TWI404599B - Clamping device, handling apparatus and clamping method - Google Patents

Abstract

The invention provides a clamping device, a handling system and a clamping method, which comprises a base. On each of ends of the base, there defines a corresponding clamping assembly which is defined with a clamping beam, a cranking bar, a flexible unit and an eccentric cam connected with a pivot end of the cranking bar. By front-and-back pivots of the clamping beam on the end of the base, the eccentric cam is rotated with the cranking bar to drive the clamping beam to either clamp an intent-to-clamp object or loose a clamp for the object.

Description

Clamping device, conveying device and clamping method

The present invention relates to a clamping device, a handling device and a clamping method, and more particularly to a clamping device, a handling device and a clamping method for a large-sized device.

With the development of liquid crystal technology, the size of the liquid crystal panel can be made larger and larger, and the size of the manufacturing equipment of the liquid crystal panel needs to be enlarged accordingly to manufacture a large-sized liquid crystal panel.

Taking the conventional liquid crystal panel manufacturing equipment exposure machine as an example, the size of the early liquid crystal panel is small, so the size of the mask of the exposure machine is also small, and the small size exposure machine mask is manually handled directly during the handling process. Just fine. In addition, when the back surface of the reticle has surface dust, the hood can be lifted directly by an operator, and the other operator can clean the surface of the reticle with an air gun under the reticle. However, as the size of the liquid crystal panel is getting larger and larger, the size of the reticle is also increasing, and it is no longer possible to grasp the reticle by hand during handling or cleaning. Especially in the process of transporting large-size reticle from the manufacturing end to the client, the reticle is only taken by many people with simple hands and simple tools, which is not only slow, laborious and very dangerous to the transporter; Caution, it will also lead to the destruction of expensive reticle, so there is still a hidden cost in manual handling.

At present, although some conventional handling devices take the substrate and the reticle including the liquid crystal panel by bracket feeding or vacuum suction, both methods need to be with the substrate or the reticle surface (such as the display area of the liquid crystal panel). The contact is easy to cause damage on the surface of the substrate or the reticle, and the vacuum suction method is not only costly but also easy to fail.

Therefore, it is indeed necessary to develop a device that facilitates handling and cleaning of large-sized reticle to overcome the aforementioned drawbacks of the prior art.

It is an object of the present invention to provide a clamping device, a handling device and a clamping method that can be used to conveniently handle and snatch large-sized devices.

In order to achieve the above object, the present invention discloses a clamping device comprising: a body, a pair of first clamping arms and a second clamping arm, a pair of first rocker arms and a second rocker arm, and a pair of first eccentricities a wheel and a second eccentric wheel, and a pair of first elastic members and second elastic members. The aforementioned seat has two opposite ends. Each of the clamping arms has a pivoting end for the clamping arm to pivot to one of the opposite ends of the body, a pressing rod extending from the pivoting end, and a clamping end for abutting a clamped object One end and a connecting end are formed between the pressing rod and the clamping end.

Each rocker arm is disposed on one of the opposite ends of the seat body, wherein the rocker arm has a free end and a pivot end for pivoting the rocker arm to the opposite end of the seat body. Each of the eccentric wheels is connected to the pivot end of the opposite rocker arm and is divided into a short diameter region having a different radial length and a long diameter region. One end of each elastic element is connected to the seat body, and the other opposite end is connected to the connecting end of the opposite clamping arm.

When the free end of the rocker arm reciprocates on the opposite end of the seat body, the long diameter region of the eccentric wheel is driven via the pivot end to press the pressure bar of the clamp arm to rotate until the clamp arm is clamped The holding end abuts the clamped object, or drives the short diameter area of the eccentric to approach the pressing rod of the clamping arm, so that the elastic element provides elastic rotation of the clamping arm until the clamping end of the clamping arm is away from the clamping Holding things.

In addition, the present invention also discloses a handling device using the clamping device, comprising: a base, a plurality of guide rails each having a guide rail disposed in parallel on both sides of the base to form an accommodation space, and a plurality of guide screw settings Between the plurality of guide rails, a plurality of couplings are respectively connected to the plurality of lead screws, a steering gear is connected to the plurality of couplings, and a driving source is used for driving the steering device to rotate the plurality of couplings The plurality of guiding screws are driven to have a clamping device having at least one clamping component for clamping a receiving object in the accommodating space, and the plurality of guiding screws are screwed on both sides of the clamping device. When the driving source drives the plurality of lead screws, the plurality of lead screws interlock the clamping device to move up or down along the rail until the position of the object to be clamped.

