M380331 五、新型說明： 【新型所屬之技術領域】 本新型是有關於一種夾取器，特別是指一種藉由二個 夹臂互相靠近而夾取物品的自動施力夾取器。 【先前技術】 目刖機械手臂在夾取物品時，其動力主要是以馬達來 驅動或是以氣油麼的方式驅動，但是爽取力道都是固定不 變的，無法針對不同的物品自動施以不同大小的力量，因 此夾取力道比較大的夹頭，固然可以夾住較重的物品，但 並不適用於夾取較軟或較輕的物品，因為其夹取力道過大 而可能將輕、軟物品夾壞；反之，夾取力道小的夾頭，雖 然可以夹住輕'軟的物品’但是其力道不足而無法夹持較 重的物品，在夾取與移動過程中’物品容易滑動而脫落。 【新型内容】 因此，本新型之目的，即在提供一種可依物品重量而 提供適當夾取力道的自動施力失取器。 於是’本新型自動施力夾取器，包含：一本體、一伸 縮機構、一夾取機構’以及一感測裝置。 該伸縮機構包括一可相對該本體前後移動地設置的安 裝座，以及一架設在該本體上並驅動該安裝座前後移動的 伸縮驅動馬達^該夾取機構包括二個安裝在該安裝座上的 央取單元，以及一可驅動該等失取單元相向靠近以夾取該 物品的夾取馬達’所述夾取單元皆包括一個彼此對應的夾 臂。該感測褒置包括一感測單元’以及一連接該感測單元 3 α該伸縮驅動馬達及該爽取馬達的控制單元，該感測單元 可在該等夾臂與該物品的距離小於—預定值時輸出一接近 L號該控制單元’該感測單元還可在該等夾臂與物品間 有相對滑動時輸滑動信I給該控制單元，該控制單元 接收該滑動信號之後，控制該夾取馬達加強夾取力道。 【實施方式】 有關本新型之前述及其他技術内容、特點與功效，在 '下配δ參考圖式之一個較佳實施例的詳細說明中，將可 清楚的呈現。 參閱圖1、2、3,本新型自動施力夾取器之較佳實施例 ，適用於夾取一圖未示出的物品，並包含：一本體丨、一伸 縮機構2、一夾取機構3，以及一感測裝置4。 該本體1具有一基座u，以及二個設置在該基座η之 左右兩側的輪子12。該本體1結構不須限制，只要能供該 等伸縮機構2、夹取機構3與感測裝置4安裝即可。 該伸縮機構2包括：一架設在該基座u上並前後延伸 的伸縮件21、一連動地設置在該伸縮件21前側的安裝座 U、一齒輪23,以及—架設在該本體i上的伸縮驅動馬達 24。其中，該伸縮件21之具體例為一排齒，其表面具有數 個可以與該齒輪23嚙合的齒部。該伸縮驅動馬達24連結 並驅動該齒輪23轉動，該齒輪23再帶動與其嚙合的伸縮 件21相對該基座U前後移動，進而帶動該安裝座亦前 後移動。該安裝座22包括二個位於前側且彼此上下間隔的 水平的固定板221，以及一個直立連接在該等固定板221間 M380331 的連接板222。 該夾取機構3可受該伸縮機構2帶動而前後移動，並 包括一設置在該安裝座22後側的夾取馬達31、一受該夾取 馬達31驅動而轉動的驅動齒輪32,以及二個受該等夾取馬 達31、驅動齒輪32帶動而可左右移動的夾取單元33。 該夾取馬達31具有一向前穿過該連接板222而局部外 露於該連接板222的前側的動力軸311。該驅動齒輪32為 一個正齒輪，並環套在該動力軸311之前段外周。而該等夾 取單元33皆包括一個左右橫向延伸的滑塊33丨、一個設置 在該滑塊331之表面的排齒332，以及一個自該滑塊33ι之 末端向前延伸的夾臂333。 該等夾取單元33的滑塊331各別套接在該等固定板 221之外部並可相對固定板221左右移動，其中一個滑塊 331套接上方的固定板221而位於該驅動齒輪32的上方， 並由右往左延伸且左端連接其夾臂333，另一個滑塊33ι套 接下方的固定板221而位於該驅動齒輪32的下方，並由左 往右延伸且右端連接其夾臂333。該等夾取單元33之排齒 332是設置在所述滑塊331朝向該驅動齒輪32的表面上， 該等排齒332皆具有數個左右相鄰並與該驅動齒輪32嚙人 的齒部334。 當該夾取馬達31之動力軸311帶動該驅動齒輪32朝一 第一方向61轉動時，該驅動齒輪32帶動該等排齒μ〗如 圖2水平箭頭方向而相向移動，進而連動該等滑塊與 夾臂333互相靠近而夾取物品；當該夾取馬達 心之動力輛 5 M380331 311帶動該驅動齒輪32朝一與該第一方向&反向的第二方 向62轉動時，則帶動該等夾取單元33的排齒332朝互相 遠離的方向移動，進而連動該等滑塊331與夾臂333互相 遠離而可鬆放物品。 該感測裝置4包括一感測單元41，以及一電連接該感 測單元的控制單元仏該感測單元41包括一個安裝在 其中-夾臂333上並朝向另一爽臂333的感測件4ιι、一電 連接該等感測件411的信號處理；412，以及電連接該信 號處理晶月412的-第一電路413與一第二電路叫。 所述感測件411之具體例為紅外光感測元件，可發出紅 外光並接收被物品反射回來的紅外光光波，而該信號處理 晶片422比對與計算反射波後，可透過該第一電路Μ]輸 出一接近信號VI，或是透過該第二電路414輸出一滑動信 虎V2給該控制單元42。 所述控制單元42電連接該等第一電路413與第二電路 以控制單元42還電連接該等伸縮驅動馬達24與該夾 取馬達31，該控制單元42依據接收到的信號而輸出指令， 以控制該等伸縮驅動馬達24與夾取馬達Μ執行相應動作 s控制單元42是以脈衝寬度調變（pulse Width Modulation，帛稱pwM)方式控制該夾取馬達可以控制 馬達的轉速與轉矩。 參閱圖1、3、4，本新型使用時，首先如步驟51，該 伸驅動馬達24驅動該伸縮件21及該安裝座22往前突伸 使該專夾臂3 3 3各別位於物品的左右兩側。 6 M380331 ^著如步驟52 ’該夾取馬達31驅動該等夾臂333相向移動 靠近’而且-開始該夾取馬彡31轉速較快，使該等夹臂 333可快速地靠近物品，㈣該感測u 4肖續進行_， 直到該等夾臂333肖物品的距離小於一預定值時，物品將 紅外光反射回該❹彳單元41的時_短，因此經由該信號 處理晶片412比對與計算後，可透過該第一電路413輸J 該接近信號V1給該控制單元42。M380331 V. New description: [New technical field] The present invention relates to a gripper, and more particularly to an automatic force gripper for gripping articles by bringing two clamp arms closer to each other. [Prior Art] When the robot arm is gripping the object, its power is mainly driven by the motor or driven by the gas oil, but the cooling force is fixed and cannot be automatically applied to different items. With different sizes of force, the chuck with a larger grip can hold the heavier items, but it is not suitable for gripping softer or lighter items because the gripping force is too large and may be light. The soft object clip is broken; on the contrary, the chuck with a small force grip can hold the light 'soft item' but the strength is insufficient to hold the