201208837 六、發明說明： 【發明所屬之技術領域】 [0001] 本發明係關於，種夾取装置，尤其涉及一種機械手夾取 裝置。 【先前技術】 [0002] 目前常用之應用於成型機設備上之機械手普遍體積龐大 ，重量重，安裝調試搬運極不方便，耗能較高；不利於 產能的提高及適應節能減排的發展趨勢。 【發明内容】 [〇〇〇3] 有鑒於此，有必要提供一種截積較小、安裝調試搬運方 便的機械手夾取裝置。 [0004] 一種機械手夾取裝置，該機械手央取裝置包括一支撐座 、一安裝架、一水平驅動裝置及一夾爪裝置；所述安裝 架裝配於該支撐座並可相對該支撐座於豎直方向移動； 所述水平驅動裝置包括一基座、r~齒輪、一齒條及一驅 動電機，該基座固定裝設於該安裝架上，該齒輪包括一 齒輪軸，該齒輪可旋轉地裝課於基座上，其齒輪轴伸出 於基座外侧與所述驅動電機相接；所述齒條與該齒輪相 互嚙合，該齒輪由驅動電機驅動使該齒條相對齒輪水平 滑移；所述夾爪裝置固定裝設於該齒條上，其隨同該齒 條相對安裝架於水平方向滑動。 [0005] 一種機械手夾取裝置，該機械手夾取裝置包括一支撐座 、一安裝架、一驅動裝置及一夾爪裝置；所述安裝架裝 配於該支撐座並可相對該支撐座沿第一方向移動；所述 驅動裝置包括一基座、一齒輪、一齒條及一驅動電機， 099127392 表單編號A0101 第4頁/共19頁 0992048106-0 201208837 該基座固定裝設於該安裝架上，該齒輪包括一齒輪軸， 該齒輪可旋轉地裝設於基座上，其齒輪軸伸出於基座外 側與所述驅動電機相接；所述齒條與該齒輪相互嚙合， 該齒輪由驅動電機雜動使該齒條相對齒輪沿第二方向滑 移；所述夾爪裝置固定裝設於該齒條上，其隨同該齒條 相對安裝架於第二方向滑動，該第一方向垂直於該第二 方向β [0006] Ο [0007] 〇 [0008] 099127392 相較習知的機械手夾取裝置，所述機械手夾取裝置結構 簡單、體積較小，極大地減少了設備的佔地空間及成本 ’ 5哀機械手夾取裝.豈.女裝調試方便，有效實現了工件的 自動化抓取及釋放’大大提高的產能及生產效率。 【實施方式】 請參閱圖1及圖2，本發明機械手夾取裝置以應用於一成 型設備（圖未示）中的機械手夾取裝置1〇〇為較佳實施例 。該機械手夾取裝置100可伸入成型設備中夾取成型後的 工件並將夾取的工件取出。 所述機械手夾取_裝置100包括一支撑座1〇、一安裝架2〇、 一升降驅動裝置30、一滑動機構4〇、一連接板5〇、一水 平驅動裝置60及一夾爪裝置7〇 ^所述支撐座1〇與安裝架 20大致垂直設置。所述安裝架2〇由該升降驅動裝置3〇驅 動並與該支撐座1 0可相對沿第一方向（例如豎直方向） 可滑動地裝設於一起。所述滑動機構4〇裝設於該安裝架 20上並與該連接板50連接，從而將該連接板50與該安裝 架20可相對沿一第二方向（例如水平方向）可滑動地裝 設於一起。其中，該第一方向與第二方向垂直。所述水 表單編號Α0101 第5頁/共19頁 0992048106-0 201208837 平驅動裝置60裝設於該安裝架20上並與連接板50相接， 用於驅動所述連接板50相對安裝架2〇水平滑動。所述夾 爪裝置70對應固定裝設於該連接板5〇的末端，其隨同該 連接板50相對安裝架20水平滑動，以伸入成型設備中夾 取成型後的工件及將夾取的工件取出。 [0009] 請一併參閱圖3及圖4，所述支撐座1〇呈大致矩形板狀， 其上沿其縱向方向貫通開設有至少一導向槽13。本較佳 實施例中，該導向槽13為二個，其相互平行間隔開設於 該支樓座10上。所述支撐泉1 〇的兩端分別凸設有一大致 矩形的限位塊15，該二限位塊15相對平行設置並位於該 支推座10同一侧’並與支撲座1〇共同形成一容納空間（ 圖未標）。 [0010] 所述安裝架20包括一安裝板21、一固定座25及一收納臂 27。該安裝板21大致呈“L”形，其包括一主體部211及 一由該主體部211的一端部向外延伸形成的大致呈矩形條 狀的導向臂213。所述主體部211上貫開設有一安裝孔 215。所述固定座25大致至轉形板狀，其與該主體部211 一體設置並與該導向臂213—同設置於該主體部211的同 一側。所述固定座25上凹設有一裝配槽251，該裝配槽 251底部貫通開設有至少一裝配孔253。所述收納臂27大 致呈“L”形板狀，固接於該安裝板21的主體部211或由 該主體部211的一側緣向外延伸彎折形成；該收納臂2 7與 該主體部211形成一大致“u”形的收容空間（圖未標） 〇 [0011] 所述升降驅動裝置30包括一驅動氣缸31、一固接板33及 099127392 0992048106-0 表單編號A0101 第6頁/共19頁 201208837 [0012] ❹ [0013] [0014] Ο 099127392 /導柱35，該固接板33固接於該驅動氣缸31的一端，並 圊定裝设於該安裝架20的固定座25上。所述導柱35凸設 於該驅動氣缸31上，其外徑尺寸與所述支撐座1〇的導向 槽13相當，以使得該導柱35可對應穿過並可滑動地裝設 於該導向槽13内，從而將該整個升降驅動裝置3〇可滑動 装設於該支撐座10上。 所述滑動機構40對應裝設於該安裝架2〇上並與連接板5〇 圊接，以將該連接板50及夹爪裝置7〇可滑動地裝設於安 装架20上。所述滑動機構4〇包括—滑軌41及一滑塊45。 所述滑軌41大致呈矩艰條狀，其兩端分別凸設有一擋塊 412。所述滑塊4 5大致呈“ U ”型塊狀，其對應可滑動地 装設於該滑軌41上’並限位於該滑軌4知的兩端的二擋塊 412之間，以防止該滑塊45從該滑軌41上脫出。 所述連接板50呈大致矩形板狀，其一端對應固接於該滑 動機構40的滑塊45上》 所述水平驅動裝置60包括一基座61、一齒輪63、一齒條 、一驅動電機67及一護板69。所述基座61大致呈“u ，，形板狀。所述齒輪63可旋轉地裝設並容置於該基座61 内，該齒輪63的齒輪轴635對應伸出於該基座61外側。所 述基座61固定裝設於該安裝架20的安裝板21上，該齒輪 63的齒輪轴635對應穿過該安裝板21上的安裝孔215，以 與所述驅動電機67相接。所述齒條65固定裝設於該連接 板50上並與該齒輪63配合裝設於一起，構成一齒輪齒條 傳動系統。所述驅動電機67為一微型步進電機，包括一 驅動軸673。所述護板69大致呈“U”形板狀’其與該基 表單編號A0101 第7頁/共19頁 0992048106-0 201208837 座61對應該安裝孔21 5分別固定裝設於該安裝架2〇的安裝 =1的兩側。所述護板69的中部對應該安裳孔215貫通開 设有一連接孔693，以使得該驅動電機67的驅動軸可 穿過該連接孔693容置於該護板69内，並與所述齒輪_ 齒^轴635相接。所述護板69的兩端分別對應固定裝設於 該文裝架20的安裝板21上，其連接孔693與該安裝板21 的安裝孔21 5相對準。 [_所述夾爪裝置则以設於該連接板5㈣末端，隨同該 連接板50於所述齒輪齒條傳峰_作用下可滑動地裝 設於該安裝架20上。所述灸爪裝置崎括一夹爪71及一 與該失爪71相接的控制氣的，該爽爪71由該控制氣缸 73親動、控現對卫件的抓取及釋放。 _]組裝該機械手夾取裝置咖時，先將所述升降驅動裝置3〇 的導柱35對準並穿料切座1()的導向槽13，將該升降 驅動裝置30與該支撐座1〇可滑動地裝織一起。接下來 將所述安裝架20的固定摩奶與該升降驅動裝 置30固接 板33固接於-起’從而將該安裝架2〇與該升降驅動裝置 30裝叹於-起’並可相對支樓座⑺上下升降滑動。再接 下來，將所述水平驅動裝_的裝有齒輪63的基座以 護板69分別固定裝設於該安裝架獅安裝板㈣兩側； 其中該”蔓板69與固定座25位於同一侧，所述護板的 連接孔693與安裝孔2i5對準，所述齒輪軸μ5穿過安裝 板21上的安裝孔215且收容於該護板㈢内。之後’所述驅 動電機67固疋裝设於安裝板21上，其驅動軸673穿過護板 69的連接孔693與所述齒輪咖齒輪轴635相接 ;如此， 099127392 表單编號Α0101 第8百/4+ 共 19 頁 0992048106- 201208837 的二輪63由該轉電機67義旋轉。所述滑動機構40 1 41固定裝設於該安裝㈣的安I板21ρ所述連 接板5_定裝餘崎動機獅的滑祕上並位於該基 ^6,1及齒輪63上方’該收納臂27對應夾抵於該連接板5〇 側所述齒條65對應固定裝設於該連接板5〇上並與該 齒^63相互喷合於—起。最後，將所述夾爪裝置70固定 ;k連接板50的端部，即完成所述機械手夾取裝置 1 〇〇的組裝。 ❹ [0017] Ο 迷機械手夹取裝置100裝設於_成型設備上，以便於 機械手伸入成型設備中夾取成型後的工件。使用時，藉 由控制該升降驅動裝置30實現該安裳架20隨同夾爪裝置 70相對該支撐座1 〇上下滑移，從而實現相對高度的調節 。藉由控制該水平驅動裝置6〇的驅動電機67，驅動齒輪 63旋轉，進而帶動該齒條65連同連接板抑及夾爪裝置7〇 於水平方向平移，以伸入或退出該成型設僙。所述夾爪 裝置70的夾爪71於控制氣缸73的控制下，實現對工件的 夹取及釋放。 [0018] 可以理解，所述滑動機構4 0及連接板5 〇亦可以省略，即 ，該夾爪裝置7〇直接固接於該水平驅動裝置60的齒條65 上，該齒條65藉由與該齒輪63配合裳設於一起，並相對 可滑動地裝設於該安裝架20上。如此，齒輪63於驅動電 機67的驅動下帶動該齒條65水平滑移，進而帶動裝設於 該齒'條65上的爽爪裝置70於水平方向平移。 [0019] 可以理解，所述升降驅動裝置30亦可以省略，即，該安 裝架20直接與該支撐座1〇可相對上下滑動地裝設於一起 099127392 表單煸號A0101 第9頁/共19頁 0992048106-0 201208837 [0020] [0021] [0022] [0023] [0024] [0025] [0026] [0027] [0028] 所述機械手夾取裝置⑽結構簡單、體積較小，極大地減 少了设備的佔地空間及成本，該機械手夾取裝置⑽安裝 職方便，有效實現了卫件的自動化抓取及釋放，大大、 提高的產能及生產效率。 综賴述，本㈣符合發料利要件，纽法提出專利 申明。惟，以上所述者僅為本發明之較佳實施例，本發 明之範圍並不以上述實施例為限，舉凡熟悉本案技藝之 人士援依本發明之精神所作象等效修飾或變化，皆應涵 蓋於以下申請專利範圍内。 【圖式簡單說明】 圖1係本發明較佳實施例的機械手夾取裝置的立體組裝示 意圖。 圖2係具有本發明較佳實施例的機械手夾取裝置的另一視 角下的立體組裝示意圖。 * . . .. -：：.. . ::' 圖3係本發明較隹實施例的機械手來取裝置的立體分解示 . ... 意圖。 圖4係本發明較佳實施例的機械手夾取裝置的另一視角下 的立體分解示意圖。 【主要元件符號說明】 機械手夾取裝置：100 支撐座：10 導向槽：13 099127392 表單編號A0101 第10頁/共19頁 0992048106-0 201208837 [0029] 限位塊：15 [0030] 安裝架：20 [0031] 安裝板：21 [0032] 主體部：211 [0033] 導向臂：213 [0034] 安裝孔：215 [0035] 固定座：25 〇 [0036] 裝配槽：251 [0037] 裝配孔：253 [0038] q欠 * 2 γ [0039] 升降驅動裝置：30 [0040] 驅動氣缸：31 [0041] 〇 固接板：3 3 [0042] 導柱：35 [0043] 滑動機構：40 [0044] 滑軌：41 [0045] 擋塊：412 [0046] 滑塊：45 [0047] 連接板：50 099127392 表單編號A0101 第11頁/共19頁 0992048106-0 201208837 [0048] 水平驅動裝置：6 0 [0049] 基座：61 [0050] 齒輪：63 [0051] 齒輪軸：6 3 5 [0052] 齒條：6 5 [0053] 驅動電機：67 [0054] 驅動軸：673 [0055] 護板：69 [0056] 連接孔：693 [0057] 夾爪裝置：70 [0058] 夾爪：71 [0059] 控制氣缸：73 099127392 表單編號A0101 第12頁/共19頁 0992048106-0201208837 VI. Description of the Invention: [Technical Field of the Invention] [0001] The present invention relates to a type of gripping device, and more particularly to a robot gripping device. [Prior Art] [0002] At present, the commonly used robots used in molding machine equipment are generally bulky, heavy, and inconvenient to install and debug, and consume high energy; it is not conducive to the improvement of production capacity and the development of energy saving and emission reduction. trend. SUMMARY OF THE INVENTION [〇〇〇3] In view of the above, it is necessary to provide a robot gripping device which is small in sectional configuration