CN105619380B - A kind of assembly method of mechanical arm - Google Patents
A kind of assembly method of mechanical arm Download PDFInfo
- Publication number
- CN105619380B CN105619380B CN201610098929.1A CN201610098929A CN105619380B CN 105619380 B CN105619380 B CN 105619380B CN 201610098929 A CN201610098929 A CN 201610098929A CN 105619380 B CN105619380 B CN 105619380B
- Authority
- CN
- China
- Prior art keywords
- ring flange
- screw
- support tube
- mechanical arm
- gap
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Expired - Fee Related
Links
- 238000000034 method Methods 0.000 title claims abstract description 15
- 239000004744 fabric Substances 0.000 claims 1
- 238000007789 sealing Methods 0.000 abstract description 30
- 230000000694 effects Effects 0.000 abstract description 2
- 239000012535 impurity Substances 0.000 description 13
- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 description 13
- 239000000428 dust Substances 0.000 description 12
- 238000010586 diagram Methods 0.000 description 5
- 238000005516 engineering process Methods 0.000 description 3
- 238000009434 installation Methods 0.000 description 2
- 238000004519 manufacturing process Methods 0.000 description 2
- 238000005457 optimization Methods 0.000 description 2
- 230000004323 axial length Effects 0.000 description 1
- 230000006835 compression Effects 0.000 description 1
- 238000007906 compression Methods 0.000 description 1
- -1 dirt Substances 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 239000004065 semiconductor Substances 0.000 description 1
- 239000013589 supplement Substances 0.000 description 1
- 230000001225 therapeutic effect 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
- B25J9/00—Programme-controlled manipulators
- B25J9/0009—Constructional details, e.g. manipulator supports, bases
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
- B23P—METAL-WORKING NOT OTHERWISE PROVIDED FOR; COMBINED OPERATIONS; UNIVERSAL MACHINE TOOLS
- B23P21/00—Machines for assembling a multiplicity of different parts to compose units, with or without preceding or subsequent working of such parts, e.g. with programme control
Abstract
The invention provides a kind of assembly method of mechanical arm, belong to field of mechanical technique.It solves the problem of existing mechanical arm sealing effectiveness is poor.A kind of assembly method of mechanical arm, comprises the following steps：A, screw bar portion prewhirled in end cap；B, end cap moved toward ring flange direction, make screw head through the resigning hole on ring flange and in gap；C, rotating end cap make in the spacing hole that screw is located on ring flange；D, screw-driving is fixed on ring flange；E, support tube is up pull towards and guide part is plugged in support tube；F, it is last be arranged rubber ring on support tube outer end and position support tube, make that rubber ring is located at gap location and rubber ring is by clearance seal.The assembly method of this mechanical arm has the advantages that good sealing effect.
Description
The application is the divisional application of following patent application：Application number：201510015500.7, the applying date：2015-01-
12, title：A kind of mechanical arm.
Technical field
The invention belongs to field of mechanical technique, it is related to a kind of assembly method of mechanical arm.
Background technology
Mechanical arm is the automated machine device for obtaining most broad practice in robot technical field at present,
The fields such as industrial manufacture, therapeutic treatment, entertainment service, military affairs, semiconductor manufacturing and space probation can see its figure.
Although their form is had nothing in common with each other, the characteristics of they have one jointly can exactly receive instruction, be precisely positioned to
The certain point of three-dimensional (or two dimension) spatially carries out operation.
Between each joint joint and end cap on mechanical arm of the prior art or joint and miscellaneous part company
Connect and be all directly attached using fasteners such as screws, screw is directly exposed on mechanical arm.When mechanical arm is in operating mode
In the case of more severe in use, the impurity such as dust, water easily by screw junction enter in mechanical arm, influence machine
The normal work of tool arm.Simultaneously as the joint on mechanical arm is more, and it is more to need the position connected also to compare, therefore causes
The quantity that screw is used is also a lot so that the impurity such as more dust, water by screw junction enter in mechanical arm, greatly
The normal work of big influence mechanical arm.
The content of the invention
The purpose of the present invention is there is above mentioned problem for existing technology, it is proposed that a kind of by screw concealed mechanical arm
Assembly method.
