CN108436963A - Robot transfer matic three refers to pneumatic clamper and its application method - Google Patents
Robot transfer matic three refers to pneumatic clamper and its application method Download PDFInfo
- Publication number
- CN108436963A CN108436963A CN201810175245.6A CN201810175245A CN108436963A CN 108436963 A CN108436963 A CN 108436963A CN 201810175245 A CN201810175245 A CN 201810175245A CN 108436963 A CN108436963 A CN 108436963A
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- China
- Prior art keywords
- positioning plate
- workpiece
- positioning
- guide post
- claw
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Links
- 238000000034 method Methods 0.000 title claims abstract description 13
- 210000000078 claw Anatomy 0.000 claims abstract description 45
- 230000000717 retained effect Effects 0.000 claims abstract description 4
- 230000000694 effects Effects 0.000 claims description 8
- 238000005259 measurement Methods 0.000 claims description 2
- 238000004519 manufacturing process Methods 0.000 abstract description 2
- 239000000686 essence Substances 0.000 description 8
- 238000010586 diagram Methods 0.000 description 4
- 230000009286 beneficial effect Effects 0.000 description 1
- 238000009434 installation Methods 0.000 description 1
- 230000013011 mating Effects 0.000 description 1
- 230000007246 mechanism Effects 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
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- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Manipulator (AREA)
Abstract
The invention belongs to machinery field, a kind of robot transfer matic three is provided and refers to pneumatic clamper and its application method, three claws are installed on chuck main body, the retained part of claw determines striped equipped with claw essence, for reducing friction and interference, reach the accurate clamping of workpiece, three claws are used cooperatively with positioning plate；Guide post pilot hole there are three being set on positioning plate, end face subtracts equipped with positioning plate relates to striped, reduces the contact area of positioning plate and workpiece positioning surface, reduces influence of the part geometric tolerance to positioning；Positioning plate guide post one end is slidably connected with positioning plate by guide post pilot hole gapless, and the other end is connect with chuck main body threaded connection hole, and middle part is equipped with spring.The present invention improves its practical practical performance, and then improve the Mass accuracy of manufactured parts, reduces scrappage, play the production efficiency of robot to the maximum extent by the way that the structures of three finger pneumatic clampers is further transformed.
Description
Technical field
The invention belongs to machinery field, it is related to a kind of robot transfer matic three and refers to pneumatic clamper and its application method, be suitable for machine
Three finger pneumatic clampers quickly and accurately clamp, carry, install part in device people's transfer matic process.
Technical background
Three finger pneumatic clampers often play clamping, carrying and the work for installing part in existing robot transfer matic process
With.At this stage, what the linear reciprocating motion drive that the opening and closing of three finger pneumatic clampers is generated generally by steam-cylinder piston was connected with paw
The mechanisms such as crank connecting link, idler wheel or gear, driving paw do open and close movement.Whether the function of robot hand is perfect, performance is
The height of the no whether safe quality and working efficiency that will directly affect robotic performance of reliable, work.
Invention content
In view of the problems of the existing technology, a kind of robot transfer matic three of present invention offer refers to pneumatic clamper and its user
Method.
The technical scheme is that：
A kind of robot transfer matic three refers to pneumatic clamper, including chuck main body 1, claw 2, positioning plate 3, positioning plate subtract relate to striped 4,
Claw essence determines striped 5, positioning plate guide post 6, spring 7, guide post pilot hole 8, chuck main body threaded connection hole 9.
Three claws 2 are installed, three 2 outermost faces of claw are in same circumference, share one on the chuck main body 1
The center of circle, the angle between 2 outermost end of adjacent claw is connected afterwards with the center of circle is 120 °, and the retained part of claw 2 is fixed equipped with claw essence
Striped 5 reaches the accurate clamping of workpiece for reducing friction and interference；Three claws 2 are used cooperatively with positioning plate 3, make three fingers
Pneumatic clamper in use, not only has the function of simply clamping, carry, installation, can also be effectively by improved
Spring gives part one forward thrust, so that piece surface is rested firmly against on the clamping jaw of numerically controlled lathe, the amount of part is effectively ensured
The consistency that accessory size is improved while precision, reduces scrappage.
The end face of the positioning plate 3 subtracts equipped with positioning plate relates to striped 4, reduces the contact of positioning plate 3 and workpiece positioning surface
Area, and then reduce influence of the part geometric tolerance to positioning；Guide post pilot hole 8 there are three being set on positioning plate 3.
