201213042 六、發明說明： 【發明所屬之技術領威】 [0001] 本發明涉及一種夹持裝置。 【先前技術】 [0002]自動化生產線中，常需要採用夾持裝置來夾取工件。夾 持裝置通常與機械手相連。機械手控制該夾持裝置之開 合動作並進行定位。習知夾持裝置一般包括衧相對運動 之第一夾持件及第二夹持件，以及驅動第一、第二夾持 件使二者相互遠離或靠近’以夾持或鬆開夾持物件之驅 動機構。然，當被夹辞勢件易黏著於第一、第二夾持件 時，即使第一、第二失持件相互遠離，被夾持物件亦較 難順利地從第-、第二㈣件脫離，從*不便於使用。 【發明内容】 [0003] [0004] 099132521 ϋ於乂上内♦’有必要提供—種結構簡單且可便於被夫 持物件脫離之夾持裝置。 一種夾持裝置，其包括m〜 I括固疋座、相對固定座可滑動之滑 動件、驅動該滑動件之線 啄味驅動機構，以及可相對運動 有二===他細。固定座開設 第二滑槽“::動件開設有二對稱設置之 連接件、可沪第1匕括可沿第一滑槽滑動之第-滑動件固定:接—滑槽滑動連接之第二連接件，以及與 分別與-第一表^推頂件。第—夾持件以及第二夾持件 乐連接件及一筮 件與第二夾持件相土一連接件連接。當第一夾持 遠離夾持物件.#互#近叫持待夾持物件時，推頂件 ’虽第-失持件與第二夾 表單編號A01〇1 了 IT立m離日守 第4頁/共14頁 09920 201213042 該推頂件推頂夾持物件。 [0005] 上述夾持裝置之第一、第二夾持件與推頂件可實現聯動 ，在第一、第二夾持件相互遠離時，推頂件可推頂夾持 物件，從而方便夾持物件之脫離。另，上述失持裝置僅 需藉由線性驅動機構之動作即可實現第一'第二失持件 與推頂件之聯動’其結構簡單、操作便利。 [0006] ❹ [0007] Ο 【實施方式】 請參閱圖1及圖2，本發明實施方式之夾持裝置1〇〇包括固 定座11、相對固定座U可滑動之滑動件12、驅動滑動件 12之線性驅動機構13，第一夾持件以及第二夾持件15 固定座11開設有二對稱設置之第一滑槽112，滑動件12開 设有二對稱設置之第二滑槽121。夹持裝置100還包括設 於第一滑槽112内且可沿第一滑槽112|動之第一連接件 16、設於第二滑槽121p且可沿第二滑槽巧丨滑動之第二 連接件17，以及與滑動件12固定連接之推頂件18。第一 灸持件14及K持件15分別與—第―連接件16及一第 二連接件17連接。當線性驅動機構13驅動滑動件12作直 線運動時，第—連接件16及第二連接件Π分別於第-滑 槽112及第一滑槽i21内滑動，從而第一夾持件14及第二 夾持件15相互靠近或遠離以夾持或鬆開夾持物件。 [0008] 本實施方式中，ϋ定座llA致為矩形板其還開設有與 第/月槽112相連通之收容槽u3以及位於二第一滑槽 112間之導向槽114。收容槽113及導向槽114均大致沿滑 099132521 動件12之滑動方向延伸， 表單編號A0101 第5頁/共 並貫穿固定座11之相對二側面 14 頁 0992056942-0 201213042 [0009] [0010] [0011] [0012] [0013] 。-第—滑槽11 2沿垂直於滑動件12之滑動方向延伸，二 第一滑槽121相對第一滑槽112傾斜設置，且二第二滑槽 121共同形成一 “ v ”字型。 推頂件18呈長條狀，其從滑動件12鄰近固定座u之一侧 直線延伸，且設置於導向槽114内並可沿導向槽滑動 。二第二滑槽121相對推頂件18對稱設置。推頂件18與滑 動件12-體成型。可㈣解，推頂㈣與滑動㈣亦可 藉由螺紋連接、焊接等方式固定連接。 第一夾持件14與第二失持件15結構相似，且均呈“〈” 型，並沿滑動件12之滑動方向對稱設置。第一夾持件14 包括第一連杆141以及與第一連杆14〗相連接之第二連杆 142。第一連杆141與第二連杆142相對傾斜而形成“〈 聖第連杆141與第二連杆142相連接處收容於收容 槽113中。第二連杆丨42之自由端用於夾持待夾持物件。 第一連接件16設置於第一、第連扦141、142相連接處 ，第二連接件17連接於第一連杆141乏自由端。本實施方 式中，第一、第二連接件16、17均為圓柱銷，當然其亦 可為其他形狀，滿足可沿第一、第二滑槽112、121滑動 以約束第一、第二夾持件丨4、15之運動即可。 推頂件18設置於第一、第二夾持件14、15之間，且推頂 件18之自由端鄰近第二連杆Η〗之自由端。可以理解，第 一夾持件14與第二夾持件15亦可為非對稱結構，以適應 不同之待夾持物件。 因第一、第二夾持件14、15均部分收容於收容槽113内， 099132521 表單編號A0101 第6頁/共14頁 0992056942-0 201213042 推頂件18收容於導向槽114内，從而第一、第二夾持件14 、15以及推頂件18於同一平面内運動，使得夾持裝置1〇〇 之結構更為緊湊。 [0014] 線性驅動機構13包括與固定座1丨固定連接之氣缸131以及 由氣缸131驅動之連接件132。氣虹131藉由螺紋件1312 鎖固於固定座11。連接件132藉由螺紋件1321與滑動件 12固定連接。線性驅動機構13與第一、第二夾持件u、 Ο [0015] 1 5分別設於固疋座11相對之二側面。可以理解，線性驅 動機構13不限於採用氣缸驅動，亦可為齒輪—齒條、絲杆 -螺母等驅動機構》 ❹ 請參見圖3，使用時，當線性驅動機構13驅動滑動件12相 對固定座11沿X方向向上運動時:，推頂件丨8隨固定座丨i向 上運動，與此同時，在第一滑槽112、第二滑槽121、第 一連接件16及第二連接件17之共同約束下，第一夾持件 14及第二夾持件15沿Y方向相互靠近，以夾持待夾持物件 。當線性驅動機構13$動滑動件12相對固定座沿χ方向向 下運動時，第-夾持件14及第二夾持件15別方向相互遠 離，以鬆開夾持物件，與此同時，推頂件18向下運動以 推頂夾持物件，從而實現了推頂件18沿垂直方向以及第 一 '第二夾持件14、15沿水平方向之聯動。利用夾持裝 置100夾持物件時，可利用推頂件18之協同動作，在第一 、第二夾持件14、15鬆開夹持物件時推頂夾持物件從 而方便夾持物件脫離，兼有結構簡單，操作便利等優點 [0016] 可以理解，藉由改變第一滑槽112及第二 099132521 表單編號Α0101 滑槽121之形狀 第7頁/共14頁 0992056942-0 201213042 還可以相應改變第一夾持件14及第二夾持件15之運行軌 跡，從而適應不同之夾持物件。 [0017] 綜上所述，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】 [0018] 圖1係本發明實施方式之夾持裝置之立體組裝圖。 [0019] 圖2係圖1所示夾持裝置之立體分解圖。 [0020] 圖3係圖1所示夾持裝置之平面視圖。 【主要元件符號說明】 [0021] 夾持裝置100 [0022] 固定座11 [0023] 滑動件12 [0024] 線性驅動機構13 [0025] 第 一夾持件14 [0026] 第 二夾持件15 [0027] 第 一滑槽112 [0028] 第 二滑槽121 [0029] 第 一連接件16 099132521 表單編號A0101 第8頁/共14頁 0992056942-0 201213042 [0030] 第二連接件17 [0031] 推頂件18 [0032] 收容槽113 [0033] 導向槽114 [0034] 第一連杆 141 [0035] 第二連杆 142 [0036] 氣缸 131 [0037] 連接件132 [0038] 螺紋件 1312、1321201213042 VI. Description of the Invention: [Technical Leadership of the Invention] [0001] The present invention relates to a clamping device. [Prior Art] [0002] In an automated