TWI584913B - Machine gripper, clip open/close apparatus and clip open/close method - Google Patents

Description

Mechanical jaw, clip opening and closing mechanism and clip opening and closing method

The invention relates to a mechanical jaw, a clip opening and closing mechanism and a clip opening and closing method, in particular to a mechanical jaw, a clip opening and closing mechanism and a clip opening and closing method for allowing a plurality of elastic clips to be clamped up and down.

Double glazing generally has better sound and thermal insulation than single glazing, and is often used in applications such as architectural windows, train windows or freezers or studio windows. The two glass substrates of the double glazing are stacked and separated by a number of spacers to form a gap. For different needs, it is only necessary to store dry air in the gap between the two glass substrates. Sometimes, the gap between the two glass substrates is evacuated to form a vacuum glass, and sometimes a vacuum glass is formed. It is necessary to fill an inert gas (for example, argon gas) between the two glass substrates to form a heat insulating glass having a better heat insulating effect.

In the double-glazing process of this type, it is necessary to use a plurality of elastic clips to clamp the two glass substrates that have been stacked together, and wait until some subsequent processes, such as vacuuming or filling gas, are performed after the completion of these elastic processes. Remove the clip. In the past, these tasks required manpower to perform, which was time-consuming and laborious and needed improvement.

The invention provides a mechanical jaw, a clip opening and closing mechanism and a clip opening and closing method.

A clip opening and closing mechanism of the present invention comprises a machine table, a lifting device, a plurality of clip placing slots, a clamping device and a driving device. The lifting device is arranged on the machine table. The clip placement slots are disposed on the lifting device for placing a plurality of clips and by the lifting device Driven and raised between a lifting start position and a lifting preparatory position. The clamping device is disposed on a rail of a top surface of the machine and is configured to move along the rail. The clamping device has a plurality of mechanical jaws. The driving device is coupled to the clamping device to drive the clamping device to move along the sliding rail between a clamping start position and a clamping preparation position. When the clip placement slots are in the elevation preparation position and the clamping device is in the clamping preparation position, the mechanical jaws drive the clips of the clips to change between a closed state and an open state, and the clips are Accumulate an elastic force when the state is turned on.

Preferably, the clip opening and closing mechanism further comprises a stage. The stage is disposed on one of the tracks below the machine table for transporting the stacked plurality of substrates. Wherein, when the substrates are moved to a position of the upper and lower clips located below the machine table, the clamping device moves the clamping device to the clamping position, and the mechanical jaws drive the clips to change from the open state to the closed state. The clips are clamped to the stacked substrates.

Preferably, the clip opening and closing mechanism further comprises a stage. The loading platform is disposed on a track below the machine table for transporting the stacked plurality of substrate movements, wherein the clamping device moves the clamping device when the substrates are moved to a position of the upper and lower clamps located below the machine table The clamping position is performed, and the mechanical jaws drive the clips on the substrates to change from a closed state to an open state, so that the clips loosen the stacked substrates.

Preferably, each clip has a body, a first joint and a second joint. The body is a reed clip, and the two ends of the reed clip are respectively connected to the first joint portion and the second joint portion and jointly form a jaw. The body forms a triangle when it is in the closed state, and accumulates an elastic force when it is in the open state. Each clip placement slot has two side walls, a groove and a bottom. The two side walls are used to support the body of the clip to maintain a predetermined distance between the body and the bottom. The groove is located above one side of the bottom for snapping into the second joint of the clip.

Preferably, each mechanical jaw comprises a first claw finger, a second claw finger and a pivot shaft, and the first claw finger and the second claw finger are pivotally mounted on the pivot, the first claw finger and the second claw Each side of the finger has a rib. The first and second claw fingers together form a gripping opening at the front end, so that the corresponding clip enters or exits from the gripping opening. The bottoms of the clip placement slots have a notch on the opposite side of the groove. The notches receive the ribs of the second claw when the clip placement slots are in the lift preparation position and the gripping device is in the grip preparation position.

Preferably, the bottom of the clip placement slots has a notch on the side of the groove for a separation plate to pass upward to collide with the clip located in the clip placement slot.

Preferably, the first joint portion and the second joint portion of each clip respectively have a first hook groove and a second hook groove. Each of the mechanical jaws includes a first claw, a second claw and a pivot, and the first and second fingers are pivotally mounted on the pivot. A first protruding portion and a second protruding portion extend outwardly from the front end of the first and second claw fingers for correspondingly extending into the first hook groove and the second hook groove.

A mechanical jaw of the present invention comprises a first finger, a second finger, a pivot, a lead screw and a second driver. The first claw has a first pivot hole; the second claw has a second pivot hole. The pivoting hole has a first pivoting hole and a second pivoting hole, so that the first claw finger and the second claw finger are pivoted on the pivot. The first and second claw fingers together form a gripping opening at the front end for allowing a clip to enter or exit from the gripping opening. The second driving member is sleeved on both ends of the lead screw and combined with the first claw finger and the rear end of the second claw finger respectively. When the lead screw rotates in the axial direction, the two-clamping member moves in the opposite direction or in the back direction, so that the clamping port is stretched or folded.

Preferably, each of the driving members comprises a fixing frame, a gasket and a bearing. The bearing is fixed on one side of the holder and between the spacers. The first claw and the second claw have a fixing hole at the rear end for the guide screw to pass through. The rear ends of the first claw finger and the second claw finger are respectively fixed between the corresponding driving member and the other side of the fixing frame. The two bearings each have an internal thread that is screwed to the lead screw, and the two internal threads are opposite in the direction of the axis.

Preferably, each bearing has an angle such that the bearings respectively engage the corresponding fixing holes.

Preferably, a first protruding portion and a second protruding portion extend outwardly from the front end of the first and second claw fingers for correspondingly extending into one of the first hook groove and the second hook groove of the clip. The first hook groove and the second hook groove are located on both sides of a clip of the clip. When the gripper is stretched to stretch the grip of the clip, the clip accumulates an elastic force. When the gripping port is closed, the clip releases the elastic force to cause the jaw to close.

A clip opening and closing method of the present invention is used to open and close a plurality of clips by a plurality of mechanical jaws. The clip opening and closing method comprises the steps of: a. combining the mechanical jaws with the clips; b. supporting the gripping ports of the mechanical jaws, so that the clips of the clips are opened to accumulate an elastic force; c. moving The mechanical jaws are moved from a first position to a second position with the clips; d. the holding jaws of the mechanical jaws are folded, so that the clips release the elastic force to fold the clips And; e. separating the mechanical jaws and the clips.

Preferably, before step a, the step further comprises: placing the clips horizontally in the plurality of clip placement slots.

Preferably, the step b further comprises the steps of: abutting the protruding sections of the front ends of the mechanical jaws against the hook grooves of the clips; and applying a force to support the clamping mouths of the mechanical clamping jaws to drive the protruding sections The hooks are used to open the clips of the clips.

Preferably, the step d further comprises the step of placing the clips in the clip placement slots.

