Three -jaw grabbing device

Technical Field

The utility model relates to a three-jaw grasping device, in particular to a filling beer, and the like used for grabbing gripping device for a cylinder or an ellipsoid.

Background Art

Gripping device can be applied to the production of the product in the area of gripping. Manipulator is very commonly used in the industrial production of the auxiliary equipment, industrial products mainly used for picking. Many existing mechanical arm of the two jaws, when gripping circular cylinder or ellipsoid only two contact, is not reliable, three-jaw grasping gripping circular cylinder or ellipsoid with three contacts when, however, existing three-jaw of the manipulator to radial translation plurality of fingers, the fingers gripping objects close, such three-jaw manipulator, which relates to the claw means of the radial direction and the axial direction of the two-way movement, complicated structure, large size of the whole mechanism, not conducive to operation. Furthermore, existing mechanical claw usually adopt the pneumatic structure, because of its complex mechanism and manufacturing difficulties and poor controllability, not realize the precise opening and closing, at the same time, the structure is complicated and will cause an increase in the cost of the manipulator, in practice is easy to be damaged in use, the action is not allowed to directly affect the working efficiency of the device to grip.

Content of the utility model

To the deficiency of the prior art, the utility model the technical problem to be solved is, to provide a three-jaw grasping device, the device is simple in structure, the action is flexible, easy to manufacture, good controllability, three claw means can simultaneously realize the precise opening and closing, is particularly suitable for filling beer, and the like of the cylinder or ellipsoid accurate gripping.

The utility model solve the stated technical problems, the invention adopts the technical proposal is, to provide a three-jaw grasping device, is characterized in that the device comprises a three-jaw chuck, three-jaw clip, three claw means and, is fixed at the upper part of the telescopic rod of the three-jaw chuck, the lower part of the telescopic rod is connected with the three-jaw clip, three claw means is fixed on the upper part of the clamping grooves of the three-jaw chuck, three claw means are respectively fixed at the lower part of the three-jaw clip in the clamping grooves;

The circumferential direction of the three-jaw chuck along three pawls are evenly distributed, between two adjacent claw an included angle of 120 °, center of the three-jaw chuck provided with a central through hole, the center of a straight-line bearing is arranged in the through hole, each of the three-jaw chuck of the jaws is provided with a side of the groove, the two sides of the holding groove are provided with screw threads through hole, the threaded through hole to the three-jaw chuck is equal to the distance from the center of the through hole; the three-jaw clip structure and the shape of the shape of the three-jaw chuck of the same structure, the center of the three-jaw clip is provided with a screw thread in the through hole; the upper part of the telescopic rod through the linear bearing and the three-jaw chuck is fixedly connected with the center through hole, and the retractable rod is in interference fit with the linear bearing, the lower part of the screw thread and the three claws of the clip is connected with the center through hole; the insert hole of the upper end of the rod is connected with an external drive mechanism, is arranged at the upper part of the hollow circular holes states the fingernail to refer , the hollow circular holes is provided with a roller bearing, the lower part of the claw means is provided with a through groove; the upper part of the claw means the thickness of the three-jaw chuck is matched to the width of the holding groove, claw means is provided with a through groove part of the lower part of the thickness of the three-jaw clip is matched to the width of the holding groove, through the three-jaw chuck through a pin the two sides of the clamping groove of the threaded through hole and the round hole of the hollow fingers, the fingers of the three-jaw chuck is fixed at the upper part of the clamping groove, and the pin shaft and the hollow round hole of the roller bearing is interference fit; through the three-jaw clip through a pin on the two sides of the clamping groove of the through hole and screw thread groove of the lower part of the fingers, the fingers of the three-jaw clip is fixed at the lower part of the clamping grooves.

Compared with the prior art, the utility model is driven by the extension of the telescopic rod of the opening and the closing of the three fingers, further simplifying the gripping structure of the device, reducing the size of the gripping device, the cost is reduced; and the utility model can be controlled better, with a only through the action of the external driving mechanism, can drive the three claw means act at the same time, the three claw means to realize the accurate at the same time open and closed. The utility model is simple in structure, can grab a plurality of objects, a cylinder or an ellipsoid is especially suitable for gripping, grabbing firm, high efficiency, and the device is simple in manufacturing process, is suitable for industrial use.