and convenient for installation, commissioning and transportation. [0004] A robot gripping device includes a support base, a mounting bracket, a horizontal driving device and a jaw device; the mounting bracket is mounted on the support base and opposite to the support base Moving in a vertical direction; the horizontal driving device comprises a base, an r~ gear, a rack and a driving motor, the base is fixedly mounted on the mounting frame, the gear comprises a gear shaft, and the gear can be Rotatingly mounted on the base, the gear shaft extends out of the base to be in contact with the drive motor; the rack meshes with the gear, and the gear is driven by the drive motor to slide the rack horizontally relative to the gear The jaw device is fixedly mounted on the rack, and slides along the rack relative to the mounting bracket in a horizontal direction. [0005] A robot gripping device, the robot gripping device includes a support base, a mounting bracket, a driving device and a jaw device; the mounting bracket is mounted on the support base and can be opposite to the support base Moving in a first direction; the driving device comprises a base, a gear, a rack and a driving motor, 099127392 Form No. A0101 Page 4 / 19 pages 0992048106-0 201208837 The base is fixedly mounted on the mounting bracket The gear includes a gear shaft rotatably mounted on the base, the gear shaft extending out of the base to be in contact with the drive motor; the rack meshing with the gear, the gear The rack gear is slid relative to the gear in the second direction by the driving motor idling; the jaw device is fixedly mounted on the rack, and slides along the rack relative to the mounting bracket in the second direction, the first direction Vertical to the second direction β [0006] 0007 [0008] 099127392 Compared with the conventional robot gripping device, the robot gripping device has a simple structure and a small volume, which greatly reduces the equipment. Floor space and cost 5 sad robot gripping means. Qi. Women debugging convenient, efficient automated workpiece gripping and releasing 'a greatly improved productivity and production efficiency. [Embodiment] Referring to Figures 1 and 2, the robot gripping device of the present invention is applied to a robot gripping device 1 in a molding apparatus (not shown) as a preferred embodiment. The robot gripping device 100 can be inserted into the molding apparatus to grip the formed workpiece and take out the gripped workpiece. The robot gripping device 100 includes a support base 1 , a mounting bracket 2 , a lifting drive device 30 , a sliding mechanism 4 , a connecting plate 5 , a horizontal driving device 60 and a clamping device 7〇^ The support base 1〇 is disposed substantially perpendicular to the mounting bracket 20. The mounting bracket 2 is driven by the lifting drive unit 3 and slidably mounted relative to the support base 10 in a first