The purpose of the present invention can be realized by following technical proposal：
A kind of assembly method of mechanical arm, mechanical arm is included on body, ring flange, end cap, support tube and rubber ring, body
With connection end, ring flange has gap, flange between being fixed on the end face of the connection end on body and on ring flange and body
There are some through holes circumferentially distributed along ring flange, through hole includes the resigning hole that screw head can be allowed to pass through and can hindered in side surface
The spacing hole that only screw head is passed through, spacing hole is connected with resigning hole, and ring flange the inner has the guiding of cylindrical protrusion
Portion, it is characterised in that this assembly method comprises the following steps：
A, screw bar portion prewhirled in end cap；
B, end cap moved toward ring flange direction, make screw head through the resigning hole on ring flange and in gap；
C, rotating end cap make in the spacing hole that screw is located on ring flange；
D, screw-driving is fixed on ring flange；
E, by support tube toward pull up and guide part is plugged in support tube；
F, it is last be arranged rubber ring on support tube outer end and position support tube, rubber ring is located at gap location and rubber
Enclose clearance seal.
The mechanical arm being related in this method is：
A kind of mechanical arm, including body and the ring flange connected with body circumference, described ring flange are connected by screw
There is end cap, it is characterised in that described body includes a cylindrical connection end and the connection end is coaxially disposed with ring flange,
There is gap, described screw head is located in gap, described between the end face of connection end on described ring flange and body
Flange side surface be provided with some circumferentially distributed through holes, described through hole includes allowing the resigning that screw head is passed through
Hole and the spacing hole that screw head is passed through can be prevented, described spacing hole is connected with described resigning hole, described gap
Interior be provided with can move axially and cylindrical support tube along ring flange, the end adjacent with ring flange on described support tube
There is annular shoulder block, described annular shoulder block offsets with described ring flange, is covered on described support tube lateral wall on lateral wall
It is connected to rubber ring, the end face phase of the both ends of the surface of described rubber ring respectively with the connection end on described annular shoulder block and body
Support.
When screw is not installed, support tube is plugged in connection end and the annular shoulder block offsets with connection end end face；During installation,
First screw bar portion is preset on end cap, then screw head is through the resigning hole on ring flange and in gap, Ran Houzhuan
Moved end lid causes shank of screw portion to be located in spacing hole, and then spanner is extend into gap and by screw-driving, finally will support
Cylinder pull-up, finally gap is fully sealed rubber ring on set on support tube lateral wall, while in the presence of rubber ring, will prop up
Support cylinder is stably positioned.
Being offseted by rubber ring one end with annular shoulder block makes annular shoulder block side offset to form sealing with ring flange；Rubber ring
The other end offsets to form sealing with connection end end face, so that screw head is hidden in gap, and ring flange and end cap pass through
Screw bolt, so that screw be hidden completely, improves the sealing of mechanical arm；When rubber ring two ends respectively with annular shoulder block
Offseted with connection end end face when support tube is positioned, the reaction force that rubber ring can be applied by annular shoulder block simultaneously makes the rubber
The two side of cushion rubber respectively with annular shoulder block and connection end end face tight abutment, remain gap rubber ring stable position
Sealing, is prevented effectively from the impurity such as dust, water and enters in gap and enter body by the junction of screw and each parts
The work of interior influence mechanical arm；Especially when mechanical arm working environment be in it is more severe in the case of in use, screw is complete
The full sealing effectiveness for hiding reached mechanical arm more protrudes.
In above-mentioned mechanical arm, described rubber ring, the connection end on described body and described annular shoulder block three
The lateral wall of person is flush.
Rubber ring lateral wall is flush with connection end and annular shoulder block lateral wall, effectively reduction rubber ring and miscellaneous part
The probability collided, so that rubber ring, which is stably positioned, makes gap remain sealing, effectively prevent the impurity such as dust, water
Enter in gap, further increase the sealing effectiveness of mechanical arm, while making screw head preferably be hidden in gap.
There is annular gear edge in above-mentioned mechanical arm, in the outer rim of described ring flange, described annular shoulder block is located at
Annular is kept off between edge and rubber ring and the annular shoulder block offsets with described annular gear edge.
By setting the contact area on annular gear edge, increase annular gear edge and annular shoulder block, so that rubber ring two sides
Closely reclined with annular shoulder block and connection end end face respectively, so that gap remains sealing, effectively prevent ash
The impurity such as dirt, water are entered in gap, further increase the sealing effectiveness of mechanical arm, while making screw head preferably hidden
Ensconce in gap.
In above-mentioned mechanical arm, described ring flange the inner has the guide part of cylindrical protrusion, described guiding
Portion is plugged in described support tube and the internal diameter of the external diameter of the guide part and described support tube matches.
