TWI641453B - Clamping mechanism adapted to arbitrary shape - Google Patents
Clamping mechanism adapted to arbitrary shape Download PDFInfo
- Publication number
- TWI641453B TWI641453B TW106137815A TW106137815A TWI641453B TW I641453 B TWI641453 B TW I641453B TW 106137815 A TW106137815 A TW 106137815A TW 106137815 A TW106137815 A TW 106137815A TW I641453 B TWI641453 B TW I641453B
- Authority
- TW
- Taiwan
- Prior art keywords
- clamping
- workpiece
- force
- clamping column
- members
- Prior art date
Links
Landscapes
- Jigs For Machine Tools (AREA)
Abstract
一種可適應工件形狀的夾持器械，係可對夾持柱件提供氣壓夾持力與彈性夾持力，以確保夾持柱件接觸工件而完成工件的夾持，並確保夾持柱件可受到工件的推抵而進行適應工件外形輪廓的位移，以使工件承受的夾持力均勻且不大於工件變形前所承受夾持力之容許上限值，而避免工件受到的夾持力太大發生變形或毀損，故本發明的夾持器械可適應質地軟與任意形體的工件，而進行穩固地夾持。A clamping device adapted to the shape of the workpiece, which can provide a pneumatic clamping force and an elastic clamping force to the clamping column member, so as to ensure that the clamping column member contacts the workpiece to complete the clamping of the workpiece, and ensures that the clamping column member can be The displacement of the contour of the workpiece is adapted to be pushed by the workpiece so that the clamping force of the workpiece is uniform and not greater than the allowable upper limit of the clamping force before the deformation of the workpiece, and the clamping force of the workpiece is prevented from being too large. The deformation or damage occurs, so that the holding device of the present invention can be adapted to the workpiece of the soft texture and the arbitrary shape to be firmly clamped.
Description
本發明係有關於一種夾持器械，詳而言之，係關於一種提供有可適應工件的外形輪廓與質地軟硬，而能位移夾持柱件的夾持器械。 The present invention relates to a gripping device, and more particularly to a gripping device that provides a contour and texture that is adaptable to the workpiece and that is capable of displacing the gripping member.
按，傳統模具、機械加工、醫學工程、電子工業、航太、車輛與一般金屬加工等產業，一般都會用到夾具器械夾持固定工件，舉例而言，在生產線中，各式的鑽孔機、攻牙機、銑床、車床與CNC工具機或醫療機器等工作器械，大部分都設置習知的虎鉗類固定式夾具以固定夾持工件而進行加工，然，由於一般夾具的夾持面無法改變，使得目前的夾具器械不能適應各種不規則形狀的工件產生固定夾持，當工件進行精密加工時，工件若未被夾持固定往往就會產生移位或震動而造成加工精密度不足，此外，當虎鉗類夾緊之夾持力超過工件受力之容許上限值，則導致工件變形或破壞毀損。因此，夾具器械之機構是決定工件能於不變形與破壞情形下，達成加工精密度要求的重要因素。 According to traditional molds, machining, medical engineering, electronics industry, aerospace, vehicles and general metal processing industries, fixtures are generally used to clamp and fix workpieces. For example, in the production line, various types of drilling machines Most of the work tools such as tapping machines, milling machines, lathes, CNC machine tools, or medical machines are equipped with conventional vise-type fixed clamps to hold the workpiece for processing. However, due to the clamping surface of the general fixture Can not be changed, so that the current fixture equipment can not adapt to a variety of irregular shape of the workpiece to produce a fixed clamping, when the workpiece is precision machining, if the workpiece is not clamped and fixed, it will produce displacement or vibration, resulting in insufficient processing precision. In addition, when the clamping force of the vise type clamp exceeds the allowable upper limit of the force of the workpiece, the workpiece is deformed or damaged. Therefore, the mechanism of the fixture device is an important factor in determining the precision of the workpiece under the condition of no deformation and damage.
因此，如何開發一種可適應各種不規則形狀工件的夾具器械，又能即時調整夾持力使之不大於工件之容許上限值，已經成為現在業界亟欲挑戰克服的技術議題。 Therefore, how to develop a fixture device that can adapt to various irregular shaped workpieces, and instantly adjust the clamping force so as not to exceed the allowable upper limit value of the workpiece has become a technical issue that the industry is currently trying to overcome.
鑒於上述先前技術之缺點，本發明係提供一種可適應工件形狀的夾持器械，用於夾持一工件，係包括：一器械本體；一第一夾具座，固定設置於該器械本體，係包含：至少一第一夾持柱件，係設置於該第一夾具座的本體，且具有一第一夾持柱件頂端與一第一夾持柱件尾端；至少一第一汽缸，係具有一第一氣室，該第一夾持柱件尾端係可改變該第一氣室的內部空間，使該至少一第一汽缸對該第一夾持柱件尾端提供氣壓夾持力，而促使該第一夾持柱件頂端朝該工件的方向位移；以及至少一第一彈性件，該第一夾持柱件尾端係可推抵該至少一第一彈性件，使該至少一第一彈性件對該第一夾持柱件尾端提供彈性夾持力，而促使該第一夾持柱件頂端朝該工件的方向位移；一第二夾具座，可位移地設置於該器械本體，係包含：至少一第二夾持柱件，係設置於該第二夾具座的本體，且具有一第二夾持柱件頂端與一第二夾持柱件尾端；至少一第二汽缸，係具有一第二氣室，該第二夾持柱件尾端係可改變該第二氣室的內部空間，使該至少一第二汽缸對該第二夾持柱件尾端提供氣壓夾持力，而促使該第二夾持柱件頂端朝該工件的方向位移；以及至少一第二彈性件，該第二夾持柱件尾端係可推抵該至少一第二彈性件，使該至少一第二彈性件對該第二夾持柱件尾端提供彈性夾持力，而促使該第二夾持柱件頂端朝該工件的方向位移；以及一驅動裝置，係驅動該第二夾具座相對該器械本體位移，以調整該第一、第二夾持柱件頂端之間的距離，使該第一、第二夾持柱件頂端可分別接觸該工件而受力，以令該至少一第一、第二汽缸分別對該第一、第二夾持柱件尾端提供氣壓夾持力，或令該至少一第一、第二彈性件分別對該第一、第二夾持柱件 尾端提供彈性夾持力，促使該第一、第二夾持柱件頂端適應該工件的外形輪廓位移，而分別接觸該工件的一第一部位與一第二部位以完成該工件的夾持。 In view of the above-mentioned disadvantages of the prior art, the present invention provides a clamping device adapted to shape a workpiece for holding a workpiece, comprising: an instrument body; a first clamp holder fixedly disposed on the device body, comprising The at least one first clamping column is disposed on the body of the first clamping base and has a first clamping column top end and a first clamping column end; at least one first cylinder has a first air chamber, the end of the first clamping column member can change an inner space of the first air chamber, so that the at least one first cylinder provides a pneumatic clamping force to the tail end of the first clamping column member. And causing the first clamping column member to be displaced toward the workpiece; and at least one first elastic member, the first clamping column member end can be pushed against the at least one first elastic member, so that the at least one The first elastic member provides an elastic clamping force to the tail end of the first clamping column member, and urges the top end of the first clamping column member to be displaced toward the workpiece; a second clamping seat is displaceably disposed on the device The body includes: at least one second clamping column member disposed on the body a body of the second clamp base having a second clamping column top end and a second clamping column member tail end; at least one second cylinder having a second air chamber, the second clamping column member tail end The inner space of the second air chamber may be changed, so that the at least one second cylinder provides a pneumatic clamping force to the tail end of the second clamping column, and urges the top end of the second clamping column toward the workpiece. Displacement; and at least one second elastic member, the second clamping post end can be pushed against the at least one second elastic member, so that the at least one second elastic member provides the second clamping post end An elastic clamping force that causes the second clamping post to be displaced toward the workpiece; and a driving device that drives the second clamping seat to be displaced relative to the instrument body to adjust the first and second clamping The distance between the top ends of the column members is such that the top ends of the first and second clamping column members can be respectively contacted with the workpiece to force the at least one first and second cylinders respectively to the first and second clamping portions. Providing a pneumatic clamping force at the tail end of the column member, or causing the at least one first and second elastic members to respectively A second clamping member post The tail end provides an elastic clamping force, and the top ends of the first and second clamping column members are adapted to be adapted to the displacement of the contour of the workpiece, and respectively contact a first portion and a second portion of the workpiece to complete the clamping of the workpiece. .
