CN106181989A - Mechanical hand - Google Patents
Mechanical hand Download PDFInfo
- Publication number
- CN106181989A CN106181989A CN201610769982.XA CN201610769982A CN106181989A CN 106181989 A CN106181989 A CN 106181989A CN 201610769982 A CN201610769982 A CN 201610769982A CN 106181989 A CN106181989 A CN 106181989A
- Authority
- CN
- China
- Prior art keywords
- circuit board
- rotating shaft
- breach
- read head
- disc
- 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.)
- Pending
Links
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
- B25J9/08—Programme-controlled manipulators characterised by modular constructions
Landscapes
- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Transmission And Conversion Of Sensor Element Output (AREA)
Abstract
This application discloses a kind of mechanical hand, belong to mechanical hand technical field, the problem which solving the dismounting inconvenience of current mechanical hand.Mechanical hand, the rotating shaft one rotatably arranged including base and respect thereto, it is fixed with code-disc one in described rotating shaft one, it is removably fixed with circuit board on described base, described board sleeve is located at outside rotating shaft one, it is characterized in that, described circuit board is provided with breach three, and described rotating shaft one is positioned at breach three；Described breach three makes the rotating shaft one when circuit board moves to rotating shaft one sidepiece pass breach Three Cut Off's circuit board more than rotating shaft one external diameter；Being fixed with read head one on described circuit board, described read head one has breach one, and described code-disc one is positioned at the breach one of read head one so that when circuit board moves to the sidepiece of rotating shaft one, code-disc one departs from the breach one of read head one.In this mechanical hand, owing to being provided with breach three on circuit boards so that the dismounting of mechanical hand is more convenient.
Description
Technical field
The invention belongs to mechanical hand technical field, relate to a kind of mechanical hand.
Background technology
In existing machinery hands structure, when needing to disassemble the circuit board on arm, need to dismantle more zero
Could repair or replace circuit board after parts, it dismounts inconvenience.
Summary of the invention
The present invention is directed to the problems referred to above, it is proposed that the mechanical hand of a kind of easy accessibility, its purpose can pass through techniques below side
Case realizes:
Mechanical hand, the rotating shaft one rotatably arranged including base and respect thereto, described rotating shaft one is fixed with code-disc
One, described base is removably fixed with circuit board, described board sleeve is located at outside rotating shaft one, it is characterised in that institute
The circuit board stated is provided with breach three, and described rotating shaft one is positioned at breach three；
Described breach three makes the rotating shaft one when circuit board moves to rotating shaft one sidepiece pass scarce more than rotating shaft one external diameter
Mouth Three Cut Off's circuit board；
Being fixed with read head one on described circuit board, described read head one has breach one, and described code-disc one is positioned at read head one
In breach one so that when circuit board moves to the sidepiece of rotating shaft one, code-disc one departs from the breach one of read head one.
In this mechanical hand, circuit board is detachably secured to the mode on base, can be that circuit board is screwed in
On base, or circuit board is fixed on base by common buckle structure.
Wherein, read head one is for reading the rotational parameters of code-disc one, and then relatively rotates parameter for determine rotating shaft one.
In this mechanical hand, owing to having breach three on circuit board, and when circuit board moves to the sidepiece of rotating shaft one, code-disc one can
Directly depart from the breach one of read head one so that when circuit board is dismantled, code-disc one need not be dismantled, not easily cause code-disc one
Damage；In the same old way, when circuit board is installed, directly the breach three of circuit board is directed at rotating shaft one and inserts, without to code-disc
One dismantles；Therefore, the dismounting of this mechanical hand is more convenient.
In above-mentioned mechanical hand, the direction that described circuit board dismantles movement to the sidepiece of rotating shaft one is direction one, institute
Stating a diameter of diameter one perpendicular with direction one on code-disc one, the center of described read head one is located substantially at diameter one institute
At straight line or be positioned on diameter one side away from breach three.
In this setup, owing to the center of read head one is positioned at the straight line of diameter one place or is positioned at diameter
Away from the side of breach three on one so that when circuit board is during rotating shaft one sidepiece is dismantled, the breach one of read head one and code
Spacing between dish one is increasing, so that code-disc one is hardly damaged during circuit board is dismantled, facilitates mechanical hand
Dismounting.
