TWI584913B - Machine gripper, clip open/close apparatus and clip open/close method - Google Patents
Machine gripper, clip open/close apparatus and clip open/close method Download PDFInfo
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- TWI584913B TWI584913B TW104103968A TW104103968A TWI584913B TW I584913 B TWI584913 B TW I584913B TW 104103968 A TW104103968 A TW 104103968A TW 104103968 A TW104103968 A TW 104103968A TW I584913 B TWI584913 B TW I584913B
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Description
本發明與機械夾爪、夾子開合機構及夾子開合方法有關，特別涉及讓具有彈性的複數個夾子上下夾的機械夾爪、夾子開合機構及夾子開合方法。 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.
雙層玻璃相較於單層玻璃通常具有較佳的隔音及隔熱效果，其經常運用於諸如建築用窗、火車車窗或冰櫃或錄音室窗戶。雙層玻璃的兩片玻璃基板是疊在一起的，且由一些支撐物(spacers)予以隔開而形成一間隙。針對不同需求，有時僅需在兩片玻璃基板之間的間隙保存有乾燥空氣即可，有時則需將兩片玻璃基板之間的間隙抽成真空而形成一真空玻璃，另有時還需在兩片玻璃基板之間的間隙充填惰性氣體(例如氬氣)以形成隔熱效果較佳的一隔熱玻璃。 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.
這類的雙層玻璃的製程中，需要使用多個彈性夾將已疊在一起的兩片玻璃基板予以夾住，等到一些後續製程，例如抽真空或充填氣體，被執行完成之後再將這些彈性夾取下。在過去，這些工作都需要藉助人力來執行，費時又費力而亟需改善。 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.
本發明提供一種機械夾爪、夾子開合機構及夾子開合方法。 The invention provides a mechanical jaw, a clip opening and closing mechanism and a clip opening and closing method.
本發明之一種夾子開合機構，包含一機台、一升降裝置、複數個夾子置放槽、一夾持裝置及一驅動裝置。升降裝置設置在機台上。該些夾子置放槽設置在升降裝置上，用於放置複數個夾子，並由升降裝置 帶動，於一升降起始位置及一升降預備位置之間升降。夾持裝置設置在機台的一頂面之滑軌上，並被配置成沿滑軌移動。夾持裝置具有複數個機械夾爪。驅動裝置與夾持裝置相連接，以驅使夾持裝置沿滑軌於一夾持起始位置及一夾持預備位置之間移動。當該些夾子置放槽位於升降預備位置與夾持裝置位於夾持預備位置時，該些機械夾爪驅使該些夾子的夾口於一閉合狀態及一打開狀態之間變換，而些夾子於打開狀態時積蓄一彈力。 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.
較佳地，夾子開合機構更包含一載台。載台設置在機台下方之一軌道上，用以運送疊合的複數個基板移動。其中，當該些基板移動至位於機台下方之一上下夾位置時，夾持裝置使夾持裝置移動至夾持進行位置，且該些機械夾爪驅使該些夾子由打開狀態變換至閉合狀態，使該些夾子夾住疊合的該些基板。 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.
較佳地，夾子開合機構更包含一載台。載台設置在機台下方之一軌道上，用以運送疊合的複數個基板移動，其中，當該些基板移動至位於機台下方之一上下夾位置時，夾持裝置使夾持裝置移動至夾持進行位置，且該些機械夾爪驅使該些基板上的該些夾子由閉合狀態變換至打開狀態，使該些夾子鬆開疊合的該些基板。 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.
較佳地，每一夾子具有一本體、一第一結合部及一第二結合部。本體為一簧片夾，簧片夾之兩端分別連接第一結合部及第二結合部且共同形成夾口。本體於閉合狀態時成一三角形，於打開狀態時積蓄一彈力。每一夾子置放槽具有兩側壁、一溝槽及一底部。兩側壁用以支撐夾子之本體使本體與底部保持一預留距離。溝槽位於底部之一側之上方，用以卡入夾子之第二結合部。 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.
較佳地，每一機械夾爪包含一第一爪指、一第二爪指及一樞軸且第一爪指及第二爪指樞設於樞軸上，第一爪指及第二爪指之外側各具有一肋條。第一爪指及第二爪指之前端共同形成一夾持口，使對應夾子由夾持口進入或離開。該些夾子置放槽之底部於溝槽所在之相對側具有一缺口。當該些夾子置放槽位於升降預備位置與夾持裝置位於夾持預備位置時，缺口接收第二爪指之肋條。 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.
較佳地，該些夾子置放槽之底部於溝槽所在之側具有一缺口，用以供一分離板向上穿越以碰撞位於夾子置放槽之夾子。 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.
較佳地，每一夾子之第一結合部及第二結合部分別具有一第一勾槽及一第二勾槽。每一機械夾爪包含一第一爪指、一第二爪指及一樞軸且第一爪指及第二爪指樞設於樞軸上。第一爪指及第二爪指之前端向外延伸有一第一突出段及一第二突出段用以對應伸入第一勾槽與第二勾槽。 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.
本發明之一種機械夾爪，包含一第一爪指、一第二爪指、一樞軸、一導螺桿及二帶動件。第一爪指具有一第一樞接孔；第二爪指具有一第二樞接孔。樞軸穿設第一樞接孔及第二樞接孔，使第一爪指及第二爪指樞設於樞軸上。第一爪指及第二爪指之前端共同形成一夾持口，用以使一夾子由夾持口進入或離開。二帶動件套設於導螺桿之兩端，並分別與第一爪指及第二爪指之後端結合。當導螺桿軸向轉動時，二帶動件對向移動或背向移動，使夾持口撐張或收合。 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.
較佳地，每一帶動件包含一固定架、一墊片及一軸承。軸承固設於固定架之一側及墊片之間。第一爪指及第二爪指之後端各具有一固定孔供導螺桿穿過。第一爪指及第二爪指之後端分別固設於對應之帶動件之墊片及固定架之另一側之間。二軸承各具有與導螺桿相螺合的內螺紋，且二內螺紋的繞軸方向相反。 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.
較佳地，每一軸承具有一切角，以使軸承分別卡合對應的固定孔。 Preferably, each bearing has an angle such that the bearings respectively engage the corresponding fixing holes.
較佳地，第一爪指及第二爪指之前端向外延伸有一第一突出段及一第二突出段用以對應伸入一夾子之一第一勾槽與一第二勾槽。第一勾槽與第二勾槽位於夾子的一夾口之兩側。當夾持口撐張時帶動夾子的夾口撐張時，夾子積蓄一彈力。當夾持口收合時，夾子釋放彈力使夾口收合。 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.
