CN106272401A - Mechanical hand, the installation of mechanical hand and method for dismounting - Google Patents
Mechanical hand, the installation of mechanical hand and method for dismounting Download PDFInfo
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- CN106272401A CN106272401A CN201610770419.4A CN201610770419A CN106272401A CN 106272401 A CN106272401 A CN 106272401A CN 201610770419 A CN201610770419 A CN 201610770419A CN 106272401 A CN106272401 A CN 106272401A
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- parts
- screw mandrel
- vertical pivot
- mechanical hand
- breach
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Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/10—Programme-controlled manipulators characterised by positioning means for manipulator elements
- B25J9/109—Programme-controlled manipulators characterised by positioning means for manipulator elements comprising mechanical programming means, e.g. cams
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/10—Programme-controlled manipulators characterised by positioning means for manipulator elements
- B25J9/12—Programme-controlled manipulators characterised by positioning means for manipulator elements electric
- B25J9/126—Rotary actuators
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- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Hand Tools For Fitting Together And Separating, Or Other Hand Tools (AREA)
Abstract
This application discloses mechanical hand, the installation of mechanical hand and method for dismounting, belong to mechanical hand technical field, relate to the structure of mechanical hand and the method for dismounting of mechanical hand and installation method, its problem solving the handling inconvenience of current mechanical hand.Mechanical hand, including the base being sequentially connected with, large arm and forearm, connect on described forearm and have screw mandrel and be positioned at the vertical pivot of screw mandrel side, screw mandrel and vertical pivot are parallel, it is arranged with nut on described screw mandrel, there are between described screw mandrel and vertical pivot parts one, described parts one have the end one being detachably secured on nut and the end two positioned in the axial direction of vertical pivot, it is characterized in that, on end one, there is breach, on the parts one arc track direction with the axis of vertical pivot as center of rotation, the bore of described breach is more than the external diameter of screw mandrel.In mechanical hand disclosed in the present application and the method for dismounting of mechanical hand and installation method, parts one arrange breach so that mechanical hand convenient disassembly.
Description
Technical field
The invention belongs to mechanical hand technical field, relate to the structure of mechanical hand and the method for dismounting of mechanical hand and installation side
Method.
Background technology
The forearm of previous level joint Manipulator is provided with screw mandrel and splined shaft, is provided with connection between screw mandrel and splined shaft
Part, when screw mandrel, splined shaft are separated by needs with connector, can only disassemble whole screw mandrel or splined shaft from forearm
Can continue dismounting, its dismounting more bothers；In like manner, the most cumbersome.
Such as, Chinese utility model patent (notification number CN203485202U, the day for announcing 20140319) discloses a kind of machine
Device staff and four axle robots, it arranges zigzag contiguous block between down-feed screw and vertical splined shaft.When needs are by vertical silk
When bar and the dismounting of vertical splined shaft separate, need from down-feed screw, disassemble the nut on down-feed screw, or will hang down
The bottom of raw silk rings bar disassembles from robot, is then separated with down-feed screw by zigzag contiguous block.Therefore, its dismounting is relatively
For trouble.
Summary of the invention
The present invention is directed to above-mentioned technical problem, it is proposed that dismount more easily mechanical hand and method for dismounting thereof and installation side
Method.
Wherein, the technical scheme of mechanical hand is as follows:
Mechanical hand, including the base being sequentially connected with, large arm and forearm, described forearm connects and has screw mandrel and be positioned at screw mandrel
The vertical pivot of side, screw mandrel and vertical pivot are parallel, described screw mandrel is arranged with nut, has parts between described screw mandrel and vertical pivot
One, described parts one have the end one being detachably secured on nut and the end two positioned in the axial direction of vertical pivot, its
It is characterised by, on end one, there is breach, on the parts one arc track direction with the axis of vertical pivot as center of rotation, described
The bore of breach is more than the external diameter of screw mandrel.