In above-mentioned mechanical hand, described mechanical hand includes the rotating shaft two being coaxially disposed with rotating shaft one, described rotating shaft
Two can phase countershaft one rotate be set in outside rotating shaft one, described rotating shaft two is fixed with code-disc two；
Being fixed with read head two on described circuit board, described read head two has breach two, and described code-disc two is positioned at reading
In the breach two of two so that when circuit board moves to the sidepiece of rotating shaft one, code-disc two departs from the breach two of read head two.
In this structure, although mechanical hand is provided with the relative complex code-disc of structure one and code-disc two, and read head one He
Read head two is respectively provided with on circuit boards, but when circuit board is dismantled, code-disc one and code-disc two are the most unaffected so that circuit board energy
Enough conveniently disassemble.
In above-mentioned mechanical hand, described breach three in strip and breach three length direction and code-disc diameter substantially
Overlap.
Breach three is in strip so that the circuit effective area of circuit board is relatively big, the layout of components and parts on more convenient circuit board.
Further, since breach three is in strip, breach three also is able in the moving process of circuit board phase countershaft one, plays guiding and makees
With；It is to say, in the moving process of circuit board, the relative position between circuit board and rotating shaft one of the breach three in strip
Provide constraints, it is to avoid circuit board misplaces and causes read head one to touch code-disc one and cause code-disc one and read head one damage.
In above-mentioned mechanical hand, the direction that described circuit board dismantles movement to the sidepiece of rotating shaft one is direction one, institute
State a diameter of diameter one perpendicular with direction one on code-disc one, the center of described read head one and the centre bit of read head two
Put the side being all located substantially at the straight line of diameter one place or be respectively positioned on diameter one away from breach three.
In like manner, when circuit board to rotating shaft one sidepiece dismantle during, between breach one and the code-disc one of read head one between
Away from increasing, and the spacing between the breach two of read head two and code-disc two is increasing, so that code-disc one and code-disc two
It is hardly damaged during circuit board dismounts, facilitates mechanical hand to dismount.
In above-mentioned mechanical hand, at least two connection posts on described base, described circuit board is screwed
Connecting on post, described read head two is between circuit board and base；Dismantle to the sidepiece of rotating shaft one at described circuit board
On the direction of movement, described connection post is staggeredly located out with read head two.
Base arranges connection post, on the one hand alleviates the weight of mechanical hand；On the other hand, the setting of post is connected, also
Make to connect the parts inside post the most unlimited, conveniently observe, detect or keep in repair.It addition, connect the setting of post, also at circuit board
Unloading process in, provide mobile space for read head two, facilitate mechanical hand to dismount.
In above-mentioned mechanical hand, the connection post that on described base, at least three are substantially circularly and evenly distributed, described
Circuit board be screwed in connection post on, described read head two is between circuit board and base；At described circuit
Plate is dismantled on the direction of movement to the sidepiece of rotating shaft one, and described connection post is staggeredly located out with read head two.At least three companies
Connect post and serve relatively stable supporting role in the bottom of circuit board；It addition, when, in circuit board disassembly process, these connect post
Also the position to circuit board serves position-limiting action, thus produces on the direction being perpendicular to code-disc one in preventing circuit board from dismounting
Raw displacement is to cause read head one to touch code-disc one, it is ensured that the stability of robot manipulator structure.
In this mechanical hand, owing to being provided with breach three on circuit boards so that the dismounting of mechanical hand is more convenient.
Accompanying drawing explanation
Fig. 1 is the axonometric chart of a kind of embodiment of mechanical hand；
Fig. 2 is the enlarged drawing in Fig. 1 at A；
Fig. 3 is another view of structure in Fig. 2；
In figure, 1, pedestal；2, large arm；3, forearm；4, working shaft；5, rotating shaft one；6, code-disc one；7, base；7a, connection
Post；8, circuit board；8a, breach three；9, read head one；9a, breach one；10, rotating shaft two；11, code-disc two；12, read head two；12a, lack
Mouth two.
Detailed description of the invention
Mechanical hand, as a example by flapping articulation mechanical hand, as it is shown in figure 1, mechanical hand includes pedestal 1, large arm 2, forearm 3 and work
Make axle 4.Joint is set between pedestal 1 and large arm 2, joint is set between large arm 2 and forearm 3, working shaft 4 arranges joint.This
In mechanical hand, the structure at circuit board 8 can be applied in three of the above joint.Certainly, knot at circuit board 8 in this mechanical hand
Structure can apply the arbitrary joint at space joint Manipulator.
