201105468 六、發明說明： 【發明所屬之技術領域】 [0001] 本發明涉及一種夾緊機構，尤其涉及一種應用於機械手 之夾緊機構。 【先前彳支術·】 [0002] 在機械加工過程中，常常需對工件表面進行加工，以使 工件表面變得光滑。例如在電子產品中，為使電子產品 具有較高強度且具有較好外觀，電子產品之殼體會採用 金屬製備。在製備金屬殼體之過程中，會對殼體表面進 行研磨加工以使其表面光滑。 [0003] 在對殼體進行研磨前，通常需先將殼體固定。惟，當殼 體需加工之表面包括平面與彎曲面時，殼體之固定方式 一般均需藉由人工把將工件裝到夾具上來實現，故需要 較多人力並且難以保證裝夾精度。另，使用習知夾具對 殼體進行固定時，常會將部分需要加工之表面掩蓋住而 無法進行加工，故需對殼體進行複數次固定，從而影響 殼體之加工速度。 【發明内容】 [0004] 有鑒於此，有必要提供一種提高裝夾精度及加工速度之 夾緊機構及使用該夾緊機構之機械手。 [0005] —種夾緊機構，包括固定夾緊件、活動夾緊件及驅動件 。固定夾緊件具有第一夾持部，活動夾緊件具有第二夾 持部。活動爽緊件藉由驅動件與固定夾緊件活動相連。 驅動件驅動活動夾緊件相對固定夾緊件平移使第二夾緊 部遠離第一夾緊部。 098126448 表單編號A0101 第4頁/共16頁 0982045342-0 201105468 _6]種機械手’包括機械臂和©定在該機械臂末端之 機構。該夾緊機構包括固定失緊件、活動炎緊件及驅動 件。固疋失緊件具有第一夾持部，活動炎緊件具有第二 夾持4 4動夾緊件藉*驅動件_ ^夾緊件活動相 1動件㈣㈣夾緊件相對固定夾緊件平移使第 緊部遠離第一夾緊部^ 國本發明所提供之顧手之«機構藉由驅動件來調節活 動«件之位置使之與工件相抵持，裝蚊位較為精確 ❹ 。另，藉由固定夾緊件與活動夾繁件從工件之内表面對 I件進行固定，工件需要加工之外表面可全部暴露在外 ，從而便於-次加工完成，提升加工速度。 ' 【實施方式】 I ΙίΡΚ^,ίΙ 闺Τ面將結合附圖及實施方式對本發明之炎緊機構及機械 手作進一步詳細說明。 _9]請參閱圖卜本㈣實施例之機械手100包括機械臂10和 ❹ 11定於機械臂10末端之夾緊機構2〇。爽緊機構2〇用於固 定工件30。機械臂1W帶動夾緊機構20及固定於其上之 工件30做出平移 '旋轉等多種複雜運動。本實施例中， 機械手100與一打磨機（圖未示）配合，對工件3〇之複數表 面進行研磨。 [0010]請參閱圖2，待加工工件30包括底壁31及沿底壁31邊緣向 同一側延伸第一側壁33、第二側壁35及第三侧壁37。第 一侧壁33與第二侧壁35位於底板31之相對兩側，第三侧 壁37位於第一側壁33與第二侧壁35之間。 098126448 表單編號Α0101 第5頁/共16頁 0982045342-0 201105468 [0011] 夾緊機構20包括固定夾緊件21、活動夾緊件23及二驅動 件2 5。活動夾緊件2 3藉由驅動件2 5與固定夾緊件21活動 相連。 [0012] 固定夾緊件21包括方形第一基板211及從第一基板211— 側靠近底面之部位向外垂直延伸形成之第一夾持塊213。 第一基板211可藉由螺接、焊接等方式與機械臂10固定。 第一夾持塊213遠離第一基板211之一端形成可與工件30 之部分底壁31相配合之第一定位面2131及可與工件30之 第一侧壁3 3相抵持之第一爽持:部:2 l· 3 3.。.第一夾持塊213 上貫穿開設有用以容納軀動件2 5之二定位孔213 5及二分 別位於兩定位孔2135兩側之通孔2137。請一併參閱圖3 ，定位孔2135之側壁上還形成有台階部2136。第一基板 211上與第一夹持塊213相同一側靠近頂面之部位向外垂 直延伸形成二凸塊2111。每一凸塊2111上開設有通孔 2112。 [0013] 夾緊機構20還包括二用於引爹幾動#緊件2 3移動之導向 柱215。導向柱215兩端可令对容置幹通孔2112和通孔 2137之内。導向柱215靠近末端之部位還形成有一削平面 2151。第一夾持塊213側面開設有與通孔2137相通之鎖 定孔2138。夾緊機構20還包括二鎖定螺栓219。鎖定螺 栓219穿過鎖定孔2138並與導向柱215之削平面2151相抵 持’以防止導向柱215從通孔2137中脫離。 [0014] 活動夾緊件23大致為塊狀，其包括方形第二基板及從 第二基板231—側垂直延伸形成之第二失持塊233。第二 基板231中部貫穿開設有用以容納驅動件25之二沉頭螺紋 098126448 表單編號A0101 第6頁/共16頁 0982045342-0 201105468 [0015] Ο [0016]Ο [0017] 098126448 孔2 311。第二基板2 31頂面靠近兩側之部位還開設有二a 階部2313。台階部2313内貫穿開設有可容納導向柱215 之導向孔2314。第二夾持塊233遠離第二基板231之一端 形成可與工件30之部分底壁31相配合之第二定位面2331 及可與工件30之第二側壁35相抵持之第二失持部2333。 在本實施例中，驅動件25為螺栓，其包括頭郜251、螺紋 部253及定位部255。頭部251—端開設有内六角孔2511 ，以便於使用六角扳手擰動。螺紋部253可與活動夾緊件 23之螺紋孔2311相配合，以調節活動夾緊件23相對固定 .. .；- - ' 夾緊件21之位置《爽緊機構2 〇還包括彈性件217。請一併 參閱圖3 ’彈牲件217可套設在螺紋部253上，其一端與活 動夾緊件23之第二基板231相抵持，另一端與固定夹緊件 21之台階部2136相抵持。彈性件217係當驅動件25之螺 紋部253與螺紋孔2311配合失敗後起輔助支撐活動夾緊件 23之作用。本實施例中，彈性件217為壓縮彈簧。 定位部255與螺紋部253相鄰，其可插入固定夾緊件21之 定位孔2135内。定位部255之直徑小於螺紋部253之直徑 。定位部255 —端上開設有環形卡槽2551。夾緊機構20 還包括卡環29。卡環29可卡入卡槽2551内。 組裝夾緊機構20時，首先將兩個二彈性件217分別放置於 在兩個二定位孔2135内之台階部2136上。將活動夾緊件 23放置到於固定夾緊件21之第一夾持塊213上，且使活動 夾緊件23之導向孔2314與固定夾緊件21之通孔2112對齊 。導向柱215依次穿過通孔2112、導向孔2314後，進入 通孔2137。鎖定螺栓219穿過鎖定孔2138並與導向枉215 表單編號A0101 第7頁/共16頁 0982045342-0 201105468 之削平面2151相抵持，由此將導向柱215與固定夹緊件 21固定。此時’活動炎緊件23只僅能沿導向柱215做往返 直線運動。兩個二驅動件25依次穿過螺紋孔2311、彈性 件m而進入定位孔2135。由於驅動件25之螺紋部娜之 直捏比;t位部255之直徑大，故螺紋部253之端部會與定 2孔2135之台階部2136相抵持而無法繼續向下運動。、合 疋位部255之卡槽2551位於定位孔2135外部時，卡環μ =卡槽2551内，以防止定位部娜向上運^脫離定位 35。此時，^位部只轉在魏似135内轉動而益 法相収位孔2135沿軸向運動。至此夾緊機_組裝: [0018] 組裝機械手100時，只需將夾緊機構20固定至機械 末端即可。 