TWM599716U

TWM599716U - Milling machine structure with mechanical arm capable of performing linear displacement

Info

Publication number: TWM599716U
Application number: TW109204970U
Authority: TW
Inventors: 陳愛
Original assignee: 陳愛
Priority date: 2020-04-27
Filing date: 2020-04-27
Publication date: 2020-08-11

Abstract

本創作係一種具可線性位移機械手臂之銑床結構，包括：一銑床，其側邊設有一側面；至少一線型軌道，其設置於該側面上；一排齒，其設置於該側面上；一滑座，其可滑移地設置於該線型軌道上；一多軸之機器手臂，其設置於該滑座上；及一伺服馬達，其組設於該滑座，並與該排齒嚙合；藉由上述結構，該機器手臂容易精準組裝在該銑床上，且組合一體之構件更節省空間，且不會因外力因素造成偏移，確保加工品質穩定之功效。 This creation is a milling machine structure with a linearly-displaceable mechanical arm, including: a milling machine with a side surface provided on its side; at least one linear track provided on the side surface; a row of teeth provided on the side surface; A sliding seat, which is slidably arranged on the linear track; a multi-axis robotic arm arranged on the sliding seat; and a servo motor, which is assembled on the sliding seat and meshes with the row of teeth; With the above structure, the robotic arm is easy to accurately assemble on the milling machine, and the integrated components save more space, and will not cause deviation due to external forces, ensuring stable processing quality.

Description

具可線性位移機械手臂之銑床結構 Milling machine structure with linear displacement mechanical arm

本創作係關於一種具可線性位移機械手臂之銑床結構，尤指具有與機器手臂設置一體之銑床，達到組裝容易及節省空間之功效。 This creation is about a milling machine structure with a linearly-displaceable robotic arm, especially a milling machine integrated with the robotic arm to achieve easy assembly and space saving.

按，電腦程式控制之銑床，利用銑刀作旋轉的切削運動，輔以工作檯作進給運動，能夠精確的將工進行平面、曲面、溝槽...等各種不同形狀的加工，且已廣泛應用在各工業界。為了讓銑床上、下料自動化、加速換料、節省人力及增加生產效能，習知之自動化銑床，如第1、2圖所示，係一銑床10，其具有一基座11，其頂部設有一檯面12；該檯面12上設置一可滑移位移之主軸頭機構13，且該主軸頭機構13可對置定於該檯面12上之工件14加工；該銑床10之一側搭配一獨立之送料台20，該送料台20設有一線型軌道座21，該線型軌道座21上滑設一滑座22，該滑座22上設置一多軸之機器手臂23，且該線型軌道座21之一側邊設有一排齒24，該滑座22對應於該排齒24側邊設有一伺服馬達25，該伺服馬達25與該排齒24嚙合，驅動該伺服馬達25使該滑座22沿該線型軌道座21上滑移，且該送料台20周邊配合至少一置料架26，並以該機器手臂23來取代人力，將工件14由該置料架26上移至該銑床10之檯面12，並將之快速定位，加工完成後，再由該檯面12將該工件14移至該置料架26，達成上、下料自動化、節省成本及增加產能之功效；惟，上述該銑床10與該送料台20之搭配，有下列之問題： Press, a milling machine controlled by a computer program, using a milling cutter for rotating cutting motion, supplemented by a worktable for feeding motion, can accurately process planes, curved surfaces, grooves... and other different shapes, and has It is widely used in various industries. In order to automate the blanking of the milling machine, speed up the material change, save manpower and increase production efficiency, the conventional automatic milling machine, as shown in Figures 1 and 2, is a milling machine 10 with a base 11 and a top Table 12; the table 12 is provided with a sliding displacement spindle head mechanism 13, and the spindle head mechanism 13 can be opposed to the work piece 14 processing on the table 12; one side of the milling machine 10 is equipped with an independent feeding Table 20, the feeding table 20 is provided with a linear rail seat 21, a sliding seat 22 is slid on the linear rail seat 21, a multi-axis robotic arm 23 is provided on the sliding seat 22, and one side of the linear rail seat 21 A row of teeth 24 is provided on the side, and a servo motor 25 is provided on the side of the slide 22 corresponding to the row of teeth 24. The servo motor 25 meshes with the row of teeth 24 and drives the servo motor 25 to make the slide 22 follow the linear track The seat 21 slides up, and the periphery of the feeding table 20 is matched with at least one rack 26, and the robot arm 23 is used to replace the manpower to move the workpiece 14 from the rack 26 to the table 12 of the milling machine 10, and Position it quickly, and after processing is completed, move the workpiece 14 from the table 12 to the rack 26 to achieve automation of loading and unloading, saving costs and increasing production However, the above-mentioned matching of the milling machine 10 and the feeding table 20 has the following problems:

1.該銑床10、送料台20及置料架26之相對位置需由人工費時組裝及安排，而組裝過程繁瑣複雜，且要正確將其定位，否則會造成該工件14無法正確從該置料架26被該機器手臂23抓取，以及該工件14偏移置定於該檯面12上產生加工誤差之問題。 1. The relative positions of the milling machine 10, the feeding table 20 and the material rack 26 need to be assembled and arranged by labor and time-consuming, and the assembly process is tedious and complicated, and they must be positioned correctly, otherwise the workpiece 14 will not be placed correctly from the material The frame 26 is grasped by the robot arm 23, and the workpiece 14 is offset and fixed on the table 12, causing a problem of machining errors.

2.該送料台20係位於該銑床10之另一機台，占用較大空間，因此需要大廠房方能使用，成本相對較高。 2. The feeding table 20 is located on another machine table of the milling machine 10, which occupies a large space, so a large workshop is needed to use it, and the cost is relatively high.

3.該送料台20係額外裝置之機台，使用時除了須精準定位才能確保該工件14的加工品質外，還要注意該送料台20是否有受外力影響而偏移，進而影響品質之穩定性。 3. The feeding table 20 is a machine with an additional device. In addition to precise positioning to ensure the processing quality of the workpiece 14, attention should be paid to whether the feeding table 20 is affected by external forces and deviates, thereby affecting the stability of quality Sex.

有鑑於此，如何使該銑床10與機器手臂23精準配合，以提高品質、節省成本及增加產能，實為業界亟待解決的問題。 In view of this, how to make the milling machine 10 and the robotic arm 23 accurately cooperate to improve quality, save costs, and increase production capacity is actually a problem to be solved in the industry.

本創作主要目的係在於解決上述問題，而提供一種具可線性位移機械手臂之銑床結構；主要技術、目的為：於銑床之側邊組設一體且可線性位移之機器手臂，使機器手臂可對銑床之上料、下料自動化及增加生產效能，並達到機器手臂組裝簡化、節省空間及品質穩定之功效。 The main purpose of this creation is to solve the above-mentioned problems and provide a milling machine structure with a linear displacement mechanical arm; the main technology and purpose are: to install an integral and linear displacement mechanical arm on the side of the milling machine so that the robot arm can be aligned The loading and unloading of the milling machine is automated, and the production efficiency is increased, and the robot arm assembly is simplified, space saving and quality stable.

根據本創作上述之目的，提供一種具可線性位移機械手臂之銑床結構，包括：一銑床，其側邊設有一側面；至少一線型軌道，其設置於該側面上；一排齒，其設置於該側面上，該排齒之軸向平行該線型軌道之軸向；一滑座，其可滑移地設置於該線型軌道上；一多軸之機器手臂，其設置於該滑座上；及一伺服馬達，其組設於該滑座，並與該排齒嚙合。 According to the above-mentioned purpose of this creation, a milling machine structure with a linearly displaceable mechanical arm is provided, which includes: a milling machine with a side surface provided on its side; at least one linear rail provided on the side surface; and a row of teeth provided on the side On the side surface, the axial direction of the row of teeth is parallel to the axial direction of the linear track; a sliding seat, which is slidably arranged on the linear track; a multi-axis robotic arm, which is arranged on the sliding seat; and A servo motor is assembled on the sliding seat and meshes with the row of teeth.

在本創作一實施例中，其中，該銑床設有一基座，該基座頂部設有一檯面，該基座之側邊設有該側面；且該檯面上設置一可滑移之主軸頭機構。 In an embodiment of the present invention, the milling machine is provided with a base, the top of the base is provided with a table, the side of the base is provided with the side surface; and the table is provided with a slidable spindle head mechanism.

在本創作一實施例中，其中，該側面平行該主軸頭機構之滑移方向。 In an embodiment of the present invention, the side surface is parallel to the sliding direction of the spindle head mechanism.

在本創作一實施例中，其中，該線型軌道之軸向平行該主軸頭機構之滑移方向。 In an embodiment of the invention, the axial direction of the linear track is parallel to the sliding direction of the spindle head mechanism.

藉由上述結構，該機器手臂容易精準組裝在該銑床上，且組合一體之構件更節省空間，且不會因外力因素造成偏移，確保加工品質穩定之功效。 With the above structure, the robotic arm is easy to accurately assemble on the milling machine, and the integrated components save more space, and will not cause deviation due to external forces, ensuring stable processing quality.

10:銑床 10: Milling machine

11:基座 11: Pedestal

12:檯面 12: Countertop

13:主軸頭機構 13: Spindle head mechanism

14:工件 14: Workpiece

20:送料台 20: feeding table

21:線型軌道座 21: Linear rail seat

22:滑座 22: Slide

23:機器手臂 23: robotic arm

24:排齒 24: row of teeth

25:伺服馬達 25: Servo motor

26:置料架 26: Shelf

30:銑床 30: Milling machine

31:基座 31: Pedestal

32:檯面 32: Countertop

33:側面 33: side

34:主軸頭機構 34: Spindle head mechanism

35:線型軌道 35: Linear track

36:排齒 36: row teeth

37:滑座 37: Slide

38:機器手臂 38: robotic arm

39:伺服馬達 39: Servo motor

391:驅動輪 391: drive wheel

第1圖係習知之立體圖； Figure 1 is a three-dimensional view of conventional knowledge;

第2圖係習知送料台機器手臂位移之立體示意圖； Figure 2 is a three-dimensional schematic diagram of the displacement of the robot arm of the conventional feeding table;

第3圖係本創作之立體圖； Figure 3 is a three-dimensional view of this creation;

第4圖係本創作機器手臂位移之立體示意圖； Figure 4 is a three-dimensional schematic diagram of the displacement of the creative robotic arm;

第5圖係本創作滑座之側視剖視圖。 Figure 5 is a cross-sectional side view of this creative slide.

為使貴審查委員對本創作有更進一步瞭解，茲舉一較佳實施例並配合圖式，詳述如後： In order to enable your reviewer to have a better understanding of this creation, here is a preferred embodiment combined with the drawings, detailed as follows:

請參閱第3至5圖，包括：一具有一基座31之銑床30，該基座31頂部設有一檯面32及側邊設有一側面33；一主軸頭機構34，其可滑移地設置於該檯面32上，該側面33平行該主軸頭機構34之滑移方向；至少一線型軌道35，其設置於該側面33上，該線型軌道35之軸向平行該主軸頭機構34之滑移方向；一排齒36，其設置於該側面33上，該排齒36之軸向平行該線型軌道35之軸向；一滑座37，其可滑移地設置於該線型軌道35上；一多軸之機器手臂38，其設置於該滑座37上；及一伺服馬達39，其組設於該滑37，並與該排齒36嚙合；藉由上述結構，該機器手臂38容易組裝在該銑床30上同時精準定位，且組合一體之構件更節省空間，且使用時不會因外力因素造成偏移，確保加工品質穩定之功效。 Please refer to Figures 3 to 5, including: a milling machine 30 with a base 31, the top of the base 31 is provided with a table 32 and a side surface 33; a spindle head mechanism 34, which can slidably Set on the table 32, the side surface 33 is parallel to the sliding direction of the spindle head mechanism 34; at least one linear rail 35 is set on the side surface 33, the axis of the linear rail 35 is parallel to the sliding direction of the spindle head mechanism 34 A row of teeth 36, which is arranged on the side surface 33, the axial direction of the row of teeth 36 is parallel to the axial direction of the linear rail 35; a sliding seat 37, which is slidably arranged on the linear rail 35; A multi-axis robotic arm 38 is arranged on the slide 37; and a servo motor 39 is assembled on the slide 37 and meshes with the row of teeth 36; with the above structure, the robotic arm 38 is easy to assemble It is accurately positioned on the milling machine 30 at the same time, and the integrated components save more space, and will not cause deviation due to external forces during use, ensuring the effect of stable processing quality.