可選擇性地，於本發明夾持器械的實施例中，還包括一第三夾具座，固定設置於該器械本體，係包含：至少一第三夾持柱件，係設置於該第三夾具座的本體，且具有一第三夾持柱件頂端與一第三夾持柱件尾端；至少一第三汽缸，係具有一第三氣室，該第三夾持柱件尾端係可改變該第三氣室的內部空間，使該至少一第三汽缸對該第三夾持柱件尾端提供氣壓夾持力，而促使該第三夾持柱件頂端朝該工件的方向位移；以及至少一第三彈性件，該第三夾持柱件尾端係可推抵該至少一第三彈性件，使該至少一第三彈性件對該第三夾持柱件尾端提供彈性夾持力，而促使該第三夾持柱件頂端朝該工件的方向位移；其中，該驅動裝置還調整該第二、第三夾持柱件頂端之間的距離，使該第二、第三夾持柱件頂端可分別接觸該工件而受力，以令該至少一第二、第三汽缸分別對該第二、第三夾持柱件尾端提供氣壓夾持力，或令該至少一第二、第三彈性件分別對該第二、第三夾持柱件尾端提供彈性夾持力，促使該第二、第三夾持柱件頂端適應該工件的外形輪廓位移，而分別接觸該工件的該第二部位與一第三部位以完成該工件的夾持，其中，該第一、第二、第三部位係分別位於該工件上不同的三個位置。 Optionally, in the embodiment of the clamping device of the present invention, the device further includes a third clamping base fixedly disposed on the instrument body, and the method includes: at least one third clamping column member disposed on the third clamping device The body of the seat has a third clamping column top end and a third clamping column member tail end; at least one third cylinder has a third air chamber, and the third clamping column member tail end is Changing the internal space of the third air chamber, so that the at least one third cylinder provides a pneumatic clamping force to the tail end of the third clamping column member, thereby causing the top end of the third clamping column member to be displaced toward the workpiece; And at least a third elastic member, the third clamping post member end can push against the at least one third elastic member, so that the at least one third elastic member provides a elastic clip to the third clamping post end Holding the force to move the top end of the third clamping post toward the workpiece; wherein the driving device also adjusts the distance between the top ends of the second and third clamping posts to make the second and third The top of the clamping column member can be respectively contacted with the workpiece to be forced to make the at least one second and third cylinders Providing a pneumatic clamping force to the rear ends of the second and third clamping column members, or providing the at least one second and third elastic members to respectively provide elastic clamping to the rear ends of the second and third clamping column members. Forceing the top ends of the second and third clamping column members to adapt to the contour displacement of the workpiece, and respectively contacting the second portion and the third portion of the workpiece to complete clamping of the workpiece, wherein the first The second and third portions are respectively located at different three positions on the workpiece.
可選擇性地，於本發明夾持器械的實施例中，該至少一第一夾持柱件係為構成陣列的複數第一夾持柱件，該複數第一夾持柱件的第一夾持柱件頂端係分散設置於一第一夾持面，該至少一第二夾持柱件係為構成陣列的複數第二夾持柱件，該複數第二夾持柱件的第二夾持柱件頂端係分散設置於一第二夾持面，該至少一第三夾持柱件係為構成陣列的複數第三夾持柱件，該複數第 三夾持柱件的第三夾持柱件頂端係分散設置於一第三夾持面，該第一、第二、第三夾持面係分別面對該第一、第二、第三部位。 Optionally, in the embodiment of the clamping device of the present invention, the at least one first clamping column member is a plurality of first clamping column members constituting the array, and the first clamping member of the plurality of first clamping column members The top end of the column member is dispersedly disposed on a first clamping surface, and the at least one second clamping column member is a plurality of second clamping column members constituting the array, and the second clamping portion of the plurality of second clamping column members The top end of the column member is dispersedly disposed on a second clamping surface, and the at least one third clamping column member is a plurality of third clamping column members constituting the array, the plural number The top ends of the third clamping column members of the three clamping column members are disposed on a third clamping surface, and the first, second, and third clamping surfaces face the first, second, and third portions respectively. .
可選擇性地，於本發明夾持器械的實施例中，該器械本體還包含一轉動機構，係用於分別轉動該第一、第三夾具座的本體，使該第一、第三夾持面分別面對該第一、第三部位。 Optionally, in the embodiment of the clamping device of the present invention, the instrument body further includes a rotating mechanism for respectively rotating the bodies of the first and third clamping holders to make the first and third clamping The faces face the first and third portions, respectively.
可選擇性地，於本發明夾持器械的實施例中，該至少一第一汽缸係為複數第一汽缸，該至少一第一夾持柱件係為構成陣列的複數第一夾持柱件，該複數第一汽缸的第一氣室係彼此連通，使分別對各該第一夾持柱件所提供的氣壓夾持力一致，讓各該第一夾持柱件分別對該第一部位的夾持力一致；該至少一第二汽缸係為複數第二汽缸，該至少一第二夾持柱件係為構成陣列的複數第二夾持柱件，各該第二汽缸的第二氣室係彼此連通，使分別對各該第二夾持柱件所提供的氣壓夾持力一致，讓各該第二夾持柱件分別對該第二部位的夾持力一致。 Optionally, in the embodiment of the clamping device of the present invention, the at least one first cylinder is a plurality of first cylinders, and the at least one first clamping column is a plurality of first clamping columns constituting the array. The first air chambers of the plurality of first cylinders are in communication with each other such that the air pressure clamping forces respectively provided for the first clamping column members are identical, and the first clamping column members respectively respectively correspond to the first portion The clamping force is consistent; the at least one second cylinder is a plurality of second cylinders, and the at least one second clamping column is a plurality of second clamping columns constituting the array, and the second cylinder of each of the second cylinders The chambers are connected to each other such that the air clamping forces respectively provided to the second clamping column members are consistent, so that the clamping forces of the second clamping column members respectively for the second portion are uniform.
可選擇性地，於本發明夾持器械的實施例中，該第一、第二彈性件係分別設置於該第一、第二氣室中，當該第一、第二夾持柱件頂端受力時，會造成第一、第二夾持柱件尾端分別推抵該第一、第二彈性件，使該第一、第二彈性件受力變形，而分別對該第一、第二夾持柱件尾端提供彈性夾持力。 Optionally, in the embodiment of the clamping device of the present invention, the first and second elastic members are respectively disposed in the first and second air chambers, when the first and second clamping column members are at the top end. When the force is applied, the first and second elastic members are respectively pushed against the first and second elastic members, so that the first and second elastic members are deformed by force, and respectively the first and the second The second clamping column end provides an elastic clamping force.
可選擇性地，於本發明夾持器械的實施例中，還包括一第一力感測器與一第二力感測器，俾分別透過該至少一第一、第二彈性件，感測該第一、第二夾持柱件頂端的受力狀況。 Optionally, in the embodiment of the clamping device of the present invention, the first force sensor and the second force sensor are respectively transmitted through the at least one first and second elastic members, respectively. The first and second clamping members are subjected to a force condition at the top end.
可選擇性地，於本發明夾持器械的實施例中，還包括一第一橡膠體與一第二橡膠體，該第一、第二橡膠體分別介於該至少一第一、第二彈性件 與該第一、第二力感測器之間，俾分別將該至少一第一、第二彈性件的受力傳導到該第一、第二力感測器，使該第一、第二力感測器得分別感測該第一、第二夾持柱件頂端的受力狀況。 Optionally, in the embodiment of the clamping device of the present invention, the method further includes a first rubber body and a second rubber body, wherein the first and second rubber bodies are respectively interposed between the at least one first and second elastic bodies Piece And the first and second force sensors respectively transmit the force of the at least one first and second elastic members to the first and second force sensors to make the first and second The force sensor respectively senses the stress state of the top ends of the first and second clamping columns.
