CN107696058A - Double-side type Three-jaw fixture and manipulator - Google Patents
Double-side type Three-jaw fixture and manipulator Download PDFInfo
- Publication number
- CN107696058A CN107696058A CN201710977028.4A CN201710977028A CN107696058A CN 107696058 A CN107696058 A CN 107696058A CN 201710977028 A CN201710977028 A CN 201710977028A CN 107696058 A CN107696058 A CN 107696058A
- Authority
- CN
- China
- Prior art keywords
- double
- side type
- jaw fixture
- pawl
- cylinder body
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Pending
Links
- 230000001360 synchronised effect Effects 0.000 claims description 43
- 230000033001 locomotion Effects 0.000 claims description 23
- 230000002093 peripheral effect Effects 0.000 claims description 17
- 230000001105 regulatory effect Effects 0.000 claims description 11
- 238000004519 manufacturing process Methods 0.000 abstract description 6
- 238000007514 turning Methods 0.000 description 12
- 238000009434 installation Methods 0.000 description 8
- 230000008901 benefit Effects 0.000 description 7
- 210000000078 claw Anatomy 0.000 description 5
- 230000007246 mechanism Effects 0.000 description 4
- 238000000034 method Methods 0.000 description 4
- 230000009471 action Effects 0.000 description 2
- 230000009286 beneficial effect Effects 0.000 description 2
- 230000002950 deficient Effects 0.000 description 2
- 238000005516 engineering process Methods 0.000 description 2
- 239000000463 material Substances 0.000 description 2
- 230000004048 modification Effects 0.000 description 2
- 238000012986 modification Methods 0.000 description 2
- 230000008569 process Effects 0.000 description 2
- 229910000838 Al alloy Inorganic materials 0.000 description 1
- 244000023431 Proboscidea parviflora Species 0.000 description 1
- 235000019096 Proboscidea parviflora Nutrition 0.000 description 1
- 230000005540 biological transmission Effects 0.000 description 1
- 230000008859 change Effects 0.000 description 1
- 230000006872 improvement Effects 0.000 description 1
- 238000003754 machining Methods 0.000 description 1
- 230000006641 stabilisation Effects 0.000 description 1
- 238000011105 stabilization Methods 0.000 description 1
- 238000006467 substitution reaction Methods 0.000 description 1
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J15/00—Gripping heads and other end effectors
- B25J15/08—Gripping heads and other end effectors having finger members
- B25J15/10—Gripping heads and other end effectors having finger members with three or more finger members
Landscapes
- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Jigs For Machine Tools (AREA)
Abstract
The invention provides a kind of double-side type Three-jaw fixture and manipulator, wherein, double-side type Three-jaw fixture includes：Support member；Two clamp systems, it is respectively arranged at the opposite sides of support member, any clamp system includes three pawl arms being circumferentially uniformly arranged, and correspond three drive devices set with three pawl arms, wherein, three pawl arms are stretched out to the direction away from another clamp system, and any drive device is used to drive corresponding pawl arm to move, and workpiece is clamped to be realized by three pawl arms.Pass through technical scheme, on the one hand the stability and reliability when clamping workpiece are improved, on the other hand can be while clamping workpiece be realized, significantly shorten the length of each pawl arm, make the compact overall structure of the double-side type Three-jaw fixture, reduce and the clamp system of both sides and clamped workpiece are carried out to space required when rotation changes over, practicality is high, is advantageous to improve production efficiency.
Description
Technical field
The present invention relates to field of fixtures, in particular to a kind of double-side type Three-jaw fixture and a kind of manipulator.
Background technology
At present, the machining processes of existing aluminium alloy wheel hub include turning I sequences and turning II sequences, firstly, it is necessary to by hair
Base clamping pulls down the half of blank of turning to automatic turning is carried out after the Digit Control Machine Tool of turning I sequences after the complete I sequences of turning, then
New blank repeats to process on clamping, the half of blank clamping of turning to II sequences numerically controlled lathe progress II sequence turning.Wherein,
Numerically controlled lathe used in turning I sequences and turning II sequences is generally all to be arranged side by side face-to-face, and distance is big between two numerically controlled lathes
About between 1 meter~2 meters, manual operation is very inconvenient when carrying out clamping and carrying, cumbersome and time consuming.
In correlation technique, match somebody with somebody double claw clip tools using six axis joint robots and clamping is carried out to wheel hub, in order to clamp major part
Wheel hub, jig arm design it is long, cause clamping when fixture two jig arm synchronism and stability can be by certain
Influence, in turn resulting in the dimensional accuracy of the wheel hub after turning reduces.In addition, work as wheel hub and the progress needed to remove on numerically controlled lathe
Rotation when changing over, it is necessary to space it is larger, cause the six related fixtures of axis joint robot to need first to get back, then in sky
Between enough place carry out rotation and exchange operation, complicate whole operation process, production efficiency is relatively low.
The content of the invention
At least one in order to solve the above-mentioned technical problem, it is an object of the present invention to provide a kind of claw clip of double-side type three
Tool.
It is another object of the present invention to provide a kind of manipulator with above-mentioned double-side type Three-jaw fixture.
To achieve the above object, the embodiment of first aspect present invention provides a kind of double-side type Three-jaw fixture, including：Branch
Support part part；Two clamp systems, are respectively arranged at the opposite sides of support member, and any clamp system includes circumferential be uniformly arranged
Three pawl arms, and correspond three drive devices set with three pawl arms, wherein, three pawl arms are to away from another
The direction of individual clamp system is stretched out, and any drive device is used to drive corresponding pawl arm to move, to realize folder by three pawl arms
Clamping of workpieces.