Below as a example by the structure in joint between pedestal 1 and large arm 2, as shown in Figures 2 and 3, this machinery hands includes base 7
The rotating shaft 1 rotatably arranged with respect thereto 7, also includes the rotating shaft 2 10 being coaxially disposed with rotating shaft 1, and rotating shaft 2 10 can phase
What countershaft 1 rotated is set in outside rotating shaft 1.It is fixed with code-disc 1 in rotating shaft 1, rotating shaft 2 10 is fixed with code-disc
2 11.
Being removably fixed with circuit board 8 on base 7, in this mechanical hand, circuit board 8 is detachably secured to the side on base 7
Formula, can be that circuit board 8 is screwed on base 7, or circuit board 8 is fixed on base by common buckle structure
On 7.
Circuit board 8 is set in outside rotating shaft 1, and circuit board 8 is provided with breach three 8a, and rotating shaft 1 is positioned at breach three 8a.
Concrete, base 7 is provided with three roots and connects post 7a, and three connection post 7a are substantially circularly and evenly distributed, and play circuit board 8
Good supporting role.Circuit board 8 is screwed on connection post 7a, read head 2 12 be positioned at circuit board 8 and base 7 it
Between；Dismantling on the direction of movement at circuit board 8 to the sidepiece of rotating shaft 1, connection post 7a is staggeredly located out with read head 2 12.Make
For other scheme, the quantity connecting post 7a is two or four.
Base 7 arranges connection post 7a, on the one hand alleviates the weight of mechanical hand；On the other hand, setting of post 7a is connected
Put, also make to connect the parts inside post 7a the most unlimited, conveniently observe, detect or keep in repair.It addition, connect the setting of post 7a,
Also in the unloading process of circuit board 8, provide mobile space for read head 2 12, facilitate mechanical hand to dismount.
Breach three 8a makes the rotating shaft 1 when circuit board 8 moves to rotating shaft 1 sidepiece pass scarce more than rotating shaft 1 external diameter
Mouth three 8a depart from circuit boards 8.Breach three 8a is that the length direction of strip and breach three 8a substantially overlaps with the diameter of code-disc.Breach
Three 8a are strip so that the circuit effective area of circuit board 8 is relatively big, the layout of components and parts on more convenient circuit board 8.It addition, by
Being strip in breach three 8a, breach three 8a also is able in the moving process of circuit board 8 phase countershaft 1, plays guide effect；
It is to say, in the moving process of circuit board 8, the phase para-position between circuit board 8 and rotating shaft 1 of breach three 8a in strip
Put and provide constraints, it is to avoid circuit board 8 misplaces and causes read head 1 to touch code-disc 1 and cause code-disc 1 and read head 1 to damage,
Also code-disc 2 11 and read head 2 12 is avoided to damage.
It addition, be fixed with read head 1 on the upside of circuit board 8, read head 1 has breach one 9a, and code-disc 1 is positioned at read head 1
Breach one 9a in so that when circuit board 8 moves to the sidepiece of rotating shaft 1 code-disc 1 depart from read head 1 breach one 9a.
Being fixed with read head 2 12 on the downside of circuit board 8, read head 2 12 has breach two 12a, and code-disc 2 11 is positioned at the breach two of read head 2 12
In 12a so that when circuit board 8 moves to the sidepiece of rotating shaft 1, code-disc 2 11 departs from breach two 12a of read head 2 12.
Wherein, read head 1 is for reading the rotational parameters of code-disc 1, and then relatively rotates ginseng for determine rotating shaft 1
Number；In the same old way, read head 2 12 is for reading the rotational parameters of code-disc 2 11, and then is used for determining the rotational parameters of rotating shaft 2 10.
The direction that circuit board 8 dismantles movement to the sidepiece of rotating shaft 1 is direction one, perpendicular with direction one on code-disc 1
A diameter of diameter one, the center of read head 1 and the center of read head 2 12 are all located substantially at diameter one place straight line
Place or be respectively positioned on diameter one side away from breach three 8a.When circuit board 8 is during rotating shaft 1 sidepiece is dismantled, read
Spacing between breach one 9a and the code-disc 1 of first 9 is increasing, and breach two 12a of read head 2 12 and code-disc 2 11 it
Between spacing increasing so that code-disc 1 and code-disc 2 11 are hardly damaged during circuit board 8 is dismantled, convenient
Mechanical hand dismounts.
