CN100495150C - Clamping device and holding method thereof - Google Patents
Clamping device and holding method thereof Download PDFInfo
- Publication number
- CN100495150C CN100495150C CNB2007101626239A CN200710162623A CN100495150C CN 100495150 C CN100495150 C CN 100495150C CN B2007101626239 A CNB2007101626239 A CN B2007101626239A CN 200710162623 A CN200710162623 A CN 200710162623A CN 100495150 C CN100495150 C CN 100495150C
- Authority
- CN
- China
- Prior art keywords
- clamping limb
- moment
- pedestal
- bare terminal
- clamping
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Expired - Fee Related
Links
Images
Landscapes
- Manipulator (AREA)
Abstract
A clamp device and a clamp method are provided. The clamp device comprises a holder. Wherein, each end of the holder is respectively and pivotally arranged with a clamp assembly. The clamp assembly comprises a clamp arm, a rocker, an elastic assembly and an eccentric wheel pivotally connected with one end of the rocker. In addition, the rocker realizes reciprocating type pivotal rotation on the holder to rotate the eccentric wheel to drive the clamp arm to clamp or release a clamped object. The clamp device and the clamp method of the present invention can easily grip large-sized equipments and bring convenience to equipment transportation and cleaning.
Description
Technical field
The present invention relates to a kind of clamping device, Handling device and clamp method, particularly about a kind of clamping device, Handling device and clamp method of large scale equipment.
Background technology
Along with the development of liquid crystal technology, it is increasing that the size of liquid crystal panel can be done, and then the size of the manufacturing equipment of liquid crystal panel also needs correspondingly to amplify, to make large-sized liquid crystal panel.
With existing liquid crystal panel manufacturing equipment exposure machine is example, and the size of early stage liquid crystal panel is less, so the size of the mask of exposure machine is also less, and the exposure machine mask of this reduced size is manually directly carried in handling process and got final product.In addition, when the mask back side has surperficial micronic dust, also can directly by an operator this mask be lifted, another operator cleans the mask surface with air cannon in the mask below.But along with the size of liquid crystal panel is increasing, the size of this mask is also increasing, can't this mask of free-hand snatch in carrying or process of cleaning.Particularly be carried to the process of client from making end in the large scale mask, only free-hand and simple tools grasps mask with many people, and not only speed is slow, labor intensive and very big to carrying personnel's danger; In case accidentally, also will cause expensive mask damage, so a dead lift still there is potential cost.
Though it is substrate and mask so that the support holder is got or the vacsorb mode is taken and comprised liquid crystal panel that some existing Handling devices are arranged at present, but this dual mode all needs to contact with substrate or mask surface (as the viewing area of position at liquid crystal panel), cause damage at substrate or mask surface easily, and not only cost height and the easily inefficacy of this vacsorb mode.
Therefore, the device of a kind of convenient carrying of necessary exploitation and cleaning large scale mask is to overcome the aforementioned disadvantages of prior art.
Summary of the invention
The object of the present invention is to provide a kind of clamping device, Handling device and clamp method, it can be in order to carry and the large-sized equipment of snatch easily.
For reaching the foregoing invention purpose, the present invention discloses a kind of clamping device, comprise: a pedestal, a pair of first clamping limb and second clamping limb, a pair of first rocking arm and second rocking arm, a pair of first eccentric wheel and second eccentric wheel, and a pair of first elastic parts and second elastic parts.Aforementioned pedestal has two opposite ends.Each clamping limb have a wherein opposite end, a depression bar that a pivot end can be pivoted on this pedestal for clamping limb from this pivot end extend, a bare terminal end is used for butt one and be formed between this depression bar and this bare terminal end by an end of gripping object and a link.
This each rocking arm is located on the wherein opposite end of this pedestal, wherein this rocking arm have a free end and a hub switch side can be on the opposite end of this pedestal for rocker arm pivots.This each eccentric wheel connects with the hub switch side of relative rocking arm, and is divided into a minor axis zone and the major diameter zone with different radical lengths.One end of each elastic parts connects this pedestal, and its another opposite end is connected on the link of this relative clamping limb.
When moving back and forth on the opposite end of free end at this pedestal of this rocking arm, drive the depression bar of this this clamping limb of eccentric major diameter zone compressing to produce one first moment via the hub switch side, this first moment is ordered about this clamping limb and is rotated, this is subjected to gripping object until the bare terminal end butt of this clamping limb, or drive the depression bar of this eccentric minor axis zone near this clamping limb, make elastic parts that elastic force is provided and produce one second moment, this second moment backward rotation clamping limb, bare terminal end until this clamping limb is subjected to gripping object away from this, and wherein this first moment is greater than second moment.
