CN205325683U - Pneumatic three-jaw mechanical gripper - Google Patents

Abstract

The utility model relates to an industrial automation equipment, more specifically say, relate to an automatic change manipulator. The pneumatic three-jaw mechanical gripper comprises a three-jaw cylinder, a cylindrical finger, a flange plate and a finger seat; the flange plate is fixedly connected to the cylinder body of the three-jaw cylinder, the finger seat is fixedly connected to the finger sliding block of the three-jaw cylinder, and the cylindrical finger is fixedly connected to the finger seat. The utility model is suitable for the mechanical manufacturing process, realizes the material transportation and transmission, has stable performance of the fingers, and is suitable for long-term continuous work; meanwhile, the clamping force on the workpiece is stable and reliable, and the production efficiency is improved.

Description

Pneumatic three-jaw mechanical gripper

technical field

The utility model relates to industrial automation equipment, in particular to an automatic manipulator.

Background technique

A manipulator refers to an automatic operating device that can imitate certain movement functions of the human hand and arm to grab, carry objects or operate tools according to a fixed program. It can replace human heavy labor to realize the mechanization and automation of production, and can operate in harmful environments to protect personal safety, so it is widely used in machinery manufacturing, metallurgy, electronics, light industry and atomic energy and other departments.

The manipulator is mainly composed of three parts: hand, motion mechanism and control system. The hand is a part used to grasp the workpiece (or tool), and there are various structural forms according to the shape, size, weight, material and operation requirements of the grasped object, such as clamping type, holding type and adsorption type, etc. . The movement mechanism enables the hand to complete various rotations (swings), movements or compound movements to achieve prescribed actions and change the position and posture of the grasped object. The lifting, telescoping, rotating and other independent motion modes of the motion mechanism are called the degrees of freedom of the manipulator. The control system completes specific actions by controlling the motors of each degree of freedom of the manipulator.

However, the existing mechanical fingers are often driven by motors, which are complex in structure and expensive.

Existing mechanical fingers do not have a long lifespan.

Utility model content

The purpose of the utility model is to provide a pneumatic three-jaw mechanical gripper, which is suitable for the material handling and transmission in the process of mechanical manufacturing, and the performance of the fingers is stable, suitable for long-term continuous work; at the same time, it can hold the workpiece Stable and reliable force, improve production efficiency.

A pneumatic three-claw mechanical gripper, comprising a three-claw cylinder, a cylindrical finger, a flange plate, and a finger seat; the flange plate is fixedly connected to the cylinder body of the three-claw cylinder, and the finger seat is fixedly connected to On the finger slider of the three-jaw cylinder, the cylindrical finger is fixedly connected to the finger seat.

A matching hole is arranged on the finger base, and one end of the cylindrical finger is a matching shaft matched with the matching hole, and the matching shaft and the matching hole are tightly fitted.

A clamping portion is provided at one end of the cylindrical finger, and knurling is provided on the clamping portion, and the modulus m of the knurling is greater than 0.4 and less than 0.5.

The utility model provides a pneumatic three-jaw mechanical gripper. Compared with the traditional technology, the utility model has the following beneficial effects:

The pneumatic three-claw manipulator claw of the utility model is suitable for grasping round objects, for example, the object can be grasped from a circular inner hole or a cylindrical shape. After the three-claw cylinder grasps the round object, it can automatically adjust the geometric center of the inner hole or shape to coincide with the geometric center of the three-claw cylinder. Compared with the traditional two-claw finger cylinder, the three-claw cylinder clamps the object through the three cylindrical fingers, and more contact surfaces make the clamping more stable, making the utility model pneumatic three-claw manipulator The gripper achieves a higher speed of movement while ensuring that the gripped object does not fall.

Due to the compact structure of the finger seat, the interference fit between the finger seat and the cylindrical finger is realized, so as to achieve the purpose of compact structure. A matching hole is arranged on the finger base, and one end of the cylindrical finger is a matching shaft matched with the matching hole, and the matching shaft and the matching hole are tightly fitted. The finger base is heated to about 500 degrees Celsius at a medium frequency, the fitting hole becomes larger due to the heat, the fitting shaft is placed in the fitting hole, and then the finger base is cooled to normal temperature to realize The interference fit of the finger seat and the cylindrical finger.

A clamping portion is provided at one end of the cylindrical finger, and the modulus m of the knurling is greater than .. and less than . Knurling is arranged on the clamping part, and the friction force between the clamping part and the workpiece is enhanced by using the texture of the knurling, so as to improve the stability of the cylindrical finger when grabbing the object, so that the pneumatic type of the utility model When the three-jaw manipulator claws are moving at high speed, the clamped workpiece remains stable. The knurling with reasonable modulus m is conducive to providing sufficient friction force and ensuring that the workpiece does not move after clamping. In order to achieve a long service life of the knurling, vacuum treatment of the knurled surface is an essential means.