本發明之一種夾子開合方法，用以將複數個機械夾爪開合複數個夾子。夾子開合方法包括步驟：a.結合該些機械夾爪與該些夾子；b.撐張該些機械夾爪之挾持口，使該些夾子之夾口撐開以積蓄一彈力；c.移動該些機械夾爪以帶著該些夾子由一第一位置移動至一第二位置；d.收合該些機械夾爪之挾持口，使該些夾子釋放彈力以收合該些夾子之夾口；以及e.分離該些機械夾爪及該些夾子。 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.
較佳地，在a步驟前更包含步驟：水平放置該些夾子於複數個夾子置放槽中。 Preferably, before step a, the step further comprises: placing the clips horizontally in the plurality of clip placement slots.
較佳地，b步驟更包含步驟：以該些機械夾爪的前端的突出段抵住該些夾子的勾槽；以及施力撐張該些機械夾爪之挾持口，使該些突出段帶動該些勾槽而撐開該些夾子之夾口。 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.
較佳地，d步驟更包含步驟：放置該些夾子於該些夾子置放槽中。 Preferably, the step d further comprises the step of placing the clips in the clip placement slots.
1‧‧‧夾子 1‧‧‧ clip
10‧‧‧本體 10‧‧‧ Ontology
100‧‧‧夾口 100‧‧‧ jaw
11‧‧‧第一結合部 11‧‧‧ First Joint Department
111‧‧‧尾部 111‧‧‧ tail
112‧‧‧第一勾槽 112‧‧‧First hook slot
12‧‧‧第二結合部 12‧‧‧Second junction
122‧‧‧尾部 122‧‧‧ tail
13‧‧‧底部 13‧‧‧ bottom
131、132‧‧‧側端 131, 132‧‧‧ side
14‧‧‧第一夾持部 14‧‧‧First clamping section
141‧‧‧第一端 141‧‧‧ first end
15‧‧‧第二夾持部 15‧‧‧Second gripping section
151‧‧‧第二端 151‧‧‧ second end
2‧‧‧機械夾爪 2‧‧‧Mechanical jaws
21‧‧‧夾爪 21‧‧‧claw
210‧‧‧夾持口 210‧‧‧Clamping port
22‧‧‧夾爪帶動裝置 22‧‧‧Claw drive device
23‧‧‧第一爪指 23‧‧‧First claw
24‧‧‧第二爪指 24‧‧‧second claw
231、241‧‧‧樞接塊 231, 241‧‧‧ pivot block
232‧‧‧第一樞接孔232 232‧‧‧First pivot hole 232
242‧‧‧第二樞接孔 242‧‧‧Second pivot hole
233、243‧‧‧控制段 233, 243‧‧ ‧ control section
234、244‧‧‧夾持段 234, 244‧‧ ‧ clamping section
235、245‧‧‧肋條 235, 245‧‧ ‧ ribs
236、246‧‧‧突出段 236, 246‧‧ ‧ prominent paragraph
237、247‧‧‧固定孔 237, 247‧‧‧ fixing holes
25‧‧‧樞軸 25‧‧‧ pivot
251‧‧‧自潤軸承 251‧‧‧Self-lubricated bearings
252‧‧‧軸心 252‧‧‧Axis
26‧‧‧導螺桿 26‧‧‧ lead screw
27、28‧‧‧帶動件 27, 28‧‧‧ Driven parts
271、281‧‧‧固定架 271, 281‧‧‧ fixed frame
272、282‧‧‧墊片 272, 282‧‧‧ shims
273、283‧‧‧軸承 273, 283‧ ‧ bearings
274、284‧‧‧卡合部 274, 284 ‧ ‧ Included
275、285‧‧‧切角 275, 285 ‧ ‧ cut angle
3‧‧‧夾子開合機構 3‧‧‧Clip opening and closing mechanism
30‧‧‧頂架 30‧‧‧Top frame
301‧‧‧滑軌 301‧‧‧rails
302‧‧‧軌道 302‧‧‧ Track
31‧‧‧機台 31‧‧‧ machine
32‧‧‧升降裝置 32‧‧‧ Lifting device
321‧‧‧平板 321‧‧‧ tablet
322‧‧‧氣壓缸 322‧‧‧ pneumatic cylinder
323‧‧‧導桿 323‧‧‧guides
33‧‧‧夾子置放槽 33‧‧‧Clip slot
330‧‧‧槽口 330‧‧‧ notch
331‧‧‧側壁 331‧‧‧ side wall
332‧‧‧後壁 332‧‧‧ Back wall
333‧‧‧缺口 333‧‧‧ gap
334‧‧‧支撐塊 334‧‧‧Support block
335‧‧‧螺栓 335‧‧‧ bolt
336‧‧‧壓縮彈簧 336‧‧‧Compression spring
337‧‧‧溝槽 337‧‧‧ trench
338‧‧‧底部 338‧‧‧ bottom
34‧‧‧夾持裝置 34‧‧‧Clamping device
341‧‧‧容置箱 341‧‧‧ 容箱
342‧‧‧驅動裝置 342‧‧‧ drive
35‧‧‧載台 35‧‧‧ stage
361‧‧‧送料裝置 361‧‧‧Feeding device
362‧‧‧振動送料機 362‧‧‧Vibration feeder
363‧‧‧送料台 363‧‧‧Feeding table
37‧‧‧機械手臂 37‧‧‧ Robotic arm
371‧‧‧機架 371‧‧‧Rack
372‧‧‧橫桿 372‧‧‧crossbar
373‧‧‧橫向移動裝置 373‧‧‧Horizontal mobile device
374‧‧‧縱向移動裝置 374‧‧‧Longitudinal mobile device
375‧‧‧旋轉裝置 375‧‧‧Rotating device
376‧‧‧吸取臂 376‧‧‧ suction arm
377‧‧‧吸盤 377‧‧‧Sucker
38‧‧‧輸送裝置 38‧‧‧Conveyor
381‧‧‧輸送帶 381‧‧‧ conveyor belt
382‧‧‧驅動馬達 382‧‧‧Drive motor
383‧‧‧皮帶輪 383‧‧‧ Pulley
384‧‧‧間隔板 384‧‧‧ Spacer
39‧‧‧推桿裝置 39‧‧‧Pushing device
391‧‧‧推動塊 391‧‧‧ Push block
392‧‧‧氣壓缸 392‧‧‧Pneumatic cylinder
393‧‧‧導桿 393‧‧‧guides
4‧‧‧夾子開合機構 4‧‧‧Clip opening and closing mechanism
40‧‧‧頂架 40‧‧‧Top frame
401‧‧‧滑軌 401‧‧‧rails
402‧‧‧軌道 402‧‧‧ Track
41‧‧‧機台 41‧‧‧ machine
42‧‧‧升降裝置 42‧‧‧ lifting device
43‧‧‧夾子置放槽 43‧‧‧Clip slot
431‧‧‧側壁 431‧‧‧ side wall
432‧‧‧底部 432‧‧‧ bottom
433‧‧‧缺口 433‧‧‧ gap
435‧‧‧溝槽 435‧‧‧ trench
44‧‧‧夾持裝置 44‧‧‧Clamping device
442‧‧‧驅動裝置 442‧‧‧ drive
45‧‧‧載台 45‧‧‧ stage
46‧‧‧分離板 46‧‧‧Separation board
47‧‧‧輸送裝置 47‧‧‧Conveyor
48‧‧‧回收槽 48‧‧‧Recycling tank
49‧‧‧回收履帶 49‧‧‧Recovery track
5‧‧‧基板 5‧‧‧Substrate
a‧‧‧升降起始位置 A‧‧‧ lifting start position
b‧‧‧升降預備位置 B‧‧‧ Lifting preparation position
c‧‧‧夾持起始位置 C‧‧‧ clamping starting position
d‧‧‧夾持預備位置 d‧‧‧Preparation position
e‧‧‧夾持進行位置 e‧‧‧Clamping position
G‧‧‧垂直距離 G‧‧‧Vertical distance
第一圖，為本發明的第一較佳實施例之夾子開合機構之全視圖。 The first figure is a general view of the clip opening and closing mechanism of the first preferred embodiment of the present invention.
