201100218 六、發明說明： 【發明所屬之技術領域】 本發明有關於一種夾取裝置，且特別是有關於一種可 夾取多個物件且可多方向運動的夾取裝置。 【先前技術】 通常，於各種產品的生產加工中，操作人員直接放置 或裝配物件。然而，人工的操作限制了單次放置物件的數 目及物件放置的速度。因此，生產加工的效率會受到影響。 目前，市場上存在一些夾取裝置可用於協助操作人員 放置或裝配物件。然而，這些夾取裝置一般僅設有單個夾 爪，且設置的夾爪只能進行單方向的操作，從而限制了其 應用場合。 【發明内容】 本發明的目的在於提供一種夾取裝置，以改善現有技 術的缺失。 本發明提出的夾取裝置，用於夾取多個物件。夾取裝 置包括多個夾取件、至少一個驅動件以及旋轉控制件。每 一夾取件分別用於夾取這些物件的其中之一。驅動件耦接 這些夾取件，且用於控制這些夾取件作一維移動。旋轉控 制件耦接這些夾取件及驅動件，且用於控制這些夾取件及 驅動件繞軸線旋轉。驅動件用於控制這些夾取件作一維移 動的方向不垂直於軸線。 201100218 本發明有益效果為，本發明之夾取裝置設置有多個夾 ' 取件可同時夹取多個物件，且藉由旋轉控制件與驅動件可 控制夹取件多方向地取放這些物件。相較於先前技術，本 發明之夾取裝置具有較高的作業效率，並且可應用於眾多 場合。 為讓本發明的上述和其他目的、特徵和優點能更明顯 易懂，下文特舉較佳實施例，並配合附圖，作詳細說明如 下。 〇 【實施方式】 圖1A〜1B所示為根據本發明之一實施例的夾取裝置 的示意圖。圖2所示為根據本發明之一實施例的夾取裝置 的正視圖。請一併參考圖1A〜1B及圖2。本實施例所提 供之夾取裝置1包括支撐件11、多個夾取件12、移動件 13、驅動件14、底座15、旋轉控制件16、耦接件17、聯 Q 軸器18以及固定座19。 、 於本實施例中，支撐件11、驅動件14及旋轉控制件 16均設置於底座15。移動件13滑動地設置於支撐件11。 夾取件12設置於移動件13。耦接件17分別耦接驅動件 14與移動件13。 於本實施例中，支撐件11的一端固定於底座15,且 支樓件11所在的平面垂直於底座15所在的平面。然而， 本發明並不僅限於此。於其它實施例中，支撐件11亦可 平行設置於底座15。或者，亦可不設置此支撐件11。 201100218 131 1本_例中移動件13的底部可設有多個滑動塊 固二：；可分麟移料13底料左、右兩側各設置 位=動塊131。相應地，在支標件η對應滑動塊131的 多個滑槽111，例如，為兩個。滑動請 刀別對應地設置於支料u上的滑槽⑴内。藉此，移 動件13可於支撐件u上滑 曰 此。 動；，、、、而’本發明並不僅限於 ，本^例中，夹取件12可設置於移動件Μ。藉 而，本__|2卜可跟隨移動件13於支#件n上滑動。然 -置任何限定。於其它實施例中，亦可不 而在夾取件12上直接設置多個滑動塊 接=! 滑槽111相配合，從而使夹取㈣直 接於支撐件1〗上滑動。 於本實施例中，夾取株】 «欲單次夹取的二Π定 久其數目可 包括兩個夾取件12為 二展置 物件。於1它f 取件Μ可分難取一個 以上的央取m’夹取裝置1還可包括三個或三個 於本。本發明並祕定妹件12的數目。 本發明取件η均為兩爪的氣爪。然而， 个限疋夹取件12的類型。 取件12可為四爪的氣爪。 於其匕貝把例中，夹 活動itT例中’驅動件14可為氣虹。驅動件14具有 驅動件14用於控制夹 件14的活動桿⑷的運動方向作行於驅動 201100218 於本實施例中，輕接件17的-端可輕接活動桿⑷ 的前端，另一端可耦接移動件13。並且，兩個失取件η 的軸線皆平行於其作—維移動的方向。然而，本發明對此 不作任何限定。於其它實施例中，可將至少直 7丹Υ之一的夾 取件12的軸線設置成垂直於一維移動的方向。 於本實施例中，當活動桿141向前移動時，輕接件Η 會隨其-起向前移動。進而，接件17可帶動移 3 Ο 的滑動塊131於支樓件U的滑槽lu中滑動。如此 件也被帶動而向前移動以夹取物件。類似地，心 桿⑷向後移動時’相應地可帶動移動件13向後：動， 以將= ，她亀術何限定。 於”匕⑼例中，亦可不設置此㈣件 動件14可直接耦接移動件13或夹取件12接：备驅 應的移動件13或夾取件12作一維移動。&動對 於本實施例中，旋轉控制件16可盘 置於底座15的相對兩側。缺 、 牛4 y刀別設 定。於其它實施例中，旋轉控制件16亦可 ^限 置於底座15的同側。 動件14设 於本實施例中，旋轉控制件16可用於控制 與驅動件14分別繞軸線χ作旋轉。且 午 例中，如圖1β所示，轴線Χ平行於支擇件J所== 且垂直於底座15所在的平面。 I社旳十面 於本實施例中，由於旋轉控制件16與驅動件14 設置於底座!5的相對兩側，且驅動件14的活動桿‘的 201100218 運動方向平行於軸線X，因此，•件i2〇 向可平行於軸線X。然而，本發明對此不作任的方 =確保夾取件12可在一三維空間内 ;：，只 ^貫施例中’當旋轉控制件16的軸線與例二於 線（即活動桿⑷的運動方向）不平行亦不=的轴 形成45度夹角），則夾取㈣作—維 :(例如，201100218 VI. Description of the Invention: [Technical Field] The present invention relates to a gripping device, and more particularly to a gripping device that can grip a plurality of articles and can move in multiple directions. [Prior Art] Generally, in the production and processing of various products, an operator directly places or assembles an object. However, manual operations limit the number of objects placed in a single order and the speed at which objects are placed. Therefore, the efficiency of production processing will be affected. Currently, there are some gripping devices on the market that can be used to assist the operator in placing or assembling objects. However, these gripping devices are generally provided with only a single jaw and the jaws provided can only be operated in one direction, thereby limiting their application. SUMMARY OF THE INVENTION It is an object of the present invention to provide a gripping device to improve the deficiencies of the prior art. The clamping device proposed by the invention is used for clamping a plurality of articles. The gripping device includes a plurality of gripping members, at least one driving member, and a rotation control member. Each of the gripping members is used to grip one of the objects. The drive member couples the pick-up