Double-side type Three-jaw fixture provided by the invention, a clamping machine is respectively arranged with the opposite sides of support member
Structure, the workpiece that can be pointed to the double-side type Three-jaw fixture opposite sides respectively by above-mentioned two clamp system are clamped.
Specifically, any one clamp system includes three pawl arms being circumferentially uniformly arranged, and three pawl arms are equal in a clamp system
Stretched out to the direction away from another clamp system, any one clamp system passes through the drive device band that is correspondingly arranged with pawl arm
Dynamic corresponding pawl arm motion, is realized and is clamped the workpiece of side using three pawl arms.By such scheme, on the one hand improve
Clamp the stability and reliability during workpiece, on the other hand can realize clamp workpiece while, significantly shorten each pawl
The length of arm, make the compact overall structure of the double-side type Three-jaw fixture, reduce the clamp system of both sides and clamped work
Part carries out space required when rotation changes over, and practicality is high, is advantageous to improve production efficiency.
Wherein, workpiece includes wheel hub, what deserves to be explained is, for comparing two claw clips tool, wheel hub is entered by three pawl arms
Row clamps, and has the advantages of compact-sized, clamping accuracy is high, the length of each pawl arm is greatly shortened, is easy in narrower sky
Interior realize changes over to the clamp system of both sides and the rotation of clamped wheel hub, and practicality is high.
In addition, the double-side type Three-jaw fixture in above-described embodiment provided by the invention can also have following supplementary technology special
Sign：
In any of the above-described technical scheme, it is preferable that drive device includes：Housing assembly, including：Cylinder body, cylinder body is interior to be set
There is piston hole；Piston, it is installed in piston hole；Piston rod, one end are connected with piston, and it is outer with supporting that the other end extends to piston hole
Connecting bracket in part is fixedly connected.
In this programme, by the way that the piston rod in housing assembly is fixedly connected with the connecting bracket in support member, make
Cylinder body can move relative to support member, so as to drive corresponding pawl arm to move using movement of cylinder block, simplify folder
The overall structure of tight mechanism, advantageously reduces cost.
Alternatively, two piston holes are set in the left and right sides of cylinder body, then respectively one work of installation in each piston hole
The piston rod being connected with each piston, is finally fixedly connected, it is possible to increase the stabilization of movement of cylinder block by plug with connecting bracket respectively
Property, and then clamping accuracy can be improved.
In any of the above-described technical scheme, it is preferable that also include：Guide rail structure, including the guide rail and guide groove being engaged, guide rail
With one in guide groove on cylinder body, another is in connecting bracket.
In this programme, be provided with guide rail structure in double-side type Three-jaw fixture, guide rail structure include the guide rail being engaged and
Guide groove, by by one in guide rail and guide groove on the cylinder body, another in connecting bracket, enable cylinder body relative to
Connecting bracket is smoothly slided.
Alternatively, a guide rail structure is set respectively in the left and right sides of cylinder body, can further improve movement of cylinder block
Stationarity, and then clamping accuracy is improved, reliability is higher.
In any of the above-described technical scheme, it is preferable that support member includes：Supporting plate, and it is fixedly connected on supporting plate two
Two connecting poles of side, two connecting poles are each perpendicular to supporting plate, wherein, three companies are fixed with the outer peripheral face of any connecting pole
Connect support, and the spaced 120 degree of settings of three connecting brackets.
In this programme, the both sides of supporting plate are respectively fixedly connected with a connecting pole perpendicular to supporting plate, any connection
Three connecting brackets of spaced 120 degree of settings are fixed with the outer peripheral face of post, by setting connecting bracket, are easy to cylinder body
Piston rod in component is fixed, and can limit the direction of motion of cylinder body so that is not easy when clamping workpiece using pawl arm
There is the situation of clamping section dislocation, the problem of hurting sb.'s feelings slid so as to reduce the workpiece caused by Workpiece clamping portion misplaces,
Improve security.
Alternatively, the shape of cross section of connecting pole is in equilateral triangle, is easy to position three connecting brackets, has peace
Fill the advantages of facilitating.
Wherein it is possible to understand, three pawl arms in any clamp system are spaced 120 degree along a circumferencial direction
Set.
In any of the above-described technical scheme, it is preferable that housing assembly includes cylinder assembly.
In this programme, when housing assembly is cylinder assembly, for the light-dutyer workpiece such as wheel hub, it clamps work speed
Block, the clamping force to workpiece can be kept for a long time.
Alternatively, housing assembly can select hydraulic pressure cylinder assembly, and its clamping force is larger, it is possible to achieve gripping large-scale workpiece,
And stability and reliability height when clamping.
In any of the above-described technical scheme, it is preferable that guide rail structure includes T-rail structure and dovetail slideway structure.
In this programme, T-rail structure and dovetail slideway structure have preferable circumferential position-limiting action, pass through setting
Guide rail structure is the stability and reliability when T-rail structure and/or dovetail slideway structure can improve movement of cylinder block.
In any of the above-described technical scheme, it is preferable that also include：Synchronous ring, the open end of any connecting pole is arranged at, it is synchronous
The axis of ring overlaps with the axis of connecting pole, and synchronous ring can rotate relative to connecting pole；Wherein, synchronous ring with it is corresponding
Connecting rod is provided between any cylinder body in the clamp system of synchronous ring, to realize the synchronization of three pawl arms in clamp system
Motion.
In this programme, pass through the synchronization that can be rotated in the installation of the open end of any connecting pole relative to the connecting pole
Ring, and connecting rod is provided between synchronous ring and any cylinder body in the clamp system corresponding to synchronous ring, realize the clamping
Three pawl arms in mechanism are synchronized with the movement, and synchronism is good, and the stationarity of pawl arm motion is high, improve clamp system clamping
Precision, there is higher stability and reliability.
