CN114161468A

CN114161468A - Three-jaw chuck manipulator

Info

Publication number: CN114161468A
Application number: CN202111571027.2A
Authority: CN
Inventors: 丁劲锋; 杨仁民; 张定; 龚潇
Original assignee: Wuxi Huagongda Optoelectronic Intelligent Technology Co ltd
Current assignee: Wuxi Huagongda Optoelectronic Intelligent Technology Co ltd
Priority date: 2021-12-21
Filing date: 2021-12-21
Publication date: 2022-03-11

Abstract

The invention belongs to the technical field of clamping equipment, and discloses a three-jaw chuck manipulator which comprises a chuck body, jaw assemblies and a driving mechanism, wherein three guide holes are formed in the chuck body at intervals along the circumferential direction, each guide hole extends along the radial direction of the chuck body, each jaw assembly can be movably arranged in one guide hole in a penetrating mode, the driving mechanism comprises a driving assembly, a self-locking worm and a worm wheel assembly, the output end of the driving assembly is connected with the self-locking worm, the worm wheel assembly is meshed with the self-locking worm and is connected with the three jaw assemblies, and the driving assembly drives the self-locking worm to rotate so that the worm wheel assembly rotates around the axis of the chuck body and drives the three jaw assemblies to mutually approach or depart from each other to clamp or loosen a workpiece. The three-jaw chuck manipulator is wide in grabbing range, capable of grabbing workpieces of various sizes and shapes, high in practicability and controllable in clamping force.

Description

Three-jaw chuck manipulator

Technical Field

The invention relates to the technical field of clamping equipment, in particular to a three-jaw chuck manipulator.

Background

The three-jaw chuck can be applied to a truss manipulator or the tail end of a robot to grab a part to a specified position, and generally comprises a chuck body, movable jaws arranged on the chuck body and a driving mechanism, wherein the driving mechanism can drive the movable jaws to be close to or away from each other so as to clamp or loosen a workpiece, so that the part is clamped and transported and placed at a specified station.

The chuck clamping jaw at the tail end of the existing truss manipulator and robot is mostly of a pneumatic type, the type of a workpiece which can be grabbed by the chuck clamping jaw is limited, the grabbing range is small, the clamping force of the movable clamping jaw is not uniform enough, and the clamping force is difficult to control.

Disclosure of Invention

The invention aims to provide a three-jaw chuck manipulator which can ensure the stability of clamping a workpiece, has a wide range of workpieces to be grabbed, and can ensure that the clamping force of three movable jaws is uniform and the clamping force is controllable.

In order to achieve the purpose, the invention adopts the following technical scheme:

a three-jaw chuck robot, comprising:

the chuck comprises a chuck body, a clamping piece and a clamping piece, wherein the chuck body is of a hollow structure so as to form an installation cavity, three guide holes are formed in the chuck body at intervals along the circumferential direction, and each guide hole extends along the radial direction of the chuck body;

the clamping jaw assemblies are arranged in three numbers, and each clamping jaw assembly is movably arranged in one guide hole in a penetrating mode;

actuating mechanism, actuating mechanism include drive assembly, set up in auto-lock worm and worm wheel subassembly in the installation cavity, drive assembly's output with the auto-lock worm transmission is connected, worm wheel subassembly with the auto-lock worm meshes mutually, and with the jack catch subassembly is connected, drive assembly is through the drive the auto-lock worm is rotatory, so that worm wheel subassembly winds the axis of chuck body is rotatory, and drives threely the jack catch subassembly is close to each other or keeps away from each other to press from both sides tightly or loosen the work piece.

As a preferred scheme of the three-jaw chuck manipulator provided by the invention, the worm gear assembly comprises a worm gear piece and a rotary table which are coaxially connected, the worm gear piece is meshed with the self-locking worm, three curved holes are circumferentially arranged on the rotary table at intervals, two opposite hole walls of the curved holes are respectively a convex hole wall and a concave hole wall, the jaw assembly is provided with guide columns, each guide column is movably arranged in one curved hole, and when the rotary table rotates, the guide columns can drive the jaw assembly to move in the guide holes under the pushing action of the convex hole wall and the concave hole wall.

