CN208977832U - A kind of manipulator magic chuck structure - Google Patents
A kind of manipulator magic chuck structure Download PDFInfo
- Publication number
- CN208977832U CN208977832U CN201821584619.1U CN201821584619U CN208977832U CN 208977832 U CN208977832 U CN 208977832U CN 201821584619 U CN201821584619 U CN 201821584619U CN 208977832 U CN208977832 U CN 208977832U
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- docking
- manipulator
- fixture
- disk
- steel ball
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Abstract
The utility model provides a kind of manipulator magic chuck structure, it include: fixture fixing end, fixture fixing end includes fixture docking disk, the center of fixture docking disk offers center docking through-hole, it opens up on the inner wall of center docking through-hole there are four locking slot, offers locating slot between adjacent two locking slot；Manipulator fixing end, manipulator fixing end includes manipulator docking disk, docking annulus is fixedly installed on the front end face of manipulator docking disk, it docks and is uniformly provided with eight steel ball through-holes on the side wall of annulus, positioning ball and locking steel ball are spaced apart in eight steel ball through-holes, piston boit is sleeved in docking annulus, and cylinder head part is mounted on the rear end of piston boit and is arranged with cylinder butt hole face, and piston boit is fixedly connected with cylinder head part.This machinery is quick-moving to change that clamp structure is ingenious in design, can be realized the quick positioning of fixture, and by clamp, efficiency and accuracy when improving fixture contraposition and clamping.
Description
Technical field
The utility model relates to a kind of clamp structures, and in particular to a kind of manipulator magic chuck structure.
Background technique
In recent years, more and more as China's manufacturing industry transition and upgrade pressure increase and the continuous of labor cost rise
Enterprise consider with machine substitute human labor.On the other hand, present consumer personalization's demand is more and more denseer, difference configuration and appearance
The elements such as property decide that manufacturing industry certainly will use Flexible Manufacturing Technology.Flexible Manufacturing Technology is then with robot and tool quick change
Device manufactures different products on same assembly line.
Robot tool Quick fixture replacing device replaces different end effector or peripheral equipment by robot automatically, makes
The application of robot is more flexible.For guarantee robot arm end-of-arm tooling quick-replaceable and higher safety, need pair
The structure of fast replacing device has higher requirement.Existing various magic chucks during remodeling, using screw-threaded coupling come
Stationary body, this is just needed to spend longer time when replacing fixture to position etc., existing this magic chuck positioning,
After fastening means needs to put into a large amount of labour, and the existing method of utilization is fixed, when connecting tracheae, it is easy to happen connection
Mistake is further also possible to lead to the damage of product or mold, and then increases cost, the amount of labour etc. of clamp-replacing.
Utility model content
In view of the deficiencies of the prior art, the utility model proposes a kind of manipulator magic chuck structure, it can be realized folder
The quick positioning of tool, and by clamp, efficiency and accuracy when improving fixture contraposition and clamping.
To realize above-mentioned technical proposal, the utility model provides a kind of manipulator magic chuck structure, comprising: fixture is solid
Fixed end, the fixture fixing end include fixture docking disk, and the center of the fixture docking disk offers center docking through-hole,
Open up that there are four using the center of center docking through-hole as the center of circle circumferentially array distribution on the inner wall of center docking through-hole
Locking slot offers locating slot between adjacent two locking slot；Manipulator fixing end, the manipulator fixing end includes manipulator
Disk is docked, cylinder butt hole is offered in the middle part of manipulator docking disk, is fixed on the front end face of the manipulator docking disk
Docking annulus is installed, eight steel ball through-holes, positioning ball and locking steel ball are uniformly provided on the side wall of the docking annulus
Be spaced apart in eight steel ball through-holes, piston boit be sleeved on docking annulus in, the piston boit be arranged to front end it is small after
Big taper is held, the inclination top for matching and being stepped up from the front to the back with locking steel ball is offered on the front end side of piston boit
Slot offers the inclined groove for matching with positioning ball and gradually reducing from the front to the back, cylinder on the rear end side of piston boit
Head part is mounted on the rear end of piston boit and is arranged with cylinder butt hole face, and piston boit is fixedly connected with cylinder head part.