Wherein it is possible to understand, connecting rod connects with the edge part of synchronous ring, and the axis of connecting rod and synchronous ring
Axis between keep disjoint state, to improve synchronism.
Alternatively, connecting rod includes the first bar segment and the second bar segment, and the angle between the first bar segment and the second bar segment is big
In or equal to 100 degree, and it is less than 180 degree.
In any of the above-described technical scheme, it is preferable that also include：Adjusting part, including：Fixed seat, it is fixedly connected with cylinder body,
The T-slot set along the direction of motion of cylinder body is formed in fixed seat；Regulating block, regulating block be provided with least one connecting hole and
Mounting hole for mounting jaw arm；Connector, for connecting T-slot and connecting hole, pawl arm is fixed on cylinder body with realizing, its
In, one end of connector connection T-slot can be fixed on any one position between T-slot both ends.
In this programme, the fixed seat in adjusting part is fixed on cylinder body, and the regulating block in adjusting part is provided with extremely
A few connecting hole and the mounting hole for mounting jaw arm, T-slot and connecting hole are connected by connector, pawl arm can be consolidated
It is scheduled on cylinder body, wherein, alternatively, connector includes screw bolt and nut, and the end of bolt is connected in T-slot, the bar of bolt
Portion can pass through the opening and connecting hole of T-slot, be then attached with nut, when not tightened between nut and bolt,
The end of bolt can be movable between the both ends of T-slot, in order to which the end of bolt is fixed on into T-slot when tightening nut
Any one position between both ends (includes the position at T-slot both ends, it will be understood that, can when the outer end in both ends
The workpiece for clamping large-size is realized, when the inner in both ends, the workpiece for clamping reduced size can be realized), so as to
Realize and the installation site of pawl arm is adjusted, to adjust the gripping range of clamp system, realize and clamp different-diameter size
Workpiece, practicality are high.
In any of the above-described technical scheme, it is preferable that support member also includes：Ring flange, it is arranged at the end of supporting plate, method
Blue disk is used to connect manipulator.
In this programme, by the end set ring flange in supporting plate, it is easy to the double-side type Three-jaw fixture fixing company
Connect on a robotic arm, to drive the double-side type Three-jaw fixture to be overturn by manipulator.
Wherein, alternatively, the middle part of ring flange is welded with two connecting plates, is formed between two connecting plates for holding
Receive the holding tank of supporting plate end, the end of supporting plate is positioned in holding tank, and passes through two connecting plates by multiple bolts
And the through hole in supporting plate, realize fixed flange and supporting plate.
Alternatively, the peripheral part circumference array of ring flange sets multiple connection through holes.
In any of the above-described technical scheme, it is preferable that support member also includes：Pipeline fixed plate, pipeline fixed plate it is transversal
Face is L-shaped, and pipeline fixed plate is fixedly connected on the peripheral part of ring flange.
It is convenient by setting the L-shaped pipeline fixed plate of shape of cross section in the peripheral part of ring flange in this programme
Pair pipeline being connected with the double-side type Three-jaw fixture and/or wire harness arrange, and are less prone to pipeline and/or wire harness is squeezed and damaged by pressure
Situation.
In any of the above-described technical scheme, it is preferable that pawl arm includes：Support column；Pinch wheels, the end of support column is arranged at,
The outer peripheral face of pinch wheels is provided with V-shaped groove；Wherein, pinch wheels are rotatablely connected with support column, or pinch wheels are fixedly connected with support column.
In this programme, V-shaped groove is set by the end set pinch wheels in support column, and in the outer peripheral face of pinch wheels,
It is easy to be clamped workpiece using pinch wheels, wherein, when pinch wheels are fixedly connected with support column, there is higher clamping essence
Degree, when pinch wheels and support column are rotatablely connected, be less prone to due to clamping force is excessive and the situation of defective work piece.
Alternatively, workpiece is wheel hub, the wheel hub for clamping different-diameter can be realized by the double-side type Three-jaw fixture, and press from both sides
Tight precision is higher, in addition, the compact overall structure that the double-side type three-jaw clamps, is easily achieved the upset of wheel hub after clamping wheel hub
Operation, be advantageous to improve production efficiency.
The embodiment of second aspect of the present invention provides the double-side type in a kind of manipulator, including any of the above-described technical scheme
Three-jaw fixture.
Manipulator provided by the invention, because of the double-side type Three-jaw fixture being provided with any of the above-described technical scheme, so as to have
There is all of the above beneficial effect, will not be repeated here.
The additional aspect and advantage of the present invention will become obvious in following description section, or the practice by the present invention
Recognize.
Brief description of the drawings
Fig. 1 shows the structural representation of double-side type Three-jaw fixture according to an embodiment of the invention；
Fig. 2 shows the structural representation of double-side type Three-jaw fixture according to another embodiment of the invention；
Fig. 3 shows the left view of the double-side type Three-jaw fixture in Fig. 2；
Fig. 4 shows the structural representation of double-side type Three-jaw fixture according to still a further embodiment；
Fig. 5 shows the structural representation of supporting plate according to an embodiment of the invention；
Fig. 6 shows the left view of the supporting plate in Fig. 5；
Fig. 7 shows the structural representation of regulating block according to an embodiment of the invention；
Fig. 8 shows the structural representation of regulating block according to another embodiment of the invention.