In a preferred embodiment of the three-jaw chuck robot according to the present invention, a reinforcing portion is provided to protrude from a side of the turntable facing the worm gear, and the turntable is mounted on the reinforcing portion.

As a preferable scheme of the three-jaw chuck manipulator provided by the invention, the jaw assembly comprises a clamping jaw and a sliding block which are connected, the clamping jaw is arranged outside the chuck body and used for clamping the workpiece, the sliding block is arranged in the installation cavity, a guide rail is arranged on the cavity wall of the installation cavity, the guide rail extends along the moving direction of the corresponding clamping jaw, and the guide rail and the sliding block can be in sliding fit.

As a preferable scheme of the three-jaw chuck manipulator provided by the invention, the guide rails are arranged on two opposite sides of each guide hole, the guide holes are arranged in parallel with the corresponding guide rails, each jaw assembly comprises two slide blocks, and the two slide blocks are in one-to-one correspondence with the two guide rails and can be in sliding fit with the two guide rails.

As a preferred embodiment of the three-jaw chuck manipulator provided by the present invention, two opposite sides of the guide rail in the width direction are both provided with guide sliding grooves, one side of the slider facing the guide rail is concavely provided with a limiting groove, two opposite groove walls of the limiting groove are both convexly provided with limiting protrusions corresponding to the guide sliding grooves one to one, one side of the guide rail facing the slider is clamped into the limiting groove, and the limiting protrusions are clamped in the guide sliding grooves.

As a preferable scheme of the three-jaw chuck manipulator provided by the present invention, the jaw assembly further includes a mounting plate, the two sliders are disposed on the mounting plate at an interval, a jaw mounting member is disposed between the two sliders, the clamping jaw is connected to the mounting plate through the jaw mounting member, and the jaw mounting member includes a guide portion movably disposed in the guide hole.

As a preferred embodiment of the three-jaw chuck manipulator provided by the present invention, the chuck body includes a top plate, a bottom plate and a ring body, the top plate and the bottom plate are respectively sealed at two ports of the ring body to form the installation cavity in an enclosing manner, the guide hole is opened in the top plate, at least two support seats are arranged in the installation cavity, two ends of each support seat are respectively connected to the top plate and the bottom plate, and two ends of the self-locking worm are rotatably connected to the corresponding support seats.

As a preferable scheme of the three-jaw chuck manipulator provided by the invention, the driving assembly comprises a servo motor and a right-angle speed reducer, the right-angle speed reducer comprises a right-angle connecting shell and a transmission structure arranged in the right-angle connecting shell, one end of the right-angle connecting shell is connected to the outer wall of the chuck body, the other end of the right-angle connecting shell is connected to a shell of the servo motor, an output end of the servo motor extends into the right-angle connecting shell and is in transmission connection with the self-locking worm through the transmission structure, and the servo motor is parallel to the tangential direction of the chuck body.

As a preferable scheme of the three-jaw chuck manipulator provided by the invention, a plurality of anti-slip threads are convexly arranged on the jaw assembly along the axial direction of the chuck body at intervals, and the anti-slip threads can be contacted with the workpiece.

The invention has the beneficial effects that:

the invention provides a three-jaw chuck manipulator which comprises a chuck body, three jaw assemblies and a driving mechanism, wherein the chuck body is of a hollow structure, an installation cavity is formed in the chuck body, three guide holes are formed in the chuck body at intervals along the circumferential direction, each guide hole extends along the radial direction of the chuck body, the three jaw assemblies are arranged, the three jaw assemblies and the three guide holes are arranged in a one-to-one correspondence manner, each jaw assembly is movably arranged in one guide hole in a penetrating manner, and namely the three jaw assemblies can move in the radial direction of the chuck body in the corresponding guide holes. Actuating mechanism includes drive assembly, auto-lock worm and worm wheel subassembly all set up in the installation cavity, drive assembly's output is connected with the transmission of auto-lock worm, worm wheel subassembly meshes with the auto-lock worm mutually, and worm wheel subassembly all is connected with three jack catch subassembly, when starting drive assembly, drive assembly can order about the auto-lock worm rotatory around self axis, worm wheel subassembly and then rotate around the axis of chuck body under the meshing effort of auto-lock worm, and drive the three jack catch subassembly that links to each other with worm wheel subassembly and remove along the guiding hole, thereby realize being close to each other or keeping away from each other of three jack catch subassembly, with pressing from both sides tightly or unclamping the work piece. In the process of clamping and transporting workpieces, the jaw assemblies have the trend of being far away from each other, the self-locking worm has the function of self-locking, the jaw assemblies can be effectively prevented from moving towards the direction of being far away from the center of the chuck body, the workpieces are prevented from loosening, the clamping stability is ensured, in addition, the worm gear assembly is connected with the three jaw assemblies, the three jaw assemblies can be driven to move synchronously through the self-locking worm, the clamping force of the three movable jaws can be ensured to be uniform, and the stability in the process of clamping and transporting workpieces is improved. The three-jaw chuck manipulator is wide in grabbing range, capable of grabbing workpieces of various sizes and shapes, high in practicability and controllable in clamping force.

Drawings

FIG. 1 is a first view of a three jaw chuck robot provided in accordance with an embodiment of the present invention;

FIG. 2 is a second view (hidden floor) of a three jaw chuck robot provided in accordance with an embodiment of the present invention;

FIG. 3 is a third view of a three jaw chuck robot (hiding the base plate and collar) provided by an embodiment of the present invention;

FIG. 4 is a schematic plan view of a worm gear assembly provided in accordance with an embodiment of the present invention;

FIG. 5 is an exploded schematic view of a worm gear assembly provided in accordance with an embodiment of the present invention;

FIG. 6 is a fourth view (hidden top plate) of a three jaw chuck robot provided in accordance with an embodiment of the present invention;

FIG. 7 is a first view of a jaw assembly and guide track provided by an embodiment of the present invention;

FIG. 8 is a second view of the jaw assembly and guide track provided by an embodiment of the present invention;

figure 9 is an exploded schematic view of a jaw assembly and guide track provided by an embodiment of the present invention.

In the figure:

1. a chuck body; 2. a jaw assembly; 3. a drive mechanism; 4. a guide rail; 5. a supporting seat; 6. a motor mounting plate;

11. a top plate; 12. a base plate; 13. a loop body; 14. a mounting cavity;

111. a guide hole;

21. a guide post; 22. a gripper jaw; 23. a slider; 24. mounting a plate; 25. a jaw mount;

221. anti-skid lines;

231. a limiting groove; 232. a limiting bulge;

251. a guide portion;

31. a drive assembly; 32. a self-locking worm; 33. a worm gear assembly;

311. a servo motor; 312. a right-angle reducer;

331. a worm gear; 332. a turntable;

3321. a curved hole; 3322. a convex hole wall; 3323. a concave hole wall; 3324. a reinforcing portion;

41. a guide chute;

61. a mounting surface; 62. a clamping groove.

Detailed Description

The present invention will be described in further detail with reference to the accompanying drawings and examples. It is to be understood that the specific embodiments described herein are merely illustrative of the invention and are not limiting of the invention. It should be further noted that, for the convenience of description, only some of the structures related to the present invention are shown in the drawings, not all of the structures.

In the description of the present invention, unless expressly stated or limited otherwise, the terms "connected," "connected," and "fixed" are to be construed broadly, e.g., as meaning permanently connected, removably connected, or integral to one another; can be mechanically or electrically connected; either directly or indirectly through intervening media, either internally or in any other relationship. The specific meanings of the above terms in the present invention can be understood in specific cases to those skilled in the art.

