CN113021403B - Miniature self-centering three-jaw manipulator - Google Patents
Miniature self-centering three-jaw manipulator Download PDFInfo
- Publication number
- CN113021403B CN113021403B CN202110337949.0A CN202110337949A CN113021403B CN 113021403 B CN113021403 B CN 113021403B CN 202110337949 A CN202110337949 A CN 202110337949A CN 113021403 B CN113021403 B CN 113021403B
- Authority
- CN
- China
- Prior art keywords
- jaw
- clamping
- piston
- set screw
- shaped ring
- 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.)
- Active
Links
- 230000006698 induction Effects 0.000 claims abstract description 7
- 238000007789 sealing Methods 0.000 claims description 3
- 238000004519 manufacturing process Methods 0.000 abstract description 5
- 238000005299 abrasion Methods 0.000 abstract description 4
- 230000007774 longterm Effects 0.000 abstract description 2
- 230000001360 synchronised effect Effects 0.000 abstract description 2
- 210000003371 toe Anatomy 0.000 description 10
- 239000000306 component Substances 0.000 description 3
- 239000008358 core component Substances 0.000 description 2
- 238000007599 discharging Methods 0.000 description 2
- 229910000838 Al alloy Inorganic materials 0.000 description 1
- 239000000956 alloy Substances 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 210000000078 claw Anatomy 0.000 description 1
- 230000007547 defect Effects 0.000 description 1
- 230000005484 gravity Effects 0.000 description 1
- 230000001939 inductive effect Effects 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 238000012986 modification 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)
- Manipulator (AREA)
- Gripping Jigs, Holding Jigs, And Positioning Jigs (AREA)
Abstract
The invention discloses a miniature self-centering three-jaw manipulator which mainly comprises a piston, an induction retainer ring, a set screw A, a cylinder cover, an inner hexagonal screw A, an oil-containing bearing, an O-shaped ring A, O type ring B, a cylinder body, a mountain leaning part, a three-jaw body, a positioning pin, three-jaw clamping jaws, an inner hexagonal screw B, three-jaw toe clamping, a set screw B, a hexagonal nut, a three-jaw push disc, an O-shaped ring C, O type ring D, a spring retainer ring and a set screw C. The invention has the advantages of easy manufacture of parts, convenient assembly and adjustment, reliable clamping centering, good maintainability, low cost and long service life, and can be only needed to replace damaged parts if the parts are worn or accidentally damaged; the three-jaw clamping jaw can be combined and replaced with the clamping toe, so that the three-jaw clamping jaw can be suitable for all three-pin frame products in the existing outer circumference phi 100-phi 60; the three-jaw abrasion is synchronous, self-centering, the center in the length direction cannot be changed, only the left center and the right center are required to be adjusted during die changing, the product changing debugging time is shortened, and the die changing machine is convenient and quick and suitable for long-term production and use.
Description
Technical Field
The invention relates to the field of manipulators, in particular to a miniature self-centering three-jaw manipulator.
Background
The three-pin frame grinding machine adopts an automatic feeding and discharging mode for circular automatic production, the core component of the used feeding and discharging manipulator is a pneumatic three-jaw chuck, the core component is made of an aluminum alloy material, the three-jaw guide rail is rectangular, gaps are easily formed by abrasion after the three-jaw grinding machine is used for a period of time, clamping is not tight and is not correct, the workpiece is suspended in the vertical state after being clamped, and the stability is poor, so that collision is often caused. The maintainability is poor. The existing manipulator has the problems of quick abrasion, high cost, frequent replacement, poor clamping reliability, short service life, difficult product replacement and debugging and the like.
Disclosure of Invention
The invention aims to overcome the defects in the prior art and provides a miniature self-centering three-jaw manipulator.