By setting guide part, guide effect is played in the movement to support tube, support tube is slided into accurate position, from
And more preferable supporting role is played to rubber ring, gap is remained sealing, effectively prevent the impurity such as dust, water and enter
In gap, the sealing effectiveness of mechanical arm is further increased, while making screw head preferably be hidden in gap.
In above-mentioned mechanical arm, described end cap includes a cylindrical connecting portion, and described ring flange is plugged on
In described connecting portion and described annular gear edge offsets with described connection end surface.
In the presence of connecting portion, the two sides of rubber ring are closely pasted with annular shoulder block and connection end end face respectively
Lean on, rubber ring is more stably positioned, gap is remained sealing, effectively prevent the impurity such as dust, water and enter
In gap, the sealing effectiveness of mechanical arm is further increased, while making screw head preferably be hidden in gap.
In above-mentioned mechanical arm, described rubber ring is cylindrical, the end adjacent with connection end on described support tube
The distance between face and described annular shoulder block are more than or equal to the axial length of above-mentioned rubber ring.
I.e. rubber ring madial wall mutually reclines with support tube lateral wall completely, support tube is played preferably support and makees
With making rubber ring more stably be positioned, gap is remained sealing, effectively prevent the impurity such as dust, water and enter
In gap, the sealing effectiveness of mechanical arm is further increased, while making screw head preferably be hidden in gap.
In above-mentioned mechanical arm, described resigning hole is rounded, and described spacing hole is in circular arc and described spacing
By seamlessly transitting between hole and described resigning hole.
By smoothly fixing between spacing hole and resigning hole so that screw can be rotated swimmingly when mounted.
Compared with prior art, the assembly method of this mechanical arm has advantages below：
1st, being offseted by rubber ring one end with annular shoulder block makes annular shoulder block side and ring flange offset to form sealing；Rubber
The circle other end offsets to form sealing with connection end end face, so that screw head is hidden in gap；Ring flange and end cap pass through
Screw bolt, so that screw be hidden completely, improves the sealing of mechanical arm.
2nd, rubber ring two ends offset when support tube is positioned with annular shoulder block and connection end end face respectively, and rubber ring can be by
There is the trend to connection end end-face deformation to the reaction force that annular shoulder block is applied, so that rubber ring is stably positioned relative to the first and second frame part
Gap is remained sealing, effectively prevent the impurity such as dust, water and enter in gap, further increase mechanical arm
Sealing effectiveness, while making screw head preferably be hidden in gap.
3rd, in the presence of rubber ring, annular shoulder block, along offseting, makes annular gear apply one along to annular shoulder block with annular gear
To the active force in rubber ring direction so that rubber ring occur compression make its two sides respectively with annular shoulder block and connection end end face
Closely against so that gap remains sealing, effectively prevent the impurity such as dust, water and enter in gap, further carry
The high sealing effectiveness of mechanical arm, while making screw head preferably be hidden in gap.
Brief description of the drawings
Fig. 1 is the dimensional structure diagram of mechanical arm.
Fig. 2 is the configuration schematic diagram of mechanical arm.
Fig. 3 is the attachment structure schematic diagram of screw and ring flange.
Fig. 4 is the cross section structure diagram of mechanical arm.
Fig. 5 is the attachment structure schematic diagram of end cap, support tube, ring flange and rubber ring.
In figure, 1, body；1a, connection end；2nd, ring flange；2a, through hole；2a1, resigning hole；2a2, spacing hole；2b, annular
Keep off edge；2c, guide part；3rd, gap；4th, screw；5th, support tube；5a, annular shoulder block；6th, rubber ring；7th, end cap；7a, connecting portion.
Embodiment
The following is specific embodiment of the invention and with reference to accompanying drawing, technical scheme is further described,
But the present invention is not limited to these embodiments.
As depicted in figs. 1 and 2, mechanical arm includes one in groups such as body 1, ring flange 2, end cap 7, support tube 5, rubber rings 6
Into.
Wherein, ring flange 2 is circumferential connected with body 1, and ring flange 2 is fixedly connected with by some screws 4 and end cap 7.Body 1
Be coaxially disposed including cylindrical a connection end 1a and connection end 1a with ring flange 2, ring flange 2 and connection end 1a end faces it
Between there is gap 3 and screw 4 head be located in gap 3.