members and is used to control the pick-up members for one-dimensional movement. The rotary control couples the pick-up and drive members and is used to control the pick-up and drive members to rotate about the axis. The driving member is used to control the direction in which the gripping members are moved in one dimension and is not perpendicular to the axis. The invention has the beneficial effects that the clamping device of the present invention is provided with a plurality of clips, and the pick-up member can simultaneously pick up a plurality of objects, and the rotating control member and the driving member can control the gripping members to take the objects in multiple directions. . Compared with the prior art, the gripping device of the present invention has high work efficiency and can be applied to many occasions. The above and other objects, features, and advantages of the present invention will become more fully understood from [Embodiment] Figs. 1A to 1B are views showing a gripping device according to an embodiment of the present invention. Figure 2 is a front elevational view of a gripping device in accordance with an embodiment of the present invention. Please refer to FIGS. 1A to 1B and FIG. 2 together. The gripping device 1 provided in this embodiment includes a support member 11, a plurality of gripping members 12, a moving member 13, a driving member 14, a base 15, a rotation control member 16, a coupling member 17, a coupling Q-axis 18, and a fixing Block 19. In this embodiment, the support member 11, the driving member 14, and the rotation control member 16 are all disposed on the base 15. The moving member 13 is slidably disposed on the support member 11. The gripping member 12 is disposed on the moving member 13. The coupling member 17 is coupled to the driving member 14 and the moving member 13, respectively. In the present embodiment, one end of the support member 11 is fixed to the base 15, and the plane of the branch member 11 is perpendicular to the plane in which the base 15 is located. However, the invention is not limited to this. In other embodiments, the support members 11 may also be disposed in parallel with the base 15. Alternatively, the support member 11 may not be provided. 201100218 131 1 In the present example, the bottom of the moving member 13 can be provided with a plurality of sliding blocks: 2; the left and right sides of the bottom material 13 can be set to move the movable block 131. Accordingly, the plurality of sliding grooves 111 corresponding to the sliding block 131 in the support member η are, for example, two. Slide the knife so that it is correspondingly placed in the chute (1) on the material u. Thereby, the moving member 13 can slide on the support member u. The present invention is not limited to, in this example, the gripping member 12 may be disposed on the moving member. By the way, the __|2b can follow the moving member 13 to slide on the support member n. - set any limits. In other embodiments, instead of directly arranging a plurality of sliding blocks on the gripping member 12, the chutes 111 are matched so that the gripping (4) slides directly on the support member 1 . In the present embodiment, the number of the clips to be picked up by a single clip may include two clips 12 being two spread objects. In the case of 1 f, it is difficult to take more than one of the central take-up m' gripping devices 1 may also include three or