臂10之 [0019] 098126448 上 工作時，首先將工件3G之底壁31緊靠於固定夾緊件U 第1位面2131及活動夾緊件23之第-定位面2331 然後旋轉驅動件25，使驅树25之螺峡253於 件23之螺紋孔2311内旋轉，由此帶動活動失緊件 、 運動而遠離固定灸緊件21，最終使第-夾持部2133:第 二夾持部2333分別與工件3〇之第-側壁33及第二側壁35 相抵持，以夾緊工件30。此時，機械手1〇〇可帶動固定於 其上之工件3G完成研磨卫序。工作完畢後，反向旋轉驅、 動件25 ’使活動夾緊件23逐漸靠近固定夾緊件2卜此時 可較為方便地將工件30從爽緊機構2〇上取下。 該夾緊機構20結構簡單，定位較為精確，適合對各類材 質之殼體工件進行夾持。另，藉由固定夾緊件21與活動 表單編號Α0101 第8頁/共16頁 0982045342-0 [0020] 201105468 [0021] [0022]Ο [0023] [0024] 從L内表面對工件3G進行固定，工件30 需要加工之外表面可全部暴露在外，便於一次加工完成 ’提升加工速度。 可_ ’導向柱215、彈性件217、鎖定螺栓21 9皆可省 略。右使用其他元件使驅動件25之定位部255保持于定位 孔2135内，卡環29亦可省略。 螺紋孔2311亦可開設於固定夾緊件21上，此時驅動件 與活動夾緊件23相對固定且一起相對固定夾緊件21平移 〇 .. ： . 驅動件25驅動活動夾緊件23之方式亦不偈限於螺栓螺紋 配合，例如可為氣缸、伺服馬達、齒輪齒條、蝸輪蝸杆 等多種形式。 本發明之機械手100還可用於打磨之外之其他領域，如噴 漆、焊接等。201105468 VI. Description of the Invention: [Technical Field] [0001] The present invention relates to a clamping mechanism, and more particularly to a clamping mechanism applied to a robot. [Previous 彳 · · · [0002] In the machining process, it is often necessary to machine the surface of the workpiece to make the surface of the workpiece smooth. For example, in an electronic product, in order to make the electronic product have higher strength and a better appearance, the housing of the electronic product is prepared by metal. During the preparation of the metal casing, the surface of the casing is ground to smooth the surface. [0003] Before the housing is ground, it is usually necessary to fix the housing first. However, when the surface to be processed of the shell includes a flat surface and a curved surface, the fixing method of the housing is generally achieved by manually loading the workpiece onto the jig, so that it requires a lot of manpower and it is difficult to ensure the clamping accuracy. In addition, when the casing is fixed by a conventional jig, a part of the surface to be processed is often covered and cannot be processed, so the casing needs to be fixed a plurality of times, thereby affecting the processing speed of the casing. SUMMARY OF THE INVENTION [0004] In view of the above, it is necessary to provide a clamping mechanism that improves the clamping accuracy and the processing speed, and a robot that uses the clamping mechanism. [0005] A clamping mechanism includes a fixed clamping member, a movable clamping member and a driving member. The fixed clamping member has a first clamping portion and the movable clamping member has a second clamping portion. The movable fastener is movably connected to the fixed clamping member by the driving member. The drive member drives the movable clamping member to translate relative to the stationary clamping member to move the second clamping portion away from the first clamping portion. 098126448 Form No. A0101 Page 4 of 16 0982045342-0 201105468 _6] The robot 'includes the arm and the mechanism that is fixed at the end of the arm. The clamping mechanism includes a fixed distension member, a movable inflaming member, and a driving member. The solid collapsed member has a first clamping portion, the movable inflaming member has a second clamping member, and the movable clamping member is borrowed from the driving member _ ^ clamping member movable phase 1 moving member (4) (4) clamping member relative to the fixed clamping member The translation causes the first