heavier item, and the item is easy to slide during the gripping and moving process. And shedding. [New content] Therefore, the object of the present invention is to provide an automatic force-applying de-energizer that can provide an appropriate gripping force depending on the weight of the article. Thus, the novel automatic force applying gripper comprises: a body, a stretching mechanism, a gripping mechanism' and a sensing device. The telescopic mechanism includes a mounting seat that is movable forward and backward relative to the body, and a telescopic drive motor that is disposed on the body and drives the mounting seat to move back and forth. The clamping mechanism includes two mounting mechanisms mounted on the mounting base. The central take-up unit, and a gripping motor that can drive the missing units to approach each other to grip the item, the gripping units each include a clamping arm corresponding to each other. The sensing device includes a sensing unit ′ and a control unit that connects the sensing unit 3 α to the telescopic driving motor and the cooling motor, and the sensing unit can be less than the distance between the clamping arms and the item— When the predetermined value is output, a control unit is outputted to the control unit. The sensing unit may also send a sliding letter I to the control unit when the clamp arm and the article have relative sliding. After the control unit receives the sliding signal, the control unit controls the The clamping motor strengthens the clamping force. [Embodiment] The foregoing and other technical contents, features and effects of the present invention will be apparent from the detailed description of the preferred embodiment of the <RTIgt; Referring to Figures 1, 2 and 3, a preferred embodiment of the automatic force applying gripper is adapted to grip an item not shown, and comprises: a body 丨, a telescopic mechanism 2, and a clamping mechanism 3, and a sensing device 4. The body 1 has a base u and two wheels 12 disposed on the left and right sides of the base n. The structure of the body 1 is not limited as long as the telescopic mechanism 2, the gripping mechanism 3, and the sensing device 4 can be mounted. The telescopic mechanism 2 includes: a telescopic member 21 disposed on the base u and extending forward and backward, a mounting seat U disposed on the front side of the telescopic member 21, a gear 23, and a mounting on the body i The telescopic drive motor 24 is provided. Among them, a specific example of the telescopic member 21 is a row of teeth having a plurality of teeth on its surface that can mesh with the gear 23. The telescopic drive motor 24 is coupled to and drives the gear 23 to rotate. The gear 23 drives the telescopic member 21 meshing therewith to move back and forth relative to the base U, thereby driving the mount to move forward and backward. The mount 22 includes two horizontal fixing plates 221 on the front side and spaced apart from each other, and a connecting plate 222 that is erected between the fixing plates 221 and M380331. The clamping mechanism 3 can be moved forward and backward by the telescopic mechanism 2, and includes a clamping motor 31 disposed on the rear side of the mounting seat 22, a driving gear 32 driven by the clamping motor 31, and two driving gears 