1‧‧‧ clip

10‧‧‧ Ontology

100‧‧‧ jaw

11‧‧‧ First Joint Department

111‧‧‧ tail

112‧‧‧First hook slot

12‧‧‧Second junction

122‧‧‧ tail

13‧‧‧ bottom

131, 132‧‧‧ side

14‧‧‧First clamping section

141‧‧‧ first end

15‧‧‧Second gripping section

151‧‧‧ second end

2‧‧‧Mechanical jaws

21‧‧‧claw

210‧‧‧Clamping port

22‧‧‧Claw drive device

23‧‧‧First claw

24‧‧‧second claw

231, 241‧‧‧ pivot block

232‧‧‧First pivot hole 232

242‧‧‧Second pivot hole

233, 243‧‧ ‧ control section

234, 244‧‧ ‧ clamping section

235, 245‧‧ ‧ ribs

236, 246‧‧ ‧ prominent paragraph

237, 247‧‧‧ fixing holes

25‧‧‧ pivot

251‧‧‧Self-lubricated bearings

252‧‧‧Axis

26‧‧‧ lead screw

27, 28‧‧‧ Driven parts

271, 281‧‧‧ fixed frame

272, 282‧‧‧ shims

273, 283‧ ‧ bearings

274, 284 ‧ ‧ Included

275, 285 ‧ ‧ cut angle

3‧‧‧Clip opening and closing mechanism

30‧‧‧Top frame

301‧‧‧rails

302‧‧‧ Track

31‧‧‧ machine

32‧‧‧ Lifting device

321‧‧‧ tablet

322‧‧‧ pneumatic cylinder

323‧‧‧guides

33‧‧‧Clip slot

330‧‧‧ notch

331‧‧‧ side wall

332‧‧‧ Back wall

333‧‧‧ gap

334‧‧‧Support block

335‧‧‧ bolt

336‧‧‧Compression spring

337‧‧‧ trench

338‧‧‧ bottom

34‧‧‧Clamping device

341‧‧‧ 容箱

342‧‧‧ drive

35‧‧‧ stage

361‧‧‧Feeding device

362‧‧‧Vibration feeder

363‧‧‧Feeding table

37‧‧‧ Robotic arm

371‧‧‧Rack

372‧‧‧crossbar

373‧‧‧Horizontal mobile device

374‧‧‧Longitudinal mobile device

375‧‧‧Rotating device

376‧‧‧ suction arm

377‧‧‧Sucker

38‧‧‧Conveyor

381‧‧‧ conveyor belt

382‧‧‧Drive motor

383‧‧‧ Pulley

384‧‧‧ Spacer

39‧‧‧Pushing device

391‧‧‧ Push block

392‧‧‧Pneumatic cylinder

393‧‧‧guides

4‧‧‧Clip opening and closing mechanism

40‧‧‧Top frame

401‧‧‧rails

402‧‧‧ Track

41‧‧‧ machine

42‧‧‧ lifting device

43‧‧‧Clip slot

431‧‧‧ side wall

432‧‧‧ bottom

433‧‧‧ gap

435‧‧‧ trench

44‧‧‧Clamping device

442‧‧‧ drive

45‧‧‧ stage

46‧‧‧Separation board

47‧‧‧Conveyor

48‧‧‧Recycling tank

49‧‧‧Recovery track

5‧‧‧Substrate

A‧‧‧ lifting start position

B‧‧‧ Lifting preparation position

C‧‧‧ clamping starting position

d‧‧‧Preparation position

e‧‧‧Clamping position

G‧‧‧Vertical distance

The first figure is a general view of the clip opening and closing mechanism of the first preferred embodiment of the present invention.

The second figures (A)-(B) are schematic views of the appearance of a preferred embodiment of the clip of the present invention.

The third figure is a schematic view of the appearance of a mechanical jaw according to a preferred embodiment of the present invention.

Figure 4 is an exploded view of the mechanical jaw of the preferred embodiment of the present invention.

Fig. 5 (A) - (C) are schematic views showing the operation of the opening jaw of the mechanical jaw of the preferred embodiment of the present invention.

Figure 6 (A) - (C) is a schematic view showing the actuation of the release jaw of the mechanical jaw of the preferred embodiment of the present invention.

Figure 7 is a schematic view of a feeding mechanism of a preferred embodiment of the present invention.

Figure 8 is a schematic view of a robotic arm and a delivery device in accordance with a preferred embodiment of the present invention.

Figure 9 is a schematic view of a robot arm in accordance with a preferred embodiment of the present invention.

Figure 10 is a schematic view of a pusher device in accordance with a preferred embodiment of the present invention.

Figure 11 is a schematic view of the clip of the preferred embodiment of the present invention pushed to the clip placement slot.

Figure 12 is a schematic view of a lifting device in accordance with a preferred embodiment of the present invention.

Figure 13 is a schematic view showing the clip placed on the clip placement slot.

Figure 14 is a schematic view showing the operation of the lifting device of the preferred embodiment of the present invention.

Figure 15 is a schematic view of a holding device in accordance with a preferred embodiment of the present invention.

Fig. 16 is a schematic view showing the preliminary clamping operation of the holding device according to the preferred embodiment of the present invention.

Figure 17 is a view showing the preparation of the clamping device of the preferred embodiment of the present invention intention.

18 and 19 are schematic views showing the upper clamping operation of the holding device according to the preferred embodiment of the present invention.

Figure 20 is a block diagram of the upper clip of the present invention.

Figure 21 is a general view of the clip opening and closing mechanism of the second preferred embodiment of the present invention.

Twenty-second (A)-(C) is a schematic view showing the operation of the mechanical jaw-opening clip of the second preferred embodiment of the present invention.

Figure 23 is a partial perspective view showing the clip opening and closing mechanism of the second preferred embodiment of the present invention.

Figure 24 is a schematic view showing a clip placing groove and a lifting device according to a second preferred embodiment of the present invention.

Figure 25 is a schematic view showing the unloading action of the mechanical jaw of the second preferred embodiment of the present invention.

Figure 26 is a partial schematic view showing the clip opening and closing mechanism of the second preferred embodiment of the present invention.

Figure 27 is a partial plan view showing the clip opening and closing mechanism of the second preferred embodiment of the present invention.

Twenty-eighthth (A)-(B) is a schematic view showing the operation of the clip separation of the clip opening and closing mechanism of the second preferred embodiment of the present invention.

The twenty-ninth figure is a block diagram of the flow chart of the present invention.

The first figure shows a preferred embodiment of the clip opening and closing mechanism 3 of the present invention for propping a plurality of jaws 100 of the clip 1 as shown in the second figure and transferring them to the first One side of a workpiece 5 shown in Fig. 6 is then closed so that the clips 1 grip the side of the workpiece 5. In the preferred embodiment, the clip opening and closing mechanism 3 is applied to the double glazing, so that the workpiece 5 is two glass substrates that have been stacked together, however, the work 5 may be any need to be one or Items sandwiched by multiple clips are not limited to two glass substrates.

