CN101844357B - Holding finger device for three-jaw chuck - Google Patents
Holding finger device for three-jaw chuck Download PDFInfo
- Publication number
- CN101844357B CN101844357B CN2009100481532A CN200910048153A CN101844357B CN 101844357 B CN101844357 B CN 101844357B CN 2009100481532 A CN2009100481532 A CN 2009100481532A CN 200910048153 A CN200910048153 A CN 200910048153A CN 101844357 B CN101844357 B CN 101844357B
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- finger
- workpiece
- scroll chuck
- holding
- clamping
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Abstract
The invention relates to a holding finger device of a three-jaw chuck, which is arranged on the three-jaw chuck. The device comprises a holding jaw positioning block and fingers which are detachably fixed on the holding-jaw positioning block. The device also comprises a plurality of bearings arranged on head parts of the fingers. When the holding finger device of the invention is used for holding workpieces, the cylindrical workpieces can be concentric with the three-jaw chuck and vertical to a mounting plane of the three-jaw chuck, so working-piece holding accuracy of a robot is guaranteed.
Description
Technical field
The invention belongs to the Robotics field, particularly a kind of holding finger device that is used for scroll chuck.
Background technology
For the clamping of round piece, general engineers and technicians think as long as use scroll chuck, just can accomplish the concentric clamping to round piece.Practical operation is got off, and the clamping of this scroll chuck formula is feasible to pancake cylinder only, but for the cylinder of growing tubular, just can not guarantee the concentric of cylinder two ends.Just can not guarantee that also the cylinder physical efficiency is perpendicular to scroll chuck.
Cause the reason of this situation have following some:
1) in scroll chuck clamping workpiece, all need point certain length, just can carry out actual clamping work.When the scroll chuck real work, just because of the length of finger, cause finger rigidity in the longitudinal direction different, cause the root of finger to contact, and the finger head can not closely contact with workpiece with workpiece, cause the cylinder can not be perpendicular to paw.
2) theoretically, the finger on the scroll chuck is contacted with the form and the round piece of a contact.But small distortion (particularly thin-wall workpiece) can appear in workpiece during owing to clamping, and the some contact has just become a face contact.The increasing of frictional force causes workpiece not move by desirable direction, causes piece-holder bad.
3) when the finger on the scroll chuck when workpiece being carried out automatic clamping work, because workpiece centre can not guarantee to be concentric with scroll chuck.When scroll chuck moved, three fingers can not guarantee to contact with workpiece simultaneously, also are to cause one of bad reason of piece-holder.
When 4) scroll chuck carries out holding action to workpiece; Because three fingers are not simultaneously contacted with workpiece; When first finger with after workpiece contact, this finger will be pushed workpiece to the centre of two fingers in addition theoretically, make three to point ability and all contact with workpiece.But in fact be not such, when the cylindrical fineness of workpiece is bad,, cause piece-holder bad thus because the frictional force factor between finger and the workpiece two fingers can occur and just piece-holder lived.
Because several kinds of situation more than existing in the robot transport field, just can not be used the finger of general scroll chuck to the cylindrical clamping of long tubular that certain required precision is arranged.
Summary of the invention
The object of the invention; A kind of holding finger device that is used for scroll chuck is provided in order to address the above problem exactly; When adopting this finger apparatus clamping workpiece; Can make cylindrical work be concentric with scroll chuck, can guarantee the correct of robot gripping's workpiece perpendicular to the mounting plane of scroll chuck again.
The objective of the invention is to realize like this: the invention discloses a kind of holding finger device that is used for scroll chuck; Be installed on the scroll chuck; This device comprises the jaw locating piece and removably is fixed in the finger on the jaw locating piece that said device also comprises some bearings of being located at the finger head.
At the above-mentioned holding finger device that is used for scroll chuck, said finger is a linear axis.
At the above-mentioned holding finger device that is used for scroll chuck, said finger is removably fixed on the said jaw locating piece through screw.
At the above-mentioned holding finger device that is used for scroll chuck; Through three dimensional design, according to the thickness and the length of finger, and the clamping force of each holding finger device of scroll chuck; In three dimensional design, carry out force analysis; The fingers deformed parameter of acquisition under this clamping force, adversary's fingering row is revised design again, obtains only finger structure.