The invention aims at being completed by the following technical scheme: the miniature self-centering three-jaw mechanical hand mainly comprises a piston, an induction retainer ring, a set screw A, a cylinder cover, an inner hexagonal screw A, an oil-containing bearing, an O-shaped ring A, O type ring B, a cylinder body, a leaning mountain, a three-jaw body, a locating pin, three-jaw clamping jaws, an inner hexagonal screw B, three-jaw clamping toes, a set screw B, a hexagonal nut, a three-jaw pushing disc, an O-shaped ring C, O type ring D, a spring retainer ring and a set screw C, wherein the cylinder cover is connected with the cylinder cover through the inner hexagonal screw A and is provided with the O-shaped ring A for sealing, the piston is internally installed on the cylinder body, the upper part of the piston penetrates through the cylinder cover and is sealed with the cylinder cover through the O-shaped ring D, the upper part of the piston is fixedly connected with the spring retainer ring C through the set screw C, the spring retainer ring is arranged between the spring retainer ring and the cylinder cover, the piston top is connected with the induction retainer ring through the O-shaped ring B between the piston and the cylinder body through the O-shaped ring C, the lower part of the piston penetrates through the cylinder body and is sealed with the cylinder body through the three-jaw, the lower part is connected with the three-jaw body through the three-jaw clamping jaws, the three-jaw clamping jaws are connected with the three-jaw clamping jaws through the locating pin, the three-jaw clamping jaws are embedded into the three-jaw clamping jaws through the three-jaw clamping jaws, and the three-jaw clamping jaw is fixedly connected with the end is embedded into the three-jaw clamping jaw.
The circumferences of the three claw clamping jaws are uniformly distributed.
The end part of the three-jaw toe is provided with a bulge which is used for clamping the component force generated on the outer circumference of the workpiece to tightly lean against the end face of the workpiece on the end face backup.
The beneficial effects of the invention are as follows: the invention has the advantages of easy manufacture of parts, convenient assembly and adjustment, reliable clamping centering, good maintainability, low cost and long service life, and can be only needed to replace damaged parts if the parts are worn or accidentally damaged; the three-jaw clamping jaw can be combined and replaced with the clamping toe, so that the three-jaw clamping jaw can be suitable for all three-pin frame products in the existing outer circumference phi 100-phi 60; the three-jaw abrasion is synchronous, self-centering, the center in the length direction cannot be changed, only the left center and the right center are required to be adjusted during die changing, the product changing debugging time is shortened, and the die changing machine is convenient and quick and suitable for long-term production and use.
Drawings
Fig. 1 is a schematic structural view of the present invention.
Reference numerals illustrate: piston 1, inductive retainer ring 2, set screw A3, cylinder head 4, hexagonal screw A5, oil-retaining bearing 6, O-ring A7, O-ring B8, cylinder block 9, backup 10, three-jaw 11, locating pin 12, three-jaw clamping jaw 13, hexagonal screw B14, three-jaw clamping toe 15, set screw B16, hexagonal nut 17, three-jaw push plate 18, O-ring C19, O-ring D20, spring 21, spring retainer ring 22, set screw C23.