direction (e.g., vertical). The sliding mechanism 4 is mounted on the mounting bracket 20 and connected to the connecting plate 50, so that the connecting plate 50 and the mounting bracket 20 can be slidably mounted in a second direction (for example, a horizontal direction). Together. Wherein the first direction is perpendicular to the second direction. The water form number Α0101 5th page/19 pages 0992048106-0 201208837 The flat drive unit 60 is mounted on the mounting bracket 20 and is connected to the connecting plate 50 for driving the connecting plate 50 relative to the mounting bracket 2 Slide horizontally. The jaw device 70 is correspondingly fixedly mounted on the end of the connecting plate 5〇, and horizontally slides with the connecting plate 50 relative to the mounting frame 20 to extend into the molding device to grip the formed workpiece and the workpiece to be gripped. take out. Referring to FIG. 3 and FIG. 4 together, the support base 1 has a substantially rectangular plate shape, and at least one guide groove 13 is formed through the longitudinal direction of the support base 1 . In the preferred embodiment, the guiding slots 13 are two, which are respectively disposed on the branch base 10 in parallel with each other. A substantially rectangular limiting block 15 is respectively protruded from the two ends of the supporting spring 1 , and the two limiting blocks 15 are disposed in parallel with each other and are located on the same side of the supporting base 10 and form a joint with the supporting block 1 . Accommodate space (not shown). [0010] The mounting bracket 20 includes a mounting plate 21, a fixing base 25 and a receiving arm 27. The mounting plate 21 has a substantially "L" shape and includes a main body portion 211 and a substantially rectangular strip-shaped guide arm 213 extending outward from one end portion of the main body portion 211. A mounting hole 215 is defined in the main body portion 211. The fixing base 25 is substantially in the shape of a rotating plate, and is integrally provided with the main body portion 211 and is disposed on the same side of the main body portion 211 as the guiding arm 213. A mounting groove 251 is defined in the fixing base 25, and at least one mounting hole 253 is formed in the bottom of the mounting groove 251. The storage arm 27 is substantially in the shape of an L-shaped plate, and is fixed to the main body portion 211 of the mounting plate 21 or formed by bending outwardly from a side edge of the main body portion 211; the storage arm 27 and the main body The portion 211 forms a substantially "u" shaped receiving space (not shown). [0011] The lifting drive device 30 includes a driving cylinder 31, a fixing plate 33, and 099127392 0992048106-0 Form No. A0101 Page 6 / 19 pages 201208837 [0012] [0014] Ο 099127392 / guide post 35, the fixing plate 33 is fixed to one end of the driving cylinder 31, and is