In order to achieve the foregoing object, a clamping method of the present invention is applied to a clamping device having a body and a pair of clamping assemblies disposed on opposite ends of the housing, and each of the two The clamping assembly includes: a clamping arm having a pivoting end for pivoting the clamping arm to the base body, a pressing rod, a clamping end, and a connecting end formed on the pressing rod and the clamping Between the ends, a rocker arm has a free end and a pivot end for the rocker arm to pivot on the seat body; an eccentric wheel train is divided into a short-diameter area and a long-path area having different radial lengths. And the eccentric wheel is coupled to the pivot end of the rocker arm; and an elastic member having one end connected to the seat body and the other opposite end connected to the connecting end of the clamping arm, and the clamping method comprises The following steps: rotating the free end of the rocker arm of each clamping component on the seat body to a different position centering on the pivoting end thereof; driving the eccentric wheel through the pivoting end; when the eccentric wheel is deflected to a long length When the diameter region presses the pressure bar of the clamping arm to generate a first moment, the first torque drives The clamping end of the clamping arm rotates with the pivoting end as a fulcrum until the clamping end of the clamping arm abuts the clamped object; and when the eccentric wheel is deflected to the short diameter region, the pressing lever of the clamping arm is released to release During the first moment, the elastic element provides a rebounding moment to the connecting end of the clamping arm, and the rebounding torque drives the clamping end of the clamping arm to pivot away from the pivoting end until it is away from the object to be clamped.

Therefore, with the holding device, the carrying device and the clamping method thereof of the present invention, it is possible to easily grasp a large-sized device, and it is easy to carry and clean the device.

Please refer to FIG. 1A and FIG. 1B , wherein FIG. 1A is a schematic view of a clamping device 1 according to a first embodiment of the present invention, and FIG. 1B is an enlarged schematic view of the clamping device 1 . The detailed structure of its opposite ends 101, 102 is shown and it is shown that a gripper 30 has not been clamped. The clamping device 1 comprises: a body 10, and a pair of clamping assemblies spaced apart from each other and symmetrically disposed on the side walls of the opposite ends 101, 102 of the housing 10, wherein the clamping assembly at the opposite end 101 of the housing 10 has A clamping arm 11, an elastic member 12, a rocker arm 13 and an eccentric 14 and another clamping assembly at the opposite end 102 of the base 10 have a clamping arm 21, an elastic member 22, and a clamping member The rocker arm 23 and an eccentric wheel 24.

The two clamping arms 11, 21 are for holding two corresponding ends of a clamped object 30, and each of the clamping arms 11, 21 has a pivoting end 111, 211 for pivoting the clamping arms 11, 21 Fixed on the side walls of the opposite ends 101, 102 of the base 10, a pressing rod 112, 212 extending from the pivoting ends 111, 211 toward the ends 101, 102, a clamping end 113, 213 for abutting one end of the holder 30, and a Connecting ends 114, 214 are formed between the pressing rods 112, 212 and the clamping ends 113, 213. Because the clamping ends 113, 213 of the two clamping arms 11, 21 are in a groove structure, and the opening directions of the groove structures of the two are reverse-phase symmetric, the opposite ends of the object 30 can be firmly clamped. The size of the opening of the groove structure can be determined according to the thickness of the object to be clamped 30 to be clamped. It should be noted that the clamped object 30 can be any flat device that needs to be transported; in this embodiment, an exposure reticle (such as G7.5) of a large-sized liquid crystal panel is taken as an example for illustration. However, the scope of application of the invention is not limited thereby.

As shown in FIG. 1B, one end of each of the elastic members 12, 22 is fixedly coupled to the side walls of the opposite ends 101, 102 of the base 10, and the other opposite end thereof is fixedly coupled to the connection of the clamping arms 11, 21 On ends 114, 214. In this embodiment, at least one of the elastic members 12, 22 of one of the ends 101, 102 can be a telescopic spring.