During dismantling this mechanical hand, first parts one are disassembled from nut so that parts one can be with vertical pivot
Centered by axis freely rotatable.Owing to having the bore breach more than screw mandrel external diameter on end one, when toward rotation section, a direction
For the moment, screw mandrel passes breach to part, hereafter, can dismantle mechanical hand as desired so that the dismounting of this mechanical hand is relatively easy to, and
In the parts one separation process with screw mandrel, it is not necessary to nut is separated from screw mandrel or screw mandrel is separated from forearm
Out.In installation process, can first screw mandrel and vertical pivot be installed on forearm, installing component one the most again；Relative to first by silk
Bar, parts one and vertical pivot are assembled together, and are re-used as integral installation to forearm, and the parts in this structure can be independently installed, peace
Dress mode is more flexible and convenient.
In above-mentioned mechanical hand, described end one is positioned at the downside of nut, and nut has through hole, and end one has
There is the screwed hole corresponding with through hole, through hole is equipped with screw and screw is fixed at screwed hole.
On the one hand, on nut, nut bottom is preferable with the perpendicularity of nut axis so that robot manipulator structure installs essence
Really；On the other hand, screw is installed from top to bottom, and in general mechanical hand, the space above nut is compared with the space below nut
Bigger to mount and dismount convenient.
In above-mentioned mechanical hand, the axis of described screw mandrel is plane one with the plane at the axis place of vertical pivot, described scarce
Mouth is fully located at the side of plane one.
Breach is fully located at the side of plane one so that the parcel of a pair screw mandrel in end is more preferable, makes parts one and nut
Between connection more stable.
In above-mentioned mechanical hand, the most in the form of a ring, the size of described breach is screw mandrel external diameter size in described end one
1-2 times.
Suitable breach size is set, on the one hand makes screw mandrel pass through the preferable by property of breach, on the other hand, also can protect
The parcel of a pair screw mandrel in card end.
According to the purpose of the present invention, the present invention additionally proposes a kind of mechanical hand, and its technical scheme is as follows:
Mechanical hand, including the base being sequentially connected with, large arm and forearm, described forearm connects and has screw mandrel and be positioned at screw mandrel
The vertical pivot of side, screw mandrel and vertical pivot are parallel, described screw mandrel is arranged with nut, vertical pivot has on the axis direction of vertical pivot
The parts two of location, have parts one between described screw mandrel and vertical pivot, described parts one have the end being fixed on nut
Portion one and the end two being detachably secured on parts two, it is characterised in that on end two, there is breach, at parts one with screw mandrel
The arc track direction that axis is center of rotation on, the bore of described breach is more than the external diameter of vertical pivot.
In like manner, when dismounting, parts one are made to separate from vertical pivot, then rotary part one centered by the axis of screw mandrel,
Make vertical pivot depart from from the breach of parts one, vertical pivot can be separated with parts one.Therefore, its dismounting is more convenient.
In above-mentioned mechanical hand, the axis of described screw mandrel is plane one with the plane at the axis place of vertical pivot, described scarce
Mouth is fully located at the side of plane one.
Breach is fully located at the side of plane one so that the parcel of a pair screw mandrel in end is more preferable, makes parts one and nut
Between connection more stable.
In above-mentioned mechanical hand, the most in the form of a ring, the size of described breach is vertical pivot external diameter size in described end one
1-2 times.
Suitable breach size is set, on the one hand makes screw mandrel pass through the preferable by property of breach, on the other hand, also can protect
The parcel of a pair vertical pivot in card end is preferable.
According to the purpose of the present invention, the present invention additionally proposes a kind of mechanical hand, and its technical scheme is as follows:
Mechanical hand, including the base being sequentially connected with, large arm and forearm, described forearm connects and has screw mandrel and be positioned at screw mandrel
The vertical pivot of side, screw mandrel and vertical pivot are parallel, described screw mandrel is arranged with nut, has parts between described screw mandrel and vertical pivot
One, described parts one have the end one being detachably secured on nut and dismountable end of location in the axial direction of vertical pivot
Portion two, it is characterised in that have breach one on end one, in the parts one arc track side with the axis of vertical pivot as center of rotation
Upwards, the bore of described breach one is more than the external diameter of screw mandrel；There is on end two breach two, at parts one with the axis of screw mandrel be
On the arc track direction of center of rotation, the bore of described breach two is more than the external diameter of vertical pivot.
In this programme, dismounting and the installation of mechanical hand are the most convenient.Concrete, by the end one of parts one from nut
On disassemble, make parts one around vertical axis, parts one can be made to separate with screw mandrel；If by the end two of parts one from perpendicular
Disassemble on axle, make parts one wire winding rod rotate, parts one can be made to separate with vertical pivot.