production line, it is often necessary to use a clamping device to grip a workpiece. The clamping device is usually connected to the robot. The robot controls the opening and closing action of the holding device and performs positioning. Conventional clamping devices generally include a first clamping member and a second clamping member that move relative to each other, and drive the first and second clamping members to move away from or close to each other to clamp or loosen the clamping member. Drive mechanism. However, when the clipped member is easily adhered to the first and second grip members, even if the first and second grip members are apart from each other, the clipped object is more difficult to smoothly pass from the first and second (four) pieces. Disengagement, from * is not easy to use. SUMMARY OF THE INVENTION [0003] [0004] 099132521 ϋ 乂 ♦ ♦ 有 有 ‘ ′ ′ ′ ′ ′ ′ ′ ′ ′ A clamping device comprising m to I, a sliding seat, a sliding member slidable relative to the fixed seat, a linear driving mechanism for driving the sliding member, and a relative movement having two === thin. The second sliding slot of the fixing seat is opened: ": the moving member is provided with two symmetrically arranged connecting members, and the first sliding member of the first sliding member can be fixed along the first sliding slot: the second sliding joint is connected a connecting member, and a connecting member respectively connected with the first member, the first member, the second member, and the second member, and the second member. Clamping away from the clamped object. #互# Nearly calling the object to be clamped, the push-up member 'though the first-lost part and the second clip form number A01〇1 IT stand away from the fourth page/total Page 14 09920 201213042 The ejector member pushes the object to be clamped. [0005] The first and second clamping members of the clamping device and the ejector member can be interlocked when the first and second clamping members are away from each other. The ejector member can push the object to be pushed up, thereby facilitating the detachment of the object to be clamped. In addition, the above-mentioned holding device can realize the first 'second missing member and the ejector member only by the action of the linear driving mechanism. Linkage 'its simple structure and convenient operation. [0006] ❹ [0007] 实施 [Embodiment] Please refer to FIG. 1 and FIG. 2, the clip of the embodiment of the present invention The holding device 1 includes a fixing base 11, a sliding member 12 slidable relative to the fixing base U, and a linear driving mechanism 13 for driving the sliding member 12. The first clamping member and the second clamping member 15 are provided with two symmetry The first sliding slot 112 is disposed, and the sliding member 12 defines a second sliding slot 121. The clamping device 100 further includes a first sliding slot 112 and is movable along the first sliding slot 112. a connecting member 16, a second connecting member 17 disposed on the second sliding slot 121p and slidably along the second sliding slot, and an ejector member 18 fixedly coupled to the sliding member 12. The first moxibustion member 14 and the K The holding member 15 is respectively connected to the first connecting member 16 and the second connecting member 17. When the linear driving mechanism 13 drives the sliding member 12 to perform linear motion, the first connecting member 16 and the second connecting member are respectively in the first sliding The groove 112 and the first sliding groove i21 slide, so that the first clamping member 14 and the second clamping member 15 are close to or away from each other to clamp or loosen the clamping object. [0008] In this embodiment, the clamping seat The llA is a rectangular plate which is further provided with a receiving groove u3 communicating with the first/month groove 112 and a guiding between the two first sliding grooves 112. 114. The receiving groove 113 and the guiding groove 114 extend substantially in the sliding direction of the sliding member 099132521, and the form number A0101 is page 5/total through the opposite sides of the fixing seat 11 page 0992056942-0 201213042 [0009] [0010 [0012] [0013] The first chute 11 2 extends in a direction perpendicular to the sliding direction of the slider 12, and the two first chutes 121 are inclined with respect to the first chute 112, and the second chute 121 together form a "v" font. The ejector member 18 has an elongated shape which extends linearly from the side of the slider 12 adjacent to the holder u and is disposed in the guide groove 114 and slidable along the guide groove. The second chute 121 is symmetrically disposed with respect to the ejector member 18. The ejector member 18 is integrally formed with the slider member 12. (4) Solution, push (4) and slide (4) can also be fixed by screw connection, welding, etc. The first clamping member 14 is similar in structure to the second holding member 15, and is both "<" shaped and symmetrically disposed along the sliding direction of the sliding member 12. The first clamping member 14 includes a first link 141 and a second link 142 coupled to the first link 14. The first link 141 and the second link 142 are inclined relative to each other to form a "the junction of the holy link 141 and the second link 142 is received in the receiving groove 113. The free end of the second link 42 is used for clamping The first connecting member 16 is disposed at the junction of the first and second connecting ends 141 and 142, and the second connecting member 17 is connected to the first connecting member 141. In the present embodiment, the first connecting member The second connecting members 16, 17 are all cylindrical pins. Of course, they may also have other shapes, which can slide along the first and second sliding slots 112, 121 to restrain the movement of the first and second clamping members 丨4, 15. The ejector member 18 is disposed between the first and second clamping members 14, 15 and the free end of the ejector member 18 is adjacent to the free end of the second link 。. It can be understood that the first clamping member 14 and the second clamping member 15 can also be asymmetrically configured to accommodate different objects to be clamped. Since the first and second clamping members 14, 15 are partially received in the receiving groove 113, 099132521 Form No. A0101 6 pages / 14 pages 0992056942-0 201213042 The ejector member 18 is received in the guiding groove 114, so that the first and second clamping members 14 , 15 and The top member 18 is moved in the same plane, so that the structure of the holding device 1 is more compact. [0014] The linear drive mechanism 13 includes a cylinder 131 fixedly coupled to the fixed seat 1A and a connecting