three. The present invention also clarifies the number of sisters 12. The take-up piece η of the present invention is a two-claw gripper. However, the type of the pick-up member 12 is limited. The take-up member 12 can be a four-claw gripper. In the case of its mussel case, the actuator 14 in the case of the activity itT can be a gas rainbow. The driving member 14 has a driving member 14 for controlling the moving direction of the movable rod (4) of the clamping member 14 to drive the 201100218. In the embodiment, the end of the connecting member 17 can be lightly connected to the front end of the movable rod (4), and the other end can be The moving member 13 is coupled. Moreover, the axes of the two missing pieces η are parallel to the direction in which they move in a dimension. However, the present invention is not limited thereto. In other embodiments, the axis of the gripping member 12 of at least one of the straight strands can be set to be perpendicular to the direction of one-dimensional movement. In the present embodiment, when the movable lever 141 moves forward, the light fitting member 向前 moves forward with it. Further, the connecting member 17 can drive the sliding block 131 of the moving 3 滑动 to slide in the sliding slot lu of the branch member U. The piece is also driven and moved forward to grip the object. Similarly, when the stem (4) moves backward, the corresponding movement of the moving member 13 can be moved backwards to move = to define her. In the case of "匕 (9), the (four) moving member 14 may be directly coupled to the moving member 13 or the gripping member 12: the moving member 13 or the gripping member 12 for the one-dimensional movement is moved. For the present embodiment, the rotation control member 16 can be placed on the opposite sides of the base 15. The missing and the knives are set. In other embodiments, the rotation control member 16 can also be placed on the base 15 The moving member 14 is disposed in the embodiment, and the rotation control member 16 is configured to control the rotation of the driving member 14 about the axis, respectively. In the afternoon, as shown in FIG. 1β, the axis Χ is parallel to the supporting member J. == and perpendicular to the plane in which the base 15 is located. In this embodiment, since the rotation control member 16 and the driving member 14 are disposed on opposite sides of the base! 5, and the movable lever of the driving member 14 The direction of motion is parallel to the axis X, so that the direction of the member i2 can be parallel to the axis X. However, the invention does not do this = ensuring that the gripping member 12 can be in a three-dimensional space; In the embodiment, 'the axis of the rotation control member 16 is not parallel to the second line (ie, the moving direction of the movable rod (4)). = Not form a 45 degree angle to the axis), as the gripping iv - dimensional :( e.g.,
不平行亦不垂直（例如，成45度夹角）。方向與轴線X 二=言，當底座15設置旋轉控制件㈣驅動件^ 表面為斜面或曲面，使得旋轉 :::=直時，一作 :::Τ垂直於轴線χ。本發明對此不作任何限定。 、本以财，旋轉控餐16 :。旋轉控制件16固定於固定座ί9。此外 16可藉由聯軸器18練底座15。 工制件 動愈ΓίΙΓ中’聯抽器ί8用於將旋轉控制件16的運 上的1一 ：給底座15’以控制底座15及設置於底座15 /α 的軸線。然而，本發明並不僅限於此。於 件例卜聯轴器18亦可直接麵接驅動件14或夾取 件12=’旋卿件16可直接控制驅動件14或央取 圖〜3β所不為根據本發明之另一實施例之夹取裝 丁心圖。圖4所不為根據本發明之另一實施例之夾取 又勺視圖。5奢一併參考圖3Α〜3Β及圖4。本實施例 201100218 所提供之夹取裝置3包括支撐件31、兩組夾取件32, 32’、 兩個移動件33，33’、兩個驅動件34，34’、底座35、旋轉 控制件36、兩個耦接件37，37’、聯軸器38以及固定座 39 ° 於本實施例中，夾取裝置3的支撐件31、夾取件32、 移動件33、驅動件34、底座35、旋轉控制件36、耦接件 37、聯軸器38及固定座39的耦接關係與作用皆與上一實 施例中的支撐件11、夾取件12、移動件13、驅動件14、 〇 底座15、旋轉控制件16、耦接件17、聯軸器18及固定座 19 一致。