Description of drawings

Figure 1 is the three-dimensional structure diagram of a three-jaw grasping device of the embodiment of the present utility model;

Figure 2 is the three-dimensional structure diagram of a three-jaw grasping device of the three-jaw chuck of example 1 of the of the present utility model;

Figure 3 is the three-dimensional structure diagram of a three-jaw grasping device claw means of embodiment 4 of the of the present utility model;

Figure 4 is the explosive structure diagram of a three-jaw grasping device of the embodiment of the present utility model;

In the Figure, 1. Three-jaw chuck, 2. Three-jaw clip, 3. A telescopic rod, 4. Claw means; 11. Linear bearing, 12. Clamping groove, 13. Threaded through hole, 14. Central through hole, 41. Hollow circular holes, 42. Through groove, 43. Roller bearing.

Mode of execution

With a combination of the following embodiments, detailed description of the utility model. The specific embodiment of the utility model is further detailed descriptions and explanations, not to limit the utility model the scope of protection of the claim.

The utility model relates to a three-jaw grasping device (abbreviated as device, see Figure 1-4) comprises a three-jaw chuck 1, three-jaw clip 2, a telescopic rod 3 and three claws 4, a telescopic rod 3 is fixed on the upper part of the three-jaw chuck 1, the lower part of the telescopic rod with the three-jaw clip 2 is connected with the, three claws 4 are respectively fixed on the upper part of the three-jaw chuck 1 holding groove, three claws 4 are respectively fixed at the lower part of the three-jaw clip 2 of clamping grooves;

The three-jaw chuck 1 (see Figure 2) are evenly distributed along the circumferential direction of the three-jaw, between two adjacent claw an included angle of 120 °, center of the three-jaw chuck provided with a central through hole 14, the central through hole 14 is provided with a linear bearing 11, each of the three-jaw chuck of the jaws is provided with a side of the groove 12, the two sides of the holding groove are provided with screw threads through hole 13, the threaded through hole 13 through the center of the three-jaw chuck 14 is equal to the distance between; the three-jaw clip 2 with the shape and structure of the three-jaw chuck 1 of the same shape and structure, three-jaw clip 2 on is provided with a screw thread in the central through hole; a telescopic rod 3 through the linear bearing at the upper part 11 and the three-jaw chuck central through hole 14 is fixedly connected, and the retractable rod 3 and the linear bearing 11 is interference fit, through the screw thread at the lower part of the three-jaw clip 2 is connected with the central through hole; the telescopic link 3 with the upper end of the external driving mechanism is connected, the claw finger 4 (see Figure 3) is provided with a hollow circular holes the upper part 41, and the hollow circular hole 41 is provided with a roller bearing 43, the lower part of the claw means is provided with a through groove 42 ; the upper part of the claw means the thickness of the groove of the three-jaw chuck 12 is matched to the width of, the lower part of the claw means is provided with a through groove 42 part of the thickness of the three-jaw clip 2 is matched to the width of the holding groove, through the three-jaw chuck through a pin the two sides of the clamping groove of the threaded through hole 13 and fingers hollow circular holes 41, the fingers 5 is fixed on the upper portion of the groove of the three-jaw chuck 12 the inner, and the pin and hollow circular holes 41 of the roller bearing 43 is interference fit; through the three-jaw clip through a pin 2 on the two sides of the clamping groove of the through hole and screw thread groove of the lower part of the fingers 42, the claw means 5 is fixed at the lower part of the three-jaw clip 2 of the clamping grooves.

Further of this utility model is characterized in that the three-jaw chuck 1 is a three-jaw clip volume of 2 the volume is 1.5-2 times, three-jaw chuck 1 of the threaded through hole to three-jaw chuck 1 to the distance of the central hole of the three-jaw clip 2 on the two sides of the clamping groove of the screw through holes to the three-jaw clip 2 of the distance of the central hole of the 1.1-1.3 times.