第二圖(A)-(B)，為本發明之夾子的較佳實施例外觀示意圖。 The second figures (A)-(B) are schematic views of the appearance of a preferred embodiment of the clip of the present invention.
第三圖，為本發明的較佳實施例之機械夾爪之外觀示意圖。 The third figure is a schematic view of the appearance of a mechanical jaw according to a preferred embodiment of the present invention.
第四圖，本發明的較佳實施例之機械夾爪之分解圖。 Figure 4 is an exploded view of the mechanical jaw of the preferred embodiment of the present invention.
第五圖(A)-(C)，為本發明的較佳實施例之機械夾爪之撐開夾子作動示意圖。 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.
第六圖(A)-(C)，為本發明的較佳實施例之機械夾爪之鬆開夾子作動示意圖。 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.
第七圖，為本發明的較佳實施例之送料機構之示意圖。 Figure 7 is a schematic view of a feeding mechanism of a preferred embodiment of the present invention.
第八圖，為本發明的較佳實施例之機械手臂及輸送裝置之示意圖。 Figure 8 is a schematic view of a robotic arm and a delivery device in accordance with a preferred embodiment of the present invention.
第九圖，為本發明的較佳實施例之機械手臂之示意圖。 Figure 9 is a schematic view of a robot arm in accordance with a preferred embodiment of the present invention.
第十圖，為本發明的較佳實施例之推桿裝置之示意圖。 Figure 10 is a schematic view of a pusher device in accordance with a preferred embodiment of the present invention.
第十一圖，為本發明的較佳實施例之夾子推動到夾子置放槽之示意圖。 Figure 11 is a schematic view of the clip of the preferred embodiment of the present invention pushed to the clip placement slot.
第十二圖，為本發明的較佳實施例之升降裝置之示意圖。 Figure 12 is a schematic view of a lifting device in accordance with a preferred embodiment of the present invention.
第十三圖，為夾子放置於夾子置放槽之示意圖。 Figure 13 is a schematic view showing the clip placed on the clip placement slot.
第十四圖，為本發明的較佳實施例之升降裝置之操作示意圖。 Figure 14 is a schematic view showing the operation of the lifting device of the preferred embodiment of the present invention.
第十五圖，為本發明的較佳實施例之夾持裝置之示意圖。 Figure 15 is a schematic view of a holding device in accordance with a preferred embodiment of the present invention.
第十六圖，為本發明的較佳實施例之夾持裝置進行預備上夾動作之示意圖。 Fig. 16 is a schematic view showing the preliminary clamping operation of the holding device according to the preferred embodiment of the present invention.
第十七圖，為本發明的較佳實施例之夾持裝置完成預備上夾動作之示 意圖。 Figure 17 is a view showing the preparation of the clamping device of the preferred embodiment of the present invention intention.
第十八圖及第十九圖，為本發明的較佳實施例之夾持裝置進行上夾動作之示意圖。 18 and 19 are schematic views showing the upper clamping operation of the holding device according to the preferred embodiment of the present invention.
第二十圖，為本發明之上夾流程方塊圖。 Figure 20 is a block diagram of the upper clip of the present invention.
第二十一圖，為本發明的第二較佳實施例之夾子開合機構之全視圖。 Figure 21 is a general view of the clip opening and closing mechanism of the second preferred embodiment of the present invention.
第二十二圖(A)-(C)，為本發明的第二較佳實施例之機械夾爪撐開夾子作動示意圖。 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.
第二十三圖，為本發明的第二較佳實施例之夾子開合機構的局部作動示意圖。 Figure 23 is a partial perspective view showing the clip opening and closing mechanism of the second preferred embodiment of the present invention.
第二十四圖，為本發明的第二較佳實施例之夾子置放槽及升降裝置之示意圖。 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.
第二十五圖，為本發明的第二較佳實施例之機械夾爪進行退夾動作之示意圖。 Figure 25 is a schematic view showing the unloading action of the mechanical jaw of the second preferred embodiment of the present invention.
第二十六圖，為本發明的第二較佳實施例之夾子開合機構之局部示意圖。 Figure 26 is a partial schematic view showing the clip opening and closing mechanism of the second preferred embodiment of the present invention.
第二十七圖，為本發明的第二較佳實施例之夾子開合機構的局部俯視圖。 Figure 27 is a partial plan view showing the clip opening and closing mechanism of the second preferred embodiment of the present invention.
第二十八圖(A)-(B)，為本發明的第二較佳實施例之夾子開合機構的夾子分離作動示意圖。 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.
第二十九圖，為本發明之下夾流程方塊圖。 The twenty-ninth figure is a block diagram of the flow chart of the present invention.
第一圖顯示本發明之夾子開合機構3的一個較佳實施例，其用於將多個如第二圖所示的夾子1的一夾口100予以撐開，並將它們移送到如第六圖所示的一工作物5的一側邊之後再予以閉合，使得該些夾子1夾住工作物5的該側邊。在此較佳實施例中，夾子開合機構3是運用於上述雙層玻璃，故工作物5係為已疊在一起的兩片玻璃基板，然而，工作物5也可以是任何需要被一或多個夾子夾住的物品，不以兩片玻璃基板此為限。 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.
第二圖(A)顯示夾子1由具彈性的板片製成，例如彈性鋼板。夾子1包括一本體10、一第一結合部11及一第二結合部12。本體10 包括一第一夾持部14、一第二夾持部15及一底部13。第一夾持部14、第二夾持部15及底部13所形成的本體10，係為具有彈性的一簧片夾，於一打開狀態時積蓄一彈力，並於一閉合狀態時釋放彈力而概呈一三角形。較佳地，第一夾持部14係為一矩形板體且具有一第一端141，第二夾持部15係為一矩形板體且具有一第二端151，底部13係為一矩形板體且具有相對的二側端131、132。第一夾持部14及第二夾持部15分別是由底部13的二側端131、132向前延伸而形成。第一夾持部14的第一端141與第二夾持部15的第二端151相交接形成一能被撐張的夾口100。 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.