As shown in Figures 2 and 3, some circumferentially distributed through hole 2a are axially penetrated through on ring flange 2, through hole 2a includes
Can allow the resigning hole 2a1 that the head of screw 4 is passed through and the spacing hole 2a2 that the head of screw 4 can be prevented to pass through, spacing hole 2a2 and
Described resigning hole 2a1 is connected.In the present embodiment, resigning hole 2a1 is rounded, and spacing hole 2a2 is in circular arc and spacing hole
By seamlessly transitting between 2a2 and resigning hole 2a1.By smoothly fixing between spacing hole 2a2 and resigning hole 2a1 so that in peace
Screw 4 can be rotated swimmingly during dress.
As shown in figure 5, support tube 5 is cylindrical and the support tube 5 is set with the tubular of ring flange 2.Between the support tube 5 is located at
There is the annular shoulder block 5a that can be offseted with ring flange 2 in gap 3, on the lateral wall of the end adjacent with ring flange 2 of support tube 5, and
When support tube 5 is axially moved down along ring flange 2, the support tube 5 is plugged in the 1a of connection end.
It is socketed with the sealed rubber ring 6 in gap 3 on the lateral wall of the outer end of support tube 5 and the rubber ring 6 is cylindrical.Its
In, the distance between the end face adjacent with connection end 1a and annular shoulder block 5a are more than or equal to the axial direction of rubber ring 6 on support tube 5
Length, makes rubber ring 6 more stably be positioned.In the present embodiment, the lateral wall of the outer end of support tube 5 is located in gap 3, should
The both ends of the surface of rubber ring 6 mutually recline with annular shoulder block 5a and connection end 1a end faces respectively, so that in the presence of annular shoulder block 5a
The both sides of rubber ring 6 are respectively with annular shoulder block 5a and connection end 1a end faces closely against by the stable position of rubber ring 6, making gap 3 begin
Sealing is kept eventually, be effectively prevent the impurity such as dust, water and is entered in gap 3, further increases the sealing effectiveness of mechanical arm,
The head of screw 4 is set preferably to be hidden in gap 3 simultaneously.
Further optimization, has annular gear along 2b as shown in Figure 3 and Figure 4, in the outer rim of ring flange 2, annular shoulder block 5a
In annular gear along between 2b and rubber ring 6 and the annular shoulder block 5a with annular keep off offseted along 2b so that rubber ring 6 can occur
More large deformation compresses, and the both sides of rubber ring 6 is closely reclined with annular shoulder block 5a and connection end 1a end faces respectively, by rubber
6 stable positions are enclosed, gap 3 is remained sealing, the impurity such as dust, water is effectively prevent and enters in gap 3, further carry
The high sealing effectiveness of mechanical arm, while making the head of screw 4 preferably be hidden in gap 3.
As shown in figure 1, the lateral wall of rubber ring 6, connection end 1a and annular shoulder block 5a three is flush.Outside rubber ring 6
Side wall is flush with connection end 1a and annular shoulder block 5a lateral walls, effectively reduction rubber ring 6 and miscellaneous part collide it is several
Rate, so that rubber ring 6, which is stably positioned, makes gap 3 remain sealing, effectively prevent between the impurity such as dust, water enter
In gap 3, the sealing effectiveness of mechanical arm is further increased, while making the head of screw 4 preferably be hidden in gap 3.
Further optimization, as shown in Figure 4 and Figure 5, end cap 7 includes a cylindrical connecting portion 7a, and ring flange 2 is plugged on
Connecting portion 7a is interior and annular gear offsets along 2b with connecting portion 7a end faces.
As shown in Fig. 2, Fig. 4 and Fig. 5, during installation, the bar portion of screw 4 is screwed in end cap 7 in advance, then makes end cap 7 toward flange
The movement of the direction of disk 2 makes end cap 7 be abutted together with ring flange 2.And now, the head of screw 4 passes through the resigning hole on ring flange 2
2a1 is simultaneously located in gap 3.Then rotating end cap 7 causes in the spacing hole 2a2 that screw 4 is located on ring flange 2.Then by spanner
It extend into gap 3 and tightens screw 4, because the head diameter of screw 4 is more than spacing hole 2a2 groove width, so that screw 4 is steady
Surely position.Then by support tube 5 toward pulling up and guide part 2c is plugged in support tube 5, finally on the outer end of support tube 5
It is arranged rubber ring 6 to position support tube 5, while gap 3 is sealed.
Specific embodiment described herein is only to spirit explanation for example of the invention.Technology neck belonging to of the invention
The technical staff in domain can be made various modifications or supplement to described specific embodiment or be replaced using similar mode
Generation, but without departing from the spiritual of the present invention or surmount scope defined in appended claims.