tightening portion to be away from the first clamping portion. The mechanism provided by the present invention adjusts the position of the movable member by the driving member to abut against the workpiece, and the mosquito receiving position is relatively accurate. In addition, by fixing the clamping member and the movable clamp to fix the I member from the inner surface of the workpiece, the surface of the workpiece that needs to be processed can be completely exposed, thereby facilitating the completion of the secondary processing and increasing the processing speed. [Embodiment] I ΙίΡΚ^, Ι 将 将 将 将 结合 。 。 。 。 。 。 。 。 。 。 。 。 。 。 。 。 。 。 。 。 。 。 。 。 。 _9] Please refer to the embodiment of the present invention. The robot 100 includes a mechanical arm 10 and a clamping mechanism 2 that is fixed at the end of the robot arm 10. The tightening mechanism 2 is used to fix the workpiece 30. The robot arm 1W drives the clamping mechanism 20 and the workpiece 30 fixed thereto to perform various complex movements such as translation 'rotation. In this embodiment, the robot 100 cooperates with a sander (not shown) to grind the plurality of surfaces of the workpiece 3〇. Referring to FIG. 2, the workpiece 30 to be processed includes a bottom wall 31 and a first side wall 33, a second side wall 35 and a third side wall 37 extending toward the same side along the edge of the bottom wall 31. The first side wall 33 and the second side wall 35 are located on opposite sides of the bottom plate 31, and the third side wall 37 is located between the first side wall 33 and the second side wall 35. 098126448 Form No. Α0101 Page 5 of 16 0982045342-0 201105468 [0011] The clamping mechanism 20 includes a fixed clamping member 21, a movable clamping member 23 and two driving members 25. The movable clamping member 2 is movably connected to the fixed clamping member 21 by the driving member 25. [0012] The fixed clamping member 21 includes a square first substrate 211 and a first clamping block 213 extending perpendicularly outward from a portion of the first substrate 211-side close to the bottom surface. The first substrate 211 can be fixed to the mechanical arm 10 by screwing, welding, or the like. The first clamping block 213 is away from one end of the first substrate 211 to form a first positioning surface 2131 that can cooperate with a portion of the bottom wall 31 of the workpiece 30 and a first holding surface that can resist the first sidewall 33 of the workpiece 30. : Department: 2 l· 3 3. The first clamping block 213 is provided with two positioning holes 213 5 for receiving the body member 25 and two through holes 2137 for two sides of the two positioning holes 2135. Referring to FIG. 3 together, a step portion 2136 is further formed on the sidewall of the positioning hole 2135. The portion of the first substrate 211 on the same side as the first clamping block 213 near the top surface extends outwardly to form two bumps 2111. A through hole 2112 is defined in each of the bumps 2111. [0013] The clamping mechanism 20 further includes two guide posts 215 for guiding the movement of the tensioning members 2 3 . Both ends of the guiding post 215 can be