The two rocker arms 13, 23 are respectively disposed at the tops of the two ends 101, 102 of the base body 10. Each of the rocker arms 13, 23 has a free end 131, 231, and a pivot end 132, 232 for the rocker arm 13 to pivot The opposite ends 101, 102 of the base body 10 enable the free ends 131, 231 to reciprocate to the left and right sides of the opposite ends 101, 102, that is, the free end 131 of the rocker arm 13 can be reciprocated to one of the opposite ends 101. The position and a second position, and the free end 231 of the rocker arm 23 is reciprocally movable to a third position and a fourth position of the opposite end 102.

As shown in FIG. 1B, the two eccentrics 14, 24 are connected to the pivoting ends 132, 232 of the rocker arms 13, 23, respectively. For example, the rocker arm 13 shown in FIG. 1C has a pivot end 132 connected to an eccentric axis of the eccentric 14 so that when the rocker arm 13 is rotated about the pivot end 132, the rocker arm 13 can be driven. The eccentric wheel 14 is eccentrically rotated with respect to the eccentric axis. If the horizontal axis of the eccentric axis of the first eccentric 14 is separated, the eccentric 14 can be divided into two short diameter regions 141 and a long diameter region 142 having different radial lengths. The principle of actuation of the eccentric 24 is also the same as that of the eccentric 14 .

As shown in FIGS. 1B and 1D, the holding device 1 further includes two pairs of fixing buckles 15, 16 and 25, 26 which are respectively disposed on the upper surfaces of the opposite ends 101, 102 of the base 10 by two pairs of fixed shafts 151, 161 and 251, 261, respectively. The first position, the second position, and the third position and the fourth position.

As shown in FIG. 1B and FIG. 1C, when the holding device 1 is to be unwound to clamp the holder 30, the free end 131 of the rocker arm 13 is rotated to the seat about its pivot end 132. The first position of the opposite end 101 of the body 10 and the free end 231 of the rocker arm 23 are rotated about the pivoting end 232 opposite to the rocker arm 13 to move the free end 231 to the seat body 10. At the third position of the opposite end 102. At this time, the pivot end 132 of the rocker arm 13 drives the rim of the short diameter region 141 of the eccentric 14 to approach the pressing rod 112 of the clamping arm 11, and the rim of the short diameter region 141 does not The clamping arm 11 generates a torque, but the elastic member 12 provides a rebounding moment to the clamping arm 11 via the connecting end 114 (if it has been stretched beforehand), the rebounding torque causes the clamping arm 11 to be based on the pivoting end. 111 is pivoted counterclockwise on the opposite end 101 of the body 10 to rotate the clamping end 113 of the clamping arm 11 away from the holder 30. Then, by using the fixing buckle 16 to rotate inward or outward toward the pair of fixed shafts 161, the free end 131 can be locked in the first position or the buckle can be released. Similarly, the pivot end 232 of the rocker arm 23 reversely drives the rim of the short diameter region of the eccentric 24 to approach the pressing rod 212 of the clamping arm 21, and the rim of the short diameter region does not generate the clamping arm 21 Torque, but the elastic member 22 will provide a rebounding moment to the clamping arm 21 via the connecting end 214 (if it has been stretched beforehand), the rebounding force will cause the clamping arm 21 to be based on the pivoting end 211 at the seat body. The opposite end 102 of the 10 pivots clockwise to rotate the grip end 213 of the gripping arm 21 away from the holder 30. Then, the fixed end 25 is rotated inward or outward by the fixing buckle 25, so that the free end 231 can be locked in the third position or the buckle can be released.