Described 6 one end of positioning plate guide post is slidably connected with positioning plate 3 by 8 gapless of guide post pilot hole, the other end with
Chuck main body threaded connection hole 9 connects, and positioning plate guide post 6 is equipped with spring 7；The outermost of three positioning plate guide posts 6 is in same
One circumference shares a center of circle, and the angle between 6 outermost end of adjacent positioned plate guide post is connected afterwards with the center of circle is 120 °.
Above-mentioned robot transfer matic three refers to the application method of pneumatic clamper, includes the following steps：
The first step, workpiece are referred to by robot transfer matic three during pneumatic clamper clamping phoresys, first workpiece positioning surface with it is fixed
Position plate 3 contacts, and the positioning plate that 3 end face of positioning plate is equipped with, which subtracts, to be related to striped 4 and can reduce the contact surface of positioning plate 3 and workpiece positioning surface
Product, and then reduce influence of the part geometric tolerance to positioning.
Second step, manipulator continue to move to Z axis+direction, guiding movement under the action of positioning plate guide post 6 of positioning plate 3,
And under the ejection of spring 7 effect, the positioning plate on positioning plate 3, which subtracts, to be related to striped 4 and is in contact always with workpiece positioning surface.
Third walks, and manipulator continues to move to Z axis+direction, and 3 rear end face of positioning plate is contacted with 1 front end face of chuck main body, real
Present Z axis+direction precise positioning.
4th step, after Z axis realizes positioning, three claws 2 are moved to 1 center of chuck main body workpiece simultaneously, clamp workpiece.
The claw essence that claw 2 is equipped with, which determines striped 5, can reduce friction and interference, reach the accurate clamping of workpiece.
5th step, workpiece is carried to by mechanical arm at numerically controlled lathe claw after accurate clamp, again by machinery
Hand moves a little to Z axis+direction, guiding movement under the action of positioning plate guide post 6 of positioning plate 3.
6th step, three claws 2 are moved to 1 edge of chuck main body simultaneously, unclamp workpiece, at this time workpiece pushing away in spring 7
Top effect is lower to be realized in Z axis+direction precise positioning.
7th step, numerically controlled lathe jaws clamp, manipulator withdraw numerically controlled lathe, effectively complete a workpiece clamp
Tightly, the process carried and installed.
Beneficial effects of the present invention are：It is practical practical to improve its by the way that the structures of three finger pneumatic clampers is further transformed by the present invention
Performance, and then the Mass accuracy of manufactured parts is improved, scrappage is reduced, plays the production efficiency of robot to the maximum extent.
Description of the drawings
Fig. 1 is the structural schematic diagram that robot transfer matic three provided by the invention refers to pneumatic clamper；
Fig. 2 is positioning plate structure schematic diagram；
Fig. 3 is the distribution schematic diagram of positioning plate guide post and spring；
Fig. 4 is the distribution schematic diagram that claw determines striped with claw essence；
In figure：1 chuck main body；2 claws；3 positioning plates；4 positioning plates, which subtract, relates to striped；5 claw essences determine striped；6 positioning plates are led
Column；7 springs；8 guide post pilot holes；9 chuck main body threaded connection holes.
Specific implementation mode
Below in conjunction with specific embodiment, the present invention will be further described.
A kind of robot transfer matic three refers to pneumatic clamper, including chuck main body 1, claw 2, positioning plate 3, positioning plate subtract relate to striped 4,
Claw essence determines striped 5, positioning plate guide post 6, spring 7, guide post pilot hole 8, chuck main body threaded connection hole 9.
Three claws 2 are installed, three 2 outermost faces of claw are in same circumference, share one on the chuck main body 1
The center of circle, the angle between 2 outermost end of adjacent claw is connected afterwards with the center of circle is 120 °, and the retained part of claw 2 is fixed equipped with claw essence
Striped 5；Three claws 2 and 3 mating reaction of positioning plate, make three finger pneumatic clampers in use, not only have and simply clamp, remove
Fortune, the effect installed, effectively can also give part one forward thrust, enable piece surface tightly by improved spring
It leans against on the clamping jaw of numerically controlled lathe, the consistency of accessory size is improved while the accuracy of measurement of part is effectively ensured, reduction is scrapped
Rate.
The end face of the positioning plate 3 subtracts equipped with positioning plate relates to striped 4, reduces the contact of positioning plate 3 and workpiece positioning surface
Area, and then reduce influence of the part geometric tolerance to positioning；Guide post pilot hole 8 there are three being set on positioning plate 3.
