Three-finger centering robotic arm
By employing a hollow sleeve and hydraulic drive design in the three-point centering manipulator, the problem of manipulator arm deviation caused by the large weight at the end of the manipulator was solved, thereby improving stability and lifespan and ensuring efficient gripping performance.
Patent Information
- Authority / Receiving Office
- CN · China
- Patent Type
- Utility models(China)
- Current Assignee / Owner
- SHANGHAI PENGHAI MASCH CO LTD
- Filing Date
- 2025-09-03
- Publication Date
- 2026-07-31
AI Technical Summary
The existing three-point centering robot arm has a solid chuck as its main body, which results in a large weight at the end of the robot arm. After long-term use, this causes slight misalignment at the connection point of the robot arm, increasing the failure rate and reducing its service life.
It adopts a hollow sleeve design, combined with a lifting sleeve, wedge block and hydraulic system. The hydraulic oil drives the translation and opening of the gripper mounting platform. The cooperation of the limit strip and the limit groove realizes the stable movement of the gripper. The internal structure is protected by a dust cover to prevent dust from entering.
The overall weight of the robotic arm has been reduced, its stability and service life have been improved, the failure rate has been reduced, and the long-term reliability and precise grasping ability of the robotic arm have been ensured.
Smart Images
Figure CN224575688U_ABST
Abstract
Description
Technical Field
[0001] This application relates to the field of robotic arms, and in particular to three-point centering robotic arms. Background Technology
[0002] The three-finger manipulator is a type of end effector for industrial robots. It employs three independently controlled pneumatic fingers that work together to achieve precise positioning and gripping through high-precision sensors and a control system. Its core advantages are: High-precision positioning: The coordinated movement of the three fingers ensures workpiece centering, reducing offset and damage; Strong stability: Pneumatic drive provides rapid response, adapting to complex workpiece materials and reducing the risk of detachment; Wide adaptability: Adjustable air pressure and finger material make it compatible with workpieces of different shapes and sizes; Typical applications: Production line handling: Improves the efficiency and precision of handling workpieces such as automotive parts and electronic components; Micro-manipulation: The miniature three-finger manipulator achieves micron-level precision, applicable to precision assembly. This technology, through collaborative control and intelligent algorithm optimization, significantly reduces human intervention and improves production safety and efficiency.
[0003] Currently used three-finger centering robotic arms mostly consist of a solid chuck as the main body, which drives the centering claw through a drive device. During use, because the main body is solid, the end effector of the robotic arm is relatively heavy. Over time, this can cause slight misalignment at the connection point of the robotic arm, leading to a high failure rate and a reduced lifespan. Utility Model Content
[0004] To address the issue that the main body is often a solid chuck, resulting in a large end-effector weight and causing slight misalignment at the connection point of the robotic arm during prolonged use, this application provides a three-point centering robotic arm.
[0005] The three-point centering manipulator provided in this application adopts the following technical solution:
[0006] The main body includes a hollow sleeve located in the middle of its inner side. A lifting sleeve is installed on the outer side of the hollow sleeve. Multiple wedge-shaped blocks are provided on the upper side of the lifting sleeve. The wedge-shaped blocks have slots. The main body has an installation groove. A gripper mounting platform is movably installed inside the installation groove. A connecting slot is provided at one end of the gripper mounting platform. A fastener is provided at one end of the gripper mounting platform located outside the connecting slot.
[0007] By adopting the above technical solution, when the lifting sleeve moves upward, the wedge block set on the side pushes the gripper mounting platform to move inside the mounting groove. When the gripper mounting platform moves, the limiting strip on the side cooperates with the limiting groove to ensure that the gripper mounting platform moves horizontally. Multiple gripper mounting platforms move outward to facilitate the gripper to grab the item.
[0008] Preferably, the size of the buckle is adapted to the size of the slot, the buckle is movably engaged inside the slot, and one end of the wedge block is located inside the connecting groove.
[0009] By adopting the above technical solution, when the lifting sleeve moves upward, the wedge block set on the side pushes the gripper mounting platform to move inside the mounting groove.
[0010] Preferably, a limiting groove is formed on the inner wall of the mounting groove on the main body, and limiting strips are provided on both sides of the gripper mounting platform. The size of the limiting strips is adapted to the size of the limiting groove, and the limiting strips are movably installed inside the limiting groove.
[0011] By adopting the above technical solution, when the gripper mounting platform moves, the limiting strip on the side cooperates with the limiting groove to ensure the horizontal movement of the gripper mounting platform.
[0012] Preferably, the lower part of the main body is bolted to a bottom cover, and an oil cavity is formed between the bottom cover and the interior of the main body. A piston is movably installed inside the oil cavity, and the piston is connected to the lower part of the lifting sleeve.
[0013] By adopting the above technical solution, hydraulic oil enters the interior of the oil chamber through the oil inlet. Through continuous oil injection, the hydraulic oil pushes the piston in the oil chamber to move upward.