可選擇性地，於本發明夾持器械的實施例中，還包括一位移感測器，俾感測該第二夾具座相對該器械本體位移的程度。 Optionally, in an embodiment of the clamping device of the present invention, a displacement sensor is further included, the haptic sensing the extent to which the second holder is displaced relative to the instrument body.
可選擇性地，於本發明夾持器械的實施例中，還包括一控制模組，該控制模組係依據該第一、第二力感測器與該位移感測器的感測回饋值結果，得出該工件變形前所承受夾持力之一容許上限值，並控制該驅動裝置驅動該第二夾具座相對該第一夾具座位移，使該工件所承受夾持力小於該容許上限值。 Optionally, the embodiment of the clamping device of the present invention further includes a control module, wherein the control module is based on the sensing feedback values of the first and second force sensors and the displacement sensor. As a result, an allowable upper limit value of the clamping force received before the deformation of the workpiece is obtained, and the driving device is controlled to drive the displacement of the second clamp base relative to the first clamp seat, so that the clamping force of the workpiece is less than the tolerance. Upper limit.
可選擇性地，於本發明夾持器械的實施例中，該至少一第一夾持柱件還具有一第一半球形矽膠套，該第一半球形矽膠套係套設於該第一夾持柱件頂端；該至少一第二夾持柱件還具有一第二半球形矽膠套，該第二半球形矽膠套係套設於該第二夾持柱件頂端。 Optionally, in the embodiment of the clamping device of the present invention, the at least one first clamping post further has a first hemispherical rubber sleeve, and the first hemispherical silicone sleeve is sleeved on the first clamp. Holding the top of the column member; the at least one second clamping column member further has a second hemispherical rubber sleeve, and the second hemispherical rubber sleeve is sleeved on the top of the second clamping column.
相較於先前技術，本發明的夾持器械提供有可對夾持柱件提供氣壓夾持力與彈性夾持力的夾具座，以確保夾持柱件接觸工件而完成工件的夾持，並確保夾持柱件可受工件的推抵而進行適應工件外形輪廓的位移，如此，可控制夾持柱件對工件施加的夾持力大小，而避免工件受到的夾持力太大而發生毀損，故本發明的夾持器械可對質軟或任意形體的工件進行夾持。 Compared with the prior art, the clamping device of the present invention is provided with a clamp seat capable of providing a pneumatic clamping force and an elastic clamping force to the clamping column member, so as to ensure that the clamping column member contacts the workpiece to complete the clamping of the workpiece, and It is ensured that the clamping column member can be adapted to the displacement of the contour of the workpiece by the pushing of the workpiece, so that the clamping force applied by the clamping column member to the workpiece can be controlled, and the clamping force of the workpiece is prevented from being damaged too much. Therefore, the clamping device of the present invention can hold a workpiece of a soft or arbitrarily shaped body.
1‧‧‧夾持器械 1‧‧‧Clamping instruments
12‧‧‧第一夾具座 12‧‧‧First fixture holder
121‧‧‧第一夾持柱件 121‧‧‧First clamping column
1211‧‧‧第一夾持柱件頂端 1211‧‧‧First clamping column top
1212‧‧‧第一夾持柱件尾端 1212‧‧‧The first clamping column end
1213‧‧‧第一半球形矽膠套 1213‧‧‧First hemispherical rubber sleeve
122‧‧‧第一汽缸 122‧‧‧First cylinder
1221‧‧‧第一氣室 1221‧‧‧First air chamber
123‧‧‧第一彈性件 123‧‧‧First elastic parts
13‧‧‧第二夾具座 13‧‧‧Second fixture holder
131‧‧‧第二夾持柱件 131‧‧‧Second clamping column
1311‧‧‧第二夾持柱件頂端 1311‧‧‧Second clamping column top
1312‧‧‧第二夾持柱件尾端 1312‧‧‧The second clamping column end
1313‧‧‧第二半球形矽膠套 1313‧‧‧Second hemispherical rubber sleeve
132‧‧‧第二汽缸 132‧‧‧Second cylinder
1321‧‧‧第二氣室 1321‧‧‧Second chamber
133‧‧‧第二彈性件 133‧‧‧Second elastic parts
14‧‧‧驅動裝置 14‧‧‧ drive
15‧‧‧第三夾具座 15‧‧‧ Third fixture holder
151‧‧‧第三夾持柱件 151‧‧‧ Third clamping column
1511‧‧‧第三夾持柱件頂端 1511‧‧‧Top of the third clamping column
1512‧‧‧第三夾持柱件尾端 1512‧‧‧3rd clamping column end
152‧‧‧第三汽缸 152‧‧‧ third cylinder
1521‧‧‧第三氣室 1521‧‧‧ third air chamber
153‧‧‧第三彈性件 153‧‧‧ Third elastic parts
16‧‧‧第一力感測器 16‧‧‧First force sensor
17‧‧‧第二力感測器 17‧‧‧Second force sensor
18‧‧‧位移感測器 18‧‧‧ Displacement Sensor
19‧‧‧控制模組 19‧‧‧Control module
2‧‧‧工件 2‧‧‧Workpiece
21‧‧‧第一部位 21‧‧‧ first part
22‧‧‧第二部位 22‧‧‧Second part
23‧‧‧第三部位 23‧‧‧ third part
A1‧‧‧第一夾持面 A1‧‧‧ first clamping surface
A2‧‧‧第二夾持面 A2‧‧‧Second clamping surface
A3‧‧‧第三夾持面 A3‧‧‧ third clamping surface
R1‧‧‧第一橡膠體 R1‧‧‧First rubber body
R2‧‧‧第二橡膠體 R2‧‧‧second rubber body
圖1為本發明第一實施例的夾持器械的立體圖。 1 is a perspective view of a gripping instrument of a first embodiment of the present invention.
圖2為圖1所示夾持器械的俯視圖。 Figure 2 is a plan view of the holding device of Figure 1.
圖3為沿圖2中AA線段截切的截面圖。 Figure 3 is a cross-sectional view taken along line AA of Figure 2.
圖4為本發明第一實施例的夾持器械的第一夾具座的側視圖。 Figure 4 is a side elevational view of the first clamp seat of the gripping instrument of the first embodiment of the present invention.
圖5為本發明第一實施例的夾持器械的第二夾具座的側視圖。 Figure 5 is a side elevational view of the second clamp seat of the gripping instrument of the first embodiment of the present invention.
圖6為本發明第一實施例的夾持器械的複數汽缸的氣室連通的示意圖。 Fig. 6 is a schematic view showing the communication of the air chambers of the plurality of cylinders of the holding device according to the first embodiment of the present invention.
圖7為本發明第一實施例的夾持器械的第一夾具座的本體轉動的示意圖。 Figure 7 is a schematic view showing the rotation of the body of the first holder of the holding instrument of the first embodiment of the present invention.
圖8為本發明第一實施例的夾持器械的夾持工件的第一使用狀態圖。 Fig. 8 is a view showing a first use state of the holding workpiece of the holding instrument of the first embodiment of the present invention.
圖9為本發明第一實施例的夾持器械的夾持工件的第二使用狀態圖。 Fig. 9 is a view showing a second use state of the holding workpiece of the holding instrument of the first embodiment of the present invention.
圖10為本發明第一實施例的夾持器械的夾持工件的第三使用狀態圖。 Fig. 10 is a view showing a third use state of the holding workpiece of the holding instrument of the first embodiment of the present invention.
圖11為本發明第一實施例的夾持器械的夾持工件的第三使用狀態圖。 Fig. 11 is a view showing a third use state of the holding workpiece of the holding instrument of the first embodiment of the present invention.
圖12為本發明第一實施例的夾持器械的控制方塊示意圖。 Figure 12 is a block diagram showing the control of the holding device of the first embodiment of the present invention.
圖13為本發明第一實施例的夾持器械的局部放大示意圖。 Figure 13 is a partially enlarged schematic view showing the holding device of the first embodiment of the present invention.
圖14為本發明第二實施例的夾持器械的俯視圖。 Figure 14 is a plan view of a gripping instrument in accordance with a second embodiment of the present invention.