In the present invention, unless otherwise expressly stated or limited, "above" or "below" a first feature means that the first and second features are in direct contact, or that the first and second features are not in direct contact but are in contact with each other via another feature therebetween. Also, the first feature being "on," "above" and "over" the second feature includes the first feature being directly on and obliquely above the second feature, or merely indicating that the first feature is at a higher level than the second feature. A first feature being "under," "below," and "beneath" a second feature includes the first feature being directly under and obliquely below the second feature, or simply meaning that the first feature is at a lesser elevation than the second feature.

In the description of the present embodiment, the terms "upper", "lower", "left", "right", and the like are used based on the orientations and positional relationships shown in the drawings only for convenience of description and simplification of operation, and do not indicate or imply that the referred device or element must have a specific orientation, be configured and operated in a specific orientation, and thus, should not be construed as limiting the present invention. Furthermore, the terms "first" and "second" are used only for descriptive purposes and are not intended to have a special meaning.

As shown in fig. 1 to 3, the present embodiment provides a three-jaw chuck robot for clamping a workpiece. The three-jaw chuck manipulator comprises a chuck body 1, a jaw assembly 2 and a driving mechanism 3.

Referring to fig. 2, the chuck body 1 is a hollow structure, and a mounting cavity 14 is formed inside the chuck body. Referring to fig. 1, three guide holes 111 are provided in the chuck body 1 at intervals in the circumferential direction. And each guide hole 111 extends in the radial direction of the chuck body 1. The jaw assembly 2 is provided with three. The three jaw assemblies 2 and the three guide holes 111 are arranged in a one-to-one correspondence manner, and each jaw assembly 2 is movably arranged in one guide hole 111 in a penetrating manner. I.e. three jaw assemblies 2 are each able to move in the radial direction of the chuck body 1 within the corresponding guide hole 111. Referring to fig. 2 and 3, the driving mechanism 3 includes a driving assembly 31, a self-locking worm 32, and a worm wheel assembly 33. The self-locking worm 32 and the worm wheel assembly 33 are arranged in the mounting cavity 14. The output end of the driving component 31 is in transmission connection with the self-locking worm 32, the worm wheel component 33 is meshed with the self-locking worm 32, and the worm wheel component 33 is connected with the three jaw components 2. When the driving assembly 31 is started, the driving assembly 31 can drive the self-locking worm 32 to rotate around the axis of the self-locking worm 32, the worm wheel assembly 33 further rotates around the axis of the chuck body 1 under the meshing action force of the self-locking worm 32, and the three jaw assemblies 2 connected with the worm wheel assembly 33 are driven to move along the guide holes 111, so that the three jaw assemblies 2 are close to or away from each other to clamp or loosen a workpiece. In the process of clamping and transporting workpieces, the jaw assemblies 2 have the trend of being away from each other, the self-locking worm 32 has the self-locking function, the jaw assemblies 2 can be effectively prevented from moving in the direction away from the center of the chuck body 1, and the workpieces are prevented from being loosened. In addition, because worm wheel assembly 33 all is connected with three jack catch subassembly 2, can drive three jack catch subassembly 2 simultaneously and synchronous motion through a auto-lock worm 32, can ensure that the clamping force of three movable jack catch is comparatively even, is favorable to improving the stability when pressing from both sides the fortune. The three-jaw chuck manipulator is wide in grabbing range, capable of grabbing workpieces of various sizes and shapes, high in practicability and controllable in clamping force.