In above-mentioned mechanical hand, described end one is positioned at the downside of nut, and nut has through hole, and parts one have
There is the screwed hole corresponding with through hole, through hole is equipped with screw and screw is fixed at screwed hole.
On the one hand, on nut, nut bottom is preferable with the perpendicularity of nut axis so that robot manipulator structure installs essence
Really；On the other hand, screw is installed from top to bottom, and in general mechanical hand, the space above nut is compared with the space below nut
Bigger to mount and dismount convenient.
In above-mentioned mechanical hand, the axis of described screw mandrel is plane one with the plane at the axis place of vertical pivot, described scarce
Mouth one is fully located at the side of plane one, and breach two is fully located at the side of plane one.
In above-mentioned mechanical hand, described breach one and breach two are positioned at the same side of plane one.
In this programme, when parts one are all disassembled from screw mandrel and vertical pivot by needs, first by parts one and screw mandrel
Separate, and parts one are separated with vertical pivot, then parts one are positioned at toward breach one and breach two another of side of plane one
Sidesway goes out, and its installation process is similar to, and therefore, it is dismantled and installs more convenient.
In above-mentioned mechanical hand, described breach one and breach two lay respectively at the both sides of plane one.
In this programme, owing to breach one and breach two lay respectively at the both sides of plane one so that the structure pair of parts one
Title property is preferable so that mechanical hand is relatively stable in running.
According to the purpose of the present invention, the present invention additionally proposes the method for dismounting of a kind of mechanical hand, and its technical scheme is as follows:
The method for dismounting of mechanical hand, mechanical hand includes base, large arm and the forearm being sequentially connected with, and described forearm connects
Having screw mandrel and be positioned at the vertical pivot of screw mandrel side, screw mandrel and vertical pivot are parallel, and described screw mandrel is arranged with nut, described screw mandrel with
Having parts one between vertical pivot, described parts one have the end one being detachably secured on nut and in the axial direction of vertical pivot
The end two of location, it is characterised in that have breach on end one, at the parts one circular arc with the axis of vertical pivot as center of rotation
On course bearing, the bore of described breach is more than the external diameter of screw mandrel；
The step of this method includes:
A, the end one of parts one is dismantled from nut, make parts one can separate with nut one；
B, centered by the axis of vertical pivot rotatable parts one, make screw mandrel remove from the breach of parts one.
In this method for dismounting, only need first to be separated with nut by parts one, then make parts one rotate certain angle i.e.
Parts one can be made to separate with screw mandrel, and therefore, its dismounting is more convenient.
According to the purpose of the present invention, the present invention additionally proposes the method for dismounting of a kind of mechanical hand, and its technical scheme is as follows:
The method for dismounting of mechanical hand, mechanical hand, including the base being sequentially connected with, large arm and forearm, described forearm connects
Being connected to screw mandrel and be positioned at the vertical pivot of screw mandrel side, screw mandrel and vertical pivot are parallel, described screw mandrel is arranged with nut, vertical pivot has
On the axis direction of vertical pivot, the parts two of location, have parts one between described screw mandrel and vertical pivot, and described parts one have
There are the end one being fixed on nut and the end two being detachably secured on parts two, it is characterised in that have on end two
Breach, on the parts one arc track direction with the axis of screw mandrel as center of rotation, the bore of described breach is more than vertical pivot
External diameter；
The step of this method includes:
A, the end one of parts one is dismantled from parts two, make parts one can separate with parts two；
B, centered by the axis of screw mandrel rotatable parts one, make vertical pivot remove from the breach of parts one.
In this method for dismounting, only need first to be separated with vertical pivot by parts one, then make parts one rotate certain angle
Making parts one separate with vertical pivot, therefore, its dismounting is more convenient.