The second figure (A) shows that the clip 1 is made of a resilient sheet, such as an elastic steel sheet. The clip 1 includes a body 10, a first joint portion 11 and a second joint portion 12. Body 10 The first clamping portion 14 , the second clamping portion 15 and a bottom portion 13 are included. The body 10 formed by the first clamping portion 14, the second clamping portion 15, and the bottom portion 13 is a resilient reed clip that accumulates an elastic force in an open state and releases the elastic force in a closed state. A triangle is outlined. Preferably, the first clamping portion 14 is a rectangular plate body and has a first end 141. The second clamping portion 15 is a rectangular plate body and has a second end 151. The bottom portion 13 is a rectangle. The plate body has opposite side ends 131, 132. The first clamping portion 14 and the second clamping portion 15 are formed by extending forwardly from the two side ends 131, 132 of the bottom portion 13, respectively. The first end 141 of the first clamping portion 14 intersects the second end 151 of the second clamping portion 15 to form a nip 100 that can be stretched.

The first joint portion 11 is a plate body extending upward from the first end 141 of the first clamping portion 14 and parallel to the bottom portion 13, and the tail portion 111 is further bent rearward and downward. A first hook groove 112 is defined in the center of the first joint portion 11. The first hook groove 112 is a vertical groove and the first joint portion 11 is partitioned into two halves. Please also refer to the second figure (B), the vertical distance G between the tail portion 111 and the side end 131.

The second joint portion 12 is a plate body extending downward from the second end 151 of the second clamping portion 15 and parallel to the bottom portion 13, and the tail portion 121 is further bent rearward and downward. In the center of the second joint portion 12, there is a second hook groove 122 which is aligned with the first hook groove 112 of the first joint portion 11. The second hook groove 122 is a vertical groove and divides the second joint portion 12 into two halves. Referring also to the second figure (B), the tail portion 121 and the side end 132 of the bottom portion 13 adjacent to the second joint portion 15 are separated by a vertical distance G in the axial direction of the parallel bottom portion 13. When the clip 1 is in the closed state, the first joint portion 11 and the second joint portion 12 are parallel to each other to form a plane.

The first hook groove 111 and the second hook groove 111 are located on both sides of the clip 100 of the clip 1, and the first hook groove 111 and the second hook groove 121 can be combined with an external tool (not shown) at the same time, and can The first hook groove 111 and the second hook groove 121 are moved outward by the external tool to open the jaw 100 of the clip 1. Since the body 10 is a reed clip, the clip 100 is opened while the clip 1 also accumulates an elastic force, and the elastic force drives the opened jaw 100 to be closed again. The user places an object to be fixed, such as a substrate, in the jaw 100 in which the clip 1 is opened, and when the clip 1 is closed again, the article can be clamped and fixed.

The third figure shows a schematic view of the appearance of a mechanical jaw of a preferred embodiment of the present invention. The mechanical jaw 2 includes a jaw 21 and a jaw driving device 22, and the jaw 21 is disposed on the jaw driving device 22. The clamping jaw 21 has a scissor structure and has a first claw finger 23 and a second claw finger 24 and a pivot 25. The first claw finger 23 and the second claw finger 24 are pivotally disposed on the pivot shaft 25, and a clamping port 210 is formed at the front end of the first claw finger and the second claw finger. The gripping opening 210 is used to bring the clip into engagement with the mechanical jaw 2 and to thereby disengage the clip from the mechanical jaw 2. The jaw driving device 22 includes a lead screw 26 and two driving members 27, 28. The second driving members 27 and 28 are simultaneously sleeved on the lead screw 26, and the rear ends of the first claw finger 23 and the second claw finger 24 are respectively fixedly coupled to the second driving members 27 and 28. The lead screw 26 can be coupled to a jaw drive (e.g., a drive motor) to axially rotate the lead screw 26. When the jaw driving device drives the lead screw 26 to rotate axially, the two driving members 27, 28 are moved in the opposite direction or in the back direction. Thereby, the distance between the front end of the first claw finger 23 and the second claw finger 24 can be small and the inside of the clamping port 210 can be folded inward; or the distance between the front end of the first claw finger 23 and the second claw finger 24 The clamping port 210 can be stretched outwardly.

Please refer to the fourth figure, which is an exploded view of the mechanical jaw of the preferred embodiment of the present invention. The first claw finger 23 and the second claw finger 24 each have a protruding pivoting block 231, 241. Each of the pivoting blocks 231 and 241 has a first pivot hole 232 and a second pivot hole 242. The pivot 25 is composed of a self-lubricating bearing 251 and a shaft center 252. The pivot 25 passes through the first pivot hole 232 and the second pivot hole 242 at the same time, so that the first claw finger 23 and the second claw finger 24 are pivoted on the pivot shaft 25 . The first claw finger 23 and the second claw finger 24 each have a control section 233, 243 and a front end thereof having a clamping section 234, 244. The two clamping sections 234, 244 each have a slightly curved arcuate shape with ribs 235, 245 on the outside to prevent deformation of the two clamping sections 234, 244. The two clamping segments 234, 244 together form a clamping opening 210, and the first claw finger 23 and the front end of the second claw finger 24 (ie, one side of the two clamping segments 234, 244) respectively extend outwardly from the protruding portion 236. 246. The two control segments 233, 243 and the two drivers 27, 28 are simultaneously sleeved at both ends of the lead screw 26. The two driver members 27, 28 are respectively coupled to the second control segments 233, 243 of the first claw finger 23 and the second claw finger 24 at the rear end. When the lead screw 26 drives the two-clamping members 27, 28 to move in the opposite direction or the back direction, the two control segments 233, 243 are simultaneously moved in the opposite direction by the pivot 25 as the axis, thereby causing the two clamping segments 234, The 244 is oppositely moved back or opposite to the two control segments 233, 243 with the pivot 25 as the axis.

The driving member 27 is composed of a fixing frame 271, a gasket 272 and a bearing 273. The driving member 28 is also composed of a fixing frame 281, a gasket 282 and a bearing 283. The two control sections 233, 243 each have a fixing hole 237, 247 for the lead screw 26 to pass through. The two control sections 233, 243 are respectively clamped and fixed between the two spacers 272, 282 and one side of the two holders 271, 281. The two bearings 273 and 283 are respectively fixed on the other side of the two fixing frames 281 and 282 and the two spacers 272 and 282 between. In the present embodiment, the fixing frame 271 is a hollow rectangular parallelepiped to receive the control section 233, the spacer 272 and the bearing 273, one inner side of which is adjacent to the control section 233 and the other inner side adjacent to the bearing 273, and the spacer 272 Located between the control section 233 and the bearing 273, thereby limiting the control section 233, the spacer 272 and the bearing 273 in the holder 271. Similarly, the holder 281 is a rectangular parallelepiped that limits the control section 233, the spacer 272, and the bearing 273 therein. The two entraining members 27, 28 are thereby fixed in combination with the two control segments 233, 243, respectively. The two bearings 273, 283 each have an internal thread (not shown) that is screwed to the lead screw 26, and the two internal threads are opposite in the direction of the axis. The lead screw 26 is screwed into the bearings 273, 283. The two bearings 273, 283 each have an engaging portion 274, 284. The two engaging portions 274 and 284 are columnar bodies extending from the two bearings 273 and 283, and have chamfering angles 275 and 285, respectively. When the two driving members 27, 28 are combined with the two control segments 233, 243, the two engaging portions 274, 284 extend into the fixing holes 237, 247, so that the cutting angles 275, 285 of the two engaging portions 274, 284 oppose the fixing holes 237. One side of 247. Thereby, when the two engaging portions 274 and 284 are engaged with the two fixing holes 237 and 238, the axial rotation cannot be performed. In this way, when the jaw driving device drives the lead screw 26 to rotate axially, the two bearings 273, 283 can only move radially. Moreover, since the two internal threads of the two bearings 273 and 283 are opposite in the direction of the axis, the two bearings 273 and 283 move only in the opposite direction or in the back direction, and drive the two control segments 233 and 243 to move in the opposite direction or in the back direction.