第一結合部11係為一板體，由第一夾持部14的第一端141向上延伸且平行於底部13，其尾部111再向後並向下彎折。在第一結合部11的中央具有一第一勾槽112，第一勾槽112為一垂直剖溝而將第一結合部11隔成兩半。請同時參見第二圖(B)，尾部111與側端131之間的垂直距離G。 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.
第二結合部12係為一板體，由第二夾持部15的第二端151向下延伸且平行於底部13，其尾部121再向後並向下彎折。在第二結合部12的中央具有一第二勾槽122，其與第一結合部11的第一勾槽112對齊。第二勾槽122為一垂直剖溝而將第二結合部12隔成兩半。請同時參見第二圖(B)，尾部121與底部13中靠近第二結合部15的側端132，在平行底部13的軸向上相距一段垂直距離G。夾子1在閉合狀態時，第一結合部11及第二結合部12平行而呈現一平面。 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.
第一勾槽111與第二勾槽111位於夾子1的夾口100之兩側，且第一勾槽111及第二勾槽121能同時與一外加工具(圖中未示)結合，且能透過外加工具使第一勾槽111及第二勾槽121向外移動而能打開夾子1的夾口100。本體10由於為一簧片夾，夾口100打開的同時夾子1也會積蓄一彈力，彈力會驅使被打開的夾口100再度閉合。使用者於夾子1被打開的夾口100內放置待固定之物品，例如：基板，於夾子1再度閉合時，即可夾持固定住物品。 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.
第三圖顯示本發明的較佳實施例之機械夾爪之外觀示意圖。機械夾爪2包括一夾爪21及一夾爪帶動裝置22，夾爪21設置於夾爪帶動裝置22上。夾爪21呈剪刀式結構，具有一第一爪指23、一第二爪指 24及一樞軸25。第一爪指23及第二爪指24樞設於樞軸25上，在第一爪指及第二爪指之前端共同形成一夾持口210。夾持口210係用以使夾子由此進入與機械夾爪2結合，以及使夾子由此離開與機械夾爪2分離。夾爪帶動裝置22包括一導螺桿26及二帶動件27、28。二帶動件27、28同時套設於導螺桿26上，而第一爪指23及第二爪指24之後端分別結合固定於二帶動件27、28上。導螺桿26可與一夾爪驅動裝置(例如：傳動馬達)相連接，使導螺桿26做軸向轉動。當夾爪驅動裝置帶動導螺桿26做軸向轉動時，使二帶動件27、28對向移動或背向移動。藉此，第一爪指23及第二爪指24之前端之間距離可變小而向內收合夾持口210內；或者第一爪指23及第二爪指24之前端之間距離可變大而向外撐張夾持口210。 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.
請參見第四圖，為本發明的較佳實施例之機械夾爪之分解圖。第一爪指23及第二爪指24各具有一突出的樞接塊231、241，樞接塊231、241上各具有一第一樞接孔232及一第二樞接孔242。樞軸25由一自潤軸承251及一軸心252組成。樞軸25同時穿過第一樞接孔232及第二樞接孔242，使第一爪指23及第二爪指24藉此樞設於樞軸25上。第一爪指23及第二爪指24之後端各具有一控制段233、243及其前端各具有一夾持段234、244。二夾持段234、244皆成略為彎曲的弓形，其外側各具有肋條235、245以避免二夾持段234、244發生形變。二夾持段234、244共同形成夾持口210，第一爪指23及第二爪指24之前端(即二夾持段234、244的一側)分別相對向外延伸出一突出段236、246。二控制段233、243與二帶動件27、28同時套設於導螺桿26之兩端。二帶動件27、28分別各與第一爪指23及第二爪指24之後端的二控制段233、243結合。當導螺桿26帶動二帶動件27、28對向移動或背向移動時，使二控制段233、243以樞軸25為軸同時對向移動或背向移動，進而使二夾持段234、244以樞軸25為軸相對於二控制段233、243相反地背向移動或對向移動。 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.
帶動件27由一固定架271、一墊片272及一軸承273所組成，帶動件28亦由一固定架281、一墊片282及一軸承283所組成。二控制段233、243上各具有一固定孔237、247供導螺桿26穿過。二控制段233、243分別被夾合固定在二墊片272、282與二固定架271、281的一側之間。二軸承273、283分別固設於二固定架281、282的另一側及二墊片272、282 之間。在本實施例，固定架271為中空之長方體，以接收控制段233、墊片272及軸承273，其一內側與控制段233相鄰，另一相對內側與軸承273相鄰，而墊片272位於控制段233、軸承273之間，藉此限制控制段233、墊片272及軸承273於固定架271內。同樣地，固定架281為也為中空之長方體，限制控制段233、墊片272及軸承273於其內。二帶動件27、28藉此分別與二控制段233、243結合固定。二軸承273、283各具有一與導螺桿26相螺合的內螺紋(圖中未示)，二內螺紋的繞軸方向相反。導螺桿26螺入軸承273、283。二軸承273、283各具有一卡合部274、284。二卡合部274、284為延伸自二軸承273、283的柱狀體，分別具有切角275、285。當二帶動件27、28與二控制段233、243結合時，二卡合部274、284伸入固定孔237、247，使二卡合部274、284之切角275、285抵觸固定孔237、247之一側。藉此，使二卡合部274、284卡合於二固定孔237、238時無法做軸向轉動。如此一來，當夾爪驅動裝置帶動導螺桿26做軸向轉動時，二軸承273、283只能徑向移動。又因二軸承273、283的二內螺紋的繞軸方向相反，所以二軸承273、283只會對向或是背向移動，並帶動二控制段233、243對向移動或是背向移動。 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.
請參見第五圖(A)-(C)，為本發明的較佳實施例之機械夾爪之撐開夾子作動示意圖。機械夾爪2的夾持口210撐開至略大於夾子1的底部13的寬度。較佳地，機械夾爪2的二突出段236、246之間的距離小於第一勾槽111及第二勾槽121之間的距離。機械夾爪2向前移動而與夾子1結合。在本發明中，機械夾爪2與夾子1結合係指夾子1的本體10由夾持口210進入第一爪指23及第二爪指24所夾持的區間內。較佳地，二突出段236、246的突出長度小於垂直距離G，使得機械夾爪2的二突出段236、246可直接向前頂到第一結合部11及第二結合部12。即，只要維持夾持口210的大小略大於底部13的寬度，機械夾爪2即可直接向前頂到第一結合部11及第二結合部12，前進過程中不需調整夾持口210的大小，也不會被第一結合部11向內彎折的部分或第二結合部12向內彎折的部分擋住之情況發生。當夾爪帶動裝置22帶動第一爪指23及第二爪指24的前端背向移動而使夾持口210撐張變大時，二突出段236、246分別沿第一結合部11及第二結合部12反向移動而抵住第一勾槽111的內壁及第二勾槽121的內壁，進而撐開 夾子1的夾口100至一預定夾口大小。預定夾口大小係根據欲上夾的物品之寬度而定。 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.