Wherein, corresponding relations of the Fig. 1 into Fig. 8 between reference and component names is：
102 pawl arms, 104 cylinder bodies, 106 connecting brackets, 108 guide grooves, 110 supporting plates, 112 connecting poles, 114 fixed seats, 116
Regulating block, 118 support columns, 120 pinch wheels, 122 ring flanges, 124 pipeline fixed plates, 126 connecting plates, 128 workpiece, 130 is synchronous
Ring, 132 connecting rods, 1142T shape grooves, 1062 connecting holes, 1064 mounting holes.
Embodiment
It is below in conjunction with the accompanying drawings and specific real in order to be more clearly understood that the above objects, features and advantages of the present invention
Mode is applied the present invention is further described in detail.It should be noted that in the case where not conflicting, the implementation of the application
Feature in example and embodiment can be mutually combined.
Many details are elaborated in the following description to facilitate a thorough understanding of the present invention, still, the present invention may be used also
To be different from other modes described here using other to implement, therefore, protection scope of the present invention is not limited to following public affairs
The limitation for the specific embodiment opened.
The double-side type Three-jaw fixture provided according to some embodiments of the invention referring to Fig. 1 to Fig. 8 descriptions.
As shown in Figure 1 to Figure 3, double-side type Three-jaw fixture provided in an embodiment of the present invention, including：Support member；Two folders
Tight mechanism, is respectively arranged at the opposite sides of support member, and any clamp system includes three pawl arms being circumferentially uniformly arranged
102, and three drive devices set are corresponded with three pawl arms 102, wherein, three pawl arms 102 are to away from another
The direction of individual clamp system is stretched out, and any drive device is used to drive corresponding pawl arm 102 to move, to pass through three pawl arms 102
Realize and clamp workpiece 128.
Double-side type Three-jaw fixture provided by the invention, a clamping machine is respectively arranged with the opposite sides of support member
Structure, the workpiece 128 that can be pointed to the double-side type Three-jaw fixture opposite sides respectively by above-mentioned two clamp system are pressed from both sides
Tightly.Specifically, any one clamp system includes three pawl arms 102 being circumferentially uniformly arranged, and three in a clamp system
Pawl arm 102 stretches out to the direction away from another clamp system, and any one clamp system with pawl arm 102 by being correspondingly arranged
Drive device drive corresponding pawl arm 102 to move, realize and be clamped the workpiece 128 of side using three pawl arms 102.It is logical
Such scheme is crossed, on the one hand improves stability and reliability when clamping workpiece 128, on the other hand can clamp work realizing
While part 128, significantly shorten the length of each pawl arm 102, make the compact overall structure of the double-side type Three-jaw fixture, reducing will
The clamp system of both sides and clamped workpiece 128 carry out space required when rotation changes over, and practicality is high, is advantageous to
Improve production efficiency.
Wherein, workpiece 128 includes wheel hub, what deserves to be explained is, it is right by three pawl arms 102 for comparing two claw clips tool
Wheel hub is clamped, and has the advantages of compact-sized, clamping accuracy is high, the length of each pawl arm 102 is greatly shortened, is easy to
Realized in narrower space and the clamp system of both sides and the rotation of clamped wheel hub are changed over, practicality is high.
In one embodiment of the invention, as shown in Figures 1 to 4, drive device includes：Housing assembly, including：Cylinder body
104, piston hole is provided with cylinder body 104；Piston, it is installed in piston hole；Piston rod, one end are connected with piston, and the other end prolongs
Extend and be fixedly connected outside piston hole with the connecting bracket 106 in support member.
In this programme, by the way that the piston rod in housing assembly is fixedly connected with the connecting bracket 106 in support member,
Cylinder body 104 is set to be moved relative to support member, so as to be moved using cylinder body 104 to drive corresponding pawl arm 102 to move
It is dynamic, the overall structure of clamp system is simplified, advantageously reduces cost.
Alternatively, two piston holes are set in the left and right sides of cylinder body 104, then each installation one in each piston hole
Piston, finally the piston rod being connected with each piston is fixedly connected with connecting bracket 106 respectively, it is possible to increase cylinder body 104 is transported
Dynamic stability, and then clamping accuracy can be improved.
In one embodiment of the invention, drive device is screw mandrel stepper motor, and any clamp system is walked by screw mandrel
Stepper motor drives corresponding pawl arm 102 to move along a straight line, and realizes and clamps workpiece 128 using three pawl arms 102.
In some embodiments of the invention, as shown in Figures 1 to 4, double-side type Three-jaw fixture also includes：Guide rail structure,
Including the guide rail and guide groove 108 being engaged, one in guide rail and guide groove 108 is located on cylinder body 104, and another is located at connection branch
On frame 106.
In this programme, be provided with guide rail structure in double-side type Three-jaw fixture, guide rail structure include the guide rail being engaged and
Guide groove 108, by the way that on cylinder body 104, another makes cylinder in connecting bracket 106 by one in guide rail and guide groove 108
Body 104 can smoothly slide relative to connecting bracket 106.
Alternatively, a guide rail structure is set respectively in the left and right sides of cylinder body 104, can further improve cylinder body 104
The stationarity of motion, and then clamping accuracy is improved, reliability is higher.
In some embodiments of the invention, as shown in Figures 1 to 6, support member includes：Supporting plate 110, and it is fixed
Two connecting poles 112 of the both sides of supporting plate 110 are connected to, two connecting poles 112 are each perpendicular to supporting plate 110, wherein, Ren Yilian
Connect and three connecting brackets 106 are fixed with the outer peripheral face of post 112, and three connecting brackets, 106 spaced 120 degree of settings.