Referring to Figures 5(A)-(C), a schematic view of the opening of the mechanical jaw of the preferred embodiment of the present invention is shown. The gripping opening 210 of the mechanical jaw 2 is expanded to a width slightly larger than the bottom 13 of the clip 1. Preferably, the distance between the two protruding sections 236, 246 of the mechanical jaw 2 is smaller than the distance between the first hook groove 111 and the second hook groove 121. The mechanical jaw 2 moves forward to engage the clip 1. In the present invention, the mechanical jaw 2 is combined with the clip 1 to mean that the body 10 of the clip 1 is inserted into the section between the first and second fingers 23 and 24 by the gripping opening 210. Preferably, the protruding length of the two protruding segments 236, 246 is less than the vertical distance G such that the two protruding segments 236, 246 of the mechanical jaw 2 can be directly advanced to the first joint portion 11 and the second joint portion 12. That is, as long as the size of the clamping opening 210 is slightly larger than the width of the bottom portion 13, the mechanical jaw 2 can be directly pushed forward to the first joint portion 11 and the second joint portion 12, and the clamping port 210 need not be adjusted during the advancement. The size of the second joint portion 11 is also not blocked by the portion in which the first joint portion 11 is bent inward or the portion where the second joint portion 12 is bent inward. When the jaw driving device 22 drives the front end of the first claw finger 23 and the second claw finger 24 to move back to make the clamping port 210 expand and expand, the two protruding portions 236 and 246 respectively along the first joint portion 11 and the first The second joint portion 12 moves in the opposite direction against the inner wall of the first hook groove 111 and the inner wall of the second hook groove 121, thereby expanding The jaws 100 of the clip 1 are of a predetermined jaw size. The predetermined jaw size depends on the width of the item to be clipped.

Referring to Figures 6(A)-(C), there are shown schematic views of the action of the release grip of the mechanical jaw of the preferred embodiment of the present invention. Here, the case where the plurality of substrates 5 are sandwiched by the clip 1 will be described as an example. The sixth diagram (A) shows that the mechanical jaw 2 drives the clip 1 forward until one of the plurality of substrates 5 is located inside the jaw 100 of the clip 1. As shown in the sixth figure (B), when the jaw driving device 22 drives the first claw finger 23 and the second claw finger 24 to fold the clamping port 210 inward, the two protruding segments 236, 246 no longer continue to abut. The inner wall of the first hook groove 111 and the inner wall of the second hook groove 121. Preferably, the clamped opening 210 remains slightly larger than the width of the bottom 13 of the clip 1. At this time, the clip 1 releases the elastic force accumulated when being stretched, and the elastic force drives the grip 100 to close and sandwiches the plurality of substrates 5. Then, as shown in the sixth diagram (C), the mechanical jaw 2 is moved rearward to separate the clip 1 from the grip opening 210. Of course, the above process can be used only to separate the mechanical jaw 2 from the clip 1 without the need to clamp any items, such as a plurality of substrates 5.

The first figure is a general view of the clip opening and closing mechanism of the first preferred embodiment of the present invention. The clip opening and closing mechanism 3 is for opening and closing a plurality of clips having elasticity. In the first preferred embodiment, a plurality of stacked substrates 5 are sandwiched by clips as an example. The clip opening and closing mechanism 3 includes a machine table 31, a lifting device 32, a plurality of clip placing grooves 33, a holding device 34 (fourteenth drawing), and a driving device 342 (fifteenth drawing). The holding device 34, the driving device 342, the clip placing grooves 33, and the lifting device 32 are disposed on the machine table 31. The lifting device 32, the plurality of clip placing grooves 33, and the holding device 34 will be described later. Preferably, the clip opening and closing mechanism 3 can additionally provide a loading platform 35 on a track 302 below the machine table 31 for placing the substrates 5 and transporting the substrates to move along the track movement 302 to the machine table 31 or Leave the machine 31. In this embodiment, the track is a horizontal track. When the stage 35 transports the stacked plurality of substrates 5 into a position of the upper and lower clips inside the clip opening and closing mechanism 3, when the clip opening and closing mechanism 3 performs an upper clamping operation, on one side or both sides of the substrate 5 Clip the clips. Subsequently, the stage 35 transports the plurality of substrates 5 sandwiching the clips away from the clip opening and closing mechanism 3.

Referring to the first figure, the present invention can simultaneously provide two clip opening and closing mechanisms 3 on both sides of the substrate 5. In this way, when the upper clamping operation is performed, the two sides of the substrate 5 can simultaneously clamp the clips 1. The top opposite extension of the two machines 31 forms a top frame 30. A rail 302 is disposed at a center below the top frame 30, and the stage 35 is disposed on the rail 302. When placed in After the substrates 5 on the stage 35 complete the upper clamping operation, they can be moved along the track 302 to the next position for the next processing operation. Next, one of the clip opening and closing mechanisms 3 is taken as an example to illustrate the progress of the upper gripping operation.

The clip used in the present invention has a jaw that closes when closed and opens when in the open state. Moreover, the gripper can accumulate an elastic force when it is in an open state, so that the clip has a tendency to return to a closed state, so that the articles placed in the jaws can be gripped by the elastic force. For convenience of explanation, the clips mentioned in the following embodiments are the clips 1 of the foregoing embodiments.

Preferably, the clip opening and closing mechanism 3 further includes a feeding mechanism. Please also refer to the seventh figure, which is a schematic view of the feeding mechanism of the preferred embodiment of the present invention. The feeding mechanism includes a feeding device 361 and a vibrating feeder 362, and a feeding table 363 extends along the vibrating feeder 362. The clips 1 are placed in the feeding device 361, and the clips 1 are individually transported to a vibrating feeder 362. The vibrating feeder 362 arranges each of the clips 1 in a specific direction and transmits them in a vibrating manner. The clips 1 sent from the vibrating feeder 362 are fed into the feeding table 363 and then fed into the table 31.