圖15為本發明第二實施例的夾持器械的夾持工件的使用狀態圖。 Fig. 15 is a view showing a state of use of a gripping workpiece of a gripping instrument according to a second embodiment of the present invention.
以下內容將搭配圖式，藉由特定的具體實施例說明本發明之技術內容，熟悉此技術之人士可由本說明書所揭示之內容輕易地了解本發明之其他優點與功效。本發明亦可藉由其他不同的具體實施例加以施行或應用。本說明書中的各項細節亦可基於不同觀點與應用，在不背離本發明之精神下，進行各種修飾與變更。尤其是，於圖式中各個元件的比例關係及相對位置僅具示範性用途，並非代表本發明實施的實際狀況。 The other aspects of the present invention will be readily understood by those skilled in the art from this disclosure. The invention may also be embodied or applied by other different embodiments. The details of the present invention can be variously modified and changed without departing from the spirit and scope of the invention. In particular, the relative relationship and relative positions of the various elements in the drawings are for illustrative purposes only and are not representative of actual implementation of the invention.
為使揭露內容更為簡潔而容易明瞭，以下針對相同或近似功能的元件將採用相同的符號進行說明，且省略相同或均等特徵的描述。 In the following, the same or similar functions will be described with the same reference numerals, and the description of the same or equivalent features will be omitted.
本發明係提供一種可適應工件形狀的夾持器械，其中，具有可適應工件的外形輪廓位移的夾持柱件，而促使完成工件的夾持，是以，本發明的夾持器械可對質軟或任意形體的工件進行夾持，例如骨骼、生物肌肉組織、與雞蛋等。 The present invention provides a clamping device that can adapt to the shape of a workpiece, wherein the clamping column member that can adapt to the displacement of the contour of the workpiece facilitates the clamping of the workpiece, so that the clamping device of the present invention can be soft Or workpieces of any shape, such as bones, biological muscle tissue, and eggs.
針對本發明的技術揭露，請參閱圖1至圖15的示意圖，如各圖所示，本發明的夾持器械1係包括：器械本體11、第一夾具座12、第二夾具座13與驅動裝置14。第一夾具座12係固定設置於器械本體11，而無法相對器械本體11位移。第二夾具座13係可位移地設置於器械本體11的線性軌道上，而可相對器械本體11位移，使可適應工件2的外形輪廓，相對接近或離開第一夾具座12。第一夾具座12係包含：第一夾持柱件121、第一汽缸122與第一彈性件123。第二夾具座13係包含：第二夾持柱件131、第二汽缸132與第二彈性件133。 For the technical disclosure of the present invention, please refer to the schematic diagrams of FIG. 1 to FIG. 15. As shown in the respective figures, the clamping device 1 of the present invention comprises: an instrument body 11, a first clamp base 12, a second clamp base 13 and a drive. Device 14. The first clamp base 12 is fixedly disposed on the instrument body 11 and cannot be displaced relative to the instrument body 11. The second holder 13 is displaceably disposed on the linear track of the instrument body 11 and is displaceable relative to the instrument body 11 so as to be adapted to the contour of the workpiece 2 to be relatively close to or away from the first holder 12. The first clamp base 12 includes a first clamping column member 121, a first cylinder 122 and a first elastic member 123. The second clamp base 13 includes a second clamping column member 131, a second cylinder 132 and a second elastic member 133.
針對第一夾持柱件121，係設置於第一夾具座12的本體，且具有第一夾持柱件頂端1211與第一夾持柱件尾端1212，於圖4所示的實施例中，夾持器械1係具有構成陣列的九根第一夾持柱件121，所述的九根第一夾持柱件121的 第一夾持柱件頂端1211係分散設置於具有菱形外圍輪廓的第一夾持面A1中，所述第一夾持面A1係面對第一部位21，藉以擴大對工件2的夾持範圍，而以近似面接觸的方式夾持工件2，俾確保對工件2的夾持穩固。 The first clamping post 121 is disposed on the body of the first clamp 12 and has a first clamping post top end 1211 and a first clamping post end 1212, in the embodiment shown in FIG. The clamping device 1 has nine first clamping column members 121 constituting an array, and the nine first clamping column members 121 The first clamping post top end 1211 is dispersedly disposed in the first clamping surface A1 having a diamond-shaped peripheral contour, the first clamping surface A1 facing the first portion 21, thereby expanding the clamping range of the workpiece 2. The workpiece 2 is held in an approximate surface contact manner to ensure that the clamping of the workpiece 2 is stabilized.
針對第二夾持柱件131，係設置於第二夾具座13的本體，且具有第二夾持柱件頂端1311與第二夾持柱件尾端1312，於圖5所示的實施例中，夾持器械1係具有構成陣列的九根第二夾持柱件131，所述的九根第二夾持柱件131的第二夾持柱件頂端1311係分散設置於具有菱形外圍輪廓的第二夾持面A2，所述第二夾持面A2係面對第二部位22，藉以擴大對工件2的夾持範圍，而以近似面接觸的方式夾持工件2，俾確保對工件2的夾持穩固。 The second clamping post member 131 is disposed on the body of the second clamp base 13 and has a second clamping post top end 1311 and a second clamping post end 1312, in the embodiment shown in FIG. The clamping device 1 has nine second clamping posts 131 constituting an array, and the second clamping post tops 1311 of the nine second clamping posts 131 are dispersedly disposed with a diamond peripheral contour. The second clamping surface A2, the second clamping surface A2 faces the second portion 22, thereby expanding the clamping range of the workpiece 2, and clamping the workpiece 2 in an approximate surface contact manner, and ensuring the workpiece 2 The clamping is firm.
於圖7所示的實施例中，第一、第二夾持面A1、A2的交角θ係為銳角，使複數第一夾持柱件121與複數第二夾持柱件131構成V型的夾持結構。對此，器械本體11還包含轉動機構111，用於使第一夾具座12的本體相對器械本體11轉動，而使第一夾持面A1面對工件2的第一部位21，且使第一、第二夾持面A1、A2的交角θ大小符合對工件2的穩固夾持所需要之開闔程度。 In the embodiment shown in FIG. 7, the intersection angle θ of the first and second clamping faces A1, A2 is an acute angle, so that the plurality of first clamping column members 121 and the plurality of second clamping column members 131 form a V-shape. Clamping structure. In this regard, the instrument body 11 further includes a rotating mechanism 111 for rotating the body of the first clamp base 12 relative to the instrument body 11 such that the first clamping surface A1 faces the first portion 21 of the workpiece 2 and makes the first The angle of intersection θ of the second clamping faces A1, A2 is in accordance with the degree of opening required for the stable clamping of the workpiece 2.
針對第一汽缸122，係具有第一氣室1221，第一夾持柱件尾端1212係可改變第一氣室1221的內部空間，使第一汽缸122對第一夾持柱件尾端1212提供氣壓夾持力，而促使第一夾持柱件頂端1211朝工件2的方向位移，於圖9所示的實施例中，夾持器械1係具有複數第一汽缸122，各該第一汽缸122係分別對複數第一夾持柱件121之其中一者的第一夾持柱件尾端1212提供氣壓夾持力F1，以使各該第一夾持柱件121能適應工件2第一部位21的外形輪廓單獨動作(亦即，使得複數第一夾持柱件121彼此之間的位移互不干擾)，進而確保各該第一夾持柱件121分別對工件2的接觸。 For the first cylinder 122, there is a first air chamber 1221, and the first clamping column end 1212 can change the internal space of the first air chamber 1221 so that the first cylinder 122 is opposite to the first clamping column end 1212. Providing a pneumatic clamping force to urge the first clamping post tip 1211 to move toward the workpiece 2. In the embodiment shown in Figure 9, the clamping device 1 has a plurality of first cylinders 122, each of the first cylinders The 122 series respectively provides a gas clamping force F1 to the first clamping column end 1212 of one of the plurality of first clamping column members 121, so that each of the first clamping column members 121 can be adapted to the workpiece 2 first. The contour of the portion 21 is actuated separately (i.e., such that the displacements of the plurality of first clamping posts 121 do not interfere with each other), thereby ensuring that each of the first clamping posts 121 is in contact with the workpiece 2, respectively.