[0014] Preferably, the lower part of the main body is provided with an oil inlet and an oil outlet, both of which are connected to the interior of the oil cavity.
[0015] By adopting the above technical solution, an oil inlet pipe and an oil outlet pipe are installed on the oil inlet and oil outlet. The pump injects oil into the oil inlet through the oil inlet pipe and enters the interior of the oil chamber through the oil inlet.
[0016] Preferably, a dust cover is installed in the middle of the main body by screws, a positioning card is provided on the inner side of the dust cover, and a positioning groove adapted to the positioning card is opened on the upper part of the hollow sleeve, and the positioning card is located inside the positioning groove.
[0017] By adopting the above technical solution, the dust cover can protect the interior of the main body, preventing external dust from entering the interior during use and improving the overall service life.
[0018] In summary, this application includes at least one of the following beneficial technical effects:
[0019] 1. By setting a hollow sleeve inside the main body, this application can reduce the overall weight, improve the overall stability during use, reduce the failure rate, and protect the inside of the main body with a dust cover to prevent external dust from entering the inside of the main body during use, thereby improving the overall service life.
[0020] 2. In this application, the hydraulic oil enters the interior of the oil chamber through the oil inlet. Through continuous oil injection, the hydraulic oil pushes the piston in the oil chamber to move upward. The piston drives the lifting sleeve to move upward. When the lifting sleeve moves upward, the wedge block set on the side pushes the gripper mounting platform to move inside the mounting groove. When the gripper mounting platform moves, the limiting strip on the side cooperates with the limiting groove to ensure that the gripper mounting platform moves horizontally. Multiple gripper mounting platforms move outward. When the multiple gripper mounting platforms open up, the hydraulic oil inside the oil chamber is discharged from the oil outlet and oil pipe. The gripper mounting platforms move closer together and the grippers grasp the items. Attached Figure Description
[0021] Figure 1 This is a schematic diagram of the overall structure of the manipulator specified in Embodiment 3 of this application;
[0022] Figure 2 This is a schematic diagram illustrating the overall disassembled structure, which is the main feature of the embodiments of this application.
[0023] Figure 3 This is a schematic diagram illustrating the main structure of the gripper mounting platform in the embodiments of this application;
[0024] Figure 4 This is a schematic diagram illustrating the disassembled structure of the hollow sleeve and dust cover, which is the main feature of this application embodiment;
[0025] Figure 5 This is a schematic diagram illustrating the overall cross-sectional structure of the embodiments of this application;
[0026] Reference numerals: 1. Main body; 2. Gripper mounting platform; 3. Lifting sleeve; 4. Hollow sleeve; 5. Wedge block; 6. Slot; 7. Connecting slot; 8. Fastener; 9. Limiting strip; 10. Limiting groove; 11. Bottom cover; 12. Oil chamber; 13. Piston; 14. Dust cover; 15. Positioning groove; 16. Positioning clip; 17. Mounting groove; 18. Oil inlet; 19. Oil outlet. Detailed Implementation
[0027] The following is in conjunction with the appendix Figures 1-5 This application will be described in further detail.
[0028] This application discloses a three-pointed centrifugal manipulator, including a hollow sleeve 4 disposed in the middle of the inner side of the main body 1, and a lifting sleeve 3 installed on the outer side of the hollow sleeve 4. By setting the hollow sleeve 4 inside the main body 1, the overall weight can be reduced, the overall stability can be improved during use, and the failure rate can be reduced. Multiple wedge blocks 5 are disposed on the upper side of the lifting sleeve 3, and slots 6 are opened on the wedge blocks 5. An installation groove 17 is opened on the main body 1. A gripper mounting platform 2 is movably installed inside the installation groove 17. A connecting slot 7 is opened at one end of the gripper mounting platform 2. A fastener 8 is disposed at one end of the gripper mounting platform 2 located outside the connecting slot 7. A piston 13 drives the lifting sleeve 3 to move upward. When the lifting sleeve 3 moves upward, the wedge blocks 5 on the side push the gripper mounting platform 2 to move inside the installation groove 17.
[0029] Please refer to Figures 1 to 5 The size of the buckle 8 is compatible with the size of the slot 6. The buckle 8 is movably engaged with the inside of the slot 6. One end of the wedge block 5 is located inside the connecting slot 7. A limiting groove 10 is opened on the inner wall of the mounting groove 17 on the main body 1. Limiting strips 9 are provided on both sides of the gripper mounting platform 2. The size of the limiting strips 9 is compatible with the size of the limiting groove 10, and the limiting strips 9 are movably installed inside the limiting groove 10. When the gripper mounting platform 2 moves, the limiting strips 9 on the side cooperate with the limiting groove 10 to ensure that the gripper mounting platform 2 moves horizontally. Multiple gripper mounting platforms 2 move outward and open between the gripper mounting platforms 2 to facilitate the subsequent gripping of items by the grippers.