The present invention makes it have following advantage and characteristics owing to adopted above technical scheme:
1, adopt clamping workpiece of the present invention, can either make the cylindrical workpiece of clamping promptly be concentric with the center of scroll chuck, again can be perpendicular to the mounting plane of chuck;
2, adopt the present invention; When scroll chuck carried out real work, the head of long finger contacted with workpiece earlier, along with the increasing of clamping force; Finger can according to clamp and increasing deformation takes place; Form long finger head as main chucking power, finger root just has one can correct the vertical additional force of cylinder, makes after the cylinder clamping mounting plane perpendicular to scroll chuck;
3, owing to three bearings installing at the head of finger; In carrying out clamping process; When some fingers with after workpiece contacts because the clamping force direction does not overlap with workpiece centre, just have a component; Make workpiece take place workpiece all to be contacted with three fingers along the slip of finger head bearings radial direction.Guarantee the correct of clamping.
Description of drawings
Fig. 1 is a structural representation of the present invention.
The specific embodiment
Below in conjunction with accompanying drawing and embodiment the present invention is done further detailed description.
Referring to Fig. 1, a kind of holding finger device that is used for scroll chuck of the present invention is installed on the scroll chuck, and apparatus of the present invention comprise jaw locating piece 1, point 2 and three bearings 3 of being located at the finger head.
Wherein, jaw locating piece 1 is fixed on scroll chuck, and finger 2 removably is fixed on the jaw locating piece 1 through screw; According to the cylindrical work length that is held, draft the length of finger 2, generally require greater than 1/3rd of workpiece; The structural design of finger 2 is columniform, and linear axis is adopted in suggestion, through three dimensional design; According to the thickness and the length of finger 2, and the clamping force of each holding finger device of scroll chuck, in three dimensional design, carry out force analysis; Finger 2 deformation parameters of acquisition under this clamping force to pointing 2 designs of making amendment, obtain only finger 2 structures again.
At the above-mentioned holding finger device that is used for scroll chuck, the clip position at the finger head according to the weight that is held workpiece, reasonably designs and adds two or three bearings 3, and when guaranteeing that finger contacts with workpiece, frictional force is minimum.In carrying out clamping process, when some fingers with after workpiece contacts because the clamping force direction does not overlap with workpiece centre, just have a component, make workpiece take place workpiece all to be contacted with three fingers along the slip of pointing the head bearings radial direction.Guarantee the correct of clamping.
Above embodiment only supplies to explain the present invention's usefulness; But not limitation of the present invention; The technical staff in relevant technologies field under the situation that does not break away from the spirit and scope of the present invention, can also make various conversion or modification; Therefore all technical schemes that are equal to also should belong to category of the present invention, should be limited each claim.
Claims (3)
1. holding finger device that is used for scroll chuck; Be installed on the scroll chuck; This device comprises the jaw locating piece and removably is fixed in the finger on the jaw locating piece; It is characterized in that said device also comprises some bearings of being located at the finger head, the length of this finger is greater than being held 1/3rd of Workpiece length.
2. be used for the holding finger device of scroll chuck according to claim 1, it is characterized in that, said finger is a linear axis.
3. be used for the holding finger device of scroll chuck according to claim 1 or claim 2, it is characterized in that, said finger is fixed on the said jaw locating piece through screw.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN2009100481532A CN101844357B (en) | 2009-03-25 | 2009-03-25 | Holding finger device for three-jaw chuck |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN2009100481532A CN101844357B (en) | 2009-03-25 | 2009-03-25 | Holding finger device for three-jaw chuck |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN101844357A CN101844357A (en) | 2010-09-29 |
| CN101844357B true CN101844357B (en) | 2012-03-21 |
Family
ID=42769263
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN2009100481532A Active CN101844357B (en) | 2009-03-25 | 2009-03-25 | Holding finger device for three-jaw chuck |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN101844357B (en) |
Citations (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US4631995A (en) * | 1985-11-18 | 1986-12-30 | Vroenen John J | Tooling apparatus |
| CN1276280A (en) * | 1999-06-03 | 2000-12-13 | 速睦喜股份有限公司 | Parallelly opening-and-closing chuck |
-
2009
- 2009-03-25 CN CN2009100481532A patent/CN101844357B/en active Active
Patent Citations (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US4631995A (en) * | 1985-11-18 | 1986-12-30 | Vroenen John J | Tooling apparatus |
| CN1276280A (en) * | 1999-06-03 | 2000-12-13 | 速睦喜股份有限公司 | Parallelly opening-and-closing chuck |
Non-Patent Citations (1)
| Title |
|---|
| JP特开2002-273680A 2002.09.25 |
Also Published As
| Publication number | Publication date |
|---|---|
| CN101844357A (en) | 2010-09-29 |
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| C14 | Grant of patent or utility model | ||
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