Referring to fig. 2, 3 and 4, the worm gear assembly 33 includes a worm gear 331 and a rotary disk 332 coaxially connected. The worm gear 331 is circumferentially provided with a plurality of gear teeth at intervals, and the gear teeth can be meshed with the self-locking worm 32, so that the worm gear 331 drives the rotating disc 332 to rotate synchronously. Three curved holes 3321 are circumferentially spaced on disk 332. The three curved holes 3321 have the same shape and radian, and the same bending direction. As shown in fig. 4, the curved hole 3321 extends from a position near the center of the disk 332 to the edge of the disk 332. Referring to fig. 3 and 5, the opposite walls of the curved hole 3321 are a convex hole wall 3322 and a concave hole wall 3323, respectively, and the convex hole wall 3322 and the concave hole wall 3323 are similar to the outer profile of the cam. Every jaw assembly 2 is last all to be provided with guide post 21, and three guide post 21 sets up with three curved shape hole 3321 one-to-one. Each guide post 21 is disposed in a corresponding one of the curved holes 3321 and is movable within the curved hole 3321. When the turntable 332 rotates, the guide post 21 can drive the jaw assembly 2 to move in the guide hole 111 under the pushing action of the convex hole wall 3322 and the concave hole wall 3323. Specifically referring to fig. 2 in the present embodiment, when the worm 331 drives the turntable 332 to rotate clockwise (refer to the orientation in fig. 2), the guide post 21 drives the jaw assembly 2 to move integrally in a direction away from the center of the chuck body 1 under the pushing action of the convex hole wall 3322, that is, the three jaw assemblies 2 are away from each other, so that the workpiece can smoothly enter between the three jaw assemblies 2 or the clamped workpiece is loosened. When the worm gear 331 drives the turntable 332 to rotate counterclockwise (refer to the orientation in fig. 2), the guide post 21 drives the jaw assembly 2 to move toward the center of the chuck body 1 as a whole under the pushing action of the concave hole wall 3323, that is, the three jaw assemblies 2 approach each other to clamp the workpiece located in the middle of the three jaw assemblies 2.

Optionally, referring to fig. 5, a side of the rotary disk 332 facing the worm gear 331 is protruded with a reinforcing portion 3324, and the rotary disk 332 is mounted on the reinforcing portion 3324. In order to reduce the weight, the turntable 332 is thinner in this embodiment, and the reinforcing portion 3324 is provided to increase the strength of the connection position between the worm gear 331 and the turntable 332, thereby preventing the turntable 332 from deforming too quickly. Optionally, the worm gear 331 is a hollow structure, similar to a ring body, and a plurality of gear teeth are spaced around the ring body to achieve weight reduction.

Referring to fig. 1 and 2, the chuck body 1 includes a top plate 11, a bottom plate 12, and a ring body 13. The top plate 11 and the bottom plate 12 are respectively sealed at two ports of the ring body 13 to form an installation cavity 14 in an enclosing manner. The top plate 11 and the bottom plate 12 are circular plates and have uniform diameters. The three guide holes 111 are opened on the top plate 11 and are circumferentially and uniformly distributed with the center of circle of the top plate 11 as the center. Referring to fig. 2 and 3, at least two bearing blocks 5 are arranged in the mounting cavity 14. The two ends of the supporting base 5 are connected to the top plate 11 and the bottom plate 12, respectively, and can play a role in connecting and supporting the top plate 11 and the bottom plate 12. Both ends of the self-locking worm 32 are rotatably connected to the corresponding supporting seats 5. Specifically, the supporting seat 5 is provided with a mounting hole, and both ends of the self-locking worm 32 extend into the corresponding mounting holes and are rotatably connected with the mounting holes. Further, a bearing is arranged between the hole wall of the mounting hole and the outer wall of the self-locking worm 32, so that the friction resistance in transmission is reduced, and the transmission efficiency is improved.

In this embodiment, three supporting seats 5 are provided, the three supporting seats 5 are uniformly distributed around the axis of the ring body 13 in a circumferential manner, and two ends of the self-locking worm 32 are rotatably connected to two of the supporting seats 5.