Referring to FIG. 1C and FIG. 1D, when the clamping device 1 is to be clamped by the clamping device 30, the free end 131 of the rocker arm 13 is centered on the pivoting end 132 thereof. The first position of the opposite end 101 of the 10 is rotated to the second position, and the free end 231 of the rocker arm 23 is rotated about the pivot end 232 against the rotation of the rocker arm 13 to move the free end 231 from The third position of the opposite end 102 of the body 10 is rotated to a fourth position. At this time, the pivoting end 132 of the rocker arm 13 reversely drives the rim of the long diameter region 142 of the eccentric 14 to press the pressing rod 112 of the clamping arm 11 to generate a first moment. The clamping arm 11 is pivoted clockwise on the opposite end 101 of the base 10 based on the pivoting end 111, so that the clamping end 113 of the clamping arm 11 abuts one end of the clamped object 30. At the same time, the elastic member 12 provides a tensile force to the connecting end 114 of the clamping arm 11 to generate a second moment, but the first moment is greater than the second moment. Then, the fixed end 15 is rotated inward or outward by the fixing buckle 15, so that the free end 131 can be locked in the second position or the buckle can be released. Similarly, the pivoting end 232 of the rocker arm 23 reversely drives the rim of the long diameter region of the eccentric wheel 24 to press the pressing rod 212 of the clamping arm 21 to generate a third moment, which causes the third moment. The clamping arm 21 pivots counterclockwise on the opposite end 102 of the base 10 based on the pivoting end 211 such that the clamping end 213 of the clamping arm 21 abuts the other end of the holder 30 while The elastic member 22 provides a tensile force to the clamping arm 21 via the connecting end 214 to generate a fourth moment, but the third torque is greater than the fourth moment. Then, the fixed end 26 is rotated inward or outwardly around the pair of fixed shafts 261, so that the free end 231 can be locked in the fourth position or the buckle can be released. As a result, as shown in Fig. 1E, the gripping arms 11, 21 on the opposite ends 101, 102 of the seat body 10 of the holding device 1 can be firmly held at the opposite ends of the holder 30.

Referring to Fig. 2A, there is shown a clamping device 2 according to a second embodiment of the present invention which is detaching the clamping of the object 30. Since the clamping device 2 of the second embodiment of the present invention is similar in structure and function to the clamping device 1 of the first embodiment, the same components are denoted by the same reference numerals in the two embodiments, and It will not be redundant here.

Referring to FIG. 2B, the difference from the clamping device 1 of the first embodiment is that the clamping ends 113' of the two clamping arms 11', 21' of the clamping device 2 of the second embodiment, The 213' has an L-shaped structure, and two lowering surfaces of the opposite ends 101, 102 of the base 10 are respectively provided with two cylindrical pressing devices 17, 27 for engaging the clamping end 113. ', 213'. This Fig. 2B shows that the holding device 2 is releasing the clamping of the object to be held 30.

Referring to FIG. 2C, the clamping device 2 of the second embodiment of the present invention clamps the clamped object 30, which is different from the first embodiment in that the clamping arm 11' of the second embodiment is pressed. Rotating clockwise around the pivoting end 111 until the L-shaped structure of the clamping end 113' of the clamping arm 11' holds the one end of the clamped object 30 together with the pressing device 17; and the clamping arm 21' After being pressed, the pivoting end 211 is rotated counterclockwise until the L-shaped structure of the clamping end 213' of the clamping arm 21' and the pressing device 27 jointly clamp the other end of the clamped object 30. Therefore, as shown in FIG. 2D, the gripping arms 11', 21' and the pressing device 17, 27 on the opposite ends 101, 102 of the seat body 10 of the holding device 2 are firmly clamped to the holder 30. The opposite ends of the two.

Referring to Figures 3 and 4, there is shown a handling device 3 in accordance with the present invention, such as a reticle grasping mechanism, using the aforementioned clamping device 1. The carrier device 3 includes a base 32 having a rectangular frame. The base 32 has an upper surface, and a plurality of guide rails 31 are disposed in parallel on opposite sides of the base 32. Each of the guide rails 31 has a guide rail 311. Parallelly disposed on two sides of the base, and the rails 31 support the base 32 to form an accommodating space for accommodating the clamping device 1, and the opposite ends 101 of the base 10 of the clamping device 1 And 102 are respectively installed in the two opposite guide rails 311. A diverter 40 is disposed at a center of the upper surface of the base 32, and a lead screw 41 is disposed at each end of the upper surface of the base 32 to screw the clamping device 1 so that the two ends of the diverter 40 are respectively used. A coupling 42 disposed on the upper surface of the base 32 is coupled to the lead screw 41. A driving source 43 such as a servo motor is disposed on the upper surface of the base 32 on the upper surface of the base 32 for driving the steering gear 40 to rotate the plurality of couplings 42 to drive the plurality of lead screws 41, and then the two The opposite lead screw 41 can drive the clamping device 1 to move up or down along the guide rail 311 until the position of the clamped object 30 is located, so as to grasp the clamped object 30 in the accommodating space or The two clamping arms 11, 21 of the holding device 1 move together with the clamped object 30. For example, when the clamped object 30 is a reticle and the back surface of the reticle has a particle, the reticle grasping mechanism 3 having the clamping device 1 can lift the reticle to facilitate the person. Clean the Pellicle on the back of the reticle, or handle larger reticle or replacement reticle.