故在此不再贅述。 於本實施例中，夾取裝置3的夾取件32’、支撐件31、 移動件33’、驅動件34’以及耦接件37’的耦接關係也與上 一實施例中的對應元件一致。故亦在此不再贅述。 於本實施例中，夾取裝置3的兩組夾取件32，32’、 兩個驅動件34，34’、兩個移動件33，33’以及兩個耦接件 Q 37，37’分別對稱地設置於支撐件31的兩侧。然而，本發 . 明並不僅限於此。於其它實施例中，夾取裝置3還可包括 另一支撐件平行於支撐件31進行設置。藉此，夾取件32’、 移動件33’及耦接件37’可單獨設置於此另一支撐件上。 於本實施例中，支撐件31的兩相對侧面上均具有滑 槽311用於配合移動件33, 33’上設置的滑動塊331，33Γ。 藉此，移動件33，33’可分別於支撐件31的滑槽311中滑 動。 於本實施例中，夾取裝置3包括兩組夾取件32，32’。 9 201100218 每組夹取件均包括兩個夾取件。如此，於本實施例中，夾 取裝置3每次可同時夾取四個物件。然而，本發明並不限 定夾取件的數目及組合方式。於其它實施例中，夾取裝置 3可包括三組或三組以上的夾取件，且每組夾取件可包括 不同數目的夾取件。 於本實施例中，夾取件32，32’為兩爪的氣爪。於其 它實施例中，夾取件32，32’可為四爪的氣爪。然而，本 發明對此不作任何限定。 於本實施例中，夹取裝置3的兩個驅動件34，34’分 別對應控制兩組夹取件32，32’。然而，本發明並不僅限 於此。於其它實施例中，夾取裝置3亦可採用一個驅動件 同時控制多組夾取件。 於本實施例中，驅動件3 4，3 4 ’可為氣缸。旋轉控制 件36可為為步進或伺服式馬達。驅動件34，34’分別用於 控制夾取件32，32’沿平行於軸線X的方向作一維移動。 旋轉控制件36用於控制夾取件32，32’及驅動件34，34’ 分別繞軸線X作旋轉。然而，本發明並不僅限於此。 於本實施例中，驅動件34，34’與旋轉控制件36的具 體作動形式同上一實施例所述。故在此不再贅述。 圖5A〜5C所示為根據本發明之另一實施例之夾取裝 置3之操作示意圖。請一併參考圖5A〜5C。本實施例以 包含兩組夾取件的夾取裝置3為例說明本發明提供之夾取 裝置的操作過程。 如圖5A所示，基座5上設置有多個物件50，且物件 10 201100218 50設置於不同位置。夹取裝置3位於基座5的一侧以進行 夾取操作。 如圖5B所示，由需要爽取的物件50的位置確定夾取 件32，32’的角度。並通過夾取裝置3的旋轉控制件36控 制夾取件32，32’及驅動件34，34’作旋轉以調整至適合的 角度。 如圖5 C所示，藉由夾取裝置3的驅動件3 4 .控制夾取 件32作一維移動以靠近物件50。然後，藉由夾取件32將 〇 物件50從基座5上取下。類似地，驅動件34’可控制夾取 件32’夾取物件50。如此，夹取裝置3可從基座5上同時 夾取多個物件50。 同樣地，若需將物件50放回基座5，可先將物件50 置於夾取件32，32’中，再根據上述步驟，將物件50放回 基座5。 綜上所述，本發明之實施例所提供之夾取裝置設置有 Q 多個夾取件可同時夾取多個物件，且藉由旋轉控制件與驅 . 動件可控制夾取件多方向地取放這些物件。相較於先前技 術，本發明之夾取裝置具有較高的作業效率，並且可應用 於眾多場合。 雖然本發明已以較佳實施例揭露如上，然其並非用以 限定本發明，任何所屬技術領域中具有通常知識者，在不 脫離本發明的精神和範圍内，當可作些許的更動與潤飾， 因此本發明的保護範圍當視申請專利範圍所界定者為準。 201100218 【圖式簡單說明】 圖1A〜1B所示為根據本發明之一實施例之夾取裝置 的示意圖。 圖2所示為根據本發明之一實施例之夾取裝置的正視 圖。 圖3A〜3B所不為根據本發明之另—實施例之夹 置的示意圖。 圖4所不為根據本發明之另 視圖。 月之另—實施例之夾取裴置的正 圖5A〜SC所示為根據本笋 置的操作示意圖。 a月之另-實施例之夾取裝 【主要元件符號說明】 I、 3 II、 31 夾取裝置 支撐件 移動件 底座 輕接件 固定座 滑槽 滑動塊 13、33、33, 15、35 17 、 37 、 37, 19、39 111 、 311 131、331、331 5 U、32、32, 14、34、34, 16 ' 36 18、38 50 141 X 基座 夾取件 驅動件 旋轉控制件 聯軸器 物件 活動桿 軸線Not parallel or perpendicular (for example, at an angle of 45 degrees). Direction and axis X = ???, when the base 15 is set to rotate the control member (four) the drive member ^ surface is a bevel or curved surface, so that the rotation ::: = straight, one for ::: Τ perpendicular to the axis χ. The invention is not limited thereto. , the original fortune, rotating control meal 16:. The rotation control member 16 is fixed to the fixing seat ί9. In addition, the base 15 can be practiced by the coupling 18. The workpiece "movement" ί8 is used to transport the rotary control member 16 to the base 15' to control the base 15 and the axis disposed on the base 15 /α. However, the invention is not limited to this. In the example, the coupling 18 can also directly face the driving member 14 or the clamping member 12 = 'the rotating member 16 can directly control the driving member 14 or the central drawing diagram 〜3β is not according to another embodiment of the present invention. The clip is taken from the heart. Figure 4 is a view of a pinch and a spoon according to another embodiment of the present invention. 