Detailed Description
The invention will be described in detail below with reference to the attached drawings:
Examples: as shown in the drawing, the miniature self-centering three-jaw manipulator mainly comprises a piston 1, an induction retainer ring 2, a set screw A3, a cylinder cover 4, an inner hexagonal screw A5, an oil-containing bearing 6, an O-shaped ring A7, an O-shaped ring B8, a cylinder body 9, a backing plate 10, a three-jaw body 11, a positioning pin 12, three-jaw clamping jaws 13, an inner hexagonal screw B14, three-jaw clamping fingers 15, a set screw B16, a hexagonal nut 17, a three-jaw push plate 18, an O-shaped ring C19, an O-shaped ring D20, a spring 21, a spring retainer ring 22 and a set screw C23, wherein the upper part of the cylinder body 9 is connected with the cylinder cover 4 through the inner hexagonal screw A5 and is provided with the O-shaped ring A7 for sealing, the piston 1 is installed inside the cylinder body 9, the upper part of the piston 1 penetrates through the cylinder cover 4 and is sealed with the cylinder cover 4 through the O-shaped ring D20, meanwhile, the upper part of the piston 1 is fixedly connected with the spring retainer ring 22 through the set screw C23, the spring 21 is arranged between the spring retainer ring 22 and the cylinder cover 4, the top of the piston 1 is connected with the induction retainer ring 2 through the set screw A3, the inner wall of the cylinder cover 2 is connected with the cylinder body through the three-jaw clamping jaws B9 through the three-jaw clamping jaws C9 and the three-jaw clamping jaws C13 through the set screw C3, the upper part is uniformly distributed and is connected with the cylinder body 9 through the cylinder body 3 through the lower part of the cylinder body 13 through the set pin C13. The tail end of the three-jaw clamping jaw 13 is connected with a three-jaw clamping toe 15 through an inner hexagonal screw B14, a ball head at the tail end of the three-jaw clamping jaw 13 is embedded into a three-jaw pushing disc 18 connected with the tail end of the piston 1, the three-jaw pushing disc 18 is fixed by a hexagonal nut 17, a backup 10 is arranged on the outer side of the three-jaw pushing disc 18, and the backup 10 is connected with the three-jaw body 11 through a set screw B16. The three-jaw body 11 is powered by the reciprocating motion of the piston 1 to clamp and unclamp. The end part of the three-jaw toe is provided with a bulge which is used for clamping the component force generated on the outer circumference of the workpiece to tightly lean against the end face of the workpiece on the end face backup.
The working principle of the invention is as follows: when the manipulator clamps a workpiece, the cylinder stretches to push the three-jaw pushing disc 18 fixed on the piston 1, pushes the three-jaw clamping toe 15 fixed on the three-jaw clamping jaw 13 to tighten, the three-jaw clamping toe 15 clamps the outer circumference of the workpiece, and the component force generated by clamping the three-jaw clamping toe 15 tightly abuts the end face of the workpiece on the end face backup 10 to finish clamping of six-point positioning of the workpiece. When the piston 1 is released, the piston moves reversely, the three-jaw clamping jaw 13 is opened, and the workpiece falls down by gravity. The three-jaw clamping jaw 13 and the three-jaw clamping toe 15 are adjusted in size and can be expanded to clamp products with the diameter larger than phi 100 or smaller than phi 60.
It should be understood that equivalents and modifications to the technical scheme and the inventive concept of the present invention should fall within the scope of the claims appended hereto.
Claims (1)