請參見第六圖(A)-(C)，為本發明的較佳實施例之機械夾爪之鬆開夾子作動示意圖。在此，以夾子1夾住複數個基板5為例說明。第六圖(A)顯示機械夾爪2帶動夾子1向前至使複數個基板5之一側邊位於夾子1的夾口100內。如第六圖(B)所示，當夾爪帶動裝置22帶動第一爪指23及第二爪指24使夾持口210向內收合時，二突出段236、246不再繼續頂抵第一勾槽111的內壁及第二勾槽121的內壁。較佳地，收合後的夾持口210保持略大於於夾子1的底部13的寬度。此時，夾子1釋放被撐張時所積蓄的彈力，彈力便驅使夾口100閉合而夾住複數個基板5。然後，如第六圖(C)所示，機械夾爪2向後離開，使夾子1從夾持口210離開而分離。當然，上述過程可僅用於分離機械夾爪2與夾子1而不需用以夾住任何物品，例如：複數個基板5。 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.
第一圖為本發明的第一較佳實施例之夾子開合機構之全視圖。夾子開合機構3係用於讓具有彈性的複數個夾子開合。在第一較佳實施例係以夾子夾住疊合的複數個基板5為例來說明。夾子開合機構3包括一機台31、一升降裝置32、複數個夾子置放槽33、一夾持裝置34(第十四圖)及一驅動裝置342(第十五圖)。夾持裝置34、驅動裝置342、該些夾子置放槽33及升降裝置32設置在機台31上，其中升降裝置32、複數個夾子置放槽33及夾持裝置34將於後進行說明。較佳地，夾子開合機構3可額外設置一載台35在機台31下方的一軌道302上，用於放置該些基板5且運送該些基板沿著軌道移動302移動到機台31或離開機台31。在本實施例中，軌道為水平軌道。當載台35運送疊合的複數個基板5進入夾子開合機構3內部的一上下夾位置時，夾子開合機構3進行一上夾作業時，在該些基板5的單側或兩側邊都夾上該些夾子。隨後，載台35運送夾上夾子的複數個基板5離開夾子開合機構3。 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.
復參閱第一圖，本發明可於該些基板5的兩側邊同時配設二夾子開合機構3。如此一來便能在進行一上夾作業時，該些基板5的兩側邊可同時夾上該些夾子1。二機台31的頂部對向延伸連接形成一頂架30。在頂架30下方中央處設置軌道302，載台35設置在軌道302上。當放置在 載台35上的該些基板5完成上夾作業後，便能沿軌道302移到下個位置進行下一個加工作業。接下來皆以其中一夾子開合機構3為例來說明上夾作業的進行。 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.
本發明所使用的夾子為具有一夾口，夾口在閉合狀態時閉合，而在打開狀態時張開。而且夾口在打開狀態時能積蓄一彈力，使夾子具有回復成閉合狀態之傾向，因此可用彈力夾住放置於夾口內的物品。為方便說明，於後各實施例中所提及之夾子為前述實施例的夾子1。 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.
較佳地，夾子開合機構3更包括一送料機構。請同時參見第七圖，為本發明的較佳實施例之送料機構之示意圖。送料機構包含一送料裝置361、一振動送料機362，而振動送料機362旁延伸有一送料台363。送料裝置361內放置該些夾子1，並將該些夾子1個別輸送到一振動送料機362。振動送料機362以振動形式將每一個夾子1排成特定方向再送出。振動送料機362送出的該些夾子1會進到送料台363中，然後送入機台31。 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.
夾子開合機構3更包括一機械手臂37、一輸送裝置38。請參見第八圖，為本發明的較佳實施例之機械手臂及輸送裝置之示意圖。機械手臂37設置在送料台363及輸送裝置38之間。請同時參見第九圖，為本發明的較佳實施例之機械手臂之示意圖。機械手臂37有包括一機架371、一橫向移動裝置373、一縱向移動裝置374、一旋轉裝置375及多個吸取臂376。機架371設置於機台31上，機架371上設置有多根橫桿372。橫向移動裝置373裝設於該些橫桿372上且能沿該些橫桿372橫向移動。縱向移動裝置374裝設在橫向移動裝置373上且能相對於橫向移動裝置373縱向升降移動。旋轉裝置375裝設於縱向移動裝置374的下方且能相對於縱向移動裝置374做轉動。該些吸取臂376裝設在旋轉裝置375下方，並各具有一用於吸取該些夾子1的吸盤377。機械手臂37會將送料台363上最靠近輸送裝置38的夾子1吸起來後，帶著夾子1旋轉180度同時橫向移動到輸送裝置38上的一輸送位置上方，再將夾子1放到輸送位置上。機械手臂37釋放吸取的夾子1後，又橫向返回到剛才吸取夾子1的位置並重複上述吸取動作。 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.
請再參見第八圖，輸送裝置38設置於機台上，包括一輸送帶381、一驅動馬達382及二皮帶輪383。輸送裝置38用於將機械手臂37放在輸送裝置38上的夾子1，送到每一個夾子1置放槽33的前方。輸送帶 381上具有多個間隔板384，相鄰兩間隔板384的距離相同。夾子1被放置於兩間隔板384之間，因此輸送帶381上的夾子之譏的距離相等。該些夾子置放槽33的槽口330面向同一方向，輸送裝置38即設置在鄰近該些夾子置放槽33的槽口330之一側邊。 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.
請參見第十圖，為本發明的較佳實施例之推桿裝置之示意圖。夾子開合機構3更包括一推桿裝置39。推桿裝置39設置於機台31上且鄰近輸送裝置38之一側邊，恰使推桿裝置39能將該些夾子1從輸送帶381上推入該些夾子置放槽33中。推桿裝置39包括數個推動塊391、數個與該些推動塊391相連接的氣壓缸392及數根與該些推動塊391相連接的導桿393。推動塊391為長條狀，其長軸垂直於氣壓缸392的推動方向。推動塊391被該些氣壓缸392帶動而移動的過程，每一個推動塊391兩側邊的移動距離不一致。本實施例利用該些導桿393的輔助，可以確保推動塊391的任何位置移動能沿著預定的軸向移動且同步，而使夾子1的移動同步。 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.