In this programme, the both sides of supporting plate 110 are respectively fixedly connected with a connecting pole 112 perpendicular to supporting plate 110,
Three connecting brackets 106 of spaced 120 degree of settings are fixed with the outer peripheral face of any connecting pole 112, are connected by setting
Support 106, it is easy to that the piston rod in housing assembly is fixed, and the direction of motion of cylinder body 104 can be limited so that in profit
The situation that clamping section misplaces is less prone to when clamping workpiece 128 with pawl arm 102, so as to reduce because the clamping section of workpiece 128 is wrong
Workpiece 128 slides the problem of hurting sb.'s feelings caused by position, improves security.
Alternatively, the shape of cross section of connecting pole 112 is in equilateral triangle, is easy to position three connecting brackets 106,
With it is easy for installation the advantages of.
Wherein it is possible to understand, three in any clamp system pawl arm 102 is set along a circumferencial direction spaced 120
Put.
In some embodiments of the invention, housing assembly includes cylinder assembly.
In this programme, when housing assembly is cylinder assembly, for the light-dutyer workpiece 128 such as wheel hub, it clamps work
The speed block of part 128, can keep the clamping force to workpiece 128 for a long time.
Alternatively, housing assembly can select hydraulic pressure cylinder assembly, and hydraulic pressure cylinder assembly clamping force is larger, it is possible to achieve gripping is big
Type workpiece 128, and stability and reliability height during clamping.
In some embodiments of the invention, guide rail structure includes T-rail structure and dovetail slideway structure.
In this programme, T-rail structure and dovetail slideway structure have preferable circumferential position-limiting action, pass through setting
Guide rail structure is that T-rail structure and/or dovetail slideway structure can improve stability when cylinder body 104 moves and reliable
Property.
In some embodiments of the invention, as shown in Figures 1 to 4, double-side type Three-jaw fixture also includes：Synchronous ring 130,
The open end of any connecting pole 112 is arranged at, the axis of synchronous ring 130 overlaps with the axis of connecting pole 112, and synchronous ring
130 can rotate relative to connecting pole 112；Wherein, any in clamp system of the synchronous ring 130 with corresponding to synchronous ring 130
Connecting rod 132 is provided between cylinder body 104, to realize being synchronized with the movement for three pawl arms 102 in clamp system.
In this programme, pass through what can be rotated in the installation of the open end of any connecting pole 112 relative to the connecting pole 112
Synchronous ring 130, and connection is provided between synchronous ring 130 and any cylinder body 104 in the clamp system corresponding to synchronous ring 130
Bar 132, being synchronized with the movement for three in the clamp system pawl arms 102 is realized, and synchronism is good, pawl arm 102 moves steady
Property it is high, improve the clamp system clamping accuracy, there is higher stability and reliability.
Wherein it is possible to understand, connecting rod 132 connects with the edge part of synchronous ring 130, and the axis of connecting rod 132
Disjoint state is kept between line and the axis of synchronous ring 130, to improve synchronism.
Alternatively, connecting rod 132 includes the first bar segment and the second bar segment, and the angle between the first bar segment and the second bar segment
More than or equal to 100 degree, and it is less than 180 degree.
In some embodiments of the invention, as shown in Figure 1 to Figure 4 and shown in Fig. 7 and Fig. 8, double-side type Three-jaw fixture also wraps
Include：Adjusting part, including：Fixed seat 114, it is fixedly connected with cylinder body 104, is formed in fixed seat 114 along the motion side of cylinder body 104
To the T-slot 1142 of setting；Regulating block 116, regulating block 116 are provided with least one connecting hole 1062 and for mounting jaw arms
102 mounting hole 1064；Connector, for connecting T-slot 1142 and connecting hole 1062, pawl arm 102 is fixed on cylinder to realize
On body 104, wherein, one end of connector connection T-slot 1142 can be fixed on any one between the both ends of T-slot 1142
Position.
In this programme, the fixed seat 114 in adjusting part is fixed on cylinder body 104, the regulating block 116 in adjusting part
At least one connecting hole 1062 and the mounting hole 1064 for mounting jaw arm 102 are provided with, T-slot is connected by connector
1142 and connecting hole 1062, pawl arm 102 can be fixed on cylinder body 104, wherein, alternatively, connector includes bolt and spiral shell
Mother, the end of bolt are connected in T-slot 1142, and the bar portion of bolt can pass through the opening and connecting hole of T-slot 1142
1062, then it is attached with nut, when not tightened between nut and bolt, the end of bolt can be in T-slot 1142
It is movable between both ends, in order to which the end of bolt to be fixed on to any one between the both ends of T-slot 1142 when tightening nut
Position (includes the position at the both ends of T-slot 1142, it will be understood that when the outer end in both ends, can realize and clamp larger chi
Very little workpiece 128, when the inner in both ends, the workpiece 128 for clamping reduced size can be realized), so as to realize to pawl
The installation site of arm 102 is adjusted, and to adjust the gripping range of clamp system, realizes the workpiece for clamping different-diameter size
128, practicality is high.
Alternatively, connection is threadably secured between pawl arm and mounting hole.
In some embodiments of the invention, as shown in Figure 1 to Figure 3, support member also includes：Ring flange 122, is arranged at
The end of supporting plate 110, ring flange 122 are used to connect manipulator.
In this programme, by the end set ring flange 122 in supporting plate 110, it is easy to the double-side type Three-jaw fixture
It is fixedly connected on a robotic arm, to drive the double-side type Three-jaw fixture to be overturn by manipulator.
Wherein, alternatively, as shown in Figure 1 to Figure 3, the middle part of ring flange 122 is welded with two connecting plates 126, and two
The holding tank for accommodating the end of supporting plate 110 is formed between individual connecting plate 126, the end of supporting plate 110 is positioned over holding tank
It is interior, and realize fixed flange 122 and branch through the through hole on two connecting plates 126 and supporting plate 110 by multiple bolts
Fagging 110.