1. A miniature self-centering three-jaw manipulator is characterized in that: mainly comprises a piston (1), an induction retainer ring (2), a set screw A (3), a cylinder cover (4), an inner hexagonal screw A (5), an oil-containing bearing (6), an O-shaped ring A (7), an O-shaped ring B (8), a cylinder body (9), a leaning mountain (10), a three-jaw body (11), a positioning pin (12), a three-jaw clamping jaw (13), an inner hexagonal screw B (14), a three-jaw clamping toe (15), a set screw B (16), a hexagonal nut (17), a three-jaw pushing disc (18), an O-shaped ring C (19), an O-shaped ring D (20), a spring (21), a spring retainer ring (22) and a set screw C (23), wherein the upper part of the cylinder body (9) is connected with the cylinder cover (4) through the inner hexagonal screw A (5) and is provided with the O-shaped ring A (7) for sealing, the piston (1) is arranged in the cylinder body (9), the upper part of the piston (1) penetrates the cylinder cover (4) and is sealed with the cylinder cover (4) through the O-shaped ring D (20), the oil-containing bearing (6) is arranged at the same time, the upper part of the piston (1) is connected with the spring retainer ring (22) through the set screw C (22) and the set screw C (22), the top of the piston (1) is connected with the induction check ring (2) through a set screw A (3), the piston (1) is sealed with the inner wall of the cylinder body (9) through an O-shaped ring B (8), the lower part of the piston (1) penetrates through the cylinder body (9) and is sealed with the cylinder body (9) through an O-shaped ring C (19), the lower part of the cylinder body (9) is connected with a three-jaw clamping jaw (13) through a locating pin (12), the tail end of the three-jaw clamping jaw (13) is connected with a three-jaw clamping toe (15) through an inner hexagonal screw B (14), the tail end ball head of the three-jaw clamping jaw (13) is embedded into a three-jaw pushing disc (18) connected with the tail end of the piston (1), the three-jaw pushing disc (18) is fixed by a hexagonal nut (17), a backing (10) is arranged on the outer side of the three-jaw pushing disc (18), and the backing (10) is connected with the three-jaw body (11) through the set screw B (16); the circumferences of the three-jaw clamping jaws (13) are uniformly distributed; the end part of the three-jaw clamping toe (15) is provided with a bulge which is used for clamping the component force generated on the outer circumference of the workpiece to tightly lean against the end face of the workpiece on the end face backup (10).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202110337949.0A CN113021403B (en) | 2021-03-30 | 2021-03-30 | Miniature self-centering three-jaw manipulator |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202110337949.0A CN113021403B (en) | 2021-03-30 | 2021-03-30 | Miniature self-centering three-jaw manipulator |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN113021403A CN113021403A (en) | 2021-06-25 |
| CN113021403B true CN113021403B (en) | 2024-06-11 |
Family
ID=76452805
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202110337949.0A Active CN113021403B (en) | 2021-03-30 | 2021-03-30 | Miniature self-centering three-jaw manipulator |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN113021403B (en) |
Citations (11)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US5253912A (en) * | 1991-04-10 | 1993-10-19 | Axis Usa, Inc. | Gripper apparatus for electric motor components |
| JP2011073135A (en) * | 2009-09-02 | 2011-04-14 | Kec:Kk | Chuck and robot hand |
| CN103624282A (en) * | 2013-12-09 | 2014-03-12 | 浙江陀曼精密机械有限公司 | Automatic aligning and clamping mechanism for three-jaw chuck |
| CN204700591U (en) * | 2015-05-04 | 2015-10-14 | 河南科技大学 | A kind of self adaptation clamp system |
| CN105905599A (en) * | 2016-06-30 | 2016-08-31 | 浙江博雷重型机床制造有限公司 | Clamping device |
| CN206105884U (en) * | 2016-10-06 | 2017-04-19 | 泉州惠安泉创文化用品有限公司 | Automatic easy gripper of abbreviation |
| CN106826898A (en) * | 2017-04-06 | 2017-06-13 | 青岛科技大学 | A kind of Pneumatic manipulator |
| CN107717972A (en) * | 2016-08-11 | 2018-02-23 | 湖北汉唐智能科技股份有限公司 | Center fixed ball cage type fast clamp manipulator for forging machine people |
| CN108638115A (en) * | 2018-05-22 | 2018-10-12 | 苏州乔岳软件有限公司 | A kind of flexibility clamping jaw |
| CN110605341A (en) * | 2018-06-15 | 2019-12-24 | 特拉华资本形成有限责任公司 | Clamp holder |