Referring to fig. 6, the jaw assembly 2 includes a jaw 22 and a slider 23 connected thereto. The clamping jaws 22 are disposed outside the chuck body 1 for clamping a workpiece. The slider 23 is disposed in the mounting cavity 14. Referring to fig. 3, a guide rail 4 is disposed on the wall of the mounting cavity 14, the guide rail 4 extends along the moving direction of the corresponding clamping claw 22, and the guide rail 4 is slidably engaged with the sliding block 23. When the three clamping jaws 22 move along the extending direction of the guide hole 111, the sliding block 23 can move along the guide rail 4 so as to provide a guiding function for the movement of the three clamping jaws 22, ensure that the three clamping jaws 22 always move along the radial direction of the chuck body 1 without deflection, and simultaneously improve the smoothness of the movement of the clamping jaws 22.

Further, referring to fig. 6 and 7, the wall of the installation cavity 14 (i.e., the inner wall of the top plate 11) is provided with the above-described guide rails 4 on opposite sides of each guide hole 111. And the guide holes 111 are arranged in parallel with the corresponding guide rails 4 to ensure the accuracy of the guide. Each jaw assembly 2 comprises two sliding blocks 23, and the two sliding blocks 23 correspond to the two guide rails 4 one by one and are in sliding fit with the two guide rails 4. On the one hand, through setting up two sliders 23 and two guide rails 4 sliding fit, can guarantee for the precision of gripper jaw 22 direction to and improve the stationarity when gripper jaw 22 removes. On the other hand, two guide rails 4 are symmetrically arranged on two sides of the guide hole 111, and the three guide holes 111 are also uniformly distributed on the top plate 11 of the chuck body 1, so that the six guide rails 4 are symmetrically distributed on the top plate 11, and the structure is reasonable.

Referring to fig. 7 and 9, the guide rail 4 is provided with guide chutes 41 on both sides thereof opposite in the width direction. One side of the sliding block 23 facing the guide rail 4 is concavely provided with a limiting groove 231, and two groove walls opposite to the limiting groove 231 are convexly provided with limiting protrusions 232 which are in one-to-one correspondence with the guide sliding grooves 41. One side of the guide rail 4 facing the sliding block 23 is clamped into the limiting groove 231, and the limiting protrusion 232 is clamped into the guide sliding groove 41. When the sliding block 23 slides along the guide rail 4, one side of the guide rail 4 facing the sliding block 23 is in sliding fit with the limiting groove 231 of the sliding block 23, and the two limiting protrusions 232 on the sliding block 23 are in sliding fit with the corresponding guide sliding grooves 41 on the guide rail 4. The arrangement mode can increase the contact area between the sliding block 23 and the guide rail 4 during sliding and improve the smoothness during sliding.

Referring to fig. 7 and 8, the jaw assembly 2 further includes a mounting plate 24. Two sliders 23 are spaced apart from each other on the mounting plate 24. A jaw mounting 25 is provided between the two sliders 23 and the clamping jaw 22 is connected to the mounting plate 24 by the jaw mounting 25. I.e. jaw mounting 25 is attached at one end to mounting plate 24 and at the other end to mounting jaw 22. The pawl mount 25 includes a guide 251, the guide 251 being movably disposed within the guide hole 111. The engagement of the guide portion 251 with the guide hole 111 can provide a guide function for the movement of the gripping claws 22. Further, referring to fig. 9, the jaw mounting member 25, the sliding blocks 23 and the mounting plate 24 are all symmetrical structures, the jaw mounting member 25 is disposed in the middle of the mounting plate 24, and the two sliding blocks 23 are symmetrically distributed on two sides of the jaw mounting member 25. I.e. the entire jaw assembly 2 is of a symmetrical construction.