Alternatively, the peripheral part circumference array of ring flange 122 sets multiple connection through holes.
In some embodiments of the invention, as shown in Figure 1 to Figure 3, support member also includes：Pipeline fixed plate 124, pipe
The cross section of road fixed plate 124 is L-shaped, and pipeline fixed plate 124 is fixedly connected on the peripheral part of ring flange 122.
In this programme, by setting the L-shaped pipeline fixed plate of shape of cross section in the peripheral part of ring flange 122
124, convenient pair pipeline being connected with the double-side type Three-jaw fixture and/or wire harness arrange, and are less prone to pipeline and/or wire harness
It is squeezed situation about damaging by pressure.
In some embodiments of the invention, double-side type Three-jaw fixture also includes：Sychronisation, it is arranged at adjacent two
Between pawl arm 102, wherein, sychronisation includes：First synchronous rack and the second synchronous rack, are separately fixed at adjacent two
On pawl arm 102, and the first synchronous rack and the second synchronous rack are set along the direction of motion of corresponding pawl arm 102 respectively；Two
Intermeshing synchromesh gear, respectively rack synchronous with first and the second synchronous rack engagement.
In this programme, by setting sychronisation between two adjacent pawl arms 102, any clamp system can be made
In three pawl arms 102 be synchronized with the movement, and then clamping accuracy can be improved, there is higher stability and reliability, specifically,
Sychronisation includes the first synchronous rack and the second synchronous rack being separately fixed on two adjacent pawl arms 102, and first
Synchronous rack and the second synchronous rack are set along the direction of motion of corresponding pawl arm 102 respectively, intermeshing same by two
Gear rack synchronous with first and the second synchronous rack engagement respectively are walked, can be realized using rack pinion two neighboring
Being synchronized with the movement between pawl arm 102, transmission accuracy is higher, so that each pawl arm 102 operates steadily, synchronism is good.
In some embodiments of the invention, as shown in Figure 1 to Figure 3, pawl arm 102 includes：Support column 118；Pinch wheels
120, the end of support column 118 is arranged at, the outer peripheral face of pinch wheels 120 is provided with V-shaped groove；Wherein, pinch wheels 120 and support column
118 rotation connections, or pinch wheels 120 are fixedly connected with support column 118.
In this programme, set by the end set pinch wheels 120 in support column 118, and in the outer peripheral face of pinch wheels 120
V-shaped groove is put, is easy to be clamped workpiece 128 using pinch wheels 120, wherein, when pinch wheels 120 and support column 118 are fixed and connected
When connecing, there is higher clamping accuracy, when pinch wheels 120 and the rotation connection of support column 118, be less prone to due to clamping force mistake
The situation of defective work piece 128 greatly.
Alternatively, workpiece 128 is wheel hub, and the wheel hub for clamping different-diameter can be realized by the double-side type Three-jaw fixture,
And clamping accuracy is higher, in addition, the compact overall structure that the double-side type three-jaw clamps, wheel is easily achieved after the hub of pinch wheels 120
The turning operation of hub, be advantageous to improve production efficiency.
The manipulator (not shown) that the present embodiment provides, including the claw clip of double-side type three in any of the above-described technical scheme
Tool.
Manipulator (not shown) provided by the invention, because of the double-side type three-jaw being provided with any of the above-described technical scheme
Fixture, so as to have all of the above beneficial effect, it will not be repeated here.
In summary, double-side type Three-jaw fixture and manipulator provided by the invention, distinguish in the opposite sides of support member
A clamp system is provided with, the double-side type Three-jaw fixture opposite sides can be pointed to respectively by above-mentioned two clamp system
Workpiece be clamped.Specifically, any one clamp system includes three pawl arms being circumferentially uniformly arranged, and a clamping machine
Three pawl arms are stretched out to the direction away from another clamp system in structure, and any one clamp system is set by corresponding with pawl arm
The drive device put drives corresponding pawl arm motion, realizes and is clamped the workpiece of side using three pawl arms.By above-mentioned
Scheme, on the one hand improve clamp workpiece when stability and reliability, on the other hand can realize clamp workpiece while,
Significantly shorten the length of each pawl arm, make the compact overall structure of the double-side type Three-jaw fixture, reduce the clamp system of both sides
And clamped workpiece carries out space required when rotation changes over, practicality is high.
What deserves to be explained is for comparing two claw clips tool, wheel hub is clamped by three pawl arms, has structure tight
Gather, the advantages of clamping accuracy is high, the length of each pawl arm is greatly shortened, is easy to realize the folder to both sides in narrower space
Tight mechanism and the rotation of clamped wheel hub change over, and practicality is high, are advantageous to improve the processing efficiency of wheel hub.
In the present invention, term " first ", " second ", " the 3rd " are only used for the purpose described, and it is not intended that instruction
Or imply relative importance；Term " multiple " then refers to two or more, is limited unless otherwise clear and definite.Term " installation ",
The term such as " connected ", " connection ", " fixation " all should be interpreted broadly, for example, " connection " can be fixedly connected or can
Dismantling connection, or be integrally connected；" connected " can be joined directly together, and can also be indirectly connected by intermediary.For this
For the those of ordinary skill in field, the concrete meaning of above-mentioned term in the present invention can be understood as the case may be.
In description of the invention, it is to be understood that the instruction such as term " on ", " under ", "left", "right", "front", "rear"
Orientation or position relationship are based on orientation shown in the drawings or position relationship, are for only for ease of the description present invention and simplification is retouched
State, rather than instruction or imply signified device or unit there must be specific direction, with specific azimuth configuration and operation,
It is thus impossible to it is interpreted as limitation of the present invention.
In the description of this specification, the description of term " one embodiment ", " some embodiments ", " specific embodiment " etc.