The clip opening and closing mechanism 3 further includes a robot arm 37 and a conveying device 38. Please refer to the eighth figure, which is a schematic view of a robot arm and a conveying device according to a preferred embodiment of the present invention. The robot arm 37 is disposed between the feed table 363 and the conveying device 38. Please also refer to the ninth drawing, which is a schematic view of a robot arm according to a preferred embodiment of the present invention. The robot arm 37 includes a frame 371, a lateral moving device 373, a longitudinal moving device 374, a rotating device 375, and a plurality of suction arms 376. The frame 371 is disposed on the machine table 31. The frame 371 is provided with a plurality of cross bars 372. The lateral moving device 373 is mounted on the cross bars 372 and can move laterally along the cross bars 372. The longitudinal moving device 374 is mounted on the lateral moving device 373 and is vertically movable relative to the lateral moving device 373. The rotating device 375 is mounted below the longitudinal moving device 374 and is rotatable relative to the longitudinal moving device 374. The suction arms 376 are mounted below the rotating device 375 and each have a suction cup 377 for sucking the clips 1. The robot arm 37 sucks the clip 1 closest to the transport device 38 on the feed table 363, rotates the clip 1 180 degrees while moving laterally to a transport position on the transport device 38, and then places the clip 1 in the transport position. on. After the robot arm 37 releases the sucked clip 1, it returns to the position where the clip 1 has just been sucked and repeats the above suction operation.

Referring to FIG. 8 again, the conveying device 38 is disposed on the machine table and includes a conveyor belt 381, a driving motor 382 and two pulleys 383. The conveying device 38 is used to place the gripper 1 on which the robot arm 37 is placed on the conveying device 38, and is sent to the front of each of the clip 1 placing grooves 33. conveyor The 381 has a plurality of spacers 384, and the distance between adjacent spacers 384 is the same. The clip 1 is placed between the two spacers 384 so that the distance between the clips on the conveyor belt 381 is equal. The notches 330 of the clip placement slots 33 face in the same direction, and the conveying device 38 is disposed at a side of one of the notches 330 adjacent to the clip placement slots 33.

Please refer to the tenth figure, which is a schematic view of a pusher device according to a preferred embodiment of the present invention. The clip opening and closing mechanism 3 further includes a pusher device 39. The pusher device 39 is disposed on the machine table 31 adjacent to one side of the transport device 38 such that the pusher device 39 can push the clips 1 from the conveyor belt 381 into the clip placement slots 33. The pusher device 39 includes a plurality of push blocks 391, a plurality of pneumatic cylinders 392 connected to the push blocks 391, and a plurality of guide rods 393 connected to the push blocks 391. The push block 391 has an elongated shape whose long axis is perpendicular to the pushing direction of the pneumatic cylinder 392. When the pushing block 391 is moved by the pneumatic cylinders 392, the moving distance of the sides of each pushing block 391 is inconsistent. With the aid of the guide rods 393, this embodiment can ensure that any positional movement of the push block 391 can be moved and synchronized along a predetermined axial direction to synchronize the movement of the clip 1.

Referring to Figure 11, a schematic view of the clip being pushed to the clip placement slot in accordance with a preferred embodiment of the present invention. When the clip placement slots 33 are located slightly below the lifting start position a of the transport device 38, the pusher device 39 can push the clips 1 so that the clips 1 enter the same at the same time. The clip is placed in the groove 33.

Referring to Figure 12, there is shown a schematic view of a lifting device in accordance with a preferred embodiment of the present invention. The clip placement slots 33 are disposed on the lifting device 32, and the lifting device 32 is disposed on the machine table 31. The lifting device 32 can drive the clip placement slots 33 up and down. The lifting device 32 includes a flat plate 321 , a plurality of pneumatic cylinders 322 connected to the bottom of the flat plate 321 , and a plurality of guiding rods 323 also connected to the bottom of the flat plate 321 . The clip placement slots 33 are for placing clips, and the clip placement slots 33 are disposed on the flat plate 321 of the lifting device 32 and arranged in a line. Each of the clips places two side walls 331 of the slot 33 for supporting the body of the clip. In the present embodiment, the two side walls 331 each have a support block 334 mounted on the inner wall surface and support the body of the clip with a support block 334. A gap is left between the second support block 334 and the inner wall surface of a rear wall 332 of the clip placement groove 33 to form a groove 337. A bottom edge 338 of each clip placement slot 33 has a notch 333 on its outer edge. In the present embodiment, the flat plate 321 is used as the bottom portion 338 of the clip placing groove 33. Therefore, the plate 321 has a plurality of notches 333 corresponding to the middle of the opposite sides of the rear wall 332 of each of the clip placement grooves 33.

Please refer to the thirteenth figure for a schematic view of the clip placed on the clip placement slot. When the clips 1 are pushed into the clip placement slots 33, the second joint portion 12 of each clip 1 can just snap into the gap 337. The body 10 of the clip 1 is held at a reserved distance from the bottom of the clip placement slot 33 by the support of the two support blocks 334 of the two side walls 331. Preferably, the clip 1 is horizontally placed in the clip placement slot 33, at which time the bottom portion 13, the first joint portion 11, and the second joint portion 12 of the clip are just perpendicular. There are four perforations (not shown) on the rear wall 332 of each clip placement slot 33, and two of the two are corresponding to the rear of the two side walls 331, so that the bolts 335 can be screwed into the two side walls 331 by the perforations of the rear wall 332. rear. A portion of each of the bolts 335 projecting from the rear wall 332 is provided with a compression spring 336 so that the rear wall 332 of each of the clip placement slots 33 can pass through the bolts 335 and abut against the compression springs 336. In this way, when the pusher device 39 pushes the clips 1 into the clip placement slots 33, an impact force applied by the pusher device 39 can be buffered by the compression springs 336. Therefore, the guide rods 323 to which the clip placement grooves 33 are connected do not cause the lifting device 32 to be damaged by being directly subjected to the impact force or being bent backward.

Please refer to FIG. 14 for an operation diagram of the lifting device according to the first preferred embodiment of the present invention. The lifting device 32 can drive the clip placement slots 33 to move up and down between the lifting start position a and a lifting preparation position b, wherein the lifting preparation position b is higher than the conveying device 38 (see FIG. 10). The lifting movement between the lifting start position a and the lifting preparation position b is a vertical lifting movement. The clip placing groove 33 is at the lifting start position a, and the clips 1 are pushed into the clip placing grooves 33. Then, the lifting device 32 drives the clip placing grooves 33 to rise from the lifting start position a to the lifting standby position b, and the holding device 34 performs a preliminary upper clamping operation. After the preparatory upper clamping operation is completed, the lifting device 32 drives the clip placement slots 33 to return to the lifting start position a. Wherein, because the outer edge of the bottom of the clip placing groove 33 has a notch 333 (see the twelfth figure), when the ribs 245 of the mechanical clamping jaws 2 are moved closer to the clips 1, the notch 333 can be The ribs 245 of the second fingers 24 are received to prevent the ribs 245 from colliding with the outer edges of the bottoms of the clip placement slots 33.