In the process of clamping the clamped object 30, since the first clamping arm 11 and the second clamping arm 21 of the opposite ends 101, 102 of the clamping device 1 operate in the same manner, it is only the first here. The clamping process of the clamping arm 11 is taken as an example, and the clamping method of the present invention will be described with reference to FIGS. 1C, 1D and 1E, which includes the following steps: when the clamping object 30 is to be clamped by the clamping device 1 When the fixing buckle 16 at the first position of the seat body 10 is first rotated outward to release the locking of the free end 131 of the rocker arm 13; the free end 131 of the rocker arm 13 is pivoted at its pivot end 132. Rotating from the first position of the base 10 to the second position; the pivoting end 132 of the rocker arm 13 drives the eccentric 14 to rotate eccentrically with the pivot end 132 until the long diameter region 142 of the eccentric 14 Pressing the pressing rod 112 of the clamping arm 11 to provide a first moment to the clamping arm 11, the first moment causing the clamping arm 11 to rotate clockwise with its pivoting end 111 as a fulcrum, while stretching the The elastic member 12 is elastically deformed to generate a second moment to the connecting end 114 of the clamping arm 11, wherein the first moment is greater than the first moment The torque continuously drives the clamping end 113 of the clamping arm 11 to pivot with the pivoting end 111 as a fulcrum until the clamping end 113 of the clamping arm 11 abuts one end of the clamped object 30; and when the rocker arm After the free end 131 of the 13 is rotated to the second position of the base 10, the fixing buckle 15 located at the second position of the base 10 is rotated inwardly to lock the free end 131 of the rocker arm 13 to the second position, that is, Can be kept clamped.

In addition, referring to FIGS. 1A, 1B, and 1C, when the clamping device 1 is to release the clamping of the object 30, the fixing buckle 15 at the second position of the body 10 is first rotated outward. To release the latch of the free end 131 of the rocker arm 13; the free end 131 of the rocker arm 13 is rotated from the second position of the seat body 10 to the first position with its pivot end 132 as the center; The pivot end 132 of the arm 13 drives the eccentric 14 to rotate eccentrically with the pivot end 132. As the short diameter region 141 of the eccentric 14 approaches the pressing rod 112 of the clamping arm 11 to release the pressing rod 112. Pressing, the first moment is gradually reduced until it disappears. At this time, the second (bounce) moment of the elastic member 12 will drive the clamping end 113 of the clamping arm 11 to rotate counterclockwise with the pivoting end 111 as a fulcrum. Until the clamping end 113 is away from the holder 30; and after the free end 131 of the rocker arm 13 is rotated to the first position of the seat body 10, the fixing buckle 16 at the first position of the seat body 10 is rotated inwardly to lock The free end 131 of the rocker arm 13 is buckled in the first position. With the clamping device of the present invention and the clamping method thereof, the object to be gripped can be easily grasped, and the object to be gripped can be easily handled and cleaned.

While the present invention has been described in its preferred embodiments, the present invention is not intended to limit the invention, and the invention may be variously modified and modified without departing from the spirit and scope of the invention. The scope of protection is subject to the definition of the scope of the patent application.

1. . . Clamping device

10. . . Seat

101,102. . . Opposite end

11,11’. . . Clamping arm

111. . . Pivot end

112. . . Pressure bar

113. . . Clamping end

114. . . Connection end

12. . . Elastic component

13. . . Rocker arm

131. . . Free end

132. . . Pivot end

14. . . Eccentric wheel

141. . . Short diameter area

142. . . Long diameter area

15. . . Fixed buckle

151. . . Fixed axis

16. . . Fixed buckle

161. . . Fixed axis

21, 21’. . . Clamping arm

211. . . Pivot end

212. . . Pressure bar

213. . . Clamping end

214. . . Connection end

twenty two. . . Elastic component

twenty three. . . Rocker arm

231. . . Free end

232. . . Pivot end

twenty four. . . Eccentric wheel

241. . . Short diameter area

242. . . Long diameter area

25. . . Fixed buckle

251. . . Fixed axis

26. . . Fixed buckle

261. . . Fixed axis

2. . . Clamping device

113’. . . Clamping end

213’. . . Clamping end

17, 27. . . Capping device

30. . . Clamped object

3. . . Handling device

32. . . Pedestal

31. . . Rail column

311. . . guide

40. . . Steering gear

41. . . Lead screw

42. . . Coupling

43. . . Drive source

Fig. 1A is a schematic overall view showing the holding device of the first embodiment of the present invention in an open state.

Fig. 1B is an enlarged schematic view showing the open state of the holding device of the first embodiment of the present invention.

Fig. 1C is a schematic view showing the structure of the rocker arm and the eccentric wheel of the holding device of the present invention.

Fig. 1D is an enlarged schematic view showing the holding device of the first embodiment of the present invention holding the object to be clamped.

Fig. 1E is a schematic view showing the entire holding device of the first embodiment of the present invention.

Fig. 2A is an overall schematic view showing the holding device of the second embodiment of the present invention in an open state.

Fig. 2B is an enlarged schematic view showing the holding device of the second embodiment of the present invention in an open state.

Fig. 2C is an enlarged schematic view showing the holding device holding the object to be clamped in the second embodiment of the present invention.

Fig. 2D is a schematic view showing the entire holding device of the second embodiment of the present invention.

Figure 3 is a front elevational view of the handling device mated with the clamping device of the present invention.

Figure 4 is a plan view of the handling device cooperating with the clamping device of the present invention.

1. . . Clamping device

10. . . Seat

101,102. . . Opposite end

11,21. . . Clamping arm

30. . . Clamped object

Claims (29)

A clamping device comprising: a body having a first end and a second end opposite to the first end; a first clamping arm having a first pivoting end pivotally connected to the base a first end, and a first clamping end for abutting a clamped object; a first rocker arm having a free end and a pivoting end pivoted on the first end of the base; An eccentric is connected to the pivot end of the first rocker arm; and a first elastic element, one end of which is connected to the seat body, and the other opposite end is connected to the first clamping arm, wherein the first When the rocker arm pivots on the first end of the seat body, the first eccentric wheel is driven to press the first clamping arm to rotate until the first clamping end of the first clamping arm abuts the pinch Holding the object, or driving the first eccentric wheel to release the compression of the first clamping arm, so that the first elastic element provides elastic force to reversely rotate the first clamping arm until the first clamping arm of the first clamping arm The end is away from the clamped object. The clamping device of claim 1, wherein the first clamping arm further has a first pressing bar, and a first connecting end is formed on the first pressing bar and the first clamping end For connecting the opposite ends of the first elastic member. The clamping device of claim 2, wherein the first eccentric is divided into a short diameter region having a different radial length and a long diameter region. The clamping device of claim 3, wherein when the first rocker arm pivots on the first end of the seat body, driving the long diameter region of the first eccentric wheel to press the first clamping The first pressing rod of the arm rotates until the first clamping end of the first clamping arm abuts the clamped object, or reversely drives the short diameter area of the first eccentric to approach the first clamping arm The first pressing rod releases the pressing force, and the first elastic member provides the elastic force to reversely rotate the first clamping arm via the first connecting end until the first clamping end of the first clamping arm is away from the object to be clamped. The clamping device of claim 4, wherein the pivoting end drives the first eccentricity when the first rocker arm pivots from a first position to a second position about its pivoting end. Pressing the first pressing rod of the first clamping arm to generate a first moment, the first moment rotating the first clamping end of the first clamping arm to abut the holding object, and causing The first elastic element provides a tensile force to the first connecting end of the first clamping arm to generate a second moment, wherein the first moment is greater than the second moment. The clamping device of claim 5, wherein when the first rocker arm is pivoted from the second position to the first position, the pivoting end thereof drives the short diameter region of the first eccentric to approach the first Holding a first pressing rod of the arm to release the first moment, and causing the first elastic element to provide a rebounding moment to the first clamping arm, the rebounding moment rotating the first clamping end of the first clamping arm away from the Subjected to the object. The clamping device of claim 6, further comprising a first fixing buckle for fixing the free end of the first rocker arm at a first position of the first end of the seat body, and a second fixing a buckle for fixing the free end of the first rocker arm at a second position of the first end of the seat body. The clamping device of claim 7, further comprising: a second clamping arm on the second end of the housing opposite the first clamping arm, and the second clamping arm has a second pivoting end is configured to pivot the second clamping arm to the second end of the base body, a second pressing rod extends from the second pivoting end, and a second clamping end is used for abutting the receiving end The other end of the holder