請參見第十一圖，為本發明的較佳實施例之夾子推動到夾子置放槽之示意圖。當該些夾子置放槽33位在一略低於輸送裝置38的升降起始位置a時，推桿裝置39能推抵該些夾子1，而使該些夾子1在同一時間進到該些夾子置放槽33中。 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.
請參見第十二圖，為本發明的較佳實施例之升降裝置之示意圖。該些夾子置放槽33設置於升降裝置32上，而升降裝置32設置在機台31上。升降裝置32可驅使該些夾子置放槽33升降。升降裝置32包括一平板321、連接平板321底部的數個氣壓缸322及同樣連接在平板321底部的數根導桿323。該些夾子置放槽33係用於放置夾子，而該些夾子置放槽33設置於升降裝置32的平板321上且排列成一直線。每一夾子置放槽33的二個側壁331，用以支撐夾子的本體。在本實施例中，二個側壁331各自具有裝設於內壁面上的支撐塊334，並以支撐塊334來支撐夾子的本體。二支撐塊334與夾子置放槽33的一後壁332的內壁面之間保留有一間隙，以形成一溝槽337。每一夾子置放槽33的一底部338外緣上具有一缺口333。在本實施例，係以平板321作為夾子置放槽33的底部338。因此，在平板321上有複數個缺口333，對應位於每個夾子置放槽33的後壁332之相對側的中間處。 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.
請參見第十三圖，為夾子放置於夾子置放槽之示意圖。當該些夾子1被推入該些夾子置放槽33時，每一夾子1的第二結合部12恰能卡入間隙337。夾子1的本體10因受到二個側壁331的二支撐塊334的支撐而與夾子置放槽33的底部保持一預留距離。較佳地，夾子1係水平放置於夾子置放槽33中，此時夾子的的底部13、第一結合部11、第二結合部12恰成垂直。每一夾子置放槽33的後壁332上具有四個穿孔(圖中未示)，兩個兩個對應在二側壁331的後方，使螺栓335可由後壁332的穿孔螺入二側壁331的後方。每一螺栓335突出後壁332的部分各設置有一壓縮彈簧336，而使每一夾子置放槽33的後壁332能穿設於該些螺栓335上且抵靠該些壓縮彈簧336。如此一來，當推桿裝置39將該些夾子1推入該些夾子置放槽33中時，推桿裝置39所施加的一衝擊力便能被該些壓縮彈簧336緩衝掉。因此，該些夾子置放槽33相連接的該些導桿323，不會因為直接承受衝擊力而發生搖晃或是向後彎折導致升降裝置32損壞的情形。 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.
請參見第十四圖，為本發明的第一較佳實施例之升降裝置之操作示意圖。升降裝置32可驅使該些夾子置放槽33於升降起始位置a及一升降預備位置b之間升降移動，其中升降預備位置b係高於輸送裝置38(參見第十圖)。升降起始位置a及升降預備位置b之間之升降移動為一垂直升降移動。夾子置放槽33於升降起始位置a，該些夾子1被推入該些夾子置放槽33。然後，升降裝置32驅使該些夾子置放槽33由升降起始位置a上升至升降預備位置b，供夾持裝置34進行一預備上夾動作。預備上夾動作完成後，升降裝置32會驅使該些夾子置放槽33下降回到升降起始位置a。其中，由於該些夾子置放槽33底部外緣具有缺口333(參見第十二圖)，可使該些機械夾爪2位於下方的該些肋條245移動靠近該些夾子1時，缺口333可以接收第二爪指24之肋條245，以避免肋條245撞上該些夾子置放槽33底部外緣。 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.
請參見第十五圖，為本發明的第一較佳實施例之夾持裝置之示意圖。機台31的頂部延伸形成一頂架30，頂架30上設置有一滑軌301。夾持裝置34被配置成沿滑軌301移動。在本實施例中，滑軌301為一水平滑軌。滑軌301的移動方向可與軌道302的移動方向平行或垂直。在本實施例中，滑軌301的移動方向與軌道302的移動方向為垂直。驅動裝置342與 夾持裝置34相連接，以驅使夾持裝置34沿滑軌301移動。較佳地，驅動裝置342可為一電動馬達。夾持裝置34包括多個容置箱341，該些容置箱341內皆各裝設有多個前述本發明之機械夾爪2。機械夾爪2沿垂直於滑軌301的移動方向上排列成一直線，而該些機械夾爪2的夾持口210均朝外並突出於該些容置箱341之外。較佳地，該些機械夾爪2的作動也可由本發明之驅動裝置342來驅動，此時該些機械夾爪2的夾持口210大小會隨著夾持裝置34的移動而變化。 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.
請參見第十六圖，為本發明的第一較佳實施例之夾持裝置進行預備上夾動作之示意圖。夾持裝置34設置在機台31頂部的一夾持起始位置c。夾持起始位置c在升降預備位置b的後面且與其等高，即夾持裝置34的機械夾爪2在夾持起始位置c時的高度與夾子置放槽33在升降預備位置b時夾子的高度相等。當升降裝置32驅使該些夾子置放槽33到升降預備位置b時，夾持裝置34能被驅動裝置342(請參見第十五圖)驅使從夾持起始位置c前進移動到夾持預備位置d。此時，夾持裝置34的該些機械夾爪2恰可與放置在該些夾子置放槽33中的該些夾子1結合。然後，該些機械夾爪2撐開該些夾子1的該些夾口100以完成預備上夾動作。其中，預備上夾動作可參見第四圖(A)-(C)之機械夾爪之撐開夾子的說明。 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).
請參見第十七圖，為本發明的第一較佳實施例之夾持裝置完成預備上夾動作之示意圖。在完成預備上夾動作後，升降裝置32會驅使該些夾子置放槽33下降回到升降起始位置a。接著，請參見第十八圖及第十九圖，為本發明的第一較佳實施例之夾持裝置進行上夾動作之示意圖。疊合的複數個基板被移動位於機台下方之一上下夾位置。當升降裝置32驅使該些夾子置放槽33下降回到升降起始位置a後，夾持裝置34由夾持預備位置d繼續前進向該些基板5所在位置移動，直到移動到一夾持進行位置e。此時，該些機械夾爪2所撐開夾子1的夾口100包圍住疊合的該些基板5之一側，夾持裝置34使該些基板上的該些夾子由打開狀態變換至合狀態，以使該些夾子1夾住放置在載台35上的該些基板5而完成上夾動作。其中上夾動作可參見第五圖(A)-(C)之機械夾爪之鬆開夾子的說明。於該些夾子1夾持固定住該些基板5後，夾持裝置34受夾持裝置使而與該些夾子1分離，並移動回到夾持起始位置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.