15 is a schematic view of a clamping device according to a first preferred embodiment of the present invention. The top of the machine table 31 extends to form a top frame 30. The top frame 30 is provided with a slide rail 301. The clamping device 34 is configured to move along the slide rail 301. In this embodiment, the slide rail 301 is a horizontal slide rail. The moving direction of the slide rail 301 may be parallel or perpendicular to the moving direction of the track 302. In the present embodiment, the moving direction of the slide rail 301 is perpendicular to the moving direction of the rail 302. Drive device 342 and The clamping devices 34 are coupled to drive the clamping device 34 to move along the slide rails 301. Preferably, the driving device 342 can be an electric motor. The holding device 34 includes a plurality of receiving boxes 341 each of which is provided with a plurality of the aforementioned mechanical jaws 2 of the present invention. The mechanical jaws 2 are aligned in a direction perpendicular to the direction of movement of the slide rails 301, and the gripping ports 210 of the mechanical jaws 2 are outwardly directed and protrude beyond the receiving boxes 341. Preferably, the actuation of the mechanical jaws 2 can also be driven by the driving device 342 of the present invention, and the size of the clamping opening 210 of the mechanical jaws 2 will vary with the movement of the clamping device 34.

Referring to FIG. 16, a schematic view of a pre-clamping action of the clamping device according to the first preferred embodiment of the present invention is shown. The holding device 34 is disposed at a grip starting position c at the top of the machine table 31. The gripping start position c is behind the lifting standby position b and is equal thereto, that is, the height of the mechanical jaw 2 of the gripping device 34 at the gripping start position c and the grip setting groove 33 at the elevating preparation position b The height of the clips is equal. When the lifting device 32 drives the clip placement slots 33 to the lifting preparation position b, the clamping device 34 can be driven by the driving device 342 (see FIG. 15) to move forward from the clamping starting position c to the clamping preparation. Position d. At this time, the mechanical jaws 2 of the holding device 34 are just combined with the clips 1 placed in the clip placing grooves 33. Then, the mechanical jaws 2 open the jaws 100 of the clips 1 to complete the preparatory clamping action. For the preparatory upper clamping action, refer to the description of the opening clamp of the mechanical jaw of the fourth figure (A)-(C).

Referring to FIG. 17, a schematic view of the clamping device of the first preferred embodiment of the present invention is completed. After the preparatory upper clamping action is completed, the lifting device 32 will drive the clip placement slots 33 down to the lifting start position a. Next, please refer to FIG. 18 and FIG. 19, which are schematic diagrams showing the clamping operation of the clamping device according to the first preferred embodiment of the present invention. The stacked plurality of substrates are moved to one of the upper and lower clip positions below the machine table. After the lifting device 32 drives the clip placement slots 33 to return to the lifting start position a, the clamping device 34 continues to advance from the clamping preparation position d to the positions of the substrates 5 until moving to a clamping position. Location e. At this time, the clamping jaws 100 of the mechanical jaws 2 of the clamping jaws 1 surround one side of the stacked substrates 5, and the clamping device 34 causes the clips on the substrates to be changed from the open state to the closed state. The state is such that the clips 1 sandwich the substrates 5 placed on the stage 35 to complete the upper clamping operation. For the upper clamping action, refer to the description of the release clamp of the mechanical jaw of the fifth figure (A)-(C). After the clips 1 are clamped and fixed to the substrates 5, the clamping device 34 is separated from the clips 1 by the clamping device and moved back to the gripping start position c.

Please refer to the twentieth figure, which is a block diagram of the upper clip process of the present invention. The upper clamping process of the present invention is for enabling a clip opening and closing mechanism to sandwich a plurality of substrates stacked on a plurality of clips. The upper clamping process includes the steps of: a. combining the mechanical jaws with the clips; b. supporting the gripping ports of the mechanical jaws, causing the clips of the clips to open to accumulate an elastic force; c. moving the The mechanical jaws move from a first position to a second position with the clips, so that the clips of the clips surround one side of the stacked plurality of substrates; d. collapsing the mechanical jaws The grips are held such that the clips release the spring force to fold the clips of the clips to clamp the stacked substrates; and e. separate the mechanical jaws and the clips.

Preferably, the upper clamping device in the upper clamping process is the aforementioned clip opening and closing mechanism 3 of the present invention, and the clips are the clip 1 of the present invention.

Referring to the thirteenth embodiment, the clips are horizontally placed in the plurality of clip placement slots to engage the mechanical jaws and the clips.

In step b, referring to the fourteenth figure, the protruding sections of the front ends of the mechanical jaws abut against the hook grooves of the clips, and then force the holding jaws of the mechanical jaws to make the protrusions The segments drive the hook grooves to open the clips of the clips.

21 is a full view of a clip opening and closing mechanism according to a second preferred embodiment of the present invention. The clip opening and closing mechanism 4 is for opening and closing a plurality of clips having elasticity. In the second preferred embodiment, the plurality of elastic clips sandwiching the stacked plurality of substrates 5 are removed from the substrates 5 as an example. Each of the clips has a closed jaw, and the clips of the clips are each capable of accumulating an elastic force for returning the clips to a closed state. In the present embodiment, the aforementioned clips 1 of the present invention are used. The clip opening and closing mechanism 4 includes a machine table 41, a lifting device 42, a plurality of clip placing grooves, a holding device 44 and a driving device 442. Among them, a plurality of clip placement slots and holding devices 44 will be described later.

Preferably, in the present embodiment, the two clip opening and closing mechanisms 4 can be simultaneously disposed as in the arrangement of the clip opening and closing mechanism 3 described above. In this way, the clips 1 sandwiched between the two sides of the stacked plurality of substrates 5 can be simultaneously removed during the chucking operation. Here, the following is a description of the operation of the lower gripping operation by taking a clip opening and closing mechanism 4 as an example. The top of the machine 41 extends to form A top frame 40. A slide rail 401 is disposed on the top frame 40, and a rail 402 is disposed below the top frame 40. A stage 45 is disposed on the track 402 for placing the substrates 5 and being movable on the track 402. When the substrate 5 placed on the stage 45 is moved to the upper and lower clamp positions below the machine table 41, the lower clamp operation can be performed. After the lower clamp operation is completed, it is possible to move along the track 402 to the next position for the next machining operation. In the present embodiment, the arrangement of the two clip opening and closing mechanisms 4 is substantially the same as that of the two clip opening and closing mechanisms 3 in the sixth embodiment.

The holding device 44 is disposed at a gripping start position c at the top of the machine table 41 (as indicated by the arrow in the twenty-first diagram), and the holding device 44 is coupled to the driving device 442. The structure and function of the clamping device 44 and the driving device 442 of the clip opening and closing mechanism 4 are substantially the same as those of the clip opening and closing mechanism 32, and therefore will not be described again. Preferably, as with the clip opening and closing mechanism 3, the actuation of the mechanical jaws 2 can also be driven by the driving device 442 of the present invention. At this time, the clamping ports 210 of the mechanical jaws 2 are sized to be clamped. The movement of device 44 varies.