member 132 driven by the air cylinder 131. The gas rainbow 131 is fixed to the fixing base 11 by the screw member 1312. The connecting member 132 is fixedly connected to the sliding member 12 by the screw member 1321. The linear driving mechanism 13 and the first and second clamping members u, Ο [0015] 5 is respectively disposed on opposite sides of the solid housing 11. It can be understood that the linear driving mechanism 13 is not limited to driving by a cylinder, but also a driving mechanism such as a gear-rack, a screw-nut, etc. ❹ See FIG. 3, when used When the linear drive mechanism 13 drives the slider 12 to move upward relative to the fixed seat 11 in the X direction: the pusher member 8 moves upward with the fixed seat 丨i, and at the same time, in the first chute 112 and the second chute 121. Under the common constraint of the first connecting member 16 and the second connecting member 17, the first clamping member 14 and the second clamping member 15 are adjacent to each other in the Y direction to clamp the object to be clamped. When the linear driving mechanism 13 When the movable slider 12 moves downward relative to the fixed seat in the χ direction The first clamping member 14 and the second clamping member 15 are away from each other to release the clamping member, and at the same time, the pushing member 18 is moved downward to push the clamping member, thereby realizing the pushing member 18. The vertical direction and the first 'second clamping members 14, 15 are interlocked in the horizontal direction. When the object is clamped by the clamping device 100, the synergistic action of the ejector member 18 can be utilized in the first and second clamping members. 14, 15 when the object is loosened, the object is pushed and pushed to facilitate the object to be detached, and the structure is simple, the operation is convenient, etc. [0016] It can be understood that by changing the first chute 112 and the second 099132521 form number Α0101 The shape of the chute 121 page 7/14 pages 0992056942-0 201213042 The trajectory of the first clamping member 14 and the second clamping member 15 can also be changed accordingly to adapt to different clamping objects. [0017] 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. Equivalent modifications or variations made by persons skilled in the art in light of the spirit of the invention are intended to be included within the scope of the following claims. BRIEF DESCRIPTION OF THE DRAWINGS [0018] FIG. 1 is a perspective assembled view of a clamping device according to an embodiment of the present invention. 2 is an exploded perspective view of the clamping device shown in FIG. 1. 3 is a plan view of the clamping device shown in FIG. 1. [Main component symbol description] [0021] Clamping device 100 [0022] Fixing seat 11 [0023] Sliding member 12 [0024] Linear driving mechanism 13 [0025] First clamping member 14 [0026] Second clamping member 15 [0027] First chute 112 [0028] Second chute 121 [0029] First connector 16 099132521 Form number A0101 Page 8 / 14 pages 0992056942-0 201213042 [0030] Second connector 17 [0031] Pushing member 18 [0032] receiving groove 113 [0033] guiding groove 114 [0034] first link 141 [0035] second link 142 [0036] cylinder 131 [0037] connecting member 132 [0038] screw member 1312 1321
099132521 表單編號A0101 第9頁/共14頁 0992056942-0099132521 Form No. A0101 Page 9 of 14 0992056942-0