32, and two The gripping unit 33 is driven by the gripping motor 31 and the driving gear 32 to move left and right. The gripping motor 31 has a power shaft 311 that passes forward through the web 222 and is partially exposed on the front side of the web 222. The drive gear 32 is a spur gear and is looped around the outer circumference of the power shaft 311. The gripping units 33 each include a slider 33 横向 extending laterally left and right, a tooth 332 disposed on the surface of the slider 331 , and a clip arm 333 extending forward from the end of the slider 33 ι . The sliders 331 of the clamping unit 33 are respectively sleeved on the outside of the fixing plate 221 and can move left and right relative to the fixing plate 221, and one of the sliders 331 is sleeved on the upper fixing plate 221 and located at the driving gear 32. The upper portion extends from the right to the left and the left end is connected to the clamp arm 333. The other slider 33 is sleeved under the lower fixed plate 221 and located below the drive gear 32, and extends from left to right and the right end is connected to the clamp arm 333. . The teeth 332 of the gripping units 33 are disposed on the surface of the slider 331 facing the drive gear 32. The rows of teeth 332 each have a plurality of teeth that are adjacent to each other and are engaged with the drive gear 32. 334. When the power shaft 311 of the gripping motor 31 drives the driving gear 32 to rotate in a first direction 61, the driving gear 32 drives the gears to move toward each other as shown by the horizontal arrow direction of FIG. 2, thereby interlocking the sliders. And the clip arm 333 is close to each other to grip the article; when the power of the motor core 5 M380331 311 drives the drive gear 32 to rotate in a second direction 62 opposite to the first direction & The teeth 332 of the gripping unit 33 are moved away from each other, and the sliders 331 and the clip arms 333 are moved away from each other to release the articles. The sensing device 4 includes a sensing unit 41 and a control unit electrically connected to the sensing unit. The sensing unit 41 includes a sensing member mounted on the clamping arm 333 and facing the other cooling arm 333. 4 ιι, an electrical connection to the signal processing of the sensing component 411; 412, and a first circuit 413 and a second circuit electrically connected to the signal processing crystal 412. The specific example of the sensing component 411 is an infrared light sensing component, which can emit infrared light and receive infrared light waves reflected by the object, and the signal processing chip 422 compares and calculates the reflected wave, and can pass the first The circuit Μ outputs a proximity signal VI or outputs a sliding letter V2 to the control unit 42 through the second circuit 414. The control unit 42 is electrically connected to the first circuit 413 and the second circuit, and the control unit 42 is further electrically connected to the telescopic drive motor 24 and the pinch motor 31. The control unit 42 outputs an instruction according to the received signal. To control the telescopic drive motor 24 and the gripping motor Μ to perform corresponding actions s. The control unit 42 controls the gripping motor to control the rotational speed and torque of the motor by pulse width modulation (PWM). Referring to Figures 1, 3 and 4, in the present invention, first, as in step 51, the extension drive motor 24 drives the telescopic member 21 and the mounting seat 22 to project forward so that the special clamp arms 3 3 3 are respectively located in the article. Left and right sides. 