When the clips 1 are to be removed from the substrates 5, the clamping device 44 can be moved forward along the slide rails 401 from the clamping start position c to the positions of the substrates 5. Until the mechanical jaws 2 in the holding device 44 are combined with the clips 1, a lower clamping action of removing the clips 1 from the substrates 5 placed on the stage 45 is performed.

Referring to the twenty-second (A)-(C), a mechanical jaw pull-opening clip of the second preferred embodiment of the present invention is shown. The two protruding sections 236, 246 of each mechanical jaw 2 can be advanced forward to the first extension 11 and the second extension 12 of each clip 1. The jaw driving device 22 drives the first claw finger 23 and the second claw finger 24 to extend outward, so that the two protruding portions 236 and 246 move back along the first joint portion 11 and the second joint portion 12, respectively, against the first The inner wall of the hook groove 111 and the inner wall of the second hook groove 121 further open the jaw 100 of the clip 1 sandwiching the substrates 5 to complete the lower clamping operation. Then, the gripping device 44 is moved from the gripping position e to the gripping preparatory position d, and the mechanical gripper 2 is moved rearward to leave the substrates 5 with the clip 1.

Figure 23 is a partial perspective view showing the clip opening and closing mechanism of the second preferred embodiment of the present invention. The clip placement slots 43 can be moved between the elevation preparation position b and the elevation start position a by the lifting device 42. Wherein, the lifting start position a is lower than the upper lifting preparatory position b. After the lower clamping action is completed, the mechanical jaws 2 in the clamping device 44 are driven by the driving device 442 to move back to the clamping preparation position d with the clips 1 (as indicated by the arrow direction of the twenty-third figure) ). The grip preparation position d is between the grip start position c and the grip carry position e. Lifting The device 42 is disposed on the machine table 41, and its configuration is substantially the same as that of the above-described lifting device 32 of the clip opening and closing mechanism 3, and therefore will not be described again. When the gripping device 44 is moved to the gripping start position c, the clip placing grooves 43 are driven by the elevating device 42 to rise from the elevating starting position a to the elevating preparatory position b. After the mechanical jaws are subjected to the retraction, when the clamping device 44 moves back to the clamping starting position c, the clips 1 are retained in the clip placing slots 43 to cause the mechanical jaws 2 and the clips. 1 separate and complete a backing action.

Figure 24 is a schematic view showing a clip placing groove and a lifting device of the clip opening and closing mechanism according to a second preferred embodiment of the present invention. The clip placement slots 43 are used to place the clips 1 and are disposed on the lifting device 42 and arranged in a line. Each of the clip placement slots 43 has two side walls 431 and a bottom portion 432. The two side walls 431 each have a second joint portion 12 for the clip 1 to be placed in the groove 435. The two side walls are used to support the body of the clip 1 to maintain a gap between the body of the clip and the bottom 432. The bottom 432 has a notch 433 near the outer edge of the groove 435.

Referring to the twenty-fifth (A) to (C), a schematic view of the mechanical jaw of the preferred embodiment of the present invention is performed. Referring to the twenty-third figure at the same time, when the clamping device moving clamping device 44 is moved to the clamping starting position c, the clip placing grooves 43 rising to the lifting preparation position b are correct for the clips 1, The second joint portion 12 of the clip 1 is placed in the groove 435. The clamping device moves the first claw finger 23 and the second claw finger 24 of the mechanical clamping jaws 2 into the clamping opening, so that the two protruding segments 236, 246 of the mechanical clamping jaws 2 no longer continue to abut the same The inner wall of the first hook groove 111 of the clip 1 and the inner wall of the second hook groove 121. At this time, the elastic force accumulated when the clips 1 are stretched drives the jaws 100 of the clips 1 to close. After the clamping device 44 performs the above-mentioned unloading action, the clamping device moves, and the mechanical clamping jaws 2 are taken out of the clip placement slots 43 and returned to the clamping start shown in FIG. Location c. At the same time, the second joint portion 12 of the clips 1 is blocked by the side walls of the support groove 432 and remains in the clip placement groove 43 without receding with the mechanical jaws 2. The lifting device 42 drives the clip placement slots 43 carrying the clips 1 from the elevation preparation position b to the elevation starting position a shown in the twenty-third diagram.

Please refer to the twenty-sixth drawing, which is a partial schematic view of the clip opening and closing mechanism according to the second preferred embodiment of the present invention. The clip opening and closing mechanism further includes a plurality of separating plates 46, a conveying device 47, a recovery tank 48 and a recovery crawler 49. The separating plates 46 are fixed to the machine table 41 and slightly above the lifting start position a (see also the twenty-third figure). Next, please refer to the twenty-seventh embodiment, which is a partial plan view of the clip opening and closing mechanism according to the second preferred embodiment of the present invention. The separating plates 46 A side of one of the notches 433 of the clip placement slots 43 is adjacent, and in the vertical projection, a portion of the separation plates 46 enter the notch 433 but do not overlap the bottom 432 of the clip placement slots. Therefore, when the clip placement slots 43 are lowered to the lifting start position a, the separation plates 46 can collide with the clips 1 through the notches 433 of the clip placement slots 43 without colliding with the clips 1 The clip places the bottom 432 of the slot.

Referring to FIG. 18(A)-(B), a clip separation operation diagram of the clip opening and closing mechanism according to the second preferred embodiment of the present invention is shown. When the clip placement slots 43 carrying the clips 1 are lowered from the elevation preparation position b to the elevation start position a, the clips 1 collide with the separation plates 46 and fall out of the clip placement slots 43 and It falls into the conveying device 47. The conveying device 47 is disposed on the machine table 41 and below the separating plates 46. In the present embodiment, the left side of the separating plates 46, that is, the side close to the clip placing groove 43, is a structure that is deflected downward. Thereby, the separating plate 46 mainly lifts one side of the clip 1 by the contact with the second joint portion 12 of the clip 1, and the clip 1 is rotated to be rolled down to the conveying device 47. Therefore, if the separation plate 46 is a straight plate, the two contact points of the clip 1 may be two (for example, the second joint portion 12 and the second sandwich portion 15) or more, and the roll direction of the clip 1 cannot be ensured. . Referring to the twenty-sixth drawing, the conveying device 47 is configured to receive the clips 1 dropped from the clip placing slots 43 and transport the clips 1 into the recovery tank 48. The recovery crawler 49 located on the side of the recovery tank 48 transports the clips 1 to other locations for centralized recovery. The configuration of the conveying device 47 is substantially the same as that of the conveying device 38 of the clip opening and closing mechanism 3, and therefore will not be described herein.