placed inside the dry through hole 2112 and the through hole 2137. A portion of the guide post 215 near the end is also formed with a cut plane 2151. A locking hole 2138 communicating with the through hole 2137 is formed in a side surface of the first clamping block 213. The clamping mechanism 20 also includes two locking bolts 219. The locking bolt 219 passes through the locking hole 2138 and abuts against the cutting plane 2151 of the guide post 215 to prevent the guide post 215 from being detached from the through hole 2137. [0014] The movable clamping member 23 is substantially block-shaped and includes a square second substrate and a second loss-holding block 233 extending perpendicularly from the side of the second substrate 231. The second base plate 231 is provided with a countersunk thread for accommodating the driving member 25. 098126448 Form No. A0101 Page 6 of 16 0982045342-0 201105468 [0015] Ο [0016] 098 [0017] 098126448 Hole 2 311. Two a-step portions 2313 are further formed at a portion of the top surface of the second substrate 2 31 near the two sides. A guide hole 2314 capable of accommodating the guide post 215 is formed in the step portion 2313. The second clamping block 233 is away from one end of the second substrate 231 to form a second positioning surface 2331 that can cooperate with a portion of the bottom wall 31 of the workpiece 30 and a second detent portion 2333 that can abut against the second sidewall 35 of the workpiece 30. . In the present embodiment, the driving member 25 is a bolt including a head rim 251, a threaded portion 253, and a positioning portion 255. The head 251 is provided with a hexagon socket 2511 at the end to facilitate the use of a hex wrench. The threaded portion 253 can cooperate with the threaded hole 2311 of the movable clamping member 23 to adjust the movable clamping member 23 to be relatively fixed. . . - - ' The position of the clamping member 21 "The cooling mechanism 2 〇 also includes the elastic member 217 . Referring to FIG. 3 together, the elastic member 217 can be sleeved on the threaded portion 253, one end of which is abutted against the second substrate 231 of the movable clamping member 23, and the other end is abutted against the step portion 2136 of the fixed clamping member 21. . The elastic member 217 functions to assist the movable clamping member 23 when the screw portion 253 of the driving member 25 fails to engage with the screw hole 2311. In this embodiment, the elastic member 217 is a compression spring. The positioning portion 255 is adjacent to the threaded portion 253, and is insertable into the positioning hole 2135 of the fixing clamp member 21. The diameter of the positioning portion 255 is smaller than the diameter of the threaded portion 253. An annular card slot 2551 is defined on the end of the positioning portion 255. The clamping mechanism 20 also includes a snap ring 29. The snap ring 29 can be snapped into the card slot 2551. When the clamping mechanism 20 is assembled, the two two elastic members 217 are first placed on the step portions 2136 in the two two positioning holes 2135, respectively. The movable clamping member 23 is placed