針對第二汽缸132，係具有第二氣室1321，第二夾持柱件尾端1312係可改變第二氣室1321的內部空間，使第二汽缸132對第二夾持柱件尾端1312提供氣壓夾持力，而促使第二夾持柱件頂端1311朝工件2的方向位移，於圖9所示的實施例中，夾持器械1係具有複數第二汽缸132，各該第二汽缸132係分別對複數第二夾持柱件131之其中一者的第二夾持柱件尾端1312提供氣壓夾持力F3，以使各該第二夾持柱件131能適應工件2的外形輪廓單獨動作(亦即，使得複數第二夾持柱件131彼此之間的位移互不干擾)，進而確保各該第二夾持柱件131分別對工件2的接觸。 For the second cylinder 132, there is a second air chamber 1321, and the second clamping column end 1312 can change the internal space of the second air chamber 1321 so that the second cylinder 132 is opposite to the second clamping column end 1312. Providing a pneumatic clamping force that causes the second clamping post tip 1311 to be displaced toward the workpiece 2. In the embodiment shown in Figure 9, the clamping device 1 has a plurality of second cylinders 132, each of the second cylinders The 132 series respectively provide a gas clamping force F3 to the second clamping column end 1312 of one of the plurality of second clamping column members 131, so that each of the second clamping column members 131 can adapt to the shape of the workpiece 2. The contours are individually actuated (i.e., such that the displacements of the plurality of second clamping posts 131 do not interfere with one another), thereby ensuring that each of the second clamping posts 131 is in contact with the workpiece 2, respectively.
再者，於圖6所示的實施例中，夾持器械1係具有複數構成陣列的第一夾持柱件121與複數第一汽缸122，其中，所述複數第一汽缸122的第一氣室1221係彼此連通，使得各該第一汽缸122分別對各該第一夾持柱件121所提供的氣壓夾持力F1一致，以讓各該第一夾持柱件121分別對工件2第一部位21的夾持力一致，而避免工件2第一部位21的局部區域受到的夾持力太大，而造成工件2形變或毀損，而達成可夾持質軟且任意形體的工件的目的。 Furthermore, in the embodiment shown in FIG. 6, the clamping device 1 has a plurality of first clamping column members 121 and a plurality of first cylinders 122 constituting an array, wherein the first gas of the plurality of first cylinders 122 The chambers 1221 are in communication with each other such that each of the first cylinders 122 respectively presses the air pressure clamping force F1 provided by each of the first clamping column members 121 so that the first clamping column members 121 respectively correspond to the workpiece 2 The clamping force of a portion 21 is uniform, and the clamping force of the local portion of the first portion 21 of the workpiece 2 is prevented from being too large, and the workpiece 2 is deformed or damaged, thereby achieving the purpose of holding a workpiece of soft and arbitrary shape. .
另外，於圖6所示的實施例中，夾持器械1係具有複數構成陣列的第二夾持柱件131與複數第二汽缸132，其中，各該第二汽缸132的氣室係彼此連通，使得各該第二汽缸132分別對各該第二夾持柱件131所提供的氣壓夾持力F3一致，以讓各該第二夾持柱件131分別對工件2第二部位22的夾持力一致，而避免工件2的局部區域受到的夾持力太大，而造成工件2形變或毀損，而達成可夾持質軟任意形體工件的目的。 In addition, in the embodiment shown in FIG. 6, the clamping device 1 has a plurality of second clamping column members 131 and a plurality of second cylinders 132 constituting an array, wherein the air chambers of the second cylinders 132 are connected to each other. Therefore, each of the second cylinders 132 respectively has the same air pressure clamping force F3 provided by each of the second clamping column members 131, so that the second clamping column members 131 respectively clamp the second portion 22 of the workpiece 2. The force is consistent, and the clamping force of the local area of the workpiece 2 is prevented from being too large, and the workpiece 2 is deformed or damaged, thereby achieving the purpose of clamping the soft and arbitrary workpiece.
應說明的是，於圖9所示的實施例中，當第一、第二夾持柱件頂端1211、1311接觸到工件2而受到壓迫時，會促使第一、第二夾持柱件尾端1212、 1312朝向第一、第二氣室1221、1321的內部位移，而分別改變第一、第二氣室1221、1321的內部空間使產生氣壓，如此，第一、第二汽缸122、132就可分別對第一、第二夾持柱件尾端1212、1312提供氣壓夾持力F1、F3，而反抗第一、第二夾持柱件尾端1212、1312持續朝向第一、第二氣室1221、1321的內部位移，進而促使第一、第二夾持柱件頂端1211、1311分別朝工件第一、第二部位21、22的方向位移，以保持第一、第二夾持柱件頂端1211、1311跟工件2的接觸。 It should be noted that, in the embodiment shown in FIG. 9, when the first and second clamping column top ends 1211, 1311 are pressed against the workpiece 2, the first and second clamping column tails are caused to be pushed. End 1212 1312 faces the internal displacement of the first and second air chambers 1221, 1321, and changes the internal spaces of the first and second air chambers 1221, 1321 respectively to generate air pressure, so that the first and second cylinders 122, 132 can respectively Providing air pressure clamping forces F1, F3 to the first and second clamping column end ends 1212, 1312, and resisting the first and second clamping column member tail ends 1212, 1312 continuously toward the first and second air chambers 1221 The internal displacement of the 1321 further causes the first and second clamping column top ends 1211, 1311 to be displaced toward the first and second portions 21, 22 of the workpiece, respectively, to maintain the first and second clamping column top ends 1211 , 1311 contact with the workpiece 2.
針對第一彈性件123，第一夾持柱件尾端1212係可推抵第一彈性件123，使第一彈性件123可對第一夾持柱件尾端1212提供彈性夾持力，而促使第一夾持柱件頂端1211朝工件2的方向位移，於圖10所示的實施例中，夾持器械1係具有複數第一彈性件123，各該第一彈性件123係分別對複數第一夾持柱件121之其中一者的第一夾持柱件尾端1212提供彈性夾持力F2，以使各該第一夾持柱件121能適應工件2第一部位21的外形輪廓單獨動作(亦即，使得複數第一夾持柱件121彼此之間的位移互不干擾)，進而確保各該第一夾持柱件121分別對工件2的接觸。 For the first elastic member 123, the first clamping post end 1212 can be pushed against the first elastic member 123, so that the first elastic member 123 can provide elastic clamping force to the first clamping post tail 1212, and The first clamping column top end 1211 is displaced in the direction of the workpiece 2. In the embodiment shown in FIG. 10, the clamping device 1 has a plurality of first elastic members 123, and each of the first elastic members 123 is respectively plural The first clamping post end 1212 of one of the first clamping posts 121 provides an elastic clamping force F2 to enable each of the first clamping posts 121 to conform to the contour of the first portion 21 of the workpiece 2. The individual actions (ie, the displacement of the plurality of first clamping posts 121 from each other are not interfered with each other), thereby ensuring that each of the first clamping posts 121 respectively contacts the workpiece 2.
針對第二彈性件133，第二夾持柱件尾端1312係可推抵第二彈性件133，使第二彈性件133可對第二夾持柱件尾端1312提供彈性夾持力，而促使第二夾持柱件頂端1311朝工件2的方向位移，於圖10所示的實施例中，夾持器械1係具有複數第二彈性件133，各該第二彈性件133係分別對複數第二夾持柱件131之其中一者的第二夾持柱件尾端1312提供彈性夾持力F4，以使各該第二夾持柱件131能適應工件2第二部位22的外形輪廓單獨動作(亦即，使得複數第二夾持柱件131彼此之間的位移互不干擾)，進而確保各該第二夾持柱件131分別對工件2的接觸。 For the second elastic member 133, the second clamping post end 1312 can push against the second elastic member 133, so that the second elastic member 133 can provide elastic clamping force to the second clamping post end 1312, and The second clamping post top 1311 is caused to be displaced in the direction of the workpiece 2. In the embodiment shown in FIG. 10, the clamping device 1 has a plurality of second elastic members 133, and each of the second elastic members 133 is respectively plural The second clamping post end 1312 of one of the second clamping posts 131 provides an elastic clamping force F4 to enable each of the second clamping posts 131 to conform to the contour of the second portion 22 of the workpiece 2. The individual actions (ie, the displacement of the plurality of second clamping posts 131 are not interfered with each other), thereby ensuring that each of the second clamping posts 131 is in contact with the workpiece 2, respectively.