According to the purpose of the present invention, the present invention additionally proposes the installation method of a kind of mechanical hand, and its technical scheme is as follows:
The installation method of mechanical hand, mechanical hand includes base, large arm and the forearm being sequentially connected with, and described forearm connects
Having screw mandrel and be positioned at the vertical pivot of screw mandrel side, screw mandrel and vertical pivot are parallel, and described screw mandrel is arranged with nut, axially fixed on vertical pivot
Position is provided with parts one, it is characterised in that on described parts one, the one end away from vertical pivot has breach, at parts one with the axle of vertical pivot
Line is on the arc track direction of center of rotation, and the bore of described breach is more than the external diameter of screw mandrel；
The step of this method includes:
A, centered by the axis of vertical pivot rotatable parts one so that screw mandrel enter parts one breach in；
B, parts one are fixed on nut.
In this installation method, the parts one that only need to will be located on vertical pivot turn at screw mandrel, then by parts one with
Screw mandrel is fixed, and therefore, its installation is more convenient.
According to the purpose of the present invention, the present invention additionally proposes the installation method of a kind of mechanical hand, and its technical scheme is as follows:
The installation method of mechanical hand, mechanical hand includes base, large arm and the forearm being sequentially connected with, and described forearm connects
Having screw mandrel and be positioned at the vertical pivot of screw mandrel side, screw mandrel and vertical pivot are parallel, described screw mandrel is arranged with nut, nut is fixed with
Parts one, it is characterised in that on described parts one, the one end away from screw mandrel has breach, at parts one with the axis of screw mandrel for turning
On the arc track direction of the disorder of internal organs heart, the bore of described breach is more than the external diameter of vertical pivot；
The step of this method includes:
A, centered by the axis of screw mandrel rotatable parts one so that vertical pivot enter parts one breach in；
B, parts one are axially positioned on vertical pivot on the axis direction of vertical pivot.
In this installation method, only need to the parts one being fixed on nut be turned at vertical pivot, then by parts one with
Vertical pivot axially positions, and therefore, its installation is more convenient.
In mechanical hand in the present invention and the method for dismounting of mechanical hand and installation method, parts one arrange breach, makes
Obtain mechanical hand convenient disassembly.
Accompanying drawing explanation
Fig. 1 is the structural representation of a kind of embodiment of mechanical hand；
Fig. 2 is the axonometric chart at parts one；
Fig. 3 is the explosive view at parts one；
Fig. 4 is the unloading process schematic diagram in a kind of embodiment of mechanical hand；
Fig. 5 is the sectional view at parts one.
In figure, 1, base；2, large arm；3, forearm；4, screw mandrel；5, vertical pivot；6, nut；7, parts one；71, end one；72、
End two；73, breach；74, screwed hole；81, motor two；82, motor three；83, motor four；9, parts two；10, screw.
Detailed description of the invention
Embodiment one
As it is shown in figure 1, mechanical hand, including the base 1 being sequentially connected with, large arm 2 and forearm 3.Set between base 1 and large arm 2
Put motor one, be used for driving large arm 2 to rotate relative to base 1；Motor 2 81 is set between large arm 2 and forearm 3, is used for driving little
Arm 3 rotates relative to large arm 2；Being provided with motor 3 82 and motor 4 83 on forearm 3, motor 3 82 is used for driving screw mandrel 4 to rotate,
Motor 4 83 is used for driving vertical pivot 5 to rotate.In the present embodiment, vertical pivot 5 is splined shaft.
As shown in Figures 2 to 4, forearm 3 connects the vertical pivot 5 having screw mandrel 4 with being positioned at screw mandrel 4 side, screw mandrel 4 and vertical pivot 5
All it is vertically arranged and parallel.Being arranged with nut 6 on screw mandrel 4, have parts 1 between screw mandrel 4 and vertical pivot 5, parts 1 have
The end 1 being detachably secured on nut 6 and the end 2 72 positioned in the axial direction of vertical pivot 5.End 1 is positioned at nut
The downside of 6, nut 6 has through hole, parts 1 has the screwed hole 74 corresponding with through hole, through hole is equipped with screw
10 and screw be fixed at screwed hole 74.
End 1 the most in the form of a ring, end 1 has breach 73, and the size of breach 73 is screw mandrel 4 external diameter size
1-2 times.On the parts 1 arc track direction with the axis of vertical pivot 5 as center of rotation, the bore of breach 73 is more than screw mandrel 4
External diameter.The axis of screw mandrel 4 is plane one with the plane at the axis place of vertical pivot 5, and breach 73 is fully located at the side of plane one.