6 M380331 ^ As in step 52 'the gripping motor 31 drives the clamping arms 333 to move closer to each other' and - the gripping of the stirrups 31 is faster, so that the gripping arms 333 can quickly approach the article, (d) The sensing u 4 is continued _, until the distance of the object 333 is less than a predetermined value, the article reflects the infrared light back to the ❹彳 unit 41, so the wafer 412 is processed via the signal processing After the calculation, the proximity signal V1 can be input to the control unit 42 through the first circuit 413.
因此，如果沒有接近信號V1的產生，就再度回到步驟 52如果有接近彳§號V1的產生，如步驟兄，該控制單元 42控制該夾取馬達31降低轉速，使夾臂333慢慢接近直到 夾持住物品，而且一開始的夾持力道較輕。Therefore, if there is no proximity signal V1, the process returns to step 52 again. If there is a close to the generation of the V1, as in the step brother, the control unit 42 controls the pinch motor 31 to decrease the rotation speed, so that the clamp arm 333 is slowly approached. Until the item is gripped, and the clamping force at the beginning is lighter.
接著如步驟54，該伸縮驅動馬達24驅動該伸縮件21 及該夾取機構3往後慢速收回，此時該感測件411仍持續偵 測信號，並且以高頻掃瞄比對物品表面粗糙度產生的陰影 變化，如果有陰影變化，表示夾臂333與物品間產生相對 滑動，該信號處理晶片412處理信號後，透過該第二電路 414發出該滑動信號V2並傳送到該控制單元42，該控制單 元42如步驟55，驅動該夾取馬達31加強轉矩，以提升該 等夾臂333的夾取力道，接著再重複進行步驟54，以及偵 測疋否有滑動信號V2產生。如果沒有偵測到滑動信號V2 ，表示已經夾緊物品，可以如步驟56，該伸縮件21可快速 地縮回’即夾取完成。 因此’藉由該感測裝置4的接近感測作用，當夾臂 靠近物品時可減慢夾臂333相向移動速度，並減輕夾臂 7 力道，使得在一開始能以較輕的力道夾取物口口口，所以如果 被夾取物品為輕、軟物品時’可以避免物品被夹壞；但如 果夾取物品為較重物品而夹取力道不足時，可藉由該感測 裝置4时動感測而輸出信冑，並即時透過該控制單元 控制而自動加強夾取力道。 須注意的是，實施時不須限定該伸縮機構2的動力傳 遞元件結構，也不須限定元件間的傳動連結關係，只要能 帶動該夾取機構3前進或後退即可。相同地，該等夾臂 之相互靠近或遠離的作動方式，以及傳動元件亦不須限制 〇 綜上所述，藉由該感測裝置4之接近感測與滑動感測 作用，可自動控制該等夾取單元33的夾取力道，以提供各 種不同重量之待夾取物品適當的夾持力，改善以往單一夾 取力道的缺失，所以本新型可適用於夾取各種物品，適用 性廣’確實能達成本新型之目的。 惟以上所述者’僅為本新型之較佳實施例而已，當不 能以此限定本新型實施之範圍，即大凡依本新型申請專利 範圍及新型說明内容所作之簡單的等效變化與修飾，皆仍 屬本新型專利涵蓋之範圍内。 【圖式簡單說明】 圖1是一立體分解圖，顯示本新型自動施力夾取器之 一較佳實施例； 圖2是該較佳實施例之部分元件的前視圖； 圖3是該較佳實施例之部分元件的功能方塊圖；及 M380331 圖4是該較佳實施例使用時的流程作動圖。 M380331 【主要元件符號說明】 1…… …·本體 332 ··_. ••排齒 11 ·.·. •…基座 333，·… ••夾臂 12•… •…輪子 334 •… ··齒部 2…… •…伸縮機構 4 ........ …感測裝置 21 ·.... •…伸縮件 41....... ••感測單元 22…·· •…安裝座 411 .… •♦感測件 221… •…固定板 412 ••信號處理晶片 222… …·連接板 413 .… •-第一電路 23…·. •…齒輪 414 ·...· ••第二電路 24 •…伸縮驅動馬達 42....... -·控制單元 3…… •…夾取機構 51-56·· -·步驟 31…… •…夾取馬達 61....... ••弟 方向 311 ·· •…動力軸 62....... ••第二方向 32…… •…驅動齒輪 VI…… ••接近信號 33…… …·夾取單元 V2…… -·滑動信號 331… •…滑塊 10Then, as shown in step 54, the telescopic drive motor 24 drives the telescopic member 21 and the clamping mechanism 3 to slowly retract backwards. At this time, the sensing member 411 continues to detect signals and compares the surface of the object with a high frequency scan. The shadow change caused by the roughness, if there is a shadow change, indicates that the clip arm 333 and the article are relatively slid. After the signal processing chip 412 processes the signal, the sliding signal V2 is sent through the second circuit 414 and transmitted to the control unit 42. The control unit 42 drives the clamping motor 31 to increase the