上述實施例之組成、作用，細節說明如下：請參閱第3至5圖，本創作之線型軌道35係直接安裝於該銑床30之側面33上，是以，該線型軌道35已被精確定位，當該機器手臂38與之嵌組後，相對的，該機器手臂38即被精準定位在正確位置上，在組裝上並無技術性，因此，即使非技術人員亦可安裝，之後即藉由電腦程式控制該機器手臂38上料及下料之位置，在一般技術上，也可利用光感應來相互定位；既然該銑床30、滑座37與機器手臂38嵌組一體，三者之相對位置則不會有被外力改變的可能，因此該銑床30從一開始到最後之加工過程，其加工品質始終保持一致，如此確保該工件14成品之穩定性；再者，結合一體之銑床30、滑座37與機器手臂38構件，其體積相對比分離的構件來的小，當然所需的空間必然可縮小，成本必定較節省。本創作銑床30對工件14加工之流程：首先，該伺服馬達39前端具有一驅動輪391，該驅動輪391與該排齒36嚙合，驅動該伺服馬達39令該驅動輪391轉動，使該滑座37沿該線型軌道35滑移，俟該機器手臂38對應於存放工件14原料之區域時，該伺服馬達39即停止轉動，同時該機器手臂38取離該工件14；該伺服馬達39再次被驅動，該滑座37沿該線型軌道35滑移至該銑床30上提供加工之區域，該伺服馬達39即停止，該機器手臂38將該工件14置定在該銑床30之檯面32上，該主軸頭機構34對該工件14進行平面、曲面、溝槽...等加工；待該主軸頭機構34對該工件14加工完成，該機器手臂38再從該檯面32取離加工完成之工件14，並驅動該伺服馬達39，使該滑座37滑移至對應該工件14成品之存放區域，該機器手臂38作動置放該工件14後，即可再次至存放工件14原料之區域，準備下一個工件14之加工準備，如此周而復始，達到上、下料自動化、節省人力及增加生產效能之功效；藉由上述結構，可線性位移之機器手臂38可自動化對該銑床30上料、下料，且該銑床30、滑座37與機器手臂38嵌組一體，達到機器手臂38組裝簡單、節省空間及品質穩定之功效。 The composition and function of the above embodiment are described in detail as follows: Please refer to figures 3 to 5, the linear rail 35 of this creation is directly installed on the side 33 of the milling machine 30, so the linear rail 35 has been accurately positioned. When the robotic arm 38 is embedded and assembled, the robotic arm 38 is accurately positioned at the correct position. There is no technicality in assembly. Therefore, even non-technical personnel can install it, and then use the computer The program controls the feeding and unloading positions of the robotic arm 38. In general technology, light sensors can also be used to position each other; since the milling machine 30, the sliding seat 37 and the robotic arm 38 are integrated, the relative positions of the three are not It may be changed by external forces. Therefore, the processing quality of the milling machine 30 from the beginning to the end is always consistent, thus ensuring the stability of the finished product of the workpiece 14; further, the integrated milling machine 30 and the sliding seat 37 Compared with the component of the robot arm 38, its volume is relatively smaller than that of a separate component. Of course, the required space must be reduced and the cost must be saved. The process of processing the workpiece 14 by the creative milling machine 30: First, the front end of the servo motor 39 has a driving wheel 391, the driving wheel 391 meshes with the row of teeth 36, and the servo motor 39 is driven to rotate the driving wheel 391 to make the slide The seat 37 slides along the linear track 35. When the robot arm 38 corresponds to the area where the raw material of the workpiece 14 is stored, the servo motor 39 stops rotating, and the machine The arm 38 takes away the workpiece 14; the servo motor 39 is driven again, the slide 37 slides along the linear track 35 to the area provided for processing on the milling machine 30, the servo motor 39 stops, and the robotic arm 38 The workpiece 14 is set on the table 32 of the milling machine 30, and the spindle head mechanism 34 processes the workpiece 14 in plane, curved surface, groove, etc.; after the spindle head mechanism 34 finishes processing the workpiece 14, the machine The arm 38 then removes the finished workpiece 14 from the table 32, and drives the servo motor 39 to slide the slide 37 to the storage area corresponding to the finished product of the workpiece 14. The robotic arm 38 moves to place the workpiece 14 , You can go to the area where the raw material of the workpiece 14 is stored again, and prepare for the processing of the next workpiece 14. This cycle is repeated to achieve the functions of automation of loading and unloading, saving manpower and increasing production efficiency; with the above structure, a linear displacement machine The arm 38 can automatically load and unload the milling machine 30, and the milling machine 30, the sliding seat 37 and the robotic arm 38 are embedded and integrated, which achieves the effects of simple assembly of the robotic arm 38, space saving and stable quality.