5 luxury together with reference to Figure 3 Α ~ 3 Β and Figure 4. The gripping device 3 provided in this embodiment 201100218 comprises a support member 31, two sets of gripping members 32, 32', two moving members 33, 33', two driving members 34, 34', a base 35, a rotation control member 36, two coupling members 37, 37', the coupling 38 and the fixing seat 39 ° in this embodiment, the support member 31 of the gripping device 3, the gripping member 32, the moving member 33, the driving member 34, the base 35. The coupling relationship and function of the rotation control member 36, the coupling member 37, the coupling 38 and the fixing base 39 are the same as the support member 11, the gripping member 12, the moving member 13, and the driving member 14 in the previous embodiment. The cymbal base 15, the rotation control member 16, the coupling member 17, the coupling 18 and the fixing base 19 are identical. Therefore, it will not be repeated here. In this embodiment, the coupling relationship of the gripping member 32', the supporting member 31, the moving member 33', the driving member 34' and the coupling member 37' of the gripping device 3 is also the same as that in the previous embodiment. Consistent. Therefore, it will not be repeated here. In this embodiment, the two sets of gripping members 32, 32' of the gripping device 3, the two driving members 34, 34', the two moving members 33, 33' and the two coupling members Q 37, 37' respectively They are symmetrically disposed on both sides of the support member 31. However, this is not limited to this. In other embodiments, the gripping device 3 may further include another support member disposed parallel to the support member 31. Thereby, the gripping member 32', the moving member 33' and the coupling member 37' can be separately provided on the other supporting member. In the present embodiment, the opposite sides of the support member 31 have sliding grooves 311 for engaging the sliding blocks 331, 33 provided on the moving members 33, 33'. Thereby, the moving members 33, 33' can slide in the sliding grooves 311 of the support member 31, respectively. In the present embodiment, the gripping device 3 includes two sets of gripping members 32, 32'. 9 201100218 Each set of gripping parts includes two gripping parts. Thus, in the present embodiment, the gripping device 3 can simultaneously pick up four articles at a time. However, the present invention is not limited to the number and combination of the gripping members. In other embodiments, the gripping device 3 can include three or more sets of gripping members, and each set of gripping members can include a different number of gripping members. In the present embodiment, the gripping members 32, 32' are the grippers of the two jaws. In other embodiments, the gripping members 32, 32' can be four-claw grippers. However, the present invention does not limit this. In the present embodiment, the two driving members 34, 34' of the gripping device 3 respectively control the two sets of gripping members 32, 32'. However, the invention is not limited to this. In other embodiments, the gripping device 3 can also simultaneously control a plurality of sets of gripping members by using one driving member. In the present embodiment, the driving members 3 4, 3 4 ' may be cylinders. Rotary control 36 can be a stepper or servo motor. The drive members 34, 34' are used to control the gripping members 32, 32' for one-dimensional movement in a direction parallel to the axis X, respectively. The rotation control member 36 is for controlling the gripping members 32, 32' and the driving members 34, 34' to rotate about the axis X, respectively. However, the invention is not limited to this. In the present embodiment, the specific actuation of the drive members 34, 34' and the rotary control member 36 is as described in the previous