| CN215240952U (en) * | 2021-03-30 | 2021-12-21 | 万向钱潮股份有限公司 | Miniature self-centering three-jaw manipulator |
-
2021
- 2021-03-30 CN CN202110337949.0A patent/CN113021403B/en active Active
Patent Citations (11)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US5253912A (en) * | 1991-04-10 | 1993-10-19 | Axis Usa, Inc. | Gripper apparatus for electric motor components |
| JP2011073135A (en) * | 2009-09-02 | 2011-04-14 | Kec:Kk | Chuck and robot hand |
| CN103624282A (en) * | 2013-12-09 | 2014-03-12 | 浙江陀曼精密机械有限公司 | Automatic aligning and clamping mechanism for three-jaw chuck |
| CN204700591U (en) * | 2015-05-04 | 2015-10-14 | 河南科技大学 | A kind of self adaptation clamp system |
| CN105905599A (en) * | 2016-06-30 | 2016-08-31 | 浙江博雷重型机床制造有限公司 | Clamping device |
| CN107717972A (en) * | 2016-08-11 | 2018-02-23 | 湖北汉唐智能科技股份有限公司 | Center fixed ball cage type fast clamp manipulator for forging machine people |
| CN206105884U (en) * | 2016-10-06 | 2017-04-19 | 泉州惠安泉创文化用品有限公司 | Automatic easy gripper of abbreviation |
| CN106826898A (en) * | 2017-04-06 | 2017-06-13 | 青岛科技大学 | A kind of Pneumatic manipulator |
| CN108638115A (en) * | 2018-05-22 | 2018-10-12 | 苏州乔岳软件有限公司 | A kind of flexibility clamping jaw |
| CN110605341A (en) * | 2018-06-15 | 2019-12-24 | 特拉华资本形成有限责任公司 | Clamp holder |
| CN215240952U (en) * | 2021-03-30 | 2021-12-21 | 万向钱潮股份有限公司 | Miniature self-centering three-jaw manipulator |
Also Published As
| Publication number | Publication date |
|---|---|
| CN113021403A (en) | 2021-06-25 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN205799044U (en) | A kind of sealing ring Special turning fixture | |
| CN203751955U (en) | Sleeve type workpiece fixture | |
| CN210081241U (en) | Machine tool clamp with anti-crushing function for mechanical automation | |
| CN106670966A (en) | Quick clamping jig of pin gear shell tooth socket grinding machine of robot joint precision speed reducer | |
| CN104511664A (en) | High-accuracy elastic clamping tool | |
| CN215240952U (en) | Miniature self-centering three-jaw manipulator | |
| CN113021403B (en) | Miniature self-centering three-jaw manipulator | |
| CN105081384A (en) | Anti-clamping-deformation elastic clamping jaw | |
| CN110539193A (en) | Novel special clamp for cutting bearing outer ring | |
| CN202753001U (en) | Fixture used for thin-walled part eccentric inner circle processing | |
| CN202964400U (en) | Hole-grinding fixture of hand-actuated clamp shaft parts | |
| CN205008608U (en) | Prevent elastic claw of centre gripping deformation | |
| CN216226989U (en) | Spline internal expanding machine tool clamp with good reliability | |
| CN204486934U (en) | High precision elastic clamping tool | |
| CN210060023U (en) | Clamp capable of adjusting tubular electrode | |
| CN204248413U (en) | The outer round thread automatic production line of a kind of cylinder sleeve | |
| CN204546065U (en) | The inserted centralizer of short heavy caliber | |
| CN208357957U (en) | The pneumatic quick benchmark collet of HHT higher high tensile | |
| CN202162585U (en) | Lathe clamping device | |
| CN213411215U (en) | Vortex disk finish machining positioning jig | |
| CN214557504U (en) | Chuck with replaceable chuck for numerically controlled lathe | |
| CN213857464U (en) | Gear turning tool matched with automation | |
| CN214817988U (en) | Multistation casing processing positioner | |
| CN215035501U (en) | Automatic centering excircle clamping device | |
| CN216781857U (en) | Flexible clamping manipulator for machining |
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 | ||
| CB02 | Change of applicant information | ||
| CB02 | Change of applicant information |
Address after: 311215 Wanxiang Road, Xiaoshan District, Hangzhou City, Zhejiang Province Applicant after: Wanxiang Qianchao Co.,Ltd. Applicant after: WANXIANG GROUP Co.,Ltd. Address before: No.1 Wanxiang Road, Xiaoshan Economic and Technological Development Zone, Hangzhou City, Zhejiang Province Applicant before: WANXIANG QIANCHAO Co.,Ltd. Applicant before: WANXIANG GROUP Co.,Ltd. |
|
| GR01 | Patent grant | ||
| GR01 | Patent grant |