In addition, the present invention also discloses a kind of Handling device that uses this clamping device, comprise: a pedestal, a plural number guide rail column respectively has a guide rail and is set in parallel in these pedestal both sides to form an accommodation space, a plural number lead screw is arranged at this plural number and props up between the guide rail column, a plurality of shaft couplings connect this plural number separately and prop up lead screw, one steering gear connects these a plurality of shaft couplings, one drive source is used to drive this steering gear and rotates these a plurality of shaft couplings and prop up lead screw to drive this plural number, an and clamping device, having at least one clamp assemblies is subjected to gripping object in this accommodation space with clamping one, these clamping device both sides screw togather this plural number and prop up lead screw, when this drive source drives this plural number and props up lead screw, this plural number props up this clamping device of lead screw interlock and moves up or down along this guide rail, is subjected to the position at gripping object place until this.
For reaching aforementioned purpose, a kind of clamp method of the present invention is to apply on the clamping device, this clamping device has a pedestal and a pair of clamp assemblies is divided on two opposite ends of this pedestal, and this each clamp assemblies comprises: a clamping limb has that a pivot end can be pivoted on this pedestal for this clamping limb, a depression bar, a bare terminal end, and a link is formed between this depression bar and this bare terminal end; One rocking arm has a free end and a hub switch side can be for this rocker arm pivots on this pedestal; One eccentric wheel is divided into a minor axis zone and the major diameter zone with different radical lengths, and this eccentric wheel is connected with the hub switch side of this rocking arm; And an elastic parts, the one end connects this pedestal, and its another opposite end is connected on the link of this clamping limb, and this clamp method may further comprise the steps:
Making the free end of the rocking arm of this each clamp assemblies is that the center rotates to diverse location on this pedestal with its hub switch side;
See through the hub switch side and drive this eccentric wheel deflection;
The depression bar that deflects to this clamping limb of major diameter zone compressing when this eccentric wheel is when producing one first moment, and the bare terminal end that this first moment is ordered about this clamping limb is that fulcrum rotates that this is subjected to gripping object until the bare terminal end butt of this clamping limb with the pivot end; And
When this eccentric wheel deflect to the minor axis zone near the depression bar of this clamping limb when removing this first moment, this elastic parts provides a bounce-back moment to the link of this clamping limb, this bounce-back moment is second moment, the bare terminal end that this bounce-back moment is ordered about this clamping limb is that fulcrum rotates until be subjected to gripping object away from this with the pivot end, and wherein this first moment is greater than second moment.
Therefore, effect of the present invention is significant: utilize clamping device of the present invention, Handling device and clamp method thereof, the equipment of snatch large scale at an easy rate is convenient to carrying and is cleaned this equipment.
Description of drawings
Figure 1A is in the overall schematic of open mode for the clamping device of the first embodiment of the present invention.
Figure 1B is the enlarged diagram of the clamping device open mode of the first embodiment of the present invention.
Fig. 1 C is the rocking arm and the eccentric structural representation of clamping device of the present invention.
Fig. 1 D is the enlarged diagram that the clamping device clamping of the first embodiment of the present invention is subjected to gripping object.
Fig. 1 E is the overall schematic that the clamping device clamping of the first embodiment of the present invention is subjected to gripping object.
Fig. 2 A is the overall schematic that the clamping device of the second embodiment of the present invention is in opening.
Fig. 2 B is the enlarged diagram that the clamping device of the second embodiment of the present invention is in opening.
Fig. 2 C is the enlarged diagram that the clamping device clamping of the second embodiment of the present invention is subjected to gripping object.
Fig. 2 D is the overall schematic that the clamping device clamping of the second embodiment of the present invention is subjected to gripping object.
Fig. 3 is the front view of the Handling device that matches with clamping device of the present invention.
Fig. 4 is the vertical view of the Handling device that matches with clamping device of the present invention.
The main element symbol description
1 clamping device, 10 pedestals
101,102 opposite ends, 11,11 ' clamping limb
111 hub switch sides, 112 depression bars
113 bare terminal ends, 114 links
12 elastic partss, 13 rocking arms
131 free ends, 132 hub switch sides
14 eccentric wheels, 141 minor axis zones
142 major diameters zone, 15 clips
151 stationary shaft, 16 clips
161 stationary shaft, 21,21 ' clamping limb
211 hub switch sides, 212 depression bars
213 bare terminal ends, 214 links
22 elastic partss, 23 rocking arms
231 free ends, 232 hub switch sides
24 eccentric wheels, 241 minor axis zones
242 major diameters zone, 25 clips
251 stationary shaft, 26 clips
261 stationary shaft, 2 clamping devices
113 ' bare terminal end, 213 ' bare terminal end
17,27 capping apparatus 30 are subjected to gripping object
3 Handling devices, 32 pedestals
31 guide rail columns, 311 guide rails
40 steering gears, 41 lead screws
42 shaft couplings, 43 drive sources
Embodiment
See also shown in Figure 1A and Figure 1B, wherein Figure 1A is a kind of synoptic diagram of the clamping device 1 according to the first embodiment of the present invention, Figure 1B is the enlarged diagram of this clamping device 1, only shows among the figure that the detailed structure of its two opposite end 101,102 shows as yet that also not clamping one is subjected to gripping object 30.This clamping device 1 comprises: a pedestal 10, and a pair of clamp assemblies is separate and be symmetricly set in the opposite end 101 of this pedestal 10, on 102 the sidewall, the clamp assemblies that wherein is positioned at the opposite end 101 of this pedestal 10 has a clamping limb 11, an elastic parts 12, a rocking arm 13 and an eccentric wheel 14, and another clamp assemblies that is positioned at the opposite end 102 of this pedestal 10 has a clamping limb 21, an elastic parts 22, a rocking arm 23 and an eccentric wheel 24.
These two clamping limbs 11,21 are used for two respective ends that clamping one is subjected to gripping object 30, and this each clamping limb 11,21 have a pivot end 111,211 can supply this clamping limb 11,21 are pivotally fixed in the opposite end 101 of this pedestal 10, on 102 the sidewall, a depression bar 112,212 101,102 extend from this pivot end 111,211 towards this end, a bare terminal end 113,213 are used for butt, and this is subjected to a wherein end and a link 114 of gripping object 30,214 are formed between this depression bar 112,212 and this bare terminal end 113,213.Because this two clamping limb 11,21 bare terminal end 113,213 all are groove structure, and the opening direction of both groove structures is anti-phase symmetry, so firmly clamping this be subjected to the two terminal relatively of gripping object 30, wherein the openings of sizes of this groove structure can determine according to the thickness that is subjected to gripping object 30 of desire clamping.Be noted that this is subjected to gripping object 30 to can be any board device that needs carrying; In present embodiment,, therefore do not limit range of application of the present invention though be that exposure machine mask (as G7.5) with a kind of large scale liquid crystal panel is that example is stated clearly.
Shown in Figure 1B, an end of this each elastic parts 12,22 is fixedly connected on the sidewall of opposite end 101,102 of this pedestal 10, and its another opposite end is fixedly connected on the link 114,214 of this clamping limb 11,21.In the present embodiment, the elastic parts 12,22 of one of them end 101,102 can be a kind of coil tension spring.
This two rocking arm 13,23 are located at the two ends 101 of this pedestal 10 respectively, 102 top, each rocking arm 13 wherein, 23 have a free end 131,231, and one hub switch side 132,232 can be pivoted on the opposite end 101 of this pedestal 10 for this rocking arm 13,23, on 102, make this free end 131,231 can move back and forth in the left and right sides of this opposite end 101,102, also promptly the free end 131 of this rocking arm 13 can move back and forth to the opposite end 101 a primary importance and a second place, and the free end 231 of this rocking arm 23 can move back and forth to the opposite end 102 one the 3rd position and one the 4th position.
Shown in Figure 1B, this two eccentric wheel 14,24 is connected to the hub switch side 132,232 of this rocking arm 13,23.With the rocking arm shown in Fig. 1 C 13 is example, the excentric shaft that its hub switch side 132 is connected in this eccentric wheel 14 in the heart, therefore when this rocking arm 13 during around 132 rotations of this hub switch side, can drive this eccentric wheel 14 is that benchmark is made eccentric rotary with eccentric axle center.If separate, this eccentric wheel 14 can be divided into two 141 and one major diameter zones 142, minor axis zone up and down with different radical lengths according to a transverse axis that runs through the eccentric axle center of this first eccentric wheel 14.The operating principle of this eccentric wheel 24 also is same as this eccentric wheel 14.
Shown in Figure 1B and Fig. 1 D, this clamping device 1 also comprises: the two pairs of clips 15,16 and 25,26 respectively by two pairs of stationary shaft 151,161 and 251,261 are arranged on primary importance, the second place and the 3rd position, the 4th position of upper surface of two opposite ends 101,102 of pedestal 10.
Shown in Figure 1B and Fig. 1 C, when desire to make this clamping device 1 remove clamping this when being subjected to gripping object 30, is the primary importance that the center rotates to the opposite end 101 of this pedestal 10 with the free end 131 of this rocking arm 13 with its hub switch side 132, and the free end 231 of this rocking arm 23 is the rotation that the center is in reverse to this rocking arm 13 with its hub switch side 232, and free end 231 is moved on the 3rd position of opposite end 102 of this pedestal 10.At this moment, the wheel rim in the minor axis zone 141 of hub switch side 132 these eccentric wheels 14 of meeting drive of this rocking arm 13 is near the depression bar 112 of this clamping limb 11, and the wheel rim in this minor axis zone 141 can not produce moment to this clamping limb 11, but this elastic parts 12 can provide a bounce-back moment (if oneself is stretched in advance) via 114 pairs of these clamping limbs 11 of this link, this bounce-back moment can make clamping limb 11 make inverse clock based on pivot end 111 on the opposite end 101 of this pedestal 10 and pivot, and is subjected to gripping object 30 with the bare terminal end 113 that rotates this clamping limb 11 away from this.Then, utilize clip 16 stationary shaft 161 to be done rotation inwardly or towards inner rotary around this, can be on primary importance or remove snap close with these free end 131 snap closes.Similarly, the wheel rim in the minor axis zone of the hub switch side 232 reverse drive eccentric wheels 24 of this rocking arm 23 is near the depression bar 212 of this clamping limb 21, the wheel rim in this minor axis zone does not produce moment to this clamping limb 21, but this elastic parts 22 can provide a bounce-back moment (if oneself is stretched in advance) via 214 pairs of these clamping limbs 21 of this link, this bounce-back moment can make clamping limb 21 make clockwise based on pivot end 211 on the opposite end 102 of this pedestal 10 and pivot, and is subjected to gripping object 30 with the bare terminal end 213 that rotates this clamping limb 21 away from this.Then, utilize clip 25 stationary shaft 251 to be done rotation inwardly or towards inner rotary around this, can be on the 3rd position or remove snap close with these free end 231 snap closes.
See also shown in Fig. 1 C and Fig. 1 D, when desire to make this clamping device 1 clamping this when being subjected to gripping object 30, being the center with the free end 131 of this rocking arm 13 with its hub switch side 132 rotates to the second place from the primary importance of the opposite end 101 of this pedestal 10, and be the rotation that the center is in reverse to this rocking arm 13 with the free end 231 of this rocking arm 23 with its hub switch side 232, rotate to the 4th position with freedom of movement end 231 from the 3rd position of the opposite end 102 of this pedestal 10.At this moment, the hub switch side 132 of this rocking arm 13 can be changeed the wheel rim that oppositely drives the major diameter zone 142 of this eccentric wheel 14 and be oppressed the depression bar 112 of this clamping limb 11 to produce one first moment, this first moment can make this clamping limb 11 make clockwise based on pivot end 111 on the opposite end 101 of this pedestal 10 and pivot, make this clamping limb 11 bare terminal end 113 butts this be subjected to a wherein end of gripping object 30, make the link 114 of 12 pairs of these clamping limbs 11 of this elastic parts provide a tensile-elasticity producing one second moment simultaneously, but this first moment is greater than second moment.Then, utilize clip 15 stationary shaft 151 to be done rotation inwardly or towards inner rotary around this, can be on the second place or remove snap close with these free end 131 snap closes.Similarly, utilize the hub switch side 232 reverse wheel rims that drive the major diameter zone of eccentric wheel 24 of this rocking arm 23 to oppress the depression bar 212 of this clamping limb 21 to produce one the 3rd moment, the 3rd moment can make this clamping limb 21 make inverse clock based on pivot end 211 on the opposite end 102 of this pedestal 10 and pivot, make this clamping limb 21 bare terminal end 213 butts this be subjected to another end of gripping object 30, make this elastic parts 22 provide a tensile-elasticity producing one the 4th moment simultaneously, but the 3rd moment is greater than the 4th moment via 214 pairs of these clamping limbs 21 of this link.Then, utilize clip 26 stationary shaft 261 to be done rotation inwardly or towards inner rotary around this, can be on the 4th position or remove snap close with these free end 231 snap closes.Its result is shown in Fig. 1 E, and the clamping limb 11,21 on two opposite ends 101,102 of the pedestal 10 of this clamping device 1 can firmly be held on this and be subjected to the two terminal relatively of gripping object 30.
See also shown in Fig. 2 A, be a kind of clamping device 2 according to the second embodiment of the present invention, it is in releasing this is subjected to the clamping of gripping object 30.Because the clamping device 2 of second embodiment of the invention and the partial structure and the functional similarity of the clamping device 1 of aforementioned first embodiment, therefore the part of same structure is all represented with identical label in this two embodiment, and no longer gives superfluous stating at this.
See also shown in Fig. 2 B, be with clamping device 1 difference of first embodiment: two clamping limbs 11 ' of the clamping device 2 of this second embodiment, 21 ' bare terminal end 113 ', 213 ' is a L type structure, and in two terminal relatively 101,102 lower surface of this pedestal 10 respectively to being arranged with two capping apparatus 17 that are cylinder, 27, be used to cooperate aforementioned bare terminal end 113 ', 213 '.This Fig. 2 B shows that this clamping device 2 just removing the clamping that this is subjected to gripping object 30.
See also shown in Fig. 2 C, this is subjected to gripping object 30 for clamping device 2 clampings of second embodiment of the invention, different with first embodiment is: clockwise rotate around pivot end 111 behind the clamping limb 11 ' pressurized of second embodiment, this is subjected to a wherein end of gripping object 30 until the L type structure of the bare terminal end 113 ' of clamping limb 11 ' and capping apparatus 17 common clampings; And rotate counterclockwise around pivot end 211 behind this clamping limb 21 ' pressurized, this is subjected to another end of gripping object 30 until the L type structure of the bare terminal end 213 ' of clamping limb 21 ' and capping apparatus 27 common clampings.Therefore, finally shown in Fig. 2 D, clamping limb 11 ', 21 ' on two opposite ends 101,102 of the pedestal 10 of this clamping device 2 and capping apparatus 17,27 firmly are held on this and are subjected to the two terminal relatively of gripping object 30.