Referring to fig. 2, the driving assembly 31 includes a servo motor 311 and a right-angle reducer 312. The servo motor 311 is in transmission connection with the self-locking worm 32 through a right-angle speed reducer 312 so as to realize the speed reduction of the servo motor 311. Specifically, right angle speed reducer 312 includes that the right angle connects the shell and sets up the transmission structure in the right angle connects the shell, and the one end that the shell was connected in the right angle is connected in the outer wall of chuck body 1, and the other end is connected in servo motor 311's casing, and servo motor 311's output stretches into in the right angle connects the shell to be connected through transmission structure and auto-lock worm 32 transmission, servo motor 311 can order about auto-lock worm 32 through transmission structure and follow self axis rotation. In this embodiment, the transmission structure of the right-angle speed reducer 312 can realize speed reduction to avoid the jaw assembly 2 from moving too fast. In this embodiment, by providing the right-angle speed reducer 312, the servo motor 311 can be parallel to the tangential direction of the chuck body 1, but not perpendicular to the tangential direction of the chuck body 1, so that the installation space can be saved, and the structure of the entire three-jaw chuck manipulator is more compact. The servo motor 311 facilitates torque feedback, and can control the clamping force after being connected with a control system of the machine tool.

In the present embodiment, referring to fig. 2, the worm wheel assembly 33 is coincident with the axis of the ring body 13, the self-locking worm 32 is spaced from the axis of the ring body 13, which causes the center of gravity to deviate from the axis of the ring body 13, and the servo motor 311 extends toward the axis of the ring body 13 to balance the deviation of the center of gravity caused by the offset of the self-locking worm 32.

Referring to fig. 1 and 3, the right-angle reducer 312 is connected to the chuck body 1 through the motor mounting plate 6. The motor mounting plate 6 is provided with a clamping groove 62 in a concave mode, and the edge of the chuck body 1 is clamped in the clamping groove 62 so as to increase the stability of connection between the motor mounting plate 6 and the chuck body 1. The side of the motor mounting plate 6 facing away from the slot 62 is a mounting surface 61, and one end of the right-angle reducer 312 away from the servo motor 311 is mounted on the mounting surface 61.

Referring to fig. 7, the side of the clamping jaw 22 of the jaw assembly 2 facing the center of the chuck body 1 is provided with a plurality of anti-slip threads 221, and the plurality of anti-slip threads 221 are arranged at intervals along the axial direction of the chuck body 1. When the workpiece is clamped, the anti-slip threads 221 on the clamping claw 22 are in contact with the workpiece, so that the friction force between the workpiece and the clamping claw 22 can be increased, and the relative movement between the workpiece and the clamping claw 22 is effectively avoided.

It should be understood that the above-described embodiments of the present invention are merely examples for clearly illustrating the present invention, and are not intended to limit the embodiments of the present invention. Numerous obvious variations, adaptations and substitutions will occur to those skilled in the art without departing from the scope of the invention. And are neither required nor exhaustive of all embodiments. Any modification, equivalent replacement, and improvement made within the spirit and principle of the present invention should be included in the protection scope of the claims of the present invention.

Claims

1. A three-jaw chuck robot, comprising:

the chuck body (1) is of a hollow structure so as to form an installation cavity (14), three guide holes (111) are formed in the chuck body (1) at intervals along the circumferential direction, and each guide hole (111) extends along the radial direction of the chuck body (1);

the clamping jaw assemblies (2) are arranged in three numbers, and each clamping jaw assembly (2) is movably arranged in one guide hole (111) in a penetrating mode;

actuating mechanism (3), actuating mechanism (3) include drive assembly (31), set up in auto-lock worm (32) and worm wheel subassembly (33) in installation cavity (14), the output of drive assembly (31) with auto-lock worm (32) transmission is connected, worm wheel subassembly (33) with auto-lock worm (32) mesh mutually, and with jack catch subassembly (2) are connected, drive assembly (31) are through the drive auto-lock worm (32) are rotatory, so that worm wheel subassembly (33) wind the axis of chuck body (1) is rotatory, and drives threely jack catch subassembly (2) are close to each other or keep away from each other to press from both sides tightly or loosen the work piece.

2. The three-jaw chuck manipulator according to claim 1, wherein the worm gear assembly (33) includes a worm gear member (331) and a rotary table (332) coaxially connected, the worm gear member (331) is engaged with the self-locking worm (32), three curved holes (3321) are circumferentially spaced on the rotary table (332), two opposite hole walls of the curved holes (3321) are respectively a convex hole wall (3322) and a concave hole wall (3323), the jaw assembly (2) is provided with guide columns (21), each guide column (21) is movably disposed in one curved hole (3321), and when the rotary table (332) rotates, the guide columns (21) can drive the jaw assembly (2) to move in the guide holes (111) under the thrusting action of the convex hole wall (3322) and the concave hole wall (3323).

3. The three-jaw chuck robot according to claim 2, wherein a side of the turn table (332) facing the worm gear (331) is protruded with a reinforcement part (3324), and the turn table (332) is mounted on the reinforcement part (3324).

4. The three-jaw chuck manipulator according to claim 1, characterized in that the jaw assembly (2) comprises a clamping jaw (22) and a sliding block (23) which are connected, the clamping jaw (22) is arranged outside the chuck body (1) and is used for clamping the workpiece, the sliding block (23) is arranged in the installation cavity (14), a guide rail (4) is arranged on the wall of the installation cavity (14), the guide rail (4) extends along the moving direction of the corresponding clamping jaw (22), and the guide rail (4) is in sliding fit with the sliding block (23).

5. The three-jaw chuck manipulator according to claim 4, characterized in that the guide rails (4) are arranged on two opposite sides of each guide hole (111), the guide holes (111) are arranged in parallel with the corresponding guide rails (4), each jaw assembly (2) comprises two slide blocks (23), and the two slide blocks (23) are in one-to-one correspondence with the two guide rails (4) and are in sliding fit with the two guide rails.

6. The three-jaw chuck manipulator according to claim 5, wherein two opposite sides of the guide rail (4) in the width direction are provided with guide sliding grooves (41), one side of the sliding block (23) facing the guide rail (4) is concavely provided with a limiting groove (231), two opposite groove walls of the limiting groove (231) are convexly provided with limiting protrusions (232) corresponding to the guide sliding grooves (41) in a one-to-one manner, one side of the guide rail (4) facing the sliding block (23) is clamped into the limiting groove (231), and the limiting protrusions (232) are clamped into the guide sliding grooves (41).

7. The three-jaw chuck robot according to claim 6, wherein the jaw assembly (2) further comprises a mounting plate (24), two of the sliders (23) are arranged on the mounting plate (24) at intervals, a jaw mounting member (25) is arranged between the two sliders (23), the clamping jaw (22) is connected to the mounting plate (24) through the jaw mounting member (25), and the jaw mounting member (25) comprises a guide portion (251), and the guide portion (251) is movably arranged in the guide hole (111).

8. The three-jaw chuck manipulator according to any one of claims 1 to 7, wherein the chuck body (1) includes a top plate (11), a bottom plate (12) and a ring body (13), the top plate (11) and the bottom plate (12) are respectively sealed at two ports of the ring body (13) to enclose and form the mounting cavity (14), the guide hole (111) is opened on the top plate (11), at least two supporting seats (5) are arranged in the mounting cavity (14), two ends of each supporting seat (5) are respectively connected to the top plate (11) and the bottom plate (12), and two ends of the self-locking worm (32) are respectively rotatably connected to the corresponding supporting seats (5).

9. The three-jaw chuck manipulator according to any one of claims 1 to 7, wherein the driving assembly (31) comprises a servo motor (311) and a right-angle reducer (312), the right-angle reducer (312) comprises a right-angle connecting shell and a transmission structure arranged in the right-angle connecting shell, one end of the right-angle connecting shell is connected to the outer wall of the chuck body (1), the other end of the right-angle connecting shell is connected to the shell of the servo motor (311), the output end of the servo motor (311) extends into the right-angle connecting shell and is in transmission connection with the self-locking worm (32) through the transmission structure, and the servo motor (311) is parallel to the tangential direction of the chuck body (1).

10. A three-jaw chuck manipulator according to any one of claims 1 to 7, wherein the jaw assembly (2) is provided with a plurality of anti-slip threads (221) protruding at intervals in the axial direction of the chuck body (1), the anti-slip threads (221) being capable of contacting the workpiece.