請參見第二十圖，為本發明之上夾流程方塊圖。本發明之上夾流程，用於使一夾子開合機構能將複數個夾子夾上疊合的複數個基板。上夾流程包括步驟：a.結合該些機械夾爪與該些夾子；b.撐張該些機械夾爪之挾持口，使該些夾子之夾口撐開以積蓄一彈力；c.移動該些機械夾爪以帶著該些夾子由一第一位置移動至一第二位置，使該些夾子之夾口包圍住疊合的複數個基板的一側；d.收合該些機械夾爪之挾持口，使該些夾子釋放彈力以收合該些夾子之夾口，以夾住疊合的該些基板；以及e.分離該些機械夾爪及該些夾子。 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.
較佳地，上夾流程中的上夾設備係為前述本發明之夾子開合機構3，且該些夾子為本發明之夾子1。 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.
請參見第十三圖，該些夾子係先水平放置該些夾子於複數個夾子置放槽中，以便結合該些機械夾爪與該些夾子。 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.
在b步驟中，請參見第十四圖，以該些機械夾爪的前端的突出段抵住該些夾子的勾槽，然後施力撐張該些機械夾爪之挾持口，使該些突出段帶動該些勾槽而撐開該些夾子之夾口。 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.
請參見第二十一圖，為本發明的一第二較佳實施例之夾子開合機構之全視圖。夾子開合機構4係用於讓具有彈性的複數個夾子開合。在第二較佳實施例，係以將夾住疊合的複數個基板5的具有彈性的複數個夾子從該些基板5上取下為例來說明。該些夾子各具有一閉合的夾口，該些夾子的該些夾口被打開時各能積蓄使該些夾子回復成一閉合狀態的一彈力。在本實施例中，則使用前述本發明的該些夾子1。夾子開合機構4包括一機台41、一升降裝置42、複數個夾子置放槽、一夾持裝置44及一驅動裝置442。其中，複數個夾子置放槽及夾持裝置44將於後進行說明。 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.
較佳地，在本實施例中，可如同前述之夾子開合機構3的設置，可同時配設二夾子開合機構4。如此一來便能在進行一下夾作業時，同時取下夾在疊合的複數個基板5的兩側邊的該些夾子1。在此，接下來皆以一夾子開合機構4為例來說明下夾作業的進行。機台41的頂部延伸形成 一頂架40。頂架40上設置有一滑軌401，在頂架40下方設置有一軌道402。一載台45設置在軌道402上，用於放置該些基板5且能在軌道402上移動。當放置在載台45上的基板5移動位於機台41下方之一上下夾位置時，可進行下夾作業。於完成下夾作業後，便能沿軌道402移到下個位置進行下一個加工作業。本實施例中二夾子開合機構4的配置方式與第六圖中的二夾子開合機構3配置方式大致相同。 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.
持裝置44設置在機台41頂部的一夾持起始位置c(如第二十一圖的箭頭所示)，夾持裝置44與驅動裝置442相連接。夾子開合機構4的夾持裝置44與驅動裝置442之構造及功能與夾子開合機構32的大致相同，故不再贅述。較佳地，亦如同夾子開合機構3，該些機械夾爪2的作動也可由本發明之驅動裝置442來驅動，此時該些機械夾爪2的夾持口210大小會隨著夾持裝置44的移動而變化。 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.
當要將該些夾子1從該些基板5上取下時，夾持裝置44能沿滑軌401從夾持起始位置c向該些基板5所在位置前進移動。直到夾持裝置44中的機械夾爪2與該些夾子1結合，並執行將該些夾子1從放置在載台45上的該些基板5上取下的一下夾動作。 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.
請參見第二十二圖(A)-(C)，為本發明的第二較佳實施例之機械夾爪撐開夾子作動示意圖。每一機械夾爪2的二突出段236、246能夠向前頂到每一夾子1的第一延伸部11及第二延伸部12。夾爪帶動裝置22帶動第一爪指23及第二爪指24向外撐張，使得二突出段236、246分別沿第一結合部11及第二結合部12背向移動，抵住第一勾槽111的內壁及第二勾槽121的內壁，進而撐開夾住該些基板5的夾子1的夾口100以完成下夾動作。然後，夾持裝置44由夾持進行位置e往夾持預備位置d移動，使機械夾爪2向後移動，以帶著夾子1離開該些基板5。 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.
第二十三圖，為本發明的第二較佳實施例之夾子開合機構的局部作動示意圖。該些夾子置放槽43能被升降裝置42驅使升降預備位置b以及升降起始位置a之間移動。其中，升降起始位置a低於上升降預備位置b。在完成下夾動作後，夾持裝置44中的該些機械夾爪2受驅動裝置442驅動而帶著該些夾子1後退移動到夾持預備位置d(如第二十三圖箭頭方向所示)。夾持預備位置d位在夾持起始位置c與夾持進行位置e之間。升降 裝置42設置在機台41上，其構造與前述之夾子開合機構3的升降裝置32大致相同，故不再贅述。當夾持裝置44移動到夾持起始位置c時，該些夾子置放槽43會受升降裝置42驅動從升降起始位置a上升到升降預備位置b。機械夾爪執行退夾後，夾持裝置44再往後向夾持起始位置c移動時，該些夾子1會留置在該些夾子置放槽43中，使機械夾爪2與該些夾子1分離而完成一退夾動作。 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.
第二十四圖，為本發明的第二較佳實施例之夾子開合機構的夾子置放槽及升降裝置之示意圖。該些夾子置放槽43，用於放置該些夾子1，設置於升降裝置42上且排列成一直線。每一夾子置放槽43各具有二側壁431、一底部432。二側壁431各具有供夾子1的第二結合部12放入溝槽435。二側壁用以支撐夾子1之10本體，使夾子的本體與底部432保持一空隙。底部432靠近溝槽435的外緣處具有一缺口433。 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.
請參見第二十五圖(A)到(C)，為本發明的較佳實施例之機械夾爪進行退夾動作之示意圖。請同時參見第二十三圖，當夾持裝置動夾持裝置44移動到夾持起始位置c時，上升到升降預備位置b的該些夾子置放槽43恰正對該些夾子1，使夾子1的第二結合部12放入溝槽435。夾持裝置動該些機械夾爪2的第一爪指23及第二爪指24向夾持口內收合，使該些機械夾爪2的二突出段236、246不再繼續頂抵該些夾子1的第一勾槽111的內壁及第二勾槽121的內壁。此時，該些夾子1被撐張時所積蓄的彈力則驅使該些夾子1的夾口100閉合。夾持裝置44執行完上述退夾動作後，即受夾持裝置動，帶著該些機械夾爪2退出該些夾子置放槽43並返回第二十三圖中所示的夾持起始位置c。在此同時，該些夾子1的第二結合部12會被支撐槽432的側壁阻擋而留在夾子置放槽43，不會隨機械夾爪2後退。升降裝置42會驅動載著該些夾子1的該些夾子置放槽43從升降預備位置b下降到第二十三圖中所示的升降起始位置a。 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.