The utility model is further characterized in that the clamping groove 12 is a n-shaped or rectangular grooves, three-jaw chuck 1 and the specification of the shape of the holding groove must be guaranteed to be inserted and fixed jaw 4 on the upper part of the, three-jaw clip 2 on and the specification of the shape of the holding groove can be inserted into the claw means must be guaranteed 4 through groove at the lower part of the part, and the three-jaw clip 2 can be the claw finger 4 is provided with a through groove part of the lower part to move up and down.

Further of this utility model is characterized in that the claw finger 4 of the lower part of the groove 42 on the inner wall of the is provided with a layer of non-ferrous metal or copper plated material, such as metallic copper, copper-plated steel, and the like, and can further reduce the sliding friction between the through groove.

The utility model of the pin shaft further characterized in that the non-ferrous metal or copper-plated material, ensure that the pin itself has very good corrosion resistance and wear resistance.

The device of the utility model working process is as follows: the external drive mechanism to the cylinder, for example. The cylinder moves, the telescopic rod 3 movement, a telescopic rod 3 the movement of the three-jaw clip 2 of the mobile, three claws 4 open. External mechanical arm and the three-jaw chuck 1 is connected, the mobile device of the utility model to the position of the object, and contact with an object. Once again the movement of the cylinder, to promote a telescopic rod 3, a telescopic rod 3 drives the three-jaw clip the movement of the 2 motion, three claws 4 co-tenancy, grasp the object is completed. Then the mechanical arm carrying the device of the utility model, the object will be picked up by the mobile to the target bit. The movement of the cylinder and then through the completion of the application device the opening action, release of the object picked up by the, external mechanical arm to drive the device of the utility model is to return to the initial position, the gripping action of the object, at the same time the device of the utility model the completion of the work process.

Figure 1 is the device of the utility model the three claws 4 in an open state, a telescopic rod 3 when sliding downward, three claws 4 open at the same time, the telescopic link 3 when sliding upwards, three claws 4 is closed at the same time. When the telescopic rod 3 when sliding up and down, a telescopic rod 3 drives the three-jaw clip 2 motion, and then drives the three-jaw clip 2 with three claw means 4 connected to the corresponding claw means pin shaft 4 slide up and down in the grooves, three-jaw chuck 1 does not vary with a telescopic rod 3 to move the sliding of the, three-jaw chuck 1 mainly in the telescopic link 3 have a function of guiding, three claws 4 is fixed on the upper part of the three-jaw chuck 1 is, three claws 4 of the lower part of the slide up and down through the pin shaft, so that the three claws 4 open and close at the same time, so as to complete the purpose of grasping an object.

The utility model is characterized in that the telescopic rod 3 and the three-jaw chuck 1 through the linear bearing is connected with the center through hole, and claws 4 and the upper part of the three-jaw chuck 1 is connected through the roller bearing between, the interference fit connection, so that the three-jaw chuck 1 with a telescopic rod 3 and between the three-jaw chuck 1 and the claw finger 4 does not occur between the relative displacement of the upper part of the, firmly fixed; the use of the application for the pin of the aircraft fuselage can also be a pin, is mounted on the is to the actual need. In the utility model the telescopic link 3 with the reciprocating sliding the upper end of the external driving mechanism is connected, the external driving mechanism of this application can be through the cylinder, gear rack, cam or crank rocker arm, the combination of one or more driving means to drive. The device is mainly used for holding the overall outline of the object is similar to a cylinder or ellipsoid, for example filling beer. The device of the utility model the whole volume is small, the size of the specific size of the relevant the size of the object.