6 first half of positioning plate guide post is slidably connected with 3 guide post pilot hole of positioning plate, 8 gapless, lower half and card
Disc main body threaded connection hole 9 connects, and positioning plate guide post 6, which is equipped among spring 7, is equipped with spring 7；There are three positioning altogether for the structure
The outermost of plate guide post 6 is in same circumference, share a center of circle, 6 outermost end of adjacent positioned plate guide post be connected with the center of circle afterwards it
Between angle be 120 °.
Above-mentioned robot transfer matic three refers to the application method of pneumatic clamper, includes the following steps：
The first step, workpiece are referred to by robot transfer matic three during pneumatic clamper clamping phoresys, first workpiece positioning surface with it is fixed
Position plate 3 contacts, and the positioning plate that 3 end face of positioning plate is equipped with, which subtracts, to be related to striped 4 and can reduce the contact surface of positioning plate 3 and workpiece positioning surface
Product, and then reduce influence of the part geometric tolerance to positioning.
Second step, manipulator continue to move to Z axis+(Z axis is vertical direction) direction, and positioning plate 3 is in positioning plate guide post 6
The lower guiding movement of effect, and under the ejection of spring 7 effect, the positioning plate on positioning plate 3, which subtracts, to be related to striped 4 and is positioned always with workpiece
Face is in contact.
Third walks, and manipulator continues to move to Z axis+direction, and 3 rear end face of positioning plate is contacted with 1 front end face of chuck main body, real
Present Z axis+direction precise positioning.
4th step, after Z axis realizes positioning, three claws 2 are moved to 1 center of chuck main body workpiece simultaneously, clamp workpiece.
The claw essence that claw 2 is equipped with, which determines striped 5, can reduce friction and interference, reach the accurate clamping of workpiece.
5th step, workpiece is carried to by mechanical arm at numerically controlled lathe claw after accurate clamp, again by machinery
Hand moves a little to Z axis+direction, guiding movement under the action of positioning plate guide post 6 of positioning plate 3.
6th step, three claws 2 are moved to 1 edge of chuck main body simultaneously, unclamp workpiece, at this time workpiece pushing away in spring 7
Top effect is lower to be realized in Z axis+direction precise positioning.
7th step, numerically controlled lathe jaws clamp, manipulator withdraw numerically controlled lathe, effectively complete a workpiece clamp
Tightly, the process carried and installed.
Claims (2)
1. a kind of robot transfer matic three refers to pneumatic clamper, which is characterized in that it includes chuck that the robot transfer matic three, which refers to pneumatic clamper,
Main body (1), claw (2), positioning plate (3), positioning plate subtract relate to striped (4), claw essence determines striped (5), positioning plate guide post (6), bullet
Spring (7), guide post pilot hole (8), chuck main body threaded connection hole (9)；
Three claws (2) are installed on the chuck main body (1), the retained part of claw (2) determines striped (5) equipped with claw essence,
For reducing friction and interference；Three claws (2) are used cooperatively with positioning plate (3), and in use, three finger pneumatic clampers can lead to
Spring (7) is crossed to one forward thrust of part, so that piece surface is abutted against on the clamping jaw of numerically controlled lathe, ensures the accuracy of measurement of part
The consistency of accessory size is improved simultaneously, reduces scrappage；
The end face of the positioning plate (3) subtracts equipped with positioning plate relates to striped (4), and reduction positioning plate (3) connects with workpiece positioning surface
Contacting surface is accumulated；Guide post pilot hole (8) there are three being set on positioning plate (3)；
Described positioning plate guide post (6) one end is slidably connected with positioning plate (3) by guide post pilot hole (8) gapless, the other end
It is connect with chuck main body threaded connection hole (9), positioning plate guide post (6) is equipped with spring (7)；Three positioning plate guide posts (6) are most
Outside is in same circumference, shares a center of circle, and the angle between adjacent positioned plate guide post (6) outermost end is connected afterwards with the center of circle is
120°。
2. robot transfer matic three described in claim 1 refers to the application method of pneumatic clamper, it is characterised in that following steps：
The first step, workpiece by robot transfer matic three refer to pneumatic clamper clamping phoresy during, workpiece positioning surface first with positioning plate