on the first clamping block 213 of the fixed clamping member 21, and the guiding hole 2314 of the movable clamping member 23 is aligned with the through hole 2112 of the fixed clamping member 21. The guide post 215 passes through the through hole 2112 and the guide hole 2314 in sequence, and then enters the through hole 2137. The locking bolt 219 passes through the locking hole 2138 and abuts against the cutting plane 2151 of the guide 枉 215 Form No. A0101, page 7 / page 16 0982045342-0 201105468, thereby fixing the guide post 215 to the fixed clamping member 21. At this time, the active inflammation member 23 can only make a round-trip linear motion along the guide post 215. The two two driving members 25 sequentially pass through the screw holes 2311 and the elastic members m to enter the positioning holes 2135. Since the threaded portion of the driving member 25 has a straight pinch ratio; the diameter of the t-position portion 255 is large, the end portion of the threaded portion 253 abuts against the step portion 2136 of the fixed hole 2135 and cannot continue to move downward. When the card slot 2551 of the clamping portion 255 is located outside the positioning hole 2135, the snap ring μ is located in the card slot 2551 to prevent the positioning portion from moving up and away from the positioning 35. At this time, the position portion is rotated only in the Wei 135 and the profit phase hole 2135 is moved in the axial direction. At this point, the clamper_assembly: [0018] When assembling the robot 100, it is only necessary to fix the clamp mechanism 20 to the mechanical end. When working on [0019] 098126448 of the arm 10, the bottom wall 31 of the workpiece 3G is first abutted against the first surface 2131 of the fixed clamping member U and the first positioning surface 2331 of the movable clamping member 23, and then the driving member 25 is rotated. The snail 253 of the drive tree 25 is rotated in the threaded hole 2311 of the member 23, thereby driving the movable unstrained member, moving away from the fixed moxibustion member 21, and finally the first clamping portion 2133: the second clamping portion 2333 The first side wall 33 and the second side wall 35 of the workpiece 3 are respectively abutted to clamp the workpiece 30. At this time, the robot 1〇〇 can drive the workpiece 3G fixed thereto to complete the grinding process. After the work is completed, the reverse rotation drive and the moving member 25' gradually move the movable clamping member 23 closer to the fixed clamping member 2, and the workpiece 30 can be more easily removed from the refreshing mechanism 2 at this time. The clamping mechanism 20 has a simple structure and a relatively accurate positioning, and is suitable for clamping workpieces of various materials. In addition, by fixing the clamping member 21 and the active form number Α0101, page 8 / total 16 pages 0982045342-0 [0020] [0022] [0023] [0024] Fixing the workpiece 3G from the inner surface of L The surface of the workpiece 30 that needs to be machined can be completely exposed, which is convenient for one-time processing to improve the processing speed. The guide post 215, the elastic