fixed to the fixing seat 25 of the mounting bracket 20. on. The guide post 35 protrudes from the driving cylinder 31, and has an outer diameter corresponding to the guiding groove 13 of the supporting base 1 so that the guiding post 35 can be correspondingly slidably mounted to the guiding The entire lifting drive device 3 is slidably mounted on the support base 10 in the slot 13. The sliding mechanism 40 is correspondingly mounted on the mounting bracket 2 and is connected to the connecting plate 5 to slidably mount the connecting plate 50 and the jaw device 7A on the mounting frame 20. The sliding mechanism 4 includes a slide rail 41 and a slider 45. The sliding rails 41 are substantially rigid and have a stopper 412 protruding from opposite ends thereof. The slider 45 is substantially in the shape of a U-shaped block, which is slidably mounted on the slide rail 41 and is limited to the two stops 412 located at both ends of the slide rail 4 to prevent the slider 4 The slider 45 is detached from the slide rail 41. The connecting plate 50 has a substantially rectangular plate shape, and one end thereof is correspondingly fixed to the slider 45 of the sliding mechanism 40. The horizontal driving device 60 includes a base 61, a gear 63, a rack, and a driving motor. 67 and a shield 69. The base 61 is substantially U-shaped and has a plate shape. The gear 63 is rotatably mounted and received in the base 61. The gear shaft 635 of the gear 63 extends outwardly from the base 61. The base 61 is fixedly mounted on the mounting plate 21 of the mounting bracket 20. The gear shaft 635 of the gear 63 passes through the mounting hole 215 of the mounting plate 21 to be in contact with the driving motor 67. The rack 65 is fixedly mounted on the connecting plate 50 and is fitted with the gear 63 to form a rack and pinion transmission system. The driving motor 67 is a micro stepping motor including a driving shaft 673. The guard plate 69 is substantially in the shape of a "U" plate. It is fixedly mounted on the mounting bracket 2 with the base form number A0101, page 7 / 19 pages 0992048106-0 201208837. The two sides of the cover plate =1 are provided with a connecting hole 693 so that the driving shaft of the driving motor 67 can be accommodated through the connecting hole 693. The inside of the shield 69 is connected to the gear _ tooth shaft 635. The two ends of the shield 69 are respectively fixedly mounted on On the mounting plate 21 of the mounting frame 20, the connecting hole 693 is aligned with the mounting hole 21 5 of the mounting plate 21. [The gripper device is disposed at the end of the connecting plate 5 (four), along with the connecting plate 50 The rack and pinion peaks are slidably mounted on the mounting bracket 20. The moxibustion claw device includes a clamping jaw 71 and a control gas connected to the missing claw 71. 