In this structure, although mechanical hand is provided with the relative complex code-disc of structure 1 and code-disc 2 11, and read head one
9 and read head 2 12 be arranged on circuit board 8, but when circuit board 8 is dismantled, code-disc 1 and code-disc 2 11 are the most unaffected, make
Obtain circuit board 8 can conveniently disassemble.
In this mechanical hand, owing to having breach three 8a on circuit board 8, and when circuit board 8 moves to the sidepiece of rotating shaft 1
Time, code-disc 1 can directly depart from breach one 9a of read head 1, and code-disc 2 11 can directly depart from the breach two of read head 2 12
12a so that when circuit board 8 is dismantled, need not dismantle code-disc 1 and code-disc 2 11, not easily cause code-disc 1 and code-disc
The damage of 2 11；In the same old way, when circuit board 8 is installed, directly breach three 8a of circuit board 8 is directed at rotating shaft 1 and inserts, the most not
Dismantle with to code-disc 1 and code-disc 2 11；Therefore, the dismounting of this mechanical hand is more convenient.
Claims (7)
1. mechanical hand, the rotating shaft one (5) rotatably arranged including base (7) and respect thereto (7), in described rotating shaft one (5)
Being fixed with code-disc one (6), described base (7) is removably fixed with circuit board (8), described circuit board (8) is set in and turns
Axle one (5) outside, it is characterised in that described circuit board (8) is provided with breach three (8a), and described rotating shaft one (5) is positioned at breach
In three (8a)；
Described breach three (8a) makes the rotating shaft when circuit board (8) moves to rotating shaft one (5) sidepiece more than rotating shaft one (5) external diameter
One (5) departs from circuit board (8) through breach three (8a)；
Being fixed with read head one (9) on described circuit board (8), described read head one (9) has breach one (9a), described code-disc one (6)
It is positioned at the breach one (9a) of read head one (9) so that code-disc one (6) takes off when circuit board (8) moves to the sidepiece of rotating shaft one (5)
Breach one (9a) from read head one (9).
Mechanical hand the most according to claim 1, it is characterised in that described circuit board (8) is torn open to the sidepiece of rotating shaft one (5)
The direction unloading movement is direction one, the described upper a diameter of diameter one perpendicular with direction one of code-disc one (6), described read head one
(9) center is located substantially at the straight line of diameter one place or is positioned on diameter one side away from breach three (8a).
Mechanical hand the most according to claim 1 and 2, it is characterised in that described mechanical hand includes coaxial with rotating shaft one (5)
Arrange rotating shaft two (10), described rotating shaft two (10) can phase countershaft one (5) rotate be set in rotating shaft one (5) outside, institute
It is fixed with code-disc two (11) in the rotating shaft two (10) stated；
Being fixed with read head two (12) on described circuit board (8), described read head two (12) has breach two (12a), described
Code-disc two (11) is positioned at the breach two (12a) of read head two (12) so that when circuit board (8) moves to the sidepiece of rotating shaft one (5)
Time code-disc two (11) depart from read head two (12) breach two (12a).
Mechanical hand the most according to claim 1 and 2, it is characterised in that described breach three (8a) is in strip and breach three
(8a) length direction substantially overlaps with the diameter of code-disc.
Mechanical hand the most according to claim 1, it is characterised in that described circuit board (8) is torn open to the sidepiece of rotating shaft one (5)
The direction unloading movement is direction one, the described upper a diameter of diameter one perpendicular with direction one of code-disc one (6), described read head one
(9) center and the center of read head two (12) are all located substantially at the straight line of diameter one place or are respectively positioned on diameter one
On away from the side of breach three (8a).
Mechanical hand the most according to claim 1 and 2, it is characterised in that at least two connection posts on described base (7)
(7a), described circuit board (8) is screwed in connection post (7a), and described read head two (12) is positioned at circuit board (8)
And between base (7)；Dismantle on the direction of movement at described circuit board (8) to the sidepiece of rotating shaft one (5), described connection post
(7a) with being staggeredly located out of read head two (12).