Mean to combine at least one reality that specific features, structure, material or the feature that the embodiment or example describe are contained in the present invention
Apply in example or example.In this manual, identical embodiment or reality are not necessarily referring to the schematic representation of above-mentioned term
Example.Moreover, description specific features, structure, material or feature can in any one or more embodiments or example with
Suitable mode combines.
The preferred embodiments of the present invention are these are only, are not intended to limit the invention, for those skilled in the art
For member, the present invention can have various modifications and variations.Any modification within the spirit and principles of the invention, being made,
Equivalent substitution, improvement etc., should be included in the scope of the protection.
Claims (13)
- A kind of 1. double-side type Three-jaw fixture, it is characterised in that including：Support member；Two clamp systems, are respectively arranged at the opposite sides of the support member, and any clamp system includes circumferential equal Three pawl arms of even setting, and three drive devices set are corresponded with three pawl arms,Wherein, three pawl arms are stretched out to the direction away from another clamp system, and any drive device is used In driving the corresponding pawl arm motion, workpiece is clamped to be realized by three pawl arms.
- 2. double-side type Three-jaw fixture according to claim 1, it is characterised in that the drive device includes：Housing assembly, including：Cylinder body, piston hole is provided with the cylinder body；Piston, it is installed in the piston hole；Piston rod, one end are connected with the piston, and the other end is extended to outside the piston hole, and with the company in the support member Support is connect to be fixedly connected.
- 3. double-side type Three-jaw fixture according to claim 2, it is characterised in that also include：Guide rail structure, including the guide rail and guide groove being engaged, one in the guide rail and the guide groove on the cylinder body, Another is in the connecting bracket.
- 4. double-side type Three-jaw fixture according to claim 2, it is characterised in that the support member includes：Supporting plate, and two connecting poles of the supporting plate both sides are fixedly connected on, described two connecting poles are each perpendicular to institute State supporting plate,Wherein, three connecting brackets, and three connecting bracket phases are fixed with the outer peripheral face of any connecting pole Mutually 120 degree of interval setting.
- 5. double-side type Three-jaw fixture according to claim 2, it is characterised in thatThe housing assembly includes cylinder assembly.
- 6. double-side type Three-jaw fixture according to claim 3, it is characterised in thatThe guide rail structure includes T-rail structure and dovetail slideway structure.
- 7. double-side type Three-jaw fixture according to claim 4, it is characterised in that also include：Synchronous ring, it is arranged at the open end of any connecting pole, the axis of the synchronous ring and the axis of the connecting pole Line overlaps, and the synchronous ring can rotate relative to the connecting pole；Wherein, the company of being provided between the synchronous ring and any cylinder body in the clamp system corresponding to the synchronous ring Extension bar, to realize being synchronized with the movement for three pawl arms in the clamp system.
- 8. double-side type Three-jaw fixture according to claim 2, it is characterised in that also include：Adjusting part, including：Fixed seat, it is fixedly connected with the cylinder body, the T-shaped set along the direction of motion of the cylinder body is formed in the fixed seat Groove；Regulating block, the regulating block are provided with least one connecting hole and the mounting hole for installing the pawl arm；Connector, for connecting the T-slot and the connecting hole, the pawl arm is fixed on the cylinder body with realizing,Wherein, one end of the connector connection T-slot can be fixed on any one between the T-slot both ends Position.
- 9. double-side type Three-jaw fixture according to claim 4, it is characterised in that the support member also includes：Ring flange, is arranged at the end of the supporting plate, and the ring flange is used to connect manipulator.
- 10. double-side type Three-jaw fixture according to claim 9, it is characterised in that the support member also includes：Pipeline fixed plate, the cross section of the pipeline fixed plate is L-shaped, and the pipeline fixed plate is fixedly connected on the ring flange Peripheral part.
- 11. double-side type Three-jaw fixture according to any one of claim 1 to 10, it is characterised in that the pawl arm includes：Support column；Pinch wheels, are arranged at the end of the support column, and the outer peripheral face of the pinch wheels is provided with V-shaped groove；Wherein, the pinch wheels are rotatablely connected with the support column, or the pinch wheels are fixedly connected with the support column.
- 12. double-side type Three-jaw fixture according to any one of claim 1 to 10, it is characterised in that the workpiece includes Wheel hub.