Please refer to the twenty-ninth figure, which is a block diagram of the flow chart of the present invention. The clamping process of the present invention is for a clip opening and closing mechanism to remove a plurality of elastic clips sandwiching a plurality of stacked substrates from the substrates, each of the clips having a closed jaw. When the clips of the clips are opened, each of them can accumulate an elastic force for returning the clips to a closed state. The lower clamping process comprises the steps of: a. combining the mechanical jaws with the clips sandwiching the stacked plurality of substrates; b. supporting the gripping ports of the mechanical jaws, so that the clips of the clips are opened Causing an elastic force; c. moving the mechanical jaws to move the first position to a second position with the clips, leaving the clips away from the stacked plurality of substrates; d. collapsing the grips of the mechanical jaws, causing the clips to release the elastic force to fold the clips of the clips; and e. separating the mechanical jaws and the clips.

Preferably, the lower clamping device in the lower clamping process is the aforementioned clip opening and closing mechanism 4 of the present invention, and the clips are the aforementioned clip 1 of the present invention.

In step b, referring to the twenty-second figure (A)-(C), the protruding sections of the front ends of the mechanical jaws are pressed against the hook grooves of the clips, and then the mechanical jaws are urging The grips are held so that the protruding segments drive the hook grooves to open the clips of the clips.

In step d, referring to Figs. 25(A)-(C), the clips are placed in a plurality of clip placement slots.

In any event, anyone can obtain sufficient teaching from the description of the above examples, and it is understood that the present invention is indeed different from the prior art, and is industrially usable and progressive. It is the invention that has indeed met the patent requirements and has filed an application in accordance with the law.

3‧‧‧Clip opening and closing mechanism

30‧‧‧Top frame

301‧‧‧rails

302‧‧‧ Track

31‧‧‧ machine

35‧‧‧ stage

361‧‧‧Feeding device

362‧‧‧Vibration feeder

5‧‧‧Substrate

Claims (10)

A clip opening and closing mechanism comprises: a machine table; a lifting device disposed on the machine table; a plurality of clip placing slots disposed on the lifting device for placing a plurality of clips and being driven by the lifting device Lifting between a lifting start position and a lifting preparatory position; a clamping device disposed on a sliding rail of a top surface of the machine and configured to move along the sliding rail, the clamping device having a plurality of mechanical jaws; and a driving device coupled to the clamping device to drive the clamping device to move along the sliding rail between a clamping start position and a clamping preparation position, wherein When the clip placement slots are in the elevation preparation position and the clamping device is in the clamping preparation position, the mechanical jaws drive the jaws of the clips to change between a closed state and an open state, and the The clip accumulates an elastic force in the open state. The clip opening and closing mechanism of claim 1, further comprising a stage disposed on a track below the machine for transporting the stacked plurality of substrates, wherein when the substrates are moved to When the clamping device is located at one of the lower and lower clamping positions below the machine table, the clamping device moves the clamping device to the clamping position, and the mechanical jaws drive the clips to change from the open state to the closed state, so that The clips sandwich the stacked substrates. The clip opening and closing mechanism of claim 1, further comprising a stage disposed on a track below the machine for transporting the stacked substrates, wherein when the substrates are moved to Located one above the bottom of the machine When the position is clamped, the clamping device moves the clamping device to the clamping position, and the mechanical jaws drive the clips on the substrates to change from the closed state to the open state, so that the clips are Loosen the stacked substrates. The clip opening and closing mechanism of claim 1, wherein each of the clips has a body, a first joint portion and a second joint portion, the body is a reed clip, and the two ends of the reed clip are Connecting the first joint portion and the second joint portion together to form the jaws. The body is formed into a triangle shape in the closed state, and the elastic force is accumulated in the open state, and each of the clip placement slots has two side walls. a groove and a bottom, the two side walls for supporting the body of the clip to maintain a predetermined distance from the bottom of the body, the groove being located above one side of the bottom for engaging the clip Second joint. The clip opening and closing mechanism of claim 4, wherein each of the mechanical jaws comprises a first claw, a second claw and a pivot, and the first claw and the second claw Provided on the pivot, the first claw finger and the second claw finger each have a rib on the outer side, and the first claw finger and the front end of the second claw finger together form a clamping opening, so that the corresponding clip is The clamping opening enters or leaves, and the bottom of the clip placing slots has a notch on the opposite side of the groove, and the clip placing slots are located in the lifting preparation position and the clamping device is located in the clamping preparation In position, the notch receives the rib of the second finger. The clip opening and closing mechanism of claim 4, wherein a bottom of each of the clip placement slots has a notch on a side of the groove for a separation plate to pass upward for collision to be placed on the clip. a first clip and a second joint of each of the clips respectively have a first hook groove and a second hook groove, and each of the mechanical jaws includes a first claw finger and a first claw a second claw and a pivot, and the first and second claws are pivotally disposed on the pivot, and the first and second claws extend outwardly from the front end to have a first protruding portion and a first protruding portion The second protruding section is configured to extend into the first hook slot and the second hook. A mechanical jaw comprising: a first claw finger having a first pivot hole; a second claw finger having a second pivot hole; a pivot shaft penetrating the first pivot hole and the first a pivoting hole, the first claw finger and the second claw finger are pivotally disposed on the pivot shaft, and the first claw finger and the front end of the second claw finger together form a clamping opening for making a clip Entering or leaving from the clamping opening; a lead screw; and a second driving member sleeved on both ends of the lead screw and respectively coupled with the first claw finger and the rear end of the second claw finger, when the lead screw During the axial rotation, the two-carrying member moves in the opposite direction or the back, so that the clamping port is stretched or folded; wherein each of the driving members comprises a fixing frame and a bearing, and the bearing is disposed on the fixing frame The first claw finger and the second claw end each have a fixing hole for the lead screw to pass through, and the first claw finger and the second claw finger rear end are respectively disposed on the fixing bracket of the corresponding driving member. The two bearings each have an internal thread that is screwed to the lead screw, and the two internal threads are opposite in direction of the axis, wherein each of the bearings has a Angle, so that the bearing engagement holes respectively corresponding to the card holder. The mechanical jaw according to claim 7, wherein each of the driving members further comprises a gasket, the bearing is disposed on one side of the fixing frame and the gasket The first claw finger and the rear end of the second claw finger are respectively disposed between the corresponding driving member gasket and the other side of the fixing frame. The mechanical jaw of claim 8, wherein the first claw finger and the second claw finger extend outwardly with a first protruding portion and a second protruding portion for correspondingly extending into one of the clips. a first hook slot and a second hook slot, the first hook slot and the second hook slot are located on opposite sides of a clip of the clip, and the clip is stretched when the clip is stretched The clip accumulates an elastic force, and when the gripping port is closed, the clip releases the elastic force to cause the grip to be closed. A clip opening and closing method for opening and closing a plurality of mechanical jaws with a plurality of clips, the clip opening and closing method comprising the steps of: a. combining the mechanical jaws with the clips; b. supporting the mechanical jaws Holding the mouth, the clips of the clips are opened to accumulate an elastic force; c. moving the mechanical jaws to move from the first position to the second position with the clips; d. The jaws of the mechanical jaws are held such that the clips release the spring force to capture the jaws of the clips; and e. separate the mechanical jaws and the clips.