(3) it contacts, the positioning plate that positioning plate (3) end face is equipped with, which subtracts, to be related to striped (4) and can reduce influence of the part geometric tolerance to positioning；
Second step, manipulator continue to move to Z axis+direction, positioning plate (3) guiding movement under the action of positioning plate guide post (6),
And under the ejection of spring (7) effect, the positioning plate on positioning plate (3), which subtracts, to be related to striped (4) and is in contact always with workpiece positioning surface；
Third walks, and manipulator continues to move to Z axis+direction, and positioning plate (3) rear end face is contacted with chuck main body (1) front end face, real
Present Z axis+direction precise positioning；
4th step, workpiece Z axis realize positioning after, three claws (2) at the same to chuck main body (1) center move, clamp workpiece；
The claw essence that claw (2) is equipped with, which determines striped (5), can reduce friction and interference, reach the accurate clamping of workpiece；
5th step, workpiece are carried to by mechanical arm at numerically controlled lathe claw after accurate clamped, again by manipulator to Z
Axis+direction moves a little, positioning plate (3) guiding movement under the action of positioning plate guide post (6)；
6th step, three claws (2) and meanwhile to chuck main body (1) edge move, unclamp workpiece, workpiece is in spring (7) at this time
Ejection effect is lower to be realized in Z axis+direction precise positioning；
7th step, numerically controlled lathe jaws clamp, manipulator withdraw numerically controlled lathe, complete a Workpiece clamping, carrying and peace
The process of dress.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810175245.6A CN108436963A (en) | 2018-03-02 | 2018-03-02 | Robot transfer matic three refers to pneumatic clamper and its application method |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810175245.6A CN108436963A (en) | 2018-03-02 | 2018-03-02 | Robot transfer matic three refers to pneumatic clamper and its application method |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN108436963A true CN108436963A (en) | 2018-08-24 |
Family
ID=63193039
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201810175245.6A Pending CN108436963A (en) | 2018-03-02 | 2018-03-02 | Robot transfer matic three refers to pneumatic clamper and its application method |
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| CN (1) | CN108436963A (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111468977A (en) * | 2019-01-24 | 2020-07-31 | 鹤壁裕展精密科技有限公司 | Carrying mechanism in machining machine and numerical control machine tool |
Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| SU1428680A1 (en) * | 1987-03-04 | 1988-10-07 | Всесоюзный Проектно-Технологический Институт По Электробытовым Машинам И Приборам | Manipulating gripper |
| CN202351131U (en) * | 2011-12-13 | 2012-07-25 | 内蒙古航天亿久科技发展有限责任公司 | Fixture used for testing compression mechanical property of composite thin layer plate |
| CN203304599U (en) * | 2013-05-09 | 2013-11-27 | 王越敏 | Three-jaw chuck |
| CN204054072U (en) * | 2014-09-01 | 2014-12-31 | 宁波宫铁精机有限公司 | Machinery luck pawl |
| CN104551061A (en) * | 2015-01-07 | 2015-04-29 | 池州共康汽车零部件有限公司 | Floating clamping three-jaw chuck for automobile |
| CN208133003U (en) * | 2018-03-02 | 2018-11-23 | 沈阳飞机工业（集团）有限公司 | Robot transfer matic three refers to pneumatic clamper |
-
2018
- 2018-03-02 CN CN201810175245.6A patent/CN108436963A/en active Pending
Patent Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| SU1428680A1 (en) * | 1987-03-04 | 1988-10-07 | Всесоюзный Проектно-Технологический Институт По Электробытовым Машинам И Приборам | Manipulating gripper |
| CN202351131U (en) * | 2011-12-13 | 2012-07-25 | 内蒙古航天亿久科技发展有限责任公司 | Fixture used for testing compression mechanical property of composite thin layer plate |
| CN203304599U (en) * | 2013-05-09 | 2013-11-27 | 王越敏 | Three-jaw chuck |
| CN204054072U (en) * | 2014-09-01 | 2014-12-31 | 宁波宫铁精机有限公司 | Machinery luck pawl |
| CN104551061A (en) * | 2015-01-07 | 2015-04-29 | 池州共康汽车零部件有限公司 | Floating clamping three-jaw chuck for automobile |
| CN208133003U (en) * | 2018-03-02 | 2018-11-23 | 沈阳飞机工业（集团）有限公司 | Robot transfer matic three refers to pneumatic clamper |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111468977A (en) * | 2019-01-24 | 2020-07-31 | 鹤壁裕展精密科技有限公司 | Carrying mechanism in machining machine and numerical control machine tool |
| CN111468977B (en) * | 2019-01-24 | 2021-08-31 | 鹤壁裕展精密科技有限公司 | Carrying mechanism in machining machine and numerical control machine tool |
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Application publication date: 20180824 |
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| WD01 | Invention patent application deemed withdrawn after publication |