See also Fig. 3 and shown in Figure 4, it shows a kind of foundation Handling device 3 of the present invention as for a kind of mask grasping mechanism, uses aforementioned clamping device 1.This Handling device 3 comprises the pedestal 32 of a rectangular framework, this pedestal 32 has a upper surface, and be arranged with a plural number guide rail column 31 in parallel in these pedestal 32 both sides, those guide rail columns 31 respectively have a guide rail 311, be set in parallel in this pedestal both sides, and those guide rail columns 31 support the common accommodation spaces that form of this pedestals 32 accommodating this clamping device 1, and two terminal 101,102 being set up in respectively in this two relative guide rail 311 relatively of the pedestal 10 of this clamping device 1.Upper face center in this pedestal 32 is provided with a steering gear 40, and respectively be provided with a lead screw 41 in the upper surface two ends of pedestal 32 to screw togather this clamping device 1, make the two ends of this steering gear 40 use one to be arranged at the shaft coupling 42 of pedestal 32 upper surfaces respectively to connect those lead screws 41.These steering gear 40 sides of these pedestal 32 upper surfaces are provided with a drive source 43 as servo motor, being used to drive this steering gear 40 rotates these a plurality of shaft couplings 42 and props up lead screw 41 to drive this plural number, these two relative lead screws 41 can drive this clamping device 1 and do to rise or descend along this guide rail 311 and move then, be subjected to the position at gripping object 30 places until this, this is moved by gripping object 30 together so that grasp these two clamping limbs, 11,21 clampings that are subjected to gripping object 30 or this clamping device 1 in this accommodation space.For example, when this is subjected to gripping object 30 is that a mask and this mask back side are when attaching particle (Particle), utilize this mask grasping mechanism 3 mask can be mentioned with clamping device 1, making things convenient for personnel to clean this mask back side film (Pellicle), or relatively large mask or the displacement mask box of convenient carrying.
This is subjected in the process of gripping object 30 in clamping, because two opposite ends 101 of this clamping device 1,102 first clamping limb 11 is identical with the function mode of second clamping limb 21, so the clamping process of only locating with first clamping limb 11 is an example, and please refer to Fig. 1 C, 1D and 1E, clamp method of the present invention is illustrated, and it comprises the steps:
When desiring with clamping device 1 clamping that this is subjected to gripping object 30, will be positioned at earlier clip 16 on the primary importance of pedestal 10 towards inner rotary to remove snap close to the free end 131 of this rocking arm 13;
To be the center with its hub switch side 132 rotate to the second place from the primary importance of pedestal 10 to the free end 131 that makes this rocking arm 13;
The hub switch side 132 of this rocking arm 13 drives this eccentric wheel 14 and carries out the off-centre rotation with this hub switch side 132, the depression bar 112 of these clamping limbs 11 is oppressed to provide one first moment to this clamping limb 11 in major diameter zone 142 until this eccentric wheel 14, it is that fulcrum is done the clockwise rotation with its pivot end 111 that this first moment is impelled this clamping limb 11, this elastic parts 12 that stretches is simultaneously made elastic deformation and is produced one second moment with the link 114 to this clamping limb 11, wherein because of this first moment greater than this second moment, the bare terminal end 113 that continues to order about this clamping limb 11 is that fulcrum rotates with pivot end 111, and this is subjected to a wherein end of gripping object 30 until bare terminal end 113 butts of this clamping limb 11; And
After the free end 131 of rocking arm 13 rotates to the second place of pedestal 10, utilize the clip 15 of the second place be positioned at pedestal 10 to rotate free end 131 with this rocking arm 13 of snap close inwardly in the second place, then can keep clamp position.
In addition, and please refer to Figure 1A, 1B and 1C,, will be positioned at clip 15 on the second place of pedestal 10 earlier towards inner rotary, to remove snap close to the free end 131 of this rocking arm 13 when desiring to remove when this is subjected to the clamping of gripping object 30 with clamping device 1;
Is the center from the second place reverse rotation of pedestal 10 to primary importance with the free end 131 of rocking arm 13 with its hub switch side 132;
The hub switch side 132 of this rocking arm 13 drives eccentric wheel 14 and does oppositely eccentric rotation with hub switch side 132, along with the minor axis zone 141 of this eccentric wheel 14 near the depression bar 112 of this clamping limb 11 to remove compressing to depression bar 112, this first moment is diminished gradually until disappearance, this moment, second (bounce-back) moment bare terminal end 113 that will order about this clamping limb 11 of this elastic parts 12 was that fulcrum is done the inverse clock rotation with pivot end 111, was subjected to gripping object 30 until bare terminal end 113 away from this; And
After the free end 131 of rocking arm 13 rotates to the primary importance of pedestal 10, utilize the clip 16 of the primary importance be positioned at pedestal 10 to rotate free end 131 with this rocking arm 13 of snap close inwardly in primary importance.Utilize clamping device of the present invention and clamp method thereof, can be easy to snatch and be subjected to gripping object, be convenient to carrying and clean this be subjected to gripping object.
Though the present invention discloses as above with preferred embodiment; right its is not in order to limiting the present invention, anyly has the knack of this skill person, without departing from the spirit and scope of the present invention; when can doing various changes and modification, so protection scope of the present invention is as the criterion when looking the scope that claims define.