torque to increase the clamping force of the clamping arms 333, and then repeats step 54 and detects whether the sliding signal V2 is generated. If the slip signal V2 is not detected, indicating that the article has been clamped, the telescoping member 21 can be quickly retracted as in step 56, i.e., the gripping is completed. Therefore, by the proximity sensing action of the sensing device 4, the moving speed of the clamping arm 333 can be slowed down when the clamping arm approaches the article, and the force of the clamping arm 7 can be reduced, so that the clamping can be performed with a lighter force at the beginning. The mouth of the mouth, so if the item is light or soft, the item can be prevented from being pinched; but if the gripping item is a heavy item and the gripping force is insufficient, the sensing device 4 can be used. The signal is sensed and outputted, and the gripping force is automatically enhanced by the control of the control unit. It should be noted that the power transmission component structure of the telescopic mechanism 2 is not limited in implementation, and the transmission connection relationship between the components is not limited, as long as the clamping mechanism 3 can be driven forward or backward. Similarly, the manner in which the clamping arms are close to or away from each other, and the transmission component are not limited to the above, the proximity sensing and sliding sensing function of the sensing device 4 can automatically control the The gripping force of the gripping unit 33 is provided to provide appropriate gripping force of the items to be gripped with various weights, thereby improving the lack of the single gripping force in the past, so the novel model can be applied to grip various articles and has wide applicability. It is indeed possible to achieve the purpose of this new type. However, the above description is only a preferred embodiment of the present invention, and is not intended to limit the scope of the present invention, that is, the simple equivalent changes and modifications made by the novel application scope and the novel description. All remain within the scope of this new patent. BRIEF DESCRIPTION OF THE DRAWINGS FIG. 1 is an exploded perspective view showing a preferred embodiment of the present automatic force applying gripper; FIG. 2 is a front view of a part of the components of the preferred embodiment; FIG. Functional block diagram of some of the components of the preferred embodiment; and M380331 FIG. 4 is a flow diagram of the preferred embodiment. M380331 [Description of main component symbols] 1...... ...·body 332 ··_. •• 齿11···.•...Base 333,·... ••Clamp arm 12•... •...Wheel 334 •... ·· Tooth 2... •... Telescopic mechanism 4 ........ Sensing device 21 ·.... • Telescopic member 41....... •• Sensing unit 22...·· ...mount 411 ..... ♦ Sense member 221... •...fixing plate 412 ••Signal processing chip 222...·connecting plate 413 .... •-first circuit 23...·.•...gear 414 ·...· ••Second circuit 24 •... Telescopic drive motor 42....... -·Control unit 3... •...Clamping mechanism 51-56···Step 31... •...Clip motor 61.. ..... ••• Direction 311 ·· •...Power shaft 62....... ••Second direction 32... •...Drive gear VI... ••Proximity signal 33... Unit V2... -·Slide signal 331... •... Slider 10