Claims (1)
1. a kind of assembly method of mechanical arm, mechanical arm includes body (1), ring flange (2), end cap (7), support tube (5) and rubber
There is connection end (1a) on cushion rubber (6), body (1), ring flange (2) is fixed on body (1) and ring flange (2) and body (1)
On connection end (1a) end face between there are gap (3), have on ring flange (2) end face it is some along ring flange (2) circumferentially point
The through hole (2a) of cloth, through hole (2a) includes the resigning hole (2a1) that screw (4) head can be allowed to pass through and can prevent screw (4) head
The spacing hole (2a2) passed through, spacing hole (2a2) is connected with resigning hole (2a1), and ring flange (2) the inner has cylindrical convex
The guide part (2c) gone out, it is characterised in that this assembly method comprises the following steps：
A, screw (4) bar portion screwed in advance in end cap (7)；
B, end cap (7) moved toward ring flange (2) direction, make screw (4) head through the resigning hole (2a1) on ring flange (2)
And in gap (3)；
C, rotating end cap (7) make in the spacing hole (2a2) that screw (4) is located on ring flange (2)；
D, screw (4) is tightened on ring flange (2)；
E, by support tube (5) toward pulling up and guide part (2c) is plugged in support tube (5)；
F, it is last be arranged rubber ring (6) on support tube (5) outer end and position support tube (5), rubber ring (6) is located at gap
(3) place and rubber ring (6) seal gap (3).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610098929.1A CN105619380B (en) | 2015-01-12 | 2015-01-12 | A kind of assembly method of mechanical arm |
Applications Claiming Priority (2)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610098929.1A CN105619380B (en) | 2015-01-12 | 2015-01-12 | A kind of assembly method of mechanical arm |
| CN201510015500.7A CN104552277B (en) | 2015-01-12 | 2015-01-12 | A kind of mechanical arm |
Related Parent Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201510015500.7A Division CN104552277B (en) | 2015-01-12 | 2015-01-12 | A kind of mechanical arm |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN105619380A CN105619380A (en) | 2016-06-01 |
| CN105619380B true CN105619380B (en) | 2017-09-05 |
Family
ID=53069879
Family Applications (4)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201510015500.7A Expired - Fee Related CN104552277B (en) | 2015-01-12 | 2015-01-12 | A kind of mechanical arm |
| CN201610098969.6A Expired - Fee Related CN105583805B (en) | 2015-01-12 | 2015-01-12 | A kind of mechanical arm |
| CN201610098929.1A Expired - Fee Related CN105619380B (en) | 2015-01-12 | 2015-01-12 | A kind of assembly method of mechanical arm |
| CN201610099001.5A Expired - Fee Related CN105583806B (en) | 2015-01-12 | 2015-01-12 | A kind of mechanical arm |
Family Applications Before (2)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201510015500.7A Expired - Fee Related CN104552277B (en) | 2015-01-12 | 2015-01-12 | A kind of mechanical arm |
| CN201610098969.6A Expired - Fee Related CN105583805B (en) | 2015-01-12 | 2015-01-12 | A kind of mechanical arm |
Family Applications After (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201610099001.5A Expired - Fee Related CN105583806B (en) | 2015-01-12 | 2015-01-12 | A kind of mechanical arm |
Country Status (1)
| Country | Link |
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| CN (4) | CN104552277B (en) |
Families Citing this family (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US11167433B2 (en) * | 2018-10-02 | 2021-11-09 | Flexiv Ltd. | Sealing apparatus and articulated robot |
| CN110653804A (en) * | 2019-10-25 | 2020-01-07 | 青岛郑洋机器人有限公司 | 360 transposition arm base limit structure |
| CN111360871B (en) * | 2020-04-01 | 2023-06-09 | 广东博智林机器人有限公司 | Mechanical arm joint structure, mounting method thereof and mechanical arm |
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- 2015-01-12 CN CN201610098929.1A patent/CN105619380B/en not_active Expired - Fee Related
- 2015-01-12 CN CN201610099001.5A patent/CN105583806B/en not_active Expired - Fee Related
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Also Published As
| Publication number | Publication date |
|---|---|
| CN105583805A (en) | 2016-05-18 |
| CN105619380A (en) | 2016-06-01 |
| CN104552277A (en) | 2015-04-29 |
| CN104552277B (en) | 2016-03-30 |
| CN105583805B (en) | 2017-11-21 |
| CN105583806B (en) | 2018-01-23 |
| CN105583806A (en) | 2016-05-18 |
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