Embodiment 1

This embodiment of the three-jaw grasping device (see Figure 4) comprises a three-jaw chuck 1, three-jaw clip 2, a telescopic rod 3 and three claws 4, a telescopic rod 3 is fixed on the upper part of the three-jaw chuck 1, the lower part of the three-jaw clip 2 is connected with the; three claws 4 is fixed on the upper part of the three-jaw chuck 1 holding groove, three claws 4 of the three-jaw clip is fixed on the lower part 2 of the clamping grooves; three-jaw chuck is Y-shaped, and are evenly distributed along the circumferential direction of the three-jaw, between two adjacent claw an included angle of 120 °, three-jaw chuck 1 center provided with a central through hole 14, the center of a straight-line bearing is arranged in the through hole 11, three-jaw chuck 1 of each of the claws on the outer side of the groove 12 are n-shaped groove, both sides of the groove n is provided with a threaded through hole 13, the threaded through hole 13 through the center of the three-jaw chuck 14 is equal to the distance between; the three-jaw clip 2 with the shape and structure of the three-jaw chuck 1 of the same shape and structure, three-jaw clip 2 n-shaped groove of the three-jaw chuck 1 is equal to the width of the groove n, three-jaw chuck of the threaded through hole of the center through hole of the three-jaw chuck distance is three-jaw clip 2 n-shaped groove on the two sides of the three-jaw clip to the screw through hole 2 of the distance of the central hole of the 1.1 times, three-jaw clip 2 on is provided with a screw thread in the central through hole; a telescopic rod 3 through the upper part of the linear bearing and the three-jaw chuck 1 is fixedly connected with the center through hole, and the retractable rod is in interference fit with the linear bearing, the lower part of the screw thread and the three claws kazi 2 is connected with the central through hole; the telescopic link 3 with the upper end of the external driving mechanism is connected, the claw finger 4 in the number of three, jaw means 4 is provided with a hollow circular holes the upper part 41, and the hollow circular holes is provided with a roller bearing 43, claw means 4 is arranged at the lower part of the groove 42 ; claws 4 the thickness of the three-jaw chuck 1 and three-jaw clip 2 of the width of the groove is matched n, through the three-jaw chuck through the pin 1 on both sides of the n-shaped groove of the threaded through hole 13 and a claw finger 4 the hollow round hole 41, and the pin and the hollow in the round hole is in interference fit with the roller bearing, the claws 4 is fixed on the upper part of the three-jaw chuck 1 n-shaped groove of the; through the short pin passes through the three-jaw clip 2 n-shaped grooves on two sides of the through hole and screw thread groove of the lower part of the fingers, the fingers 4 of the three-jaw clip is fixed on the lower part 2 of the n-shaped groove, and the three-jaw clip 2 can be in the claws 4 move up and down in the lower part of the groove, that is, meet the size design of the claw means of the downward movement of the pin when in the outer side of the next to the groove, the upward movement to the inner side of the groove. .

In this embodiment of the air cylinder is used to drive the external driving mechanism, drives the telescopic rod through the cylinder 3 action, thereby realizing the three claws 4 the opening and closing action.

Embodiment 2

This embodiment adopts the embodiment 1 of the connection mode, which is characterized in that the three-jaw chuck 1 of each of the claw groove is on the outer side of the rectangular groove of the, three-jaw chuck 1 is a three-jaw clip volume of 2 the volume of the 1.5 times, three-jaw clip 2 of each of the claw groove is on the outer side of the rectangle of the, three-jaw clip 2 clutches and three-jaw chuck 1 is equal to the width of the rectangular, three-jaw chuck 1 of the threaded through hole to three-jaw chuck 1 central through hole distance is three-jaw clip 2 on the two sides of the rectangle of the three-jaw clip thread through hole 2 of the distance of the central hole of the 1.2 times, claws 4 the thickness of the three-jaw chuck 1 and three-jaw clip 2 is matched to the width of the rectangular groove. Through the claw means on the inner wall of the lower part of the casting with a layer of copper metal.

This embodiment adopts the cam to drive the external driving mechanism, the action of the cam the movement of the telescopic rod is connected, thereby realizing the three claws 4 the opening and closing.

Embodiment 3

This embodiment adopts the embodiment 1 of the connection mode, which is characterized in that the three-jaw chuck 1 is a three-jaw clip volume of 2 volume of 2 times, three-jaw chuck 1 of the threaded through hole to three-jaw chuck 1 central through hole distance is three-jaw clip 2 on the two sides of the rectangle of the three-jaw clip thread through hole 2 of the distance of the central hole of the 1.3 times, three-jaw clip 2 and the three-jaw chuck 1 on the width of the holding groove, and the three-jaw chuck 1 holding of the width of the claws 4 to match the thickness of the upper part of the, three-jaw clip 2 the width of the clamping groove of the three claws 4 matching thickness of an upper portion, each claws 4 through groove of the lower part are provided with a layer of copper plated material. The external driving mechanism adopts a crank rocker drive.

The utility model is not covered by the existing technology.