71. The control cylinder 73 moves and controls the grasping and releasing of the guard. _] When assembling the robot gripping device, the guide post 35 of the lifting drive device 3 is first aligned and threaded. The guiding groove 13 of the cutting seat 1 () slidably splicing the lifting drive device 30 together with the supporting base 1 . Next, the fixed milk of the mounting bracket 20 and the lifting drive device 30 are fixed to the board. 33 is fixed to the 'starting' so that the mounting bracket 2〇 and the lifting drive device 30 are sighed and can be lifted up and down relative to the support base (7). Next, the horizontal drive assembly The bases of the gears 63 are respectively fixedly mounted on the two sides of the mounting bracket lion mounting plate (4) by the guard plates 69; wherein the "male board 69 is located at the fixed seat 25" On the same side, the attachment hole 693 of the shield is aligned with the mounting hole 2i5, and the gear shaft μ5 passes through the mounting hole 215 on the mounting board 21 and is received in the shield (3). Then, the drive motor 67 is fixedly mounted on the mounting plate 21, and the drive shaft 673 is connected to the gear shaft 635 through the connecting hole 693 of the shield 69; thus, 099127392 Form No. 1010101 No. 8 The second wheel 63 of the hundred/4+ 19 pages 0992048106-201208837 is rotated by the motor 67. The sliding mechanism 40 1 41 is fixedly mounted on the mounting plate (4) of the mounting plate (5). The connecting plate 5_ is mounted on the slippery surface of the Yusuke motive and is located above the base 6,6 and the gear 63. The arm 27 is correspondingly fixed to the connecting plate 5 on the side of the connecting plate 5, and the rack 65 is fixedly mounted on the connecting plate 5A and is sprayed with the tooth 63. Finally, the jaw device 70 is fixed; k the end of the connecting plate 50, that is, the assembly of the robot gripping device 1 is completed. ❹ [0017] The robot gripping device 100 is mounted on the molding apparatus to facilitate the insertion of the robot into the molding apparatus to grip the formed workpiece. In use, by controlling the lifting drive device 30, the hanger 20 is slid down with the jaw assembly 70 relative to the support base 1 to achieve relative height adjustment. By controlling the drive motor 67 of the horizontal drive unit 6〇, the drive gear 63 rotates, thereby driving the rack 65 together with the connecting plate to inhibit the jaw device 7 from being translated in the horizontal direction to extend into or out of the forming device. The jaws 71 of the jaw device 70 are controlled by the control cylinder 73 to effect the clamping and release of the workpiece. [0018] It can be understood that the sliding mechanism 40 and the connecting plate 5 can also be omitted, that is, the clamping device 7 is directly fixed to the rack 65 of the horizontal driving device 60, and the rack 65 is The gear 63 is coupled to the gear 63 