以上所述實施例僅是為充分說明本創作而所舉的較佳的實施例，並非用以侷限本創作之特徵，舉凡利用本創作相關之技術手段、創設原理之再創作，仍屬本創作等效結構創意範疇。 The above-mentioned embodiments are only preferred embodiments to fully explain the creation, and are not used to limit the characteristics of the creation. Any re-creation using the technical means and creation principles related to the creation is still the creation. Creative category of equivalent structure.

14:工件 14: Workpiece

30:銑床 30: Milling machine

31:基座 31: Pedestal

32:檯面 32: Countertop

33:側面 33: side

34:主軸頭機構 34: Spindle head mechanism

35:線型軌道 35: Linear track

36:排齒 36: row teeth

37:滑座 37: Slide

38:機器手臂 38: robotic arm

Claims

一種具可線性位移機械手臂之銑床結構，包括：一銑床，其側邊設有一側面；至少一線型軌道，其設置於該側面上；一排齒，其設置於該側面上，該排齒之軸向平行該線型軌道之軸向；一滑座，其可滑移地設置於該線型軌道上；一多軸之機器手臂，其設置於該滑座上；及一伺服馬達，其組設於該滑座，並與該排齒嚙合。 A milling machine structure with a linearly displaceable mechanical arm includes: a milling machine with a side surface provided on its side; at least one linear track provided on the side surface; a row of teeth provided on the side surface; Axial parallel to the axial direction of the linear track; a sliding seat which is slidably arranged on the linear track; a multi-axis robotic arm arranged on the sliding seat; and a servo motor which is assembled on the sliding seat The sliding seat meshes with the row of teeth.

如請求項1所述之具可線性位移機械手臂之銑床結構，其中，該銑床設有一基座，該基座頂部設有一檯面，該基座之側邊設有該側面；且該檯面上設置一可滑移之主軸頭機構。 The milling machine structure with linear displacement mechanical arm according to claim 1, wherein the milling machine is provided with a base, the top of the base is provided with a table, the side of the base is provided with the side surface; and the table is provided with A sliding spindle head mechanism.

如請求項2所述之具可線性位移機械手臂之銑床結構，其中，該側面平行該主軸頭機構之滑移方向。 The milling machine structure with linear displacement mechanical arm as described in claim 2, wherein the side surface is parallel to the sliding direction of the spindle head mechanism.

如請求項2所述之具可線性位移機械手臂之銑床結構，其中，該線型軌道之軸向平行該主軸頭機構之滑移方向。 The milling machine structure with linear displacement mechanical arm according to claim 2, wherein the axial direction of the linear track is parallel to the sliding direction of the spindle head mechanism.