應說明的是，於圖10所示的實施例中，第一、第二彈性件123、133係分別為設置於第一、第二氣室1221、1321中的螺旋彈簧，當第一、第二夾持柱件頂端1211、1311接觸到工件2而受到壓迫時，會促使第一、第二夾持柱件尾端1212、1312朝向第一、第二氣室1221、1321的內部位移，而造成第一、第二彈性件123、133受力變形，如此，第一、第二彈性件123、133就可分別對第一、第二夾持柱件尾端1212、1312提供彈性夾持力F2、F4，而反抗第一、第二夾持柱件尾端1212、1312持續朝向第一、第二氣室1221、1321的內部位移，進而促使第一、第二夾持柱件頂端1211、1311朝工件2的方向位移，以保持第一、第二夾持柱件頂端1211、1311跟工件2的接觸。 It should be noted that, in the embodiment shown in FIG. 10, the first and second elastic members 123 and 133 are respectively coil springs disposed in the first and second air chambers 1221 and 1321, when the first and the second When the two clamping column top ends 1211, 1311 are pressed against the workpiece 2, the first and second clamping column member tail ends 1212, 1312 are caused to move toward the inside of the first and second air chambers 1221, 1321, and The first and second elastic members 123, 133 are deformed by force, so that the first and second elastic members 123, 133 can respectively provide elastic clamping force to the first and second clamping column end ends 1212, 1312. F2, F4, and resisting the first and second clamping column members 1212, 1312 continuously toward the internal displacement of the first and second air chambers 1221, 1321, thereby causing the first and second clamping column top ends 1211 1311 is displaced in the direction of the workpiece 2 to maintain contact between the first and second clamping column top ends 1211, 1311 and the workpiece 2.
另外，於圖11所示的實施例中，當第一、第二夾持柱件頂端1211、1311接觸到工件2而受到壓迫時，會促使第一、第二夾持柱件尾端1212、1312朝向第一、第二氣室1221、1321的內部位移，使改變該第一、第二氣室1221、1321的內部空間，而造成第一、第二氣室1221、1321產生氣壓，且第一、第二彈性件123、133受力變形，如此，第一、第二汽缸122、132就可分別對第一、第二夾持柱件尾端1212、1312提供氣壓夾持力F1、F3，且第一、第二彈性件123、133就可分別對第一、第二夾持柱件尾端1212、1312提供彈性夾持力F2、F4，而反抗第一、第二夾持柱件尾端1212、1312持續朝向第一、第二汽缸122氣室的內部位移。 In addition, in the embodiment shown in FIG. 11, when the first and second clamping column top ends 1211, 1311 are pressed against the workpiece 2, the first and second clamping column ends 1212 are caused to be urged. 1312 is displaced toward the inner portions of the first and second air chambers 1221 and 1321 to change the internal space of the first and second air chambers 1221 and 1321, thereby causing the first and second air chambers 1221 and 1321 to generate air pressure, and 1. The second elastic members 123 and 133 are deformed by force. Thus, the first and second cylinders 122 and 132 can respectively supply the air pressure clamping forces F1 and F3 to the first and second clamping column end ends 1212 and 1312, respectively. And the first and second elastic members 123, 133 can respectively provide the elastic clamping forces F2 and F4 to the first and second clamping column end ends 1212 and 1312, and resist the first and second clamping columns. The trailing ends 1212, 1312 continue to be displaced toward the interior of the first and second cylinders 122 plenums.
針對驅動裝置14，係設置有例如為螺桿的傳動機構，以提供傳遞動力而驅動第二夾具座13相對器械本體11位移，以使第二夾具座13相對接近或離開第一夾具座12，而適應工件2的外形輪廓，調整第一、第二夾持柱件頂端1211、1311之間的距離，使第一、第二夾持柱件頂端1211、1311可分別接觸工 件2而受到壓迫，而令第一、第二汽缸122、132分別對第一、第二夾持柱件尾端1212、1312提供氣壓夾持力，或令第一、第二彈性件123、133分別對第一、第二夾持柱件尾端1212、1312提供彈性夾持力，促使該第一、第二夾持柱件頂端1211、1311適應工件2的外形輪廓位移，而分別接觸工件2的第一部位21與第二部位22以完成工件2的夾持。 For the driving device 14, a transmission mechanism such as a screw is provided to provide transmission power to drive the displacement of the second clamp seat 13 relative to the instrument body 11 so that the second clamp seat 13 is relatively close to or away from the first clamp base 12, and Adapting the contour of the workpiece 2, adjusting the distance between the first and second clamping column top ends 1211, 1311, so that the first and second clamping column top ends 1211, 1311 can be respectively contacted The member 2 is pressed, and the first and second cylinders 122, 132 respectively supply the air pressure clamping force to the first and second clamping column end ends 1212, 1312, or the first and second elastic members 123, 133 respectively provide elastic clamping force to the first and second clamping column end ends 1212, 1312, so that the first and second clamping column top ends 1211, 1311 are adapted to the workpiece profile displacement, and respectively contact the workpiece The first portion 21 and the second portion 22 of 2 complete the clamping of the workpiece 2.
關於本發明夾持器械一實施例的控制機制，請參閱圖11的示意圖，如圖11所示，本發明的夾持器械1具有第一力感測器16、第二力感測器17、位移感測器18與控制模組19。第一、第二力感測器16、17係例如為力敏電阻(Force Sensing Resistor，簡稱FSR)，用於分別感測第一、第二夾持柱件頂端1211、1311受到工件2的壓迫狀況，亦即，第一、第二力感測器16、17可分別感測第一、第二夾持柱件頂端1211、1311接觸工件2後受到工件2反作用力的狀況，藉此反應工件2的受力狀況。位移感測器18係提供感測第二夾具座13相對器械本體11位移的程度，藉以確定第一、第二夾具座12、13的相對距離，因而，控制模組19係依據第一、第二力感測器16、17與位移感測器18的感測回饋值結果，得出工件2變形前所承受夾持力之容許上限值，並控制驅動裝置14運行以驅動第二夾具座13相對第一夾具座12位移，使第一、第二夾具座12、13能夠適應工件2的外形輪廓而對工件2提供夾持，並使工件2所承受夾持力小於容許上限值，而達成對工件2施加的夾持力大小之控制，亦即以工件達變形前所受力容許值上限為夾持力之控制目標，而避免工件2受到的夾持力太大而發生毀損。 For a control mechanism of an embodiment of the clamping device of the present invention, please refer to the schematic diagram of FIG. 11. As shown in FIG. 11, the clamping device 1 of the present invention has a first force sensor 16, a second force sensor 17, Displacement sensor 18 and control module 19. The first and second force sensors 16 and 17 are, for example, Force Sensing Resistor (FSR) for sensing the compression of the workpiece 2 by the first and second clamping column top ends 1211 and 1311, respectively. The condition that the first and second force sensors 16 and 17 respectively sense the reaction force of the workpiece 2 after the first and second clamping column top ends 1211, 1311 contact the workpiece 2, thereby reacting the workpiece 2 stress conditions. The displacement sensor 18 provides a degree of sensing the displacement of the second holder 13 relative to the instrument body 11 to determine the relative distance between the first and second holders 12, 13. Thus, the control module 19 is based on the first and the The results of the sensing feedback values of the two force sensors 16, 17 and the displacement sensor 18 are used to obtain the allowable upper limit value of the clamping force before the deformation of the workpiece 2, and the driving device 14 is controlled to drive the second clamping seat. 13 is displaced relative to the first clamp base 12, so that the first and second clamp bases 12, 13 can adapt to the outer contour of the workpiece 2 to provide clamping of the workpiece 2, and the clamping force of the workpiece 2 is less than the allowable upper limit value. The control of the magnitude of the clamping force applied to the workpiece 2 is achieved, that is, the upper limit of the allowable value of the force before the deformation of the workpiece is the control target of the clamping force, and the clamping force of the workpiece 2 is prevented from being damaged too much.