and is slidably mounted on the mounting bracket 20. In this manner, the gear 63 drives the rack 65 to horizontally slide under the driving of the driving motor 67, thereby driving the claw device 70 mounted on the tooth strip 65 to translate in the horizontal direction. [0019] It can be understood that the lifting and lowering drive device 30 can also be omitted, that is, the mounting bracket 20 can be directly slidably slidably coupled to the support base 1 0 099127392 Form No. A0101 Page 9 of 19 [0028] [0028] [0028] [0028] [0028] [0028] The robot gripping device (10) is simple in structure, small in size, and greatly reduced in size. [0028] [0028] The space and cost of the equipment, the robot gripper device (10) is convenient to install, effectively realizes the automatic grabbing and release of the guard, greatly improving the productivity and production efficiency. In summary, this (4) is in line with the requirements of the issue, and Newfa has filed a patent declaration. However, the above description is only a preferred embodiment of the present invention, and the scope of the present invention is not limited to the above embodiments, and those skilled in the art can make equivalent modifications or changes according to the spirit of the present invention. It should be covered by the following patent application. BRIEF DESCRIPTION OF THE DRAWINGS Fig. 1 is a perspective view showing the assembly of a robot gripping device in accordance with a preferred embodiment of the present invention. Fig. 2 is a perspective view showing the three-dimensional assembly of the manipulator gripping device of the preferred embodiment of the present invention. * . . . -::.. ::' Figure 3 is a perspective exploded view of the robotic pick-up device of the present invention. Fig. 4 is a perspective exploded perspective view of the robot gripper of the preferred embodiment of the present invention. [Main component symbol description] Robot gripping device: 100 Support base: 10 Guide groove: 13 099127392 Form number A0101 Page 10/19 pages 0992048106-0 201208837 [0029] Limit block: 15 [0030] Mounting bracket: 20 [0031] Mounting plate: 21 [0032] Main body: 211 [0033] Guide arm: 213 [0034] Mounting hole: 215 [0035] Mounting seat: 25 〇 [0036] Mounting groove: 251 [0037] Mounting hole: 253 [0038] q owed* 2 γ [0039] Lifting drive: 30 [0040] Drive cylinder: 31 [0041] Tamping plate: 3 3 [0042] Guide post: 35 [0043] Sliding mechanism: 40 [0044 Slide rail: 41 [0045] Stop: 412 [0046] Slider: 45 [0047] Connection plate: 50 099127392 Form number A0101 Page 11 of 19 0992048106-0 201208837 [0048] Horizontal drive: 6 0 Base: 61 [0050] Gear: 63 [0051] Gear shaft: 6 3 5 [0052] Rack: 6 5 [0053] Drive motor: 67 [0054] Drive shaft: 673 [0055] Guard plate: [0056] Connecting hole: 693 [0057] Jaw device: 70 [0058] Jaw: 71 [0059] Control cylinder: 73 099127392 Form No. A0101 Page 12 / Total 19 pages 0992048106-0