Embodiment two
The present embodiment is roughly the same with embodiment one, and different places is, the mechanical hand in the present embodiment, on vertical pivot 5
Having on the axis direction of vertical pivot 5 parts 29 of location, parts 1 have the end 1 being fixed on nut 6 and removable
Unload the end 2 72 being fixed on parts 29, end 2 72 has breach 73, at parts 1 with the axis of screw mandrel 4 for rotating
On the arc track direction at center, the bore of breach 73 is more than the external diameter of vertical pivot 5.
As it is shown in figure 5, parts 29 include the thread bush being threaded in vertical pivot 5 upper end, set between parts 1 and vertical pivot 5
There is bearing.This structure is prior art, does not repeats them here.
Embodiment three
The present embodiment is roughly the same with embodiment one, and different places is, in the mechanical hand in the present embodiment, and parts one
The end 1 of 7 and end 2 72 are respectively provided with breach 73 1 and breach 73 2.When parts 1 are centered by the axis of vertical pivot 5
During rotation, screw mandrel 4 can be from breach 73 1 from passing；When parts 1 rotate centered by the axis of screw mandrel 4, vertical pivot 5 can be from lacking
Mouth 73 2 passes.
According to the purpose of the present invention, the present invention additionally proposes the dismounting side of a kind of mechanical hand based on similar embodiment one
Method, its technical scheme is as follows:
The step of this method includes:
A, the end 1 of parts 1 is dismantled from nut 6, make parts 1 can separate with nut 6 one；
B, centered by the axis of vertical pivot 5 rotatable parts 1, make screw mandrel 4 remove from the breach 73 of parts 1.
According to the purpose of the present invention, the present invention additionally proposes the dismounting side of a kind of mechanical hand based on similar embodiment two
Method, its technical scheme is as follows:
The step of this method includes:
A, the end 1 of parts 1 is dismantled from parts 29, make parts 1 can separate with parts 29；
B, centered by the axis of screw mandrel 4 rotatable parts 1, make vertical pivot 5 remove from the breach 73 of parts 1.
According to the purpose of the present invention, the present invention additionally proposes the installation method of a kind of mechanical hand, and its technical scheme is as follows:
Mechanical hand includes base 1, large arm 2 and the forearm 3 being sequentially connected with, and described forearm 3 connects to be had screw mandrel 4 and be positioned at
The vertical pivot 5 of screw mandrel 4 side, screw mandrel 4 and vertical pivot 5 are parallel, and described screw mandrel 4 is arranged with nut 6, and on vertical pivot 5, axially location sets
There are parts 1, it is characterised in that on described parts 1, the one end away from vertical pivot 5 has breach 73, at parts 1 with vertical pivot 5
The arc track direction that axis is center of rotation on, the bore of described breach 73 is more than the external diameter of screw mandrel 4；
The step of this method includes:
A, centered by the axis of vertical pivot 5 rotatable parts 1 so that screw mandrel 4 enters in the breach 73 of parts 1；
B, parts 1 are fixed on nut 6.
In this installation method, only need to will be located into the parts 1 on vertical pivot 5 and turn at screw mandrel 4, then by parts one
7 fix with screw mandrel 4, and therefore, its installation is more convenient.
According to the purpose of the present invention, the present invention additionally proposes the installation method of a kind of mechanical hand, and its technical scheme is as follows:
Mechanical hand includes base 1, large arm 2 and the forearm 3 being sequentially connected with, and described forearm 3 connects to be had screw mandrel 4 and be positioned at
The vertical pivot 5 of screw mandrel 4 side, screw mandrel 4 and vertical pivot 5 are parallel, described screw mandrel 4 is arranged with nut 6, nut 6 is fixed with parts
One 7, it is characterised in that on described parts 1, the one end away from screw mandrel 4 has breach 73, at parts 1 with the axis of screw mandrel 4
For on the arc track direction of center of rotation, the bore of described breach 73 is more than the external diameter of vertical pivot 5；
The step of this method includes:
A, centered by the axis of screw mandrel 4 rotatable parts 1 so that vertical pivot 5 enters in the breach 73 of parts 1；
B, parts 1 are axially positioned on vertical pivot 5 on the axis direction of vertical pivot 5.