再者，於圖13所示的實施例中，夾持器械1還包括第一橡膠體R1與第二橡膠體R2，第一、第二橡膠體R1、R2分別介於第一、第二彈性件123、133與第一、第二力感測器16、17之間，俾可隔開第一、第二彈性件123、133與 第一、第二力感測器16、17，而分別將第一、第二彈性件123、133的受力傳導到第一、第二力感測器16、17，使第一、第二力感測器16、17得分別感測第一、第二夾持柱件頂端1211、1311的受力狀況，如此，可避免第一、第二彈性件123、133直接接觸第一、第二力感測器16、17，而造成第一、第二力感測器16、17的損害。 Furthermore, in the embodiment shown in FIG. 13, the clamping device 1 further includes a first rubber body R1 and a second rubber body R2, and the first and second rubber bodies R1 and R2 are respectively interposed between the first and second elastic bodies. Between the pieces 123, 133 and the first and second force sensors 16, 17, the first and second elastic members 123, 133 can be separated from the first and second elastic members 123, 133 The first and second force sensors 16, 17 respectively transmit the forces of the first and second elastic members 123, 133 to the first and second force sensors 16, 17 to make the first and second The force sensors 16 and 17 respectively sense the stress state of the first and second clamping column top ends 1211, 1311, so that the first and second elastic members 123, 133 can be prevented from directly contacting the first and second portions. The force sensors 16, 17 cause damage to the first and second force sensors 16, 17.
於圖14至圖15所示的實施例中，第一夾持柱件121還具有第一半球形矽膠套1213，第一半球形矽膠套1213係套設於第一夾持柱件頂端1211，而至少一第二夾持柱件131還具有第二半球形矽膠套1313，第二半球形矽膠套1313係套設於第二夾持柱件頂端1311，藉由第一、第二半球形矽膠套1213、1313的彈性可保護工件2在獲夾持時不受損害，而可對質軟或任意形體的工件進行穩固地夾持。 In the embodiment shown in FIG. 14 to FIG. 15 , the first clamping column member 121 further has a first hemispherical rubber sleeve 1213 , and the first hemispherical rubber sleeve 1213 is sleeved on the first clamping column top end 1211 . The at least one second clamping column member 131 further has a second hemispherical rubber sleeve 1313, and the second hemispherical rubber sleeve 1313 is sleeved on the second clamping column top 1311 by the first and second hemispherical silicone rubber The elasticity of the sleeves 1213, 1313 protects the workpiece 2 from being damaged when it is gripped, and can firmly hold the workpiece of a soft or arbitrarily shaped body.
此外，夾持器械1還可包括固定設置於器械本體11的第三夾具座15，第三夾具座15係包含：第三夾持柱件151、第三汽缸152與第三彈性件153。第三夾持柱件151係設置於第三夾具座15的本體，且具有第三夾持柱件頂端1511與第三夾持柱件尾端1512。第三汽缸152係具有第三氣室1521，第三夾持柱件尾端1512係可改變第三氣室1521的內部空間，使第三汽缸152對第三夾持柱件尾端1512提供氣壓夾持力，而促使第三夾持柱件頂端1511朝工件2的方向位移。第三夾持柱件尾端1512係可推抵第三彈性件153，使第三彈性件153對第三夾持柱件尾端1512提供彈性夾持力，而促使第三夾持柱件頂端1511朝工件2的方向位移。 In addition, the clamping device 1 may further include a third clamp seat 15 fixedly disposed on the instrument body 11, and the third clamp base 15 includes a third clamping column member 151, a third cylinder 152 and a third elastic member 153. The third clamping post 151 is disposed on the body of the third clamp base 15 and has a third clamping post top end 1511 and a third clamping post end 1512. The third cylinder 152 has a third air chamber 1521, and the third clamping column end 1512 can change the internal space of the third air chamber 1521, so that the third cylinder 152 provides air pressure to the third clamping column end 1512. The clamping force causes the third clamping post top end 1511 to be displaced in the direction of the workpiece 2. The third clamping post end 1512 can be pushed against the third elastic member 153, so that the third elastic member 153 provides an elastic clamping force to the third clamping post end 1512, and urges the third clamping column top 1511 is displaced in the direction of the workpiece 2.
驅動裝置14還可調整第二、第三夾持柱件頂端1311、1511之間的距離，使第二、第三夾持柱件頂端1311、1511可分別接觸工件2而受力，以令第二、第三汽缸132、152分別對第二、第三夾持柱件尾端1312、1512提供氣壓夾 持力，或令第二、第三彈性件133、153分別對第二、第三夾持柱件尾端1312、1512提供彈性夾持力，促使第二、第三夾持柱件頂端1311、1511適應工件2的外形輪廓位移，而分別接觸工件2的第二部位22與第三部位23以完成工件2的夾持。於本實施例中，第一、第二、第三夾持柱件121、131、151可分別接觸工件2上不同位置的第一、第二、第三部位21、22、23，而可同時對工件2提供穩固地三點夾持。 The driving device 14 can also adjust the distance between the second and third clamping column top ends 1311, 1511, so that the second and third clamping column top ends 1311, 1511 can be respectively contacted with the workpiece 2 to force Second, the third cylinders 132, 152 respectively provide air pressure clamps to the rear ends 1312 and 1512 of the second and third clamping columns. Holding force, or the second and third elastic members 133, 153 respectively provide elastic clamping force to the second and third clamping column end ends 1312, 1512, respectively, and urge the second and third clamping column tops 1311. 1511 adapts to the contour displacement of the workpiece 2, and contacts the second portion 22 and the third portion 23 of the workpiece 2, respectively, to complete the clamping of the workpiece 2. In this embodiment, the first, second, and third clamping column members 121, 131, and 151 can respectively contact the first, second, and third portions 21, 22, and 23 at different positions on the workpiece 2, and simultaneously A solid three-point clamping is provided to the workpiece 2.
另外，於本實施例中，第一夾持柱件121係為構成陣列的複數第一夾持柱件121，所述複數第一夾持柱件121的第一夾持柱件頂端1211係分散設置於第一夾持面A1，第二夾持柱件131係為構成陣列的複數第二夾持柱件131，所述複數第二夾持柱件131的第二夾持柱件頂端1311係分散設置於第二夾持面A2，第三夾持柱件151係為構成陣列的複數第三夾持柱件151，所述複數第三夾持柱件151的第三夾持柱件頂端1511係分散設置於第三夾持面A3，其中，第一、第二、第三夾持面A1、A2、A3係分別面對工件2第一、第二、第三部位21、22、23，而可同時對工件2的第一、第二、第三部位21、22、23提供穩固地三點夾持。 In addition, in the embodiment, the first clamping column member 121 is a plurality of first clamping column members 121 constituting the array, and the first clamping column member top end 1211 of the plurality of first clamping column members 121 is dispersed. The second clamping column member 131 is a plurality of second clamping column members 131 constituting the array, and the second clamping column member top end 1311 of the plurality of second clamping column members 131 is disposed on the first clamping surface A1. Dispersingly disposed on the second clamping surface A2, the third clamping column member 151 is a plurality of third clamping column members 151 constituting the array, and the third clamping column member top end 1511 of the plurality of third clamping column members 151 Disposed in a third clamping surface A3, wherein the first, second, and third clamping surfaces A1, A2, and A3 respectively face the first, second, and third portions 21, 22, and 23 of the workpiece 2, At the same time, the first, second and third portions 21, 22, 23 of the workpiece 2 can be simultaneously provided with a firm three-point clamping.