and a second connecting end are formed between the second pressing rod and the second clamping end; a second rocker arm has a free end and a pivoting end pivoted to the seat body a second eccentric wheel connected to the pivot end of the second rocker arm and divided into a short diameter region having a different radial length and a long diameter region; and a second elastic element, One end is connected to the base body, and the other opposite end is connected to the second connecting end of the second clamping arm, wherein When the free end of the second rocker arm pivots on the second end of the seat body, driving the long diameter region of the second eccentric wheel to press the second pressure bar of the second clamp arm to rotate by the pivot end Until the second clamping end of the second clamping arm abuts the clamped object, or reversely drives the short diameter area of the second eccentric to approach the second pressure bar of the second clamping arm to release the pressure, And causing the second elastic member to elastically rotate the second clamping arm via the second connecting end until the second clamping end of the second clamping arm is away from the object. The clamping device of claim 8, wherein when the free end of the second rocker arm rotates from a third position to a fourth position centering on the pivot end, the pivoting end thereof drives the second The long diameter region of the eccentric wheel presses the second pressing rod of the second clamping arm to generate a third moment, the third torque rotates the second clamping end of the second clamping arm to abut the holding object, and The second elastic element is caused to provide a tensile force to the second connecting end of the second clamping arm to generate a fourth moment, wherein the third torque is greater than the fourth moment. The clamping device of claim 9, wherein when the free end of the second rocker arm is rotated from the fourth position to the third position, the pivoting end thereof drives the short diameter region of the second eccentric to approach the a second pressing rod of the second clamping arm to release the third moment, and the second elastic element provides a rebounding moment to the second clamping arm, the rebounding torque rotating the second clamping end of the second clamping arm Keep away from the clamped object. The clamping device of claim 10, further comprising a third fixing buckle for fixing the free end of the second rocker arm at a third position of the second end of the seat body, and a fourth fixing buckle The second end of the second rocker arm is fixed at a fourth position of the second end of the seat. The clamping device of claim 8, wherein the first clamping end of the first clamping arm and the second clamping end of the second clamping arm have a groove structure. The clamping device of claim 8, wherein the first clamping end of the first clamping arm and the second clamping end of the second clamping arm have an L-shaped structure. The clamping device of claim 13, wherein the seat body further has at least one pressing device for correspondingly engaging the second clamping end of the first clamping arm and the second clamping arm Holding one of the ends to fix the clamped object between the corresponding clamping end and the pressing device. A clamping device comprising: a body having opposite first and second ends; and a pair of clamping assemblies disposed on the opposite ends of the housing, and each clamping assembly The utility model comprises a clamping arm having a pivoting end for pivoting the clamping arm to the first end of the seat body, a pressing rod extending from the pivoting end, and a clamping end for abutting a holding object One end end and one connecting end are formed between the pressing rod and the clamping end; a rocker arm is disposed on the first end of the seat body, wherein the rocker arm has a free end and a pivot end The rocker arm is pivoted on the first end of the seat body; an eccentric wheel is connected to the pivot end of the rocker arm, and is divided into a short-diameter area and a long-path area having different radial lengths; An elastic member having one end connected to the seat body and the other opposite end connected to the connecting end of the clamping arm, wherein when the free end of the rocker arm reciprocates on the first end of the seat body, The pivoting end drives the long diameter region of the eccentric to press the pressing rod of the clamping arm to rotate until the clamping end of the clamping arm abuts the Gripping thereof, or a minor axis drive region of the eccentric arm of the clamping lever close, so that the elastic member provides the elastic force of the clamp arm is rotated until the gripping end of the gripping arm away from the retained material. A clamping method is applied to a clamping device having a body and a pair of clamping assemblies disposed on opposite ends of the housing, and each clamping assembly comprises: a clamping The arm has a pivoting end for pivoting the clamping arm to the seat body, a pressing rod, a clamping end, and a connecting end is formed between the pressing rod and the clamping end; a rocker arm has a free end and a pivoting end for the rocker arm to pivot on the seat body; an eccentric wheel train is divided into different radial directions One of a short diameter region and a long diameter region, and the eccentric wheel is coupled to the pivot end of the rocker arm; and an elastic member having one end coupled to the seat and the other opposite end coupled to the clamp The connecting end of the arm, and the clamping method comprises the steps of: rotating the free end of the rocker arm of each clamping assembly on the seat body to a different position centering on its pivot end; driving through the pivot end The eccentric wheel is deflected; when the eccentric wheel is deflected to the long diameter region to press the pressing rod of the clamping arm to generate a first moment, the first moment drives the clamping end of the clamping arm to pivot with the pivoting end as a fulcrum Until the clamping end of the clamping arm abuts the clamped object; and when the eccentric is deflected to a short diameter region proximate to the pressing lever of the clamping arm to release the first moment, the elastic element is attached to the clamping arm The connecting end provides a rebounding torque that drives the clamping end of the clamping arm End is pivoted away from the fulcrum until the retained material. The clamping method of claim 16, further comprising the step of: when the eccentric is deflected to the long diameter region to press the pressing lever of the clamping arm to generate a first moment, the elastic member is The connecting end of the arm provides a tensile force to generate a second moment, wherein the first moment is greater than the second moment. A clamping device comprising: a body having a first end and a second end opposite to the first end; a first clamping arm pivotally connected to the first end of the base and extending outward Forming a first clamping end; a first rocker arm having a pivoting end disposed on the first end of the seat body and a free end; a first eccentric wheel pivotally pivoting the first rocker arm a second clamping arm pivotally connected to the second end of the base body and extending outward to form a second clamping portion a second rocker arm having a pivot end disposed on the second end of the seat body and a free end; and a second eccentric wheel pivotally coupled to the pivot end of the second clamp arm and Part of the rim presses against the second rocker arm; wherein when the first rocker arm and the second rocker arm are each rotated based on the pivoting end thereof, the first eccentric wheel and the second eccentric wheel are driven to rotate the first A first clamping end of a clamping arm and a second clamping end of the second clamping arm jointly clamp both ends of a clamped object. The clamping device of claim 18, further comprising a first fastening buckle for fixing the free end of the first rocker arm when the first clamping end is disengaged from the object. The clamping device of claim 19, further comprising a second fastening buckle for fixing the free end of the first rocker arm when the first clamping end clamps the clamped object. The clamping device of claim 20, further comprising a third fixing buckle for fixing the free end of the second rocker arm when the second clamping end is disengaged from the object. The clamping device of claim 21, further comprising a fourth fixing buckle for fixing the free end of the second rocker arm when the second clamping end clamps the object. The clamping device of claim 18, further comprising a first elastic member, one end of the first elastic member is coupled to the base body, and the other end is coupled to the first clamping arm for The first clamping arm is disengaged from the holder. The clamping device of claim 23, further comprising a second elastic member, one end of the second elastic member is coupled to the base body, and the other end is coupled to the second clamping arm for The second clamping arm is disengaged from the holder. The clamping device of claim 18, wherein the first clamping end and the second clamping end are a groove. The clamping device of claim 18, wherein the first clamping end and the first The two clamping ends are an L-shaped. The clamping device of claim 26, wherein the at least one pressing device is further connected to the seat body for corresponding one of the first clamping end or the second clamping end, when the corresponding clamping When the end grips the clamped object, the clamped object is fixed between the clamped end and the pressing device. A handling device comprising: a base having an upper surface; a plurality of guide rails each having a guide rail disposed in parallel on both sides of the base, supporting the base and forming an accommodation space; and a plurality of lead screws The plurality of couplings are disposed on the upper surface of the base, and are respectively connected to the plurality of lead screws; a steering device is disposed on the upper surface of the base to connect the plurality of a coupling device that drives the diverter to rotate the plurality of couplings to drive the plurality of coupling screws; and a clamping device as described in claim 1 or 15 or 18 Holding a clamped object in the accommodating space, the plurality of lead screwes are screwed on both sides of the clamping device, and when the driving source drives the plurality of lead screwes, the plurality of lead screwes interlock the clamping device along the The guide rail is moved up or down until the position of the clamped object. The handling device of claim 28, wherein the driving source is a servo motor.