member 217, and the locking bolt 21 9 can be omitted. The positioning member 255 of the driving member 25 is held in the positioning hole 2135 by using other elements on the right, and the snap ring 29 can also be omitted. The threaded hole 2311 can also be opened on the fixed clamping member 21, and the driving member is fixed relative to the movable clamping member 23 and is translated together with respect to the fixed clamping member 21. The driving member 25 drives the movable clamping member 23 The method is not limited to the bolt thread fitting, and may be, for example, a cylinder, a servo motor, a rack and pinion, a worm gear, and the like. The robot 100 of the present invention can also be used in other fields than sanding, such as painting, welding, and the like.
[0025] ❹ [0026] [0027] 综上所述’本發明確已符合發明專利之要件，遂依法提 出專利申請。惟，以上所述者僅為本發明之較佳實施方 式，自不能以此限制本案之申請專利範圍。舉凡熟悉本 案技藝之人士援依本發明之精神所作之等轉飾或變化 ν皆應涵蓋於以下申請專利範圍内。 【圖式簡單說明】 圖1係本發明實施例之機械手夾持工件睹+ 寸之組裝_圖，該機 械手包括夾緊機構。 圖2係圖1所示夾緊機構之立體分解圖。 098126448 表單編號Α0101 第9頁/共16頁 201105468 [0028] 圖3係圖1沿I 11 - 111線之剖面圖。 【主要元件符號說明】 機械手 100 機械臂 10 夾緊機構 20 固定夾緊件 21 活動夾緊件 23 驅動件 25 工件 30 底壁 31 第一侧壁 33 第二側壁 35 第三侧壁 37 第一基板 211 第一夾持塊 213 導向柱 215 1 彈性件 217 鎖定螺栓 219 第二基板 231 第二夾持塊 233 頭部 251 螺紋部 253 定位部 255 凸塊 2111 通孔 2112 第一定位面 2131 第一夾持部 2133 定位孔 2135 台階部 2136 通孔 2137 鎖定孔 2138 削平面 2151 螺紋孔 2311 台階部 2313 導向孔 2314 第二定位面 2331 第二夹持部 2333 内六角孔 2511 卡槽 2551 098126448 表單編號A0101 第10頁/共16頁 0982045342-0[0025] In summary, the present invention has indeed met the requirements of the invention patent, and the patent application is filed according to law. However, the above description is only a preferred embodiment of the present invention, and it is not possible to limit the scope of the patent application of the present invention. Any alterations or variations made by those who are familiar with the art of the present invention in accordance with the spirit of the present invention are intended to be included in the scope of the following claims. BRIEF DESCRIPTION OF THE DRAWINGS Fig. 1 is an assembly diagram of a robot holding workpiece 睹+ inch according to an embodiment of the present invention, the robot including a clamping mechanism. Figure 2 is an exploded perspective view of the clamping mechanism of Figure 1. 098126448 Form No. Α0101 Page 9 of 16 201105468 [0028] FIG. 3 is a cross-sectional view taken along line I 11 - 111 of FIG. [Main component symbol description] Robot 100 Robot arm 10 Clamping mechanism 20 Fixing clamp 21 Moving clamp 23 Drive member 25 Workpiece 30 Bottom wall 31 First side wall 33 Second side wall 35 Third side wall 37 First Substrate 211 First clamping block 213 Guide post 215 1 Elastic member 217 Locking bolt 219 Second substrate 231 Second clamping block 233 Head 251 Threaded portion 253 Positioning portion 255 Bump 2111 Through hole 2112 First positioning surface 2131 First Clamping part 2133 Positioning hole 2135 Step part 2136 Through hole 2137 Locking hole 2138 Cutting plane 2151 Threaded hole 2311 Step part 2313 Guide hole 2314 Second positioning surface 2331 Second clamping part 2333 Hexagon hole 2511 Card slot 2551 098126448 Form number A0101 Page 10 / Total 16 pages 0904534534-0