In this installation method, only need to the parts 1 being fixed on nut 6 be turned at vertical pivot 5, then by parts one
7 axially position with vertical pivot 5, and therefore, its installation is more convenient.
Claims (8)
1. mechanical hand, including the base (1) being sequentially connected with, large arm (2) and forearm (3), the upper connection of described forearm (3) has screw mandrel
(4) and be positioned at the vertical pivot (5) of screw mandrel (4) side, screw mandrel (4) and vertical pivot (5) are parallel, and described screw mandrel is arranged with nut on (4)
(6), having parts one (7) between described screw mandrel (4) and vertical pivot (5), described parts one (7) have and are detachably secured to spiral shell
End one (71) on female (6) and the end two (72) of the upper location at vertical pivot (5), it is characterised in that end one (71)
On there is breach (73), at parts one (7) with on arc track direction as center of rotation of the axis of vertical pivot (5), described breach
(73) bore is more than the external diameter of screw mandrel (4).
Mechanical hand the most according to claim 1, it is characterised in that described end one (71) is positioned at the downside of nut (6),
There is on nut (6) through hole, end one (71) has the screwed hole (74) corresponding with through hole, through hole is equipped with screw
And screw (10) is fixed on screwed hole (74) place (10).
Mechanical hand the most according to claim 1 and 2, it is characterised in that the axis of described screw mandrel (4) and the axle of vertical pivot (5)
The plane at line place is plane one, and described breach (73) is fully located at the side of plane one.
4. according to the mechanical hand described in claim or 2, it is characterised in that described end one (71) is in the form of a ring, the most described
The size of breach (73) is 1-2 times of screw mandrel (4) external diameter size.
5. the method for dismounting of mechanical hand, mechanical hand includes base (1), large arm (2) and the forearm (3) being sequentially connected with, and described is little
The upper connection of arm (3) has screw mandrel (4) and to be positioned at the vertical pivot (5) of screw mandrel (4) side, screw mandrel (4) and vertical pivot (5) parallel, described silk
It is arranged with nut (6) on bar (4), there are between described screw mandrel (4) and vertical pivot (5) parts one (7), described parts one (7)
Having the end one (71) being detachably secured on nut (6) and the end two (72) in the upper location of vertical pivot (5), it is special
Levy and be, end one (71) has breach (73), at parts one (7) with circular arc rail as center of rotation of the axis of vertical pivot (5)
On mark direction, the bore of described breach (73) is more than the external diameter of screw mandrel (4)；
The step of this method includes:
A, the end one (71) of parts one (7) is dismantled from nut (6), make parts one (7) can separate with nut (6)；
B, centered by the axis of vertical pivot (5) rotatable parts one (7), make screw mandrel (4) move from the breach (73) of parts one (7)
Go out.
6. the method for dismounting of mechanical hand, mechanical hand, including the base (1) being sequentially connected with, large arm (2) and forearm (3), described is little
The upper connection of arm (3) has screw mandrel (4) and to be positioned at the vertical pivot (5) of screw mandrel (4) side, screw mandrel (4) and vertical pivot (5) parallel, described silk
It is arranged with nut (6) on bar (4), vertical pivot (5) has the parts two (9) of location on the axis direction of vertical pivot (5), described
Having parts one (7) between screw mandrel (4) and vertical pivot (5), described parts one (7) have the end one being fixed on nut (6)
(71) and the end two (72) that is detachably secured on parts two (9), it is characterised in that on end two (72), there is breach
(73), at parts one (7) with on arc track direction as center of rotation of the axis of screw mandrel (4), the bore of described breach (73)
External diameter more than vertical pivot (5)；
The step of this method includes:
A, the end one (71) of parts one (7) is dismantled from parts two (9), make parts one (7) can divide with parts two (9)
From；
B, centered by the axis of screw mandrel (4) rotatable parts one (7), make vertical pivot (5) move from the breach (73) of parts one (7)
Go out.
