 is an assembled perspective view of the manipulator shown in FIG. 1; [0034] FIG. 6 is a schematic diagram showing the working steps of the manipulator shown in FIG. 1; 0993442763-0 [0035] FIG. 7 is a working step of the manipulator shown in FIG. 2 Schematic; 097114111 Form No. A0101 Page 10 / Total 24 Pages 1341777 December 10, 2010 Core: Positive Replacement Page [0036] [0038] [0039] [0043] [0043] [0046] [0053] [0053] FIG. 8 is a schematic diagram of the working steps of the non-manipulator of FIG. 1; FIG. Figure 1 is a schematic diagram of the working steps of the manipulator shown in Figure 1. Figure 10 is a schematic diagram of the working steps of the manipulator shown in Figure 1. [Main component symbol description] Robot: 100 Palm body: 10 Connecting surface: 1011 1012 1013 1014 Threaded hole :1016 Mounting hole: 1017 Through hole: 105, 106 Air hole: 107, 108 Arm: 20 Flat part: 2 0 2 Cone groove: 2022 Holding device: 30 Holding part: 301 Clamping part: 3012 Retaining hole: 3013 Inclined section: 3014 Through hole: 3017 097114111 Form number A0101 Page 11 / Total 24 page 0993442763-0 [0054] 1341777 December 10, 2010 Correction replacement page [0055] Thimble: 302 [0056] Jack: 30 22 [ 0057] Resistant: 3024 [0058] Fastener: 303 [0059] Nut: 3032 [0060] Spring: 304 [0061] Brake: 30 5 [0062] Through hole: 3052 [0063] Cylinder shaft: 306 [ 0064] Piston: 3062 [0065] Piston rod: 30 64 [0066] Shaft section: 3065 [0067] Cylinder plug: 307 [0068] Ball: 30 9 [0069] Material: 60 [0070] Processed material: 60'
:n.(.e"ectual:n.(.e"ectual
097114111 表單編號A0101 第12頁/共24頁 0993442763-0097114111 Form No. A0101 Page 12 of 24 0993442763-0