Claims (16)
1. a clamping device is characterized in that, this clamping device comprises:
One pedestal has one first end and with respect to one second end of this first end;
One first clamping limb has first end that one first pivot end is articulated in this pedestal, and one first bare terminal end is used for butt one and is subjected to gripping object;
One first rocking arm has a free end and a hub switch side and is hubbed on first end of this pedestal;
One first eccentric wheel is connected with the hub switch side of this first rocking arm, and this first eccentric wheel is divided into a minor axis zone and the major diameter zone with different radical lengths; And
One first elastic parts, the one end connects this pedestal, and its another opposite end is connected on this first clamping limb, wherein
When pivoting on first end of this first rocking arm at this pedestal, drive this this first clamping limb of first eccentric major diameter zone compressing to produce one first moment, this first moment is ordered about this first clamping limb and is rotated, this is subjected to gripping object until the first bare terminal end butt of this first clamping limb, or oppositely drive this first eccentric minor axis zone and make first elastic parts elastic force is provided and produce one second moment to remove to the compressing of this first clamping limb near this first clamping limb, this second moment backward rotation, first clamping limb, first bare terminal end until this first clamping limb is subjected to gripping object away from this, and wherein this first moment is greater than second moment.
2. clamping device as claimed in claim 1 is characterized in that, this first clamping limb further has one first depression bar, and one first link is formed between this first depression bar and this first bare terminal end, is used to connect the opposite end of this first elastic parts.
3. clamping device as claimed in claim 2, it is characterized in that, deserve this first rocking arm when on first end of this pedestal, pivoting, drive first depression bar of this this first clamping limb of first eccentric major diameter zone compressing and produce described first moment and rotate to order about this first clamping limb, this is subjected to gripping object until the first bare terminal end butt of this first clamping limb, or oppositely drive this first eccentric minor axis zone near first depression bar of this first clamping limb to remove compressing, and make first elastic parts elastic force is provided and produce described second moment with backward rotation first clamping limb via first link, be subjected to gripping object until first bare terminal end of this first clamping limb away from this.
4. clamping device as claimed in claim 3, it is characterized in that, when this first rocking arm is the center when a primary importance is switched to a second place with its hub switch side, its hub switch side drives first depression bar of first this first clamping limb of eccentric major diameter zone compressing to produce described first moment, this first moment rotate this first clamping limb the first bare terminal end butt this be subjected to gripping object, and cause this first elastic parts to provide a tensile-elasticity to produce described second moment to first link of this first clamping limb.
5. clamping device as claimed in claim 4, it is characterized in that, when this first rocking arm when the second place is switched to primary importance, its hub switch side drive the first eccentric minor axis zone near first depression bar of this first clamping limb to remove this first moment, and making first elastic parts provide a bounce-back moment to this first clamping limb, first bare terminal end that this bounce-back moment is rotated first clamping limb is subjected to gripping object away from this.
6. clamping device as claimed in claim 5, it is characterized in that, further comprise one first clip, the free end that is used for fixing this first rocking arm is on the primary importance of first end of pedestal, and one second clip, the free end that is used for fixing this first rocking arm is on the second place of first end of this pedestal.
7. clamping device as claimed in claim 6 is characterized in that, further comprises:
One second clamping limb is positioned on second end of this pedestal to be separated relatively with aforementioned first clamping limb, and this second clamping limb has one second pivot end and can be used for butt from this second pivot end extension, one second bare terminal end for second end, one second depression bar that second clamping limb is pivoted on this pedestal this is formed between this second depression bar and this second bare terminal end by the other end of gripping object and one second link;
One second rocking arm has a free end and a hub switch side and is hubbed on second end of this pedestal;
One second eccentric wheel is connected with the hub switch side of this second rocking arm, and is divided into a minor axis zone and the major diameter zone with different radical lengths; And
One second elastic parts, the one end connects this pedestal, and its another opposite end is connected on second link of this second clamping limb, wherein
When pivoting on second end of free end at this pedestal of this second rocking arm, drive second depression bar of this this second clamping limb of second eccentric major diameter zone compressing to produce one the 3rd moment via the hub switch side, the 3rd moment is ordered about this second clamping limb and is rotated, this is subjected to gripping object until the second bare terminal end butt of this second clamping limb, or oppositely drive this second eccentric minor axis zone near second depression bar of this second clamping limb to remove compressing, and make second elastic parts elastic force is provided and produce one the 4th moment via second link, the 4th moment backward rotation second clamping limb, second bare terminal end until this second clamping limb is subjected to gripping object away from this, and wherein the 3rd moment is greater than the 4th moment.
8. clamping device as claimed in claim 7, it is characterized in that, when the free end of this second rocking arm is the center with the hub switch side when one the 3rd position rotates to one the 4th position, its hub switch side drives second depression bar of second this second clamping limb of eccentric major diameter zone compressing to produce described the 3rd moment, the 3rd moment rotate this second clamping limb the second bare terminal end butt this be subjected to gripping object, and cause this second elastic parts to provide a tensile-elasticity to produce described the 4th moment to second link of this second clamping limb.