embodiment. Therefore, it will not be repeated here. 5A to 5C are views showing the operation of the gripping device 3 according to another embodiment of the present invention. Please refer to FIG. 5A to 5C together. This embodiment illustrates the operation of the gripping device provided by the present invention by taking the gripping device 3 including two sets of gripping members as an example. As shown in FIG. 5A, a plurality of articles 50 are disposed on the base 5, and the articles 10 201100218 50 are disposed at different positions. The gripping device 3 is located on one side of the base 5 for the gripping operation. As shown in Fig. 5B, the angle of the gripping members 32, 32' is determined by the position of the article 50 that needs to be refreshed. The gripping members 32, 32' and the driving members 34, 34' are rotated by the rotation control member 36 of the gripping device 3 to be adjusted to an appropriate angle. As shown in Fig. 5C, the gripping member 32 is controlled to move in one dimension to approach the article 50 by the driving member 34 of the gripping device 3. Then, the cymbal article 50 is removed from the susceptor 5 by the gripping member 32. Similarly, the drive member 34' can control the gripping member 32' to grip the article 50. Thus, the gripping device 3 can simultaneously grip a plurality of articles 50 from the base 5. Similarly, if the object 50 needs to be placed back into the base 5, the object 50 can be placed in the gripping members 32, 32', and the object 50 can be placed back into the base 5 according to the above steps. In summary, the clamping device provided by the embodiment of the present invention is provided with Q multiple clamping members for simultaneously capturing a plurality of objects, and the rotating control member and the driving member can control the direction of the clamping member. Take these objects. Compared with the prior art, the gripping device of the present invention has high work efficiency and can be applied to many occasions. Although the present invention has been disclosed in the above preferred embodiments, it is not intended to limit the present invention, and those skilled in the art can make some modifications and refinements without departing from the spirit and scope of the invention. Therefore, the scope of protection of the present invention is defined by the scope of the patent application. 201100218 [Simplified Description of the Drawings] Figs. 1A to 1B are views showing a gripping device according to an embodiment of the present invention. Figure 2 is a front elevational view of a gripping device in accordance with an embodiment of the present invention. 3A to 3B are schematic views of a sandwich according to another embodiment of the present invention. Figure 4 is not a further view in accordance with the present invention. The other is the positive of the gripping device of the embodiment. Figs. 5A to 5C are schematic views showing the operation according to the present plan. Another month of a month - the clamping of the embodiment [Description of the main components] I, 3 II, 31 Clamping device support moving parts base light fittings fixing seat sliding block sliding blocks 13, 33, 33, 15, 35 17 , 37 , 37 , 19 , 39 111 , 311 131 , 331 , 331 5 U, 32, 32, 14, 34, 34, 16 ' 36 18, 38 50 141 X Base gripper drive member rotation control coupling Object movable rod axis
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