綜上所述，本發明夾持器械的夾具座，係可對夾持柱件提供氣壓夾持力與彈性夾持力，以確保夾持柱件接觸工件而完成工件的夾持，以使工件承受的夾持力不大於容許上限值，而避免工件受到的夾持力太大發生毀損，故本發明的夾持器械可在毋須使用治具的情況下，對質軟或任意形體(例如具有3D曲面的形體)的工件進行穩固地夾持，而可在多樣少量的加工時提供工件夾持。 In summary, the clamp holder of the clamping device of the present invention can provide a pneumatic clamping force and an elastic clamping force to the clamping column member, so as to ensure that the clamping column member contacts the workpiece to complete the clamping of the workpiece, so that the workpiece The holding force is not greater than the allowable upper limit value, and the clamping force of the workpiece is prevented from being damaged too much. Therefore, the clamping device of the present invention can be soft or arbitrarily shaped without using a jig (for example, The workpiece of the 3D curved surface is firmly clamped, and the workpiece clamping can be provided in a variety of small machining operations.
上述實施例僅例示性說明本發明之原理及功效，而非用於限制本發明。任何熟習此項技術之人士均可在不違背本發明之精神及範疇下，對上述 實施例進行修飾與改變。因此，本發明之權利保護範圍，應如本發明申請專利範圍所列。 The above embodiments are merely illustrative of the principles and effects of the invention and are not intended to limit the invention. Anyone who is familiar with the technology can do so without departing from the spirit and scope of the present invention. The examples are modified and altered. Therefore, the scope of the invention should be as defined in the scope of the invention.
Claims (10)
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| TW106137815A TWI641453B (en) | 2017-11-01 | 2017-11-01 | Clamping mechanism adapted to arbitrary shape |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| TW106137815A TWI641453B (en) | 2017-11-01 | 2017-11-01 | Clamping mechanism adapted to arbitrary shape |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| TWI641453B true TWI641453B (en) | 2018-11-21 |
| TW201918333A TW201918333A (en) | 2019-05-16 |
Family
ID=65034289
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| TW106137815A TWI641453B (en) | 2017-11-01 | 2017-11-01 | Clamping mechanism adapted to arbitrary shape |
Country Status (1)
| Country | Link |
|---|---|
| TW (1) | TWI641453B (en) |
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| TWI691290B (en) * | 2019-03-12 | 2020-04-21 | 宏碁股份有限公司 | Computer cockpit and holding mechanism thereof |
| TWI727818B (en) * | 2020-06-01 | 2021-05-11 | 鄭羣軒 | Hydraulic auxiliary jig for clamping mechanism |
| WO2023083865A1 (en) * | 2021-11-10 | 2023-05-19 | Weidmüller Interface GmbH & Co. KG | Gripping finger for an automatic fitting machine |
| CN117032082A (en) * | 2023-07-17 | 2023-11-10 | 广州里工实业有限公司 | Clamping control system and clamping method for precision manufacturing |
Citations (10)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US4088312A (en) * | 1977-09-27 | 1978-05-09 | Nasa | Variable contour securing system |
| US4572564A (en) * | 1984-07-12 | 1986-02-25 | General Electric Company | Adaptive gripping device |
| TW544378B (en) * | 2001-09-13 | 2003-08-01 | Bel Fuse Inc | Clip for replaceable surface mounted devices |
| TWM249988U (en) * | 2003-12-12 | 2004-11-11 | Yi-Cheng Shiue | Two-dimensional joint structure for screen |
| US20050269757A1 (en) * | 2004-06-04 | 2005-12-08 | Robin Stevenson | Reconfigurable clamp for a flexible manufacturing system |
| US7290761B2 (en) * | 2003-08-08 | 2007-11-06 | Robert P Siegel | Multi-purpose flexible jaw universal vise with removable clamp feature |
| WO2014032981A1 (en) * | 2012-08-29 | 2014-03-06 | Matrix Gmbh Spannsysteme Und Produktionsautomatisierung | Gripping head, gripping tongs, and robot with segmented gripping surface for gripping objects of any shape |
| JP2014240105A (en) * | 2013-06-12 | 2014-12-25 | 株式会社テック・ヤスダ | Vice |
| CN106181803A (en) * | 2016-08-31 | 2016-12-07 | 无锡太昌精密机械有限公司 | The side frock clamp of radiator |
| TWM541006U (en) * | 2016-12-28 | 2017-05-01 | Contrel Technology Co Ltd | Clamp with retractable probe |
-
2017
- 2017-11-01 TW TW106137815A patent/TWI641453B/en not_active IP Right Cessation
Patent Citations (10)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US4088312A (en) * | 1977-09-27 | 1978-05-09 | Nasa | Variable contour securing system |
| US4572564A (en) * | 1984-07-12 | 1986-02-25 | General Electric Company | Adaptive gripping device |
| TW544378B (en) * | 2001-09-13 | 2003-08-01 | Bel Fuse Inc | Clip for replaceable surface mounted devices |
| US7290761B2 (en) * | 2003-08-08 | 2007-11-06 | Robert P Siegel | Multi-purpose flexible jaw universal vise with removable clamp feature |
| TWM249988U (en) * | 2003-12-12 | 2004-11-11 | Yi-Cheng Shiue | Two-dimensional joint structure for screen |
| US20050269757A1 (en) * | 2004-06-04 | 2005-12-08 | Robin Stevenson | Reconfigurable clamp for a flexible manufacturing system |
| WO2014032981A1 (en) * | 2012-08-29 | 2014-03-06 | Matrix Gmbh Spannsysteme Und Produktionsautomatisierung | Gripping head, gripping tongs, and robot with segmented gripping surface for gripping objects of any shape |
| JP2014240105A (en) * | 2013-06-12 | 2014-12-25 | 株式会社テック・ヤスダ | Vice |
| CN106181803A (en) * | 2016-08-31 | 2016-12-07 | 无锡太昌精密机械有限公司 | The side frock clamp of radiator |
| TWM541006U (en) * | 2016-12-28 | 2017-05-01 | Contrel Technology Co Ltd | Clamp with retractable probe |
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| TWI691290B (en) * | 2019-03-12 | 2020-04-21 | 宏碁股份有限公司 | Computer cockpit and holding mechanism thereof |
| TWI727818B (en) * | 2020-06-01 | 2021-05-11 | 鄭羣軒 | Hydraulic auxiliary jig for clamping mechanism |
| WO2023083865A1 (en) * | 2021-11-10 | 2023-05-19 | Weidmüller Interface GmbH & Co. KG | Gripping finger for an automatic fitting machine |
| CN117032082A (en) * | 2023-07-17 | 2023-11-10 | 广州里工实业有限公司 | Clamping control system and clamping method for precision manufacturing |
Also Published As
| Publication number | Publication date |
|---|---|
| TW201918333A (en) | 2019-05-16 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| TWI641453B (en) | Clamping mechanism adapted to arbitrary shape | |
| JP5572449B2 (en) | Object positioning and fixing device | |
| JP6114721B2 (en) | Vise and work clamping method | |
| BR0002727A (en) | Device for clamping a workpiece | |
| JP2008302486A (en) | Fixing tool | |
| JP2012020354A (en) | Clamp device | |
| US20090051092A1 (en) | Clamping head provided with floating clamping jaws | |
| US20200094361A1 (en) | Machining system | |
| JP2005169537A (en) | Workpiece positioning and fixing tool | |
| US20100025904A1 (en) | Clamp | |
| JP5830220B2 (en) | Vise for 5-axis control machine | |
| JP2017132008A (en) | Dovetail groove type work-piece gripper and dovetail groove type work-piece gripping method | |
| JP2009090442A (en) | Chucking device | |
| CN213916183U (en) | Expansion tool | |
| US9333610B2 (en) | Workpiece positioning device positioning workpiece at two reference surfaces | |
| US6247690B1 (en) | Fixturing tool for retaining and positioning small objects | |
| JP2009012138A (en) | Workpiece gripping robot and method for gripping workpiece | |
| CN209407458U (en) | A kind of grasping part that expands is detachably fixed tooling | |
| CN109226799B (en) | Precise elastic chuck | |
| CN105690149A (en) | Machine tool fixture | |
| KR20190021783A (en) | Hydraulic vice for fixing | |
| JP7398795B2 (en) | Clamp center variable vise | |
| US5358228A (en) | Vise having an invertible V-block | |
| WO2016207926A1 (en) | Fluid-pressure-operated clamp device | |
| CN210549700U (en) | Special-shaped part clamping device |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| MM4A | Annulment or lapse of patent due to non-payment of fees |