9. clamping device as claimed in claim 8, it is characterized in that, when the free end of this second rocking arm when the 4th position rotates to the 3rd position, its hub switch side drive the second eccentric minor axis zone near second depression bar of this second clamping limb to remove the 3rd moment, and make second elastic parts provide a bounce-back moment to this second clamping limb, this bounce-back moment is described second moment, and second bare terminal end that this bounce-back moment is rotated second clamping limb is subjected to gripping object away from this.
10. clamping device as claimed in claim 9, it is characterized in that, further comprise one the 3rd clip, the free end that is used for fixing this second rocking arm is on the 3rd position of second end of pedestal, and one the 4th clip, the free end that is used for fixing this second rocking arm is on the 4th position of second end of this pedestal.
11. clamping device as claimed in claim 7 is characterized in that, first bare terminal end of this first clamping limb and second bare terminal end of this second clamping limb are a groove structure.
12. clamping device as claimed in claim 7 is characterized in that, first bare terminal end of this first clamping limb and second bare terminal end of this second clamping limb are a L type structure.
13. clamping device as claimed in claim 12, it is characterized in that, this pedestal further has at least one pressure setting, be used for first bare terminal end of corresponding matching first clamping limb and second clamping limb second bare terminal end one of them, be fixed between this corresponding bare terminal end and this pressure setting this is subjected to gripping object.
14. a clamping device is characterized in that, this clamping device comprises:
One pedestal has the first relative end and second end; And
A pair of clamp assemblies be divided on this two opposite end of this pedestal, and this each clamp assemblies comprises:
One clamping limb have first end, a depression bar that a pivot end can be pivoted on this pedestal for this clamping limb from this pivot end extend, a bare terminal end is used for butt one and be formed between this depression bar and this bare terminal end by an end of gripping object and a link;
One rocking arm is located on first end of this pedestal, wherein this rocking arm have a free end and a hub switch side can be on first end of this pedestal for this rocker arm pivots;
One eccentric wheel is connected with the hub switch side of this rocking arm, and is divided into a minor axis zone and the major diameter zone with different radical lengths; And
One elastic parts, the one end connects this pedestal, and its another opposite end is connected on the link of this clamping limb, wherein
When moving back and forth on first end of free end at this pedestal of this rocking arm, drive the depression bar of this this clamping limb of eccentric major diameter zone compressing to produce one first moment via the hub switch side, this first moment is ordered about this clamping limb and is rotated, this is subjected to gripping object until the bare terminal end butt of this clamping limb, or drive the depression bar of this eccentric minor axis zone near this clamping limb, make this elastic parts elastic force is provided and produce one second moment, this this clamping limb of second moment backward rotation, bare terminal end until this clamping limb is subjected to gripping object away from this, and wherein this first moment is greater than second moment.
15. clamp method, apply on the clamping device, this clamping device has a pedestal and a pair of clamp assemblies is divided on two opposite ends of this pedestal, and this each clamp assemblies comprises: a clamping limb has that a pivot end can be pivoted on this pedestal for this clamping limb, a depression bar, a bare terminal end, and a link is formed between this depression bar and this bare terminal end; One rocking arm has a free end and a hub switch side can be for this rocker arm pivots on this pedestal; One eccentric wheel is divided into a minor axis zone and the major diameter zone with different radical lengths, and this eccentric wheel is connected with the hub switch side of this rocking arm; And an elastic parts, the one end connects this pedestal, and its another opposite end is connected on the link of this clamping limb, and this clamp method may further comprise the steps:
Making the free end of the rocking arm of this each clamp assemblies is that the center rotates to diverse location on this pedestal with its hub switch side;
See through the hub switch side and drive this eccentric wheel deflection;
The depression bar that deflects to this clamping limb of major diameter zone compressing when this eccentric wheel is when producing one first moment, and the bare terminal end that this first moment is ordered about this clamping limb is that fulcrum rotates that this is subjected to gripping object until the bare terminal end butt of this clamping limb with the pivot end; And
When this eccentric wheel deflect to the minor axis zone near the depression bar of this clamping limb when removing this first moment, this elastic parts provides a bounce-back moment to the link of this clamping limb, this bounce-back moment is second moment, the bare terminal end that this bounce-back moment is ordered about this clamping limb is that fulcrum rotates until be subjected to gripping object away from this with the pivot end, and wherein this first moment is greater than second moment.