[0030] Please refer to Figure 1 and Figure 5 The lower part of the main body 1 is connected to the bottom cover 11 by bolts. An oil chamber 12 is formed between the bottom cover 11 and the interior of the main body 1. A piston 13 is movably installed inside the oil chamber 12. The piston 13 is connected to the lower part of the lifting sleeve 3. The lower part of the main body 1 has an oil inlet 18 and an oil outlet 19. Both the oil inlet 18 and the oil outlet 19 are connected to the interior of the oil chamber 12. An oil inlet pipe and an oil outlet pipe are installed on the oil inlet 18 and the oil outlet 19. The pump injects oil into the oil inlet 18 through the oil inlet pipe. The oil enters the interior of the oil chamber 12 through the oil inlet 18. By continuously injecting oil, the hydraulic oil pushes the piston 13 in the oil chamber 12 to move upward.
[0031] Please refer to Figure 1 , Figure 2 and Figure 4 A dust cover 14 is installed in the middle of the main body 1 by screws. A positioning card 16 is provided on the inner side of the dust cover 14. A positioning groove 15 that matches the positioning card 16 is opened on the upper part of the hollow sleeve 4. The positioning card 16 is located inside the positioning groove 15. The dust cover 14 can protect the inside of the main body 1 and prevent external dust from entering the inside of the main body during use, thereby improving the service life of the whole body 1.
[0032] The implementation principle of the centrifugal manipulator specified in Embodiment 3 of this application is as follows: When this utility model is in use, firstly, grippers are installed on the gripper mounting platform 2, and then oil inlet pipe and oil outlet pipe are installed on the oil inlet 18 and oil outlet 19. The pump injects oil into the oil inlet 18 through the oil inlet pipe, and the oil enters the interior of the oil chamber 12 through the oil inlet 18. Through continuous oil injection, the hydraulic oil pushes the piston 13 in the oil chamber 12 to move upward. The piston 13 drives the lifting sleeve 3 to move upward. When the lifting sleeve 3 moves upward, the wedge block 5 set on the side pushes the gripper mounting platform 2 to move inside the mounting groove 17. When the gripper mounting platform 2 moves, the limiting strip 9 on the side cooperates with the limiting groove 10 to ensure that the gripper mounting platform 2 moves horizontally. Multiple gripper mounting platforms 2 move outward. When the multiple gripper mounting platforms 2 open up, the hydraulic oil inside the oil chamber 12 is discharged from the oil outlet 19 and the oil outlet pipe. The gripper mounting platforms 2 move closer and grip the object with the grippers.
[0033] The above are all preferred embodiments of this application, and are not intended to limit the scope of protection of this application. Therefore, all equivalent changes made in accordance with the structure, shape and principle of this application should be covered within the scope of protection of this application.
Claims
1. A three fingered cardiac manipulator characterized by: The main body (1) has a hollow sleeve (4) in the middle of its inner side. A lifting sleeve (3) is installed on the outer side of the hollow sleeve (4). Multiple wedge blocks (5) are provided on the upper side of the lifting sleeve (3). A slot (6) is provided on the wedge block (5). An installation groove (17) is provided on the main body (1). A gripper mounting platform (2) is movably installed inside the installation groove (17). A connecting slot (7) is provided at one end of the gripper mounting platform (2). A fastener (8) is provided at one end of the gripper mounting platform (2) outside the connecting slot (7).
2. The triad cardiac manipulator of claim 1, wherein: The size of the buckle (8) is adapted to the size of the slot (6), the buckle (8) is movably engaged with the inside of the slot (6), and one end of the wedge block (5) is located inside the connecting slot (7).
3. The triad cardiac manipulator of claim 2, wherein: A limiting groove (10) is provided on the inner wall of the mounting groove (17) on the main body (1), and limiting strips (9) are provided on both sides of the gripper mounting platform (2). The size of the limiting strips (9) is adapted to the size of the limiting groove (10), and the limiting strips (9) are movably installed inside the limiting groove (10).
4. The triad cardiac manipulator of claim 1, wherein: The lower part of the main body (1) is connected to a bottom cover (11) by bolts. An oil cavity (12) is formed between the bottom cover (11) and the interior of the main body (1). A piston (13) is movably installed inside the oil cavity (12). The piston (13) is connected to the lower part of the lifting sleeve (3).
5. The triad cardiac manipulator of claim 4, wherein: The lower part of the main body (1) is provided with an oil inlet (18) and an oil outlet (19), and the oil inlet (18) and the oil outlet (19) are both connected to the interior of the oil cavity (12).
6. The three-finger centering manipulator according to claim 1, characterized in that: A dust cover (14) is installed in the middle of the main body (1) by screws. A positioning card (16) is provided on the inner side of the dust cover (14). A positioning groove (15) adapted to the positioning card (16) is opened on the upper part of the hollow sleeve (4). The positioning card (16) is located inside the positioning groove (15).