7. the installation method of mechanical hand, mechanical hand includes base (1), large arm (2) and the forearm (3) being sequentially connected with, and described is little
The upper connection of arm (3) has screw mandrel (4) and to be positioned at the vertical pivot (5) of screw mandrel (4) side, screw mandrel (4) and vertical pivot (5) parallel, described silk
Being arranged with nut (6) on bar (4), the upper axially location of vertical pivot (5) is provided with parts one (7), it is characterised in that described parts one (7)
On away from one end of vertical pivot (5), there is breach (73), at parts one (7) with circular arc rail as center of rotation of the axis of vertical pivot (5)
On mark direction, the bore of described breach (73) is more than the external diameter of screw mandrel (4)；
The step of this method includes:
A, centered by the axis of vertical pivot (5) rotatable parts one (7) so that screw mandrel (4) enter parts one (7) breach (73)
In；
B, parts one (7) are fixed on nut (6).
8. the installation method of mechanical hand, mechanical hand includes base (1), large arm (2) and the forearm (3) being sequentially connected with, and described is little
The upper connection of arm (3) has screw mandrel (4) and to be positioned at the vertical pivot (5) of screw mandrel (4) side, screw mandrel (4) and vertical pivot (5) parallel, described silk
Be arranged with nut (6) on bar (4), nut (6) be fixed with parts one (7), it is characterised in that on described parts one (7) away from
One end of screw mandrel (4) has breach (73), at parts one (7) with arc track direction as center of rotation of the axis of screw mandrel (4)
On, the bore of described breach (73) is more than the external diameter of vertical pivot (5)；
The step of this method includes:
A, centered by the axis of screw mandrel (4) rotatable parts one (7) so that vertical pivot (5) enter parts one (7) breach (73)
In；
B, parts one (7) are axially positioned on vertical pivot (5) on the axis direction of vertical pivot (5).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610770419.4A CN106272401A (en) | 2016-08-30 | 2016-08-30 | Mechanical hand, the installation of mechanical hand and method for dismounting |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610770419.4A CN106272401A (en) | 2016-08-30 | 2016-08-30 | Mechanical hand, the installation of mechanical hand and method for dismounting |
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| Publication Number | Publication Date |
|---|---|
| CN106272401A true CN106272401A (en) | 2017-01-04 |
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ID=57675126
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201610770419.4A Pending CN106272401A (en) | 2016-08-30 | 2016-08-30 | Mechanical hand, the installation of mechanical hand and method for dismounting |
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110900572A (en) * | 2019-12-05 | 2020-03-24 | 苏州圆周虑自动化科技有限公司 | Manipulator capable of carrying special-shaped plate |
| CN110900574A (en) * | 2019-12-05 | 2020-03-24 | 苏州圆周虑自动化科技有限公司 | Intelligent limiting mechanical arm |
| CN110900573A (en) * | 2019-12-05 | 2020-03-24 | 苏州圆周虑自动化科技有限公司 | Mechanical arm capable of carrying special-shaped plate |
| CN110900570A (en) * | 2019-12-05 | 2020-03-24 | 苏州圆周虑自动化科技有限公司 | Novel mechanical arm |
| CN110900571A (en) * | 2019-12-05 | 2020-03-24 | 苏州圆周虑自动化科技有限公司 | Novel manipulator |
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| CN203293192U (en) * | 2013-06-01 | 2013-11-20 | 东莞市鑫拓智能机械科技有限公司 | Four-shaft SCARA industrial robot |
| CN203485202U (en) * | 2013-08-28 | 2014-03-19 | 东莞市瓦力智能科技有限公司 | Robot arm and four axis robot |
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Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN110900572A (en) * | 2019-12-05 | 2020-03-24 | 苏州圆周虑自动化科技有限公司 | Manipulator capable of carrying special-shaped plate |
| CN110900574A (en) * | 2019-12-05 | 2020-03-24 | 苏州圆周虑自动化科技有限公司 | Intelligent limiting mechanical arm |
| CN110900573A (en) * | 2019-12-05 | 2020-03-24 | 苏州圆周虑自动化科技有限公司 | Mechanical arm capable of carrying special-shaped plate |
| CN110900570A (en) * | 2019-12-05 | 2020-03-24 | 苏州圆周虑自动化科技有限公司 | Novel mechanical arm |
| CN110900571A (en) * | 2019-12-05 | 2020-03-24 | 苏州圆周虑自动化科技有限公司 | Novel manipulator |
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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. |
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Application publication date: 20170104 |