16. clamp method as claimed in claim 15 further may further comprise the steps:
The depression bar that deflects to this clamping limb of major diameter zone compressing when this eccentric wheel is when producing described first moment, and this elastic parts provides a tensile-elasticity and constitutes described second moment the link of this clamping limb.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CNB2007101626239A CN100495150C (en) | 2007-10-15 | 2007-10-15 | Clamping device and holding method thereof |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CNB2007101626239A CN100495150C (en) | 2007-10-15 | 2007-10-15 | Clamping device and holding method thereof |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN101140376A CN101140376A (en) | 2008-03-12 |
| CN100495150C true CN100495150C (en) | 2009-06-03 |
Family
ID=39192389
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CNB2007101626239A Expired - Fee Related CN100495150C (en) | 2007-10-15 | 2007-10-15 | Clamping device and holding method thereof |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN100495150C (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| WO2020243814A1 (en) * | 2019-03-29 | 2020-12-10 | Planar Motors Inc | Robotic device and methods for fabrication, use and control of same |
Families Citing this family (15)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| TWI427024B (en) * | 2011-05-27 | 2014-02-21 | Au Optronics Corp | Holding jig and removing method using the same |
| WO2014107351A1 (en) * | 2013-01-04 | 2014-07-10 | Rudolph Technologies, Inc. | Edge grip substrate handler |
| CN105632883B (en) * | 2014-10-27 | 2017-10-31 | 李洪普 | A kind of bulb switching mechanism applied on both-end squeezing machine |
| CN104889953B (en) * | 2015-05-13 | 2019-01-01 | 芜湖爱祺贸易有限公司 | Bracket is used in a kind of detection of LED display |
| CN105345551B (en) * | 2015-12-05 | 2017-06-23 | 重庆腾通工业设计有限公司 | Brake shoe processing fixing device |
| CN106829494A (en) * | 2017-02-15 | 2017-06-13 | 郭永福 | Multifunctional access trigger pile chip plate packaging mechanism |
| CN106625961A (en) * | 2017-02-15 | 2017-05-10 | 郭永福 | Multifunctional plate connector |
| CN106629074A (en) * | 2017-02-15 | 2017-05-10 | 郭永福 | Multifunctional receiving driving mechanism for plate receiving machine |
| CN107399613B (en) * | 2017-08-03 | 2019-06-25 | 武汉华星光电技术有限公司 | A kind of mask plate handling device |
| CN111356926B (en) * | 2018-03-16 | 2024-03-15 | 深圳迈瑞生物医疗电子股份有限公司 | Sample analyzer and sample frame transfer structure |
| CN111373264B (en) * | 2018-03-16 | 2024-09-20 | 深圳迈瑞生物医疗电子股份有限公司 | Sample analyzer and sample frame transfer structure |
| CN108785811B (en) * | 2018-04-16 | 2020-09-15 | 陈风娇 | Novel medical nursing oxygen inhalation machine |
| CN109029335A (en) * | 2018-09-12 | 2018-12-18 | 江苏英锐半导体有限公司 | A kind of wafer flow surface smoothness detection device |
| CN110172667B (en) * | 2019-06-20 | 2021-06-01 | 深圳市华星光电半导体显示技术有限公司 | Clamping device applied to sputtering equipment and sputtering equipment |
| CN114346901B (en) * | 2021-12-28 | 2023-05-23 | 万津实业(赤壁)有限公司 | Automatic clamping device and hole polishing machine |
-
2007
- 2007-10-15 CN CNB2007101626239A patent/CN100495150C/en not_active Expired - Fee Related
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| WO2020243814A1 (en) * | 2019-03-29 | 2020-12-10 | Planar Motors Inc | Robotic device and methods for fabrication, use and control of same |
| US12017871B2 (en) | 2019-03-29 | 2024-06-25 | Planar Motor Inc. | Robotic device and methods for fabrication, use and control of same |
Also Published As
| Publication number | Publication date |
|---|---|
| CN101140376A (en) | 2008-03-12 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN100495150C (en) | Clamping device and holding method thereof | |
| CA2530685A1 (en) | Method and fixture for handling and processing die components | |
| CN108527458A (en) | Bracket Provisioning System and the pre- method of completing the square of bracket | |
| TW201302400A (en) | Manipulator and production device and production line thereof. | |
| CN108099360A (en) | Coat peeling unit and dyestripping method | |
| CN105149294B (en) | A kind of cleaner | |
| JP4121662B2 (en) | Board inspection equipment | |
| CN214136103U (en) | Mechanical arm with buffering structure | |
| CN113457753A (en) | Portable biological safety cabinet | |
| CN111070505A (en) | Circulation processing device | |
| CN102179434B (en) | Aluminum strip synchronous bending device | |
| KR20200091569A (en) | Tire scrubbing machine | |
| CN212621993U (en) | Functional jig testing arrangement | |
| CN112975653A (en) | Machining device for elliptical ring-shaped optical glass | |
| TWM418904U (en) | Glass substrates overturn structure | |
| CN103101020A (en) | Multi-angle rotation clamping and fixing work table | |
| JP3751098B2 (en) | Cap seal removal device | |
| TWI404599B (en) | Clamping device, handling apparatus and clamping method | |
| CN214560745U (en) | Movable tool cabinet | |
| CN100447942C (en) | Cleaning clamp for wafer carrying bench of semiconductor machine | |
| KR20180002551A (en) | Removable crane for robot replacement | |
| CN218226647U (en) | Carrying mechanical arm of truss robot | |
| CN214187131U (en) | Folded cascade is mobile device for electromechanical device installation | |
| JP2012081538A (en) | Optical-element holding device, and optical-element manufacturing method | |
| CN221562612U (en) | Aviation tire tread marking equipment |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C06 | Publication | ||
| PB01 | Publication | ||
| C10 | Entry into substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant | ||
| CF01 | Termination of patent right due to non-payment of annual fee | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20090603 Termination date: 20201015 |