請參見第二十六圖，為本發明的第二較佳實施例之夾子開合機構之局部示意圖。夾子開合機構更包括複數個分離板46、一輸送裝置47、一回收槽48及一回收履帶49。該些分離板46設置固定在機台41上且略高於升降起始位置a(可同時參見第二十三圖)。接著，請參見第二十七圖，為本發明的第二較佳實施例之夾子開合機構的局部俯視圖。該些分離板46 鄰近該些夾子置放槽43的缺口433之一側邊，且在垂直方向的投影上，該些分離板46的一部分進入缺口433內但未與該些夾子置放槽的底部432重疊。因此，當該些夾子置放槽43下降到升降起始位置a時，該些分離板46通過該些夾子置放槽43的缺口433而能碰撞該些夾子1，但又不會碰撞該些夾子置放槽的底部432。 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.
請參見第二十八圖(A)-(B)，為本發明的第二較佳實施例之夾子開合機構的夾子分離作動示意圖。當載著夾子1的該些夾子置放槽43從升降預備位置b下降到升降起始位置a時，該些夾子1撞上該些分離板46後掉出該些夾子置放槽43，並落入輸送裝置47中。輸送裝置47設置在機台41上且位於該些分離板46下方。在本實施例中，該些分離板46的左側，即靠近夾子置放槽43的一側，為向下偏折之結構。藉此，分離板46主要是透過與夾子1的第二結合部12的碰觸來抬升夾子1的一側，而使夾子1旋轉而滾落至輸送裝置47。因此，避免分離板46若為直板時，與夾子1可能的碰觸點為兩處(例如：第二結合部12及第二夾持部15)或以上，而無法確保夾子1的滾落方向。請同時參見第二十六圖，輸送裝置47用於承接從該些夾子置放槽43掉出的該些夾子1並將該些夾子1輸送到回收槽48中。位於回收槽48旁側的回收履帶49則將該些夾子1輸送到其他地點以集中回收。輸送裝置47的構造與夾子開合機構3的輸送裝置38大致相同，故在此不再贅述。 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.
請參見第二十九圖，為本發明之下夾流程方塊圖。本發明之下夾流程用於供一夾子開合機構將夾住疊合的複數個基板的具有彈性的複數個夾子從該些基板上取下，該些夾子各具有一閉合的夾口，該些夾子的該些夾口被打開時各能積蓄使該些夾子回復成一閉合狀態的一彈力。下夾流程包括步驟：a.結合該些機械夾爪與夾住疊合的複數個基板的該些夾子；b.撐張該些機械夾爪之挾持口，使該些夾子之夾口撐開以積蓄一彈力；c.移動該些機械夾爪以帶著該些夾子由一第一位置移動至一第二位置，使夾子離開疊合的複數個基板； d.收合該些機械夾爪之挾持口，使該些夾子釋放彈力以收合該些夾子之夾口；以及e.分離該些機械夾爪及該些夾子。 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.
較佳地，下夾流程中的下夾設備係為前述本發明之夾子開合機構4，該些夾子為前述本發明之夾子1。 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.
在b步驟中，請參見第二十二圖(A)-(C)，以該些機械夾爪的前端的突出段抵住該些夾子的勾槽，然後施力撐張該些機械夾爪之挾持口，使該些突出段帶動該些勾槽而撐開該些夾子之夾口。 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.
在d步驟中，請參見第二十五圖(A)-(C)，該些夾子被放置於複數個夾子置放槽中。 In step d, referring to Figs. 25(A)-(C), the clips are placed in a plurality of clip placement slots.
無論如何，任何人都可以從上述例子的說明獲得足夠教導，並據而了解本發明內容確實不同於先前技術，且具有產業上之利用性，及足具進步性。是本發明確已符合專利要件，爰依法提出申請。 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‧‧‧夾子開合機構 3‧‧‧Clip opening and closing mechanism
30‧‧‧頂架 30‧‧‧Top frame
301‧‧‧滑軌 301‧‧‧rails
302‧‧‧軌道 302‧‧‧ Track
31‧‧‧機台 31‧‧‧ machine
35‧‧‧載台 35‧‧‧ stage
361‧‧‧送料裝置 361‧‧‧Feeding device
362‧‧‧振動送料機 362‧‧‧Vibration feeder
5‧‧‧基板 5‧‧‧Substrate
Claims (10)
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| TW104103968A TWI584913B (en) | 2015-02-05 | 2015-02-05 | Machine gripper, clip open/close apparatus and clip open/close method |
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| CN110624791A (en) * | 2019-09-27 | 2019-12-31 | 东莞华贝电子科技有限公司 | Automatic pressure maintaining box clamping platform |
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPH10204519A (en) * | 1996-11-19 | 1998-08-04 | Sumitomo Metal Ind Ltd | Lance changing mechanism, lance hose attaching/ detaching mechanism, lance fixing mechanism and automatic lance charging device |
| CN1195766A (en) * | 1997-02-05 | 1998-10-14 | 哈韦卡平衡技术霍斯特瓦克施有限公司 | Axle measurement holder to fasten measuring head to rim of vehicle wheel |
| JP4212179B2 (en) * | 1999-03-26 | 2009-01-21 | 日新製鋼株式会社 | Lance automatic changer |
| CN202809409U (en) * | 2012-07-18 | 2013-03-20 | 武汉路友科技有限责任公司 | Self-locking railway steel rail clamping plate fastener |
| CN204011574U (en) * | 2014-07-23 | 2014-12-10 | 江苏华东锂电技术研究院有限公司 | Electrode automatic clamping device and electrode Automatic-clamping system |
-
2015
- 2015-02-05 TW TW104103968A patent/TWI584913B/en active
Patent Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPH10204519A (en) * | 1996-11-19 | 1998-08-04 | Sumitomo Metal Ind Ltd | Lance changing mechanism, lance hose attaching/ detaching mechanism, lance fixing mechanism and automatic lance charging device |
| CN1195766A (en) * | 1997-02-05 | 1998-10-14 | 哈韦卡平衡技术霍斯特瓦克施有限公司 | Axle measurement holder to fasten measuring head to rim of vehicle wheel |
| JP4212179B2 (en) * | 1999-03-26 | 2009-01-21 | 日新製鋼株式会社 | Lance automatic changer |
| CN202809409U (en) * | 2012-07-18 | 2013-03-20 | 武汉路友科技有限责任公司 | Self-locking railway steel rail clamping plate fastener |
| CN204011574U (en) * | 2014-07-23 | 2014-12-10 | 江苏华东锂电技术研究院有限公司 | Electrode automatic clamping device and electrode Automatic-clamping system |
Also Published As
| Publication number | Publication date |
|---|---|
| TW201628767A (en) | 2016-08-16 |
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