Description of drawings

Fig. 1 is the structural representation of the utility model pneumatic three-jaw manipulator claw;

Fig. 2 is a schematic diagram of the structure of the utility model pneumatic three-jaw mechanical gripper in a disassembled state.

27 three-jaw cylinder, 28 cylindrical finger, 31 flange plate, 33 finger slider, 34 finger seat, 35 clamping part, 36 matching shaft, 37 matching hole.

detailed description

The utility model will be described in further detail below in conjunction with the accompanying drawings, but does not constitute any limitation to the utility model. Similar component numbers in the accompanying drawings represent similar components. As mentioned above, the utility model provides a pneumatic three-jaw manipulator claw, which is used for grasping and transferring materials.

Fig. 1 is a schematic diagram of the structure of the pneumatic three-jaw manipulator of the present invention, and Fig. 2 is a structural diagram of the utility model of the pneumatic three-jaw manipulator in a disassembled state.

A kind of pneumatic three-jaw manipulator claw, comprises three-jaw cylinder 27, cylindrical finger 28, flange plate 31, finger seat 34; Said flange plate 31 is fixedly connected on the cylinder block of described three-jaw cylinder 27, and described The finger seat 34 is fixedly connected to the finger slider 33 of the three-jaw cylinder 27 , and the cylindrical finger 28 is fixedly connected to the finger seat 34 .

A matching hole 37 is provided on the finger base 34 , and one end of the cylindrical finger 28 is a matching shaft 36 matching the matching hole 37 , and the matching shaft 36 and the matching hole 37 are tightly fitted.

One end of the cylindrical finger 28 is provided with a clamping portion 35 , and knurling is provided on the clamping portion 35 , the modulus m of the knurling is greater than 0.4 and less than 0.5.

Below in conjunction with Fig. 1 to 2, further describe working principle and working process of the present utility model:

The pneumatic three-claw manipulator claw of the utility model is suitable for grasping round objects, for example, the object can be grasped from a circular inner hole or a cylindrical shape. After the three-claw cylinder 27 grasps the circular object, it can automatically adjust the geometric center of the inner hole or shape to coincide with the geometric center of the three-claw cylinder 27 . Compared with the traditional two-claw finger cylinder, the three-claw cylinder 27 clamps the object through the three cylindrical fingers 28, and more contact surfaces make the clamping more stable. Claw Manipulator claws achieve higher movement speeds while ensuring that the gripped objects will not fall.

Due to the compact structure of the finger seat 34 , the interference fit between the finger seat 34 and the cylindrical finger 28 is realized to achieve a compact structure. A matching hole 37 is provided on the finger base 34 , and one end of the cylindrical finger 28 is a matching shaft 36 matching the matching hole 37 , and the matching shaft 36 and the matching hole 37 are tightly fitted. The finger seat 34 is heated to about 500 degrees Celsius at a medium frequency, and the fitting hole 37 becomes larger due to heating, and the fitting shaft 36 is placed in the fitting hole 37, and then, the finger seat 34 Cool to normal temperature to realize the interference fit between the finger seat 34 and the cylindrical finger 28 .

One end of the cylindrical finger 28 is provided with a clamping portion 35, and the modulus m of the knurling is greater than 0.4 and less than 0.5. Knurling is provided on the clamping portion 35, and the friction force between the clamping portion 35 and the workpiece is enhanced by using the texture of the knurling, so as to improve the stability of the cylindrical finger 28 when grabbing an object, so that the utility model can When the new pneumatic three-jaw manipulator is moving at high speed, the clamped workpiece remains stable. The knurling with reasonable modulus m is conducive to providing sufficient friction force and ensuring that the workpiece does not move after clamping. In order to achieve a long service life of the knurling, vacuum treatment of the knurled surface is an essential means.

Finally, it should be pointed out that the above embodiments are only representative examples of the present utility model. Apparently, the utility model is not limited to the above-mentioned embodiments, and many variations are possible. Any simple modifications, equivalent changes and modifications made to the above embodiments according to the technical essence of the present invention shall be deemed to belong to the protection scope of the present invention.

Claims (3)

1. A pneumatic three-claw manipulator claw is characterized in that it consists of the following: comprising three-claw cylinder, cylindrical finger, flange plate, finger seat; said flange plate is fixedly connected on the cylinder body of said three-claw cylinder, The finger seat is fixedly connected to the finger slider of the three-jaw cylinder, and the cylindrical fingers are fixedly connected to the finger seat. 2. The pneumatic three-jaw mechanical gripper according to claim 1, wherein a matching hole is arranged on the finger base, and one end of the cylindrical finger is a matching shaft matched with the matching hole, and the matching Shaft and mating hole are tight fit. 3. The pneumatic three-jaw mechanical gripper according to claim 1, wherein a clamping portion is arranged at one end of the cylindrical finger, and knurling is arranged on the clamping portion, and the modulus m of the knurling is Greater than 0.4 and less than 0.5.