In the above-mentioned technical solutions, fixture fixing end is docked with work piece holder, and manipulator fixing end is docked with manipulator,
Cylinder in middle manipulator is fixedly connected with the cylinder head part in manipulator fixing end, when needing using manipulator to work piece holder
When being clamped, cylinder head part is made to pull piston boit recession by the cylinder in manipulator first, at this point, due to piston boit
(piston boit is arranged to the big taper in the small rear end in front end to special designing, offers on the front end side of piston boit and locking steel ball phase
Matching and the inclination inverted draw cut that is stepped up from the front to the back, offer on the rear end side of piston boit match with positioning ball and by
The inclined groove gradually reduced after forward direction), it can to push up on positioning ball, locking steel ball is fallen after rise, then will by manipulator
Docking annulus is inserted into the center butt hole of fixture docking disk, docks disc centre to connection with fixture by positioning ball
Cooperation between the locating slot being arranged on the inner wall of hole realizes that the connection between fixture fixing end and manipulator fixing end positions, then
Cylinder in manipulator pushes piston boit to travel forward, so that pushing up on locking steel ball, positioning ball is fallen after rise, by locking steel ball with
The cooperation between locking slot being arranged on fixture docking disc centre docking through-hole wall realizes that fixture fixing end and manipulator are solid
Quick locking between fixed end allows fixture fixing end that manipulator fixing end is followed to move together, when manipulator is by workpiece
After fixture is moved to the place for needing to put, the cylinder in manipulator pulls piston boit to move backward, so that locking steel ball is fallen after rise,
It is pushed up on positioning ball, then manipulator can will dock annulus and extract from the center butt hole of fixture docking disk, realize folder
Has the quick separating between fixing end and manipulator fixing end.
Preferably, the setting circle post holes there are two distribution symmetrical above and below is set on the rear end face of the fixture docking disk,
The positioning that setting circle post holes matches on disk is docked with fixture there are two opening up on the front end face of the manipulator docking disk
Pin docks the positioning pin on disk by manipulator and docks with fixture positioning cylinder on disk in actual docking operation
Cooperation between hole, it can be ensured that accurate positioning when fixture fixing end is docked with manipulator fixing end improves standard when positioning
True property.
Preferably, multiple docking screw holes for docking with fixture are offered on the leading flank of the fixture docking disk,
To facilitate the Fast Installation of fixture docking disk and work piece holder.
Preferably, multiple docking spiral shells for docking with manipulator are offered on the trailing flank of the manipulator docking disk
Hole, to realize that the rapid abutting joint of manipulator docking disk and manipulator is installed.
A kind of beneficial effect of manipulator magic chuck structure provided by the utility model is: this machinery is quick-moving to change fixture
Smart structural design by the way that piston boit is arranged to the big taper in the small rear end in front end, and opens up on the front end side of piston boit
There is the inclination inverted draw cut for matching and being stepped up from the front to the back with locking steel ball, offers and position on the rear end side of piston boit
The inclined groove that steel ball matches and gradually reduces from the front to the back, can be by controlling the mobile realization of piston boit to locking steel ball
With positioning ball activity control, and then may be implemented the Rapid positioning locking between fixture fixing end and manipulator fixing end with
And quick separating, efficiency and accuracy when improving fixture contraposition, clamping and separate.
Detailed description of the invention
Fig. 1 is the assembling structure schematic diagram of the utility model.
Fig. 2 is stereochemical structure front view when fixture fixing end is separated with manipulator fixing end in the utility model.
Fig. 3 is stereochemical structure rearview when fixture fixing end is separated with manipulator fixing end in the utility model.
Fig. 4 is the detonation configuration front view of the utility model.
Fig. 5 is the detonation configuration rearview of the utility model.
Fig. 6 is the assembling structure schematic diagram of manipulator fixing end in the utility model.
Fig. 7 is the assembling structure schematic diagram of piston boit and cylinder head part in the utility model.
In figure: 1, fixture fixing end；11, fixture docks disk；12, setting circle post holes；13, locating slot；14, locking slot；
2, manipulator fixing end；21, manipulator docks disk；22, annulus is docked；23, piston boit；231, inverted draw cut is tilted；232, it tilts
Groove；24, positioning ball；25, steel ball is locked；26, positioning pin；27, cylinder butt hole；28, cylinder head part.
Specific embodiment
The following will be combined with the drawings in the embodiments of the present invention, carries out the technical scheme in the embodiment of the utility model
Clear, complete description, it is clear that the described embodiments are only a part of the embodiments of the utility model, rather than whole
Embodiment.Ordinary people in the field's every other embodiment obtained without making creative work, belongs to
The protection scope of the utility model.
A kind of embodiment: manipulator magic chuck structure.
Shown in referring to Figure 1 to Figure 7, a kind of manipulator magic chuck structure, comprising: fixture fixing end 1, the fixture are fixed
End 1 includes that fixture docks disk 11, is offered on the leading flank of fixture docking disk 11 multiple for docking with fixture
Screw hole is docked, to facilitate the Fast Installation of fixture docking disk 11 and work piece holder, the center of the fixture docking disk 11 is opened
Through-hole is docked equipped with center, opens up that there are four using the center of center docking through-hole as the center of circle on the inner wall of center docking through-hole
The circumferentially locking slot 14 of array distribution, locating slot 13 is offered between adjacent two locking slot 14, and four locating slots 13 are same
Center using center docking through-hole is the center of circle circumferentially array distribution, and the notch of locating slot 13 extends to center and docks through-hole
The rear end of inner wall, to facilitate the docking (slide into or skid off) of subsequent positioning ball 24, the rear end of the fixture docking disk 11
Setting circle post holes 12 there are two distribution symmetrical above and below is set on face；
Manipulator fixing end 2, the manipulator fixing end 2 include that manipulator docks disk 21, and manipulator docks disk 21
Middle part offers cylinder butt hole 27, is fixedly installed with docking annulus 22, institute on the front end face of the manipulator docking disk 21
It states and is uniformly provided with eight steel ball through-holes on the side wall of docking annulus 22, four positioning balls 24 and four locking steel ball 25 intervals
It is placed in eight steel ball through-holes, piston boit 23 is sleeved in docking annulus 22, and it is small that the piston boit 23 is arranged to front end
The big taper in rear end offers on the front end side of piston boit 23 and matches with locking steel ball 25 and be stepped up from the front to the back
Inverted draw cut 231 is tilted, is offered on the rear end side of piston boit 23 and to be matched with positioning ball 24 and gradually reduce from the front to the back
Inclined groove 232, cylinder head part 28 be mounted on the rear end of piston boit 23 and with 27 face of cylinder butt hole be arranged, piston boit 23 with
Cylinder head part 28 is fixedly connected, and the cylinder in manipulator can be connect after cylinder butt hole 27 with cylinder head part 28, is passed through
Cylinder in manipulator can drive cylinder head part 28 to be moved forward and backward, and then piston boit 23 can be driven to be moved forward and backward, and
When cylinder in manipulator is shunk, piston boit 23 is dropped back, and the leading flank (high position) of the inclined groove 232 in piston boit 23 will at this time
Positioning ball 24 jacks up, and locks steel ball 25 and just contact with the low level of inclination inverted draw cut 231, so that locking steel ball 25 is fallen after rise, when
When cylinder in manipulator pushes forward, when piston boit 23 is pushed forward in place, the trailing flank of the inclined groove 232 in piston boit 23
(low level) is contacted with positioning ball 24, and positioning ball 24 is fallen after rise to steel ball through-hole, and is locked steel ball 25 and tilted inverted draw cut 231
Locking steel ball 25 is ejected steel ball through-hole, opened up on the front end face of the manipulator docking disk 21 by the high-order contact of trailing flank
There are two dock the positioning pin 26 that setting circle post holes 12 on disk 11 matches with fixture to pass through in actual docking operation
Positioning pin 26 on manipulator docking disk 21 docks the cooperation between the setting circle post holes 12 on disk 11 with fixture, can be true
Accurate positioning when fixture fixing end 1 is docked with manipulator fixing end 2 is protected, accuracy when positioning is improved.
In the actual course of work, fixture fixing end 1 is docked with work piece holder, and manipulator fixing end 2 is docked with manipulator,
Wherein the cylinder in manipulator is fixedly connected with the cylinder head part 28 in manipulator fixing end 2, when needing using manipulator to work
When part fixture is clamped, make cylinder head part 28 that piston boit 23 be pulled to drop back by the cylinder in manipulator first, so that fixed
It is pushed up on the steel ball 24 of position, locking steel ball 25 is fallen after rise, and docking annulus 22 is then inserted into fixture by manipulator and docks disk 11
In the butt hole of center, docked by positioning ball 24 with fixture the locating slot 13 that is arranged on 11 center of disk docking through-hole wall it
Between cooperation realize that the connection between fixture fixing end 1 and manipulator fixing end 2 positions, then the cylinder in manipulator, which pushes, lives
Stick harness 23 travels forward, so that pushing up on locking steel ball 25, positioning ball 24 is fallen after rise, docks disk with fixture by locking steel ball 25
Cooperation on 11 centers docking through-hole wall between the locking slot 14 that is arranged realize fixture fixing end 1 and manipulator fixing end 2 it
Between quick locking, allow fixture fixing end 1 that manipulator fixing end 2 is followed to move together, when manipulator is by work piece holder
After being moved to the place for needing to put, the cylinder in manipulator pulls piston boit 23 to move backward, so that locking steel ball 25 is fallen after rise,
It is pushed up on positioning ball 24, then manipulator can will dock annulus 22 and extract from the center butt hole of fixture docking disk 11,
Realize the quick separating between fixture fixing end 1 and manipulator fixing end 2.
This machinery is quick-moving to change that clamp structure is ingenious in design, by controlling the mobile realization of piston boit 23 to locking 25 He of steel ball
Control is fallen on the upper top of positioning ball 24 after rise, and then may be implemented quick between fixture fixing end 1 and manipulator fixing end 2
Positioning and locking and quick separating, efficiency and accuracy when improving fixture contraposition, clamping and separate.
The above be the utility model preferred embodiment, but the utility model should not be limited to the embodiment and
Attached drawing disclosure of that is all fallen so all do not depart from the lower equivalent or modification completed of spirit disclosed in the utility model
Enter the range of the utility model protection.
Claims (4)
1. a kind of manipulator magic chuck structure, characterized by comprising:
Fixture fixing end, the fixture fixing end include fixture docking disk, during the center of fixture docking disk offers
The heart docks through-hole, opened up on the inner wall of center docking through-hole there are four using the center of center docking through-hole as the center of circle circumferentially
The locking slot of array distribution offers locating slot between adjacent two locking slot；
Manipulator fixing end, the manipulator fixing end include manipulator docking disk, are offered in the middle part of manipulator docking disk
Cylinder butt hole is fixedly installed with docking annulus, the side wall of the docking annulus on the front end face of manipulator docking disk
On be uniformly provided with eight steel ball through-holes, positioning ball and locking steel ball are spaced apart in eight steel ball through-holes, piston
For column sleeve in docking annulus, the piston boit is arranged to the big taper in the small rear end in front end, opens up on the front end side of piston boit
There is the inclination inverted draw cut for matching and being stepped up from the front to the back with locking steel ball, offers and position on the rear end side of piston boit
The inclined groove that steel ball matches and gradually reduces from the front to the back, cylinder head part are mounted on the rear end of piston boit and dock with cylinder
The setting of hole face, piston boit are fixedly connected with cylinder head part.
2. manipulator magic chuck structure as described in claim 1, it is characterised in that: the rear end face of the fixture docking disk
Upper setting there are two the setting circle post holes of distribution symmetrical above and below, opened up on the front end face of manipulator docking disk there are two with
The positioning pin that setting circle post holes matches on fixture docking disk.
3. manipulator magic chuck structure as described in claim 1, it is characterised in that: the leading flank of the fixture docking disk
On offer multiple docking screw holes for docking with fixture.
4. manipulator magic chuck structure as described in claim 1, it is characterised in that: the rear side of the manipulator docking disk
Multiple docking screw holes for docking with manipulator are offered on face.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201821584619.1U CN208977832U (en) | 2018-09-28 | 2018-09-28 | A kind of manipulator magic chuck structure |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201821584619.1U CN208977832U (en) | 2018-09-28 | 2018-09-28 | A kind of manipulator magic chuck structure |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN208977832U true CN208977832U (en) | 2019-06-14 |
Family
ID=66785802
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201821584619.1U Active CN208977832U (en) | 2018-09-28 | 2018-09-28 | A kind of manipulator magic chuck structure |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN208977832U (en) |
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111923021A (en) * | 2020-07-08 | 2020-11-13 | 广东工业大学 | Modular robot |
| CN112372658A (en) * | 2020-10-30 | 2021-02-19 | 北京如影智能科技有限公司 | Terminal tool replacing equipment |
| CN113070883A (en) * | 2021-02-26 | 2021-07-06 | 南京晓庄学院 | Power head convenient for robot to automatically replace eccentric spindle unit |
| CN115122372A (en) * | 2022-07-19 | 2022-09-30 | 广州里工实业有限公司 | Mechanical arm quick-change device, mounting method and robot |
-
2018
- 2018-09-28 CN CN201821584619.1U patent/CN208977832U/en active Active
Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111923021A (en) * | 2020-07-08 | 2020-11-13 | 广东工业大学 | Modular robot |
| CN112372658A (en) * | 2020-10-30 | 2021-02-19 | 北京如影智能科技有限公司 | Terminal tool replacing equipment |
| CN112372658B (en) * | 2020-10-30 | 2022-04-05 | 北京如影智能科技有限公司 | Terminal tool replacing equipment |
| CN113070883A (en) * | 2021-02-26 | 2021-07-06 | 南京晓庄学院 | Power head convenient for robot to automatically replace eccentric spindle unit |
| CN115122372A (en) * | 2022-07-19 | 2022-09-30 | 广州里工实业有限公司 | Mechanical arm quick-change device, mounting method and robot |
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