Mechanical hand the most according to claim 1 and 2, it is characterised in that on described base (7) at least three substantially in circle
All equally distributed connection posts (7a), described circuit board (8) is screwed in connection post (7a), described read head two
(12) it is positioned between circuit board (8) and base (7)；The side of movement is dismantled to the sidepiece of rotating shaft one (5) at described circuit board (8)
Upwards, described connection post (7a) is staggeredly located out with read head two (12).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610769982.XA CN106181989A (en) | 2016-08-30 | 2016-08-30 | Mechanical hand |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610769982.XA CN106181989A (en) | 2016-08-30 | 2016-08-30 | Mechanical hand |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN106181989A true CN106181989A (en) | 2016-12-07 |
Family
ID=58089715
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201610769982.XA Pending CN106181989A (en) | 2016-08-30 | 2016-08-30 | Mechanical hand |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN106181989A (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106938467A (en) * | 2017-04-28 | 2017-07-11 | 杭州琦星机器人科技有限公司 | Decelerator code-disc structure, decelerator and manipulator |
| CN106945070A (en) * | 2017-04-28 | 2017-07-14 | 杭州琦星机器人科技有限公司 | Decelerator code-disc structure, decelerator and manipulator |
Citations (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPH01262431A (en) * | 1988-04-13 | 1989-10-19 | Toshiba Corp | Force sensor |
| CN1398343A (en) * | 2000-12-06 | 2003-02-19 | 约翰尼斯海登海恩博士股份有限公司 | Multiturn encoder |
| CN101116972A (en) * | 2007-08-29 | 2008-02-06 | 哈尔滨工业大学 | Spacing mechanical arm perpendicular style modularization joint |
| JP4519941B1 (en) * | 2009-01-06 | 2010-08-04 | 有限会社レプトリノ | Sensor |
| CN202155879U (en) * | 2011-07-15 | 2012-03-07 | 东莞市新泽谷机械有限公司 | Rotary pawl linkage |
| CN202798348U (en) * | 2012-06-29 | 2013-03-13 | 中山大洋电机股份有限公司 | Plastic package motor |
| CN204604352U (en) * | 2014-12-30 | 2015-09-02 | 浙江琦星电子有限公司 | A kind of joint of mechanical arm |
| CN206029885U (en) * | 2016-08-30 | 2017-03-22 | 浙江琦星电子有限公司 | Manipulator |
-
2016
- 2016-08-30 CN CN201610769982.XA patent/CN106181989A/en active Pending
Patent Citations (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPH01262431A (en) * | 1988-04-13 | 1989-10-19 | Toshiba Corp | Force sensor |
| CN1398343A (en) * | 2000-12-06 | 2003-02-19 | 约翰尼斯海登海恩博士股份有限公司 | Multiturn encoder |
| CN101116972A (en) * | 2007-08-29 | 2008-02-06 | 哈尔滨工业大学 | Spacing mechanical arm perpendicular style modularization joint |
| JP4519941B1 (en) * | 2009-01-06 | 2010-08-04 | 有限会社レプトリノ | Sensor |
| CN202155879U (en) * | 2011-07-15 | 2012-03-07 | 东莞市新泽谷机械有限公司 | Rotary pawl linkage |
| CN202798348U (en) * | 2012-06-29 | 2013-03-13 | 中山大洋电机股份有限公司 | Plastic package motor |
| CN204604352U (en) * | 2014-12-30 | 2015-09-02 | 浙江琦星电子有限公司 | A kind of joint of mechanical arm |
| CN206029885U (en) * | 2016-08-30 | 2017-03-22 | 浙江琦星电子有限公司 | Manipulator |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106938467A (en) * | 2017-04-28 | 2017-07-11 | 杭州琦星机器人科技有限公司 | Decelerator code-disc structure, decelerator and manipulator |
| CN106945070A (en) * | 2017-04-28 | 2017-07-14 | 杭州琦星机器人科技有限公司 | Decelerator code-disc structure, decelerator and manipulator |
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| Date | Code | Title | Description |
|---|---|---|---|
| C06 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| CB02 | Change of applicant information | ||
| CB02 | Change of applicant information |
Address after: 317604 Nanyou Industrial Zone, Damaiyu Development Zone, Yuhuan County, Taizhou City, Zhejiang Province Applicant after: Qixing Intelligent Technology Co., Ltd. Address before: 317604 Nanyou Industrial Zone, Damaiyu Development Zone, Yuhuan County, Taizhou City, Zhejiang Province Applicant before: ZHEJIANG QIXING ELECTRONICS CO., LTD. |
|
| RJ01 | Rejection of invention patent application after publication | ||
| RJ01 | Rejection of invention patent application after publication |
Application publication date: 20161207 |