- A kind of 13. manipulator, it is characterised in that including：Double-side type Three-jaw fixture as any one of claim 1 to 12.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710977028.4A CN107696058A (en) | 2017-10-19 | 2017-10-19 | Double-side type Three-jaw fixture and manipulator |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710977028.4A CN107696058A (en) | 2017-10-19 | 2017-10-19 | Double-side type Three-jaw fixture and manipulator |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN107696058A true CN107696058A (en) | 2018-02-16 |
Family
ID=61182795
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201710977028.4A Pending CN107696058A (en) | 2017-10-19 | 2017-10-19 | Double-side type Three-jaw fixture and manipulator |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN107696058A (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111470331A (en) * | 2020-05-28 | 2020-07-31 | 秦皇岛信能能源设备有限公司 | Stacking clamping jaw |
| CN117944021A (en) * | 2024-03-26 | 2024-04-30 | 福州亿得隆电气技术有限公司 | Robot capable of being flexibly operated |
Citations (10)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| DE4039167A1 (en) * | 1990-12-05 | 1992-06-11 | Mannesmann Ag | Gripper with several elements for moving objects - has direct drive for each element mounted star fashion in common base element |
| JPH11262885A (en) * | 1998-03-17 | 1999-09-28 | Kondo Seisakusho:Kk | Fluid pressure holding device |
| US20080128093A1 (en) * | 2006-12-01 | 2008-06-05 | Schenck Rotec Gmbh | Device for mounting a pneumatic tire onto a vehicle wheel rim |
| CN202640354U (en) * | 2012-07-02 | 2013-01-02 | 江苏天宏机械工业有限公司 | Multi-station mechanical arm carrying mechanism |
| CN203887595U (en) * | 2014-04-23 | 2014-10-22 | 浙江今跃机械科技开发有限公司 | Pneumatic three-jaw clamp |
| CN204109001U (en) * | 2014-09-30 | 2015-01-21 | 连云港杰瑞自动化有限公司 | A kind of wheel hub handling machinery paw |
| CN204160483U (en) * | 2014-10-22 | 2015-02-18 | 浙江今跃机械科技开发有限公司 | A kind of two pawl manipulator fixture |
| CN205272067U (en) * | 2016-01-15 | 2016-06-01 | 重庆机床(集团)有限责任公司 | General quick change clamping jaw |
| CN106695862A (en) * | 2016-12-21 | 2017-05-24 | 浙江今跃机械科技开发有限公司 | Integrated fixture and manipulator |
| CN207415399U (en) * | 2017-10-19 | 2018-05-29 | 浙江今跃机械科技开发有限公司 | Double-side type Three-jaw fixture and manipulator |
-
2017
- 2017-10-19 CN CN201710977028.4A patent/CN107696058A/en active Pending
Patent Citations (10)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| DE4039167A1 (en) * | 1990-12-05 | 1992-06-11 | Mannesmann Ag | Gripper with several elements for moving objects - has direct drive for each element mounted star fashion in common base element |
| JPH11262885A (en) * | 1998-03-17 | 1999-09-28 | Kondo Seisakusho:Kk | Fluid pressure holding device |
| US20080128093A1 (en) * | 2006-12-01 | 2008-06-05 | Schenck Rotec Gmbh | Device for mounting a pneumatic tire onto a vehicle wheel rim |
| CN202640354U (en) * | 2012-07-02 | 2013-01-02 | 江苏天宏机械工业有限公司 | Multi-station mechanical arm carrying mechanism |
| CN203887595U (en) * | 2014-04-23 | 2014-10-22 | 浙江今跃机械科技开发有限公司 | Pneumatic three-jaw clamp |
| CN204109001U (en) * | 2014-09-30 | 2015-01-21 | 连云港杰瑞自动化有限公司 | A kind of wheel hub handling machinery paw |
| CN204160483U (en) * | 2014-10-22 | 2015-02-18 | 浙江今跃机械科技开发有限公司 | A kind of two pawl manipulator fixture |
| CN205272067U (en) * | 2016-01-15 | 2016-06-01 | 重庆机床(集团)有限责任公司 | General quick change clamping jaw |
| CN106695862A (en) * | 2016-12-21 | 2017-05-24 | 浙江今跃机械科技开发有限公司 | Integrated fixture and manipulator |
| CN207415399U (en) * | 2017-10-19 | 2018-05-29 | 浙江今跃机械科技开发有限公司 | Double-side type Three-jaw fixture and manipulator |
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111470331A (en) * | 2020-05-28 | 2020-07-31 | 秦皇岛信能能源设备有限公司 | Stacking clamping jaw |
| CN117944021A (en) * | 2024-03-26 | 2024-04-30 | 福州亿得隆电气技术有限公司 | Robot capable of being flexibly operated |
| CN117944021B (en) * | 2024-03-26 | 2024-05-31 | 福州亿得隆电气技术有限公司 | Robot capable of being flexibly operated |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN106312320B (en) | A kind of thin-walled cylinder anti-deformation fixture and the laser melting coating machine for repairing crack | |
| US5075527A (en) | Apparatus and method for welding joint fixtures to a pipe | |
| CN206824685U (en) | A kind of external clamping type pipe cutting machine chuck structure | |
| CN107696058A (en) | Double-side type Three-jaw fixture and manipulator | |
| CN101058136A (en) | Special-shaped barrel automatic fitting and welding device | |
| CN112059361A (en) | Rotary pipe welding machine | |
| CN104646879A (en) | Respot jig | |
| CN207415399U (en) | Double-side type Three-jaw fixture and manipulator | |
| CN113305460A (en) | Automatic welding device and process method suitable for finned radiator oil collecting pipe | |
| US5125141A (en) | Work holding apparatus | |
| CN208787573U (en) | A kind of facilitate adjusts general vehicle width face pawl | |
| CN113828992B (en) | Double-shaft-head tail type automatic welding positioner and workpiece welding method | |
| CN210818183U (en) | Flexible frock of bicycle frame automatic weld | |
| JPS5866604A (en) | Method and device for gripping workpiece | |
| CN115723547A (en) | High-strength automobile support and manufacturing method thereof | |
| CN106271306B (en) | The automatic welding tooling and welding method of a kind of vehicle frame | |
| CN214601997U (en) | A anchor clamps frock for processing thin wall ring part | |
| CN107081439B (en) | Clamping System for measuring machine | |
| CN115139090A (en) | Automatic tightening machine and method for threaded connection of cylinders | |
| CN207858385U (en) | A kind of multi-station clamp for processing tap three-way connection | |
| CN217433533U (en) | Clamping device for butt welding of pipe fittings | |
| CN218193528U (en) | Metal pipe welding device for construction engineering construction | |
| CN112453134A (en) | Pipe fitting rotating clamp holder and robot pipe bending workstation comprising same | |
| CN105396758A (en) | Pipe positioning jig and positioning jig for glue filling of bicycle frame pipe | |
| CN219582081U (en) | Cooling water pipe assembly robot welding jig |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination |