CN209304593U - Firm rotational structure for mechanical hand - Google Patents
Firm rotational structure for mechanical hand Download PDFInfo
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- CN209304593U CN209304593U CN201822042100.7U CN201822042100U CN209304593U CN 209304593 U CN209304593 U CN 209304593U CN 201822042100 U CN201822042100 U CN 201822042100U CN 209304593 U CN209304593 U CN 209304593U
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- conduit
- mechanical hand
- balancer
- hole
- stable base
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Abstract
The utility model discloses the firm rotational structures for mechanical hand, it is characterized in that, annular in stable base is provided with several balancers, through-hole is provided in the middle part of stable base, interference connection is carried out by through-hole and mechanical hand, in manipulator rotation, stable base is driven to be rotated, balancer is rotated with steady firm banking, it is connected between the balancer by conduit, the conduit passes through balancer and is arranged in a ring, the plane of conduit setting is parallel with stable base end face, thin iron sand is filled in the conduit, in stable base rotation, stabilized structure and device balance are carried out by thin iron sand weight.The securing device of current mechanical hand, usually by the way of reinforcing weight, in this way in driving, it often will cause the increase of driving force, whole device just becomes heavy, and the balance of increased counterweight whole equipment in need of consideration, the centrifugal force for waiting whole equipment when rotated will do it variation.
Description
Technical field
The utility model relates to a kind of firm rotational structures, and in particular to the firm rotational structure for mechanical hand.
Background technique
With the continuous development of mechanization industry, in the process of workpiece, mechanical hand gradually starts to replace artificial, machine
The use of device hand greatly reduces human cost, the favor by major processing factory.The mechanical hand of mainstream at present, chassis structure
Make it is roughly the same, be centrally arranged a pair of driving wheels provide driving force, quadrangle is respectively arranged a universal wheel, to provide support；Or
Person is respectively arranged a driving wheel in chassis quadrangle.It is all by driving wheel and ground face contact, driving regardless of mechanical hand
The contact taken turns with ground is that line contacts, and this contact is unstable, moreover universal wheel can also freely circle round.Subtrahend machine inner teeth simultaneously
There is back gap between wheel, driving motor itself returns gap etc., and gap is returned at this several place to be amplified by subtrahend machine itself, be directly delivered to
On driving wheel, the phenomenon that causing is that, when driving wheel enables, driving wheel remains to the rotation of certain angle.Driving wheel with it is universal
This unstability of wheel, will affect the normal work of entire mechanical hand, especially to the higher occasion of ontology stability requirement.
Utility model content
Technical problem to be solved in the utility model is that mechanical hand waits can generate that cursor is unstable to be showed when rotated
As, may influence whether the execution unit accuracy of cursor front end, influence entire manipulator use, and it is an object of the present invention to provide with
In the firm rotational structure of mechanical hand, solve the problem above-mentioned.
The utility model is achieved through the following technical solutions:
Firm rotational structure for mechanical hand, which is characterized in that it is flat that annular in stable base is provided with several
Heng Tai, stable base middle part are provided with through-hole, pass through through-hole and mechanical hand carries out interference connection, in manipulator rotation, drive
Stable base is rotated, and balancer is rotated with steady firm banking, is connected between the balancer by conduit, described
Conduit passes through balancer and is arranged in a ring, and the plane of conduit setting is parallel with stable base end face, filled with thin in the conduit
Iron sand carries out stabilized structure by thin iron sand weight and device balances in stable base rotation.
The securing device of current mechanical hand in this way in driving, is often made usually by the way of reinforcing weight
At the increase of driving force, whole device just becomes heavy, and the balance of increased counterweight whole equipment in need of consideration,
The centrifugal force of whole equipment will do it variation when rotation, so general external hanging device and the compatibility of equipment itself are bad,
Cause certainly very much when rotated, unbalance then influences the stability of execution unit, do not improve precision.
And manipulator is sleeved in annulus by present specification using the firm rotational structure of hollow circular ring, is passed through
Interference fit is attached, and when manipulator is rotated, the firm balancer cooperation chosen to install in structure is rotated, using leading
The counterweight iron sand of filling is balanced firm in pipe, because when rotated, the centrifugal force of generation can drive the thin iron sand on surface layer
A part, but most of thin iron sand can play firm effect, can be when rotated firm by the characteristic of thin iron sand
Device provides a stable counterweight, and the counterweight can be changed according to conduit size, provide one for whole device
Good stability.
Further, shearing salient point is provided on the through-hole outer wall, the shearing salient point is connect with balancer, by cutting
Power salient point enhances through-hole structure intensity.The effect of the shearing salient point of setting is the manipulator for avoiding installing in through-hole and firm rotation
After rotation structure interference connection, when rotated, generates stress and concentrate, through-hole structure can be destroyed for a long time, reduce firm rotational structure
Service life.
Further, the balancer includes balance base and conduit support frame, and the conduit support frame setting is balancing
Above pedestal, conduit support frame is internally provided with connection through-hole, and conduit passes through connection through-hole.Conduit is arranged in conduit support frame
On, it avoids conduit and balance base from having connection, so that when rotated, balance base will affect the thin iron sand in conduit, generates and turn
The inaccurate problem of dynamic positioning.
Further, the thin iron sand selects counterweight iron sand, and the specification of counterweight iron sand is less than 0.2mm, and bulk density is 2.5
Between~2.6.The counterweight iron sand of use can help firm rotational structure to be stablized, and specification is smaller, although cost is more
Height, but the iron sand amount of the rotation of thin iron sand surface layer movement will be fewer, is more advantageous to device and is consolidated, bulk density is handle
Dust or powder are freely filled in a certain container, measured mass per volume, unit intensity after the completion of rigid filling
Between 2.5~2.6, counterweight requirements needed for can satisfy the application.
The utility model compared with prior art, has the following advantages and benefits:
1, the utility model is used for the firm rotational structure of mechanical hand, can be directly disposed on manipulator, and in machine
It when tool hand rotates, can be followed by the thin iron sand of counterweight, guarantee the stability of dispatching；；
2, the utility model is used for the firm rotational structure of mechanical hand, carries out structural strength reinforcement by shearing salient point, and
Stress concentration in through-hole is eliminated, the service life of entirely firm rotational structure is avoided to reduce.
Detailed description of the invention
Attached drawing described herein is used to provide to further understand the utility model embodiment, constitutes the one of the application
Part does not constitute the restriction to the utility model embodiment.In the accompanying drawings:
Fig. 1 is the utility model top view.
Fig. 2 is the utility model front view.
Label and corresponding parts title in attached drawing:
1- stable base, 2- balancer, 21- balance base, 22- conduit support frame, 3- through-hole, 31- shear salient point, and 4- is led
Pipe.
Specific embodiment
For the purpose of this utility model, technical solution and advantage is more clearly understood, below with reference to embodiment and attached drawing,
The utility model is described in further detail, and the exemplary embodiment and its explanation of the utility model are only used for explaining this
Utility model is not intended to limit the scope of the present invention.
Embodiment
As shown in Figure 1, the utility model is used for the firm rotational structure of mechanical hand, which is characterized in that including stable base 1
Upper annular is provided with several balancers 2, is provided with through-hole 3 in the middle part of stable base 1, carries out interference by through-hole 3 and mechanical hand
Connection drives stable base 1 to be rotated, balancer 2 is rotated with steady firm banking 1, described in manipulator rotation
It is connected between balancer 2 by conduit 4, the conduit 4 passes through balancer 2 and is arranged in a ring, the plane and consolidate that conduit 4 is arranged
1 end face of pedestal is parallel, is filled with thin iron sand in the conduit 4, when stable base 1 rotates, is tied by thin iron sand weight
Structure is firm and device balances.
The securing device of current mechanical hand in this way in driving, is often made usually by the way of reinforcing weight
At the increase of driving force, whole device just becomes heavy, and the balance of increased counterweight whole equipment in need of consideration,
The centrifugal force of whole equipment will do it variation when rotation, so general external hanging device and the compatibility of equipment itself are bad,
Cause certainly very much when rotated, unbalance then influences the stability of execution unit, do not improve precision.
And manipulator is sleeved in annulus by present specification using the firm rotational structure of hollow circular ring, is passed through
Interference fit is attached, and when manipulator is rotated, the firm balancer cooperation chosen to install in structure is rotated, using leading
The counterweight iron sand of filling is balanced firm in pipe, because when rotated, the centrifugal force of generation can drive the thin iron sand on surface layer
A part, but most of thin iron sand can play firm effect, can be when rotated firm by the characteristic of thin iron sand
Device provides a stable counterweight, and the counterweight can be changed according to conduit size, provide one for whole device
Good stability.
Shearing salient point 31 is provided on 3 outer wall of through-hole, the shearing salient point 31 is connect with balancer 2, passes through shearing
Salient point 31 enhances 3 structural strength of through-hole.Conduit is arranged on conduit support frame, and conduit and balance base is avoided to have connection, thus
When rotated, balance base will affect the thin iron sand in conduit, and it is inaccurate to lead to the problem of rotational positioning.
The balancer 2 includes balance base 21 and conduit support frame 22, and the setting of conduit support frame 22 is at balance bottom
21 top of seat, conduit support frame 22 are internally provided with connection through-hole, and conduit 4 passes through connection through-hole.The work of the shearing salient point of setting
With being after avoiding the manipulator installed in through-hole from connecting with firm rotational structure interference, when rotated, generation stress is concentrated, long
Phase can destroy through-hole structure, reduce the service life of firm rotational structure.
The thin iron sand selects counterweight iron sand, and the specification of counterweight iron sand is less than 0.2mm, bulk density 2.5~2.6 it
Between.The counterweight iron sand of use can help firm rotational structure to be stablized, and specification is smaller, although cost is higher,
The iron sand amount of the mobile rotation in thin iron sand surface layer will be fewer, is more advantageous to device and is consolidated, bulk density be dust or
Person's powder is freely filled in a certain container, measured mass per volume after the completion of rigid filling, unit intensity 2.5~
Between 2.6, counterweight requirements needed for can satisfy the application.
Above-described specific embodiment, to the purpose of this utility model, technical scheme and beneficial effects carried out into
One step is described in detail, it should be understood that being not used to limit the foregoing is merely specific embodiment of the present utility model
Determine the protection scope of the utility model, within the spirit and principle of the utility model, any modification for being made equally is replaced
It changes, improve, should be included within the scope of protection of this utility model.
Claims (4)
1. being used for the firm rotational structure of mechanical hand, which is characterized in that it is flat that annular on stable base (1) is provided with several
Heng Tai (2), stable base (1) middle part are provided with through-hole (3), interference connection are carried out by through-hole (3) and mechanical hand, in manipulator
When rotation, stable base (1) is driven to be rotated, balancer (2) is rotated with stable base (1), the balancer (2)
Between connected by conduit (4), the conduit (4) passes through balancer (2) and is arranged in a ring, the plane of conduit (4) setting and steady
Gu pedestal (1) end face is parallel, it is filled with thin iron sand in the conduit (4), when stable base (1) rotates, passes through thin iron sand weight
Amount carries out stabilized structure and device balance.
2. the firm rotational structure according to claim 1 for mechanical hand, which is characterized in that through-hole (3) outer wall
On be provided with shearing salient point (31), the shearing salient point (31) connect with balancer (2), passes through and shears salient point (31) enhancing through-hole
(3) structural strength.
3. the firm rotational structure according to claim 1 for mechanical hand, which is characterized in that balancer (2) packet
Balance base (21) and conduit support frame (22) are included, conduit support frame (22) setting is above balance base (21), conduit
Support frame (22) is internally provided with connection through-hole, and conduit (4) passes through connection through-hole.
4. the firm rotational structure according to claim 1 for mechanical hand, which is characterized in that the thin iron sand selection is matched
The specification of weight iron sand, counterweight iron sand is less than 0.2mm, and bulk density is between 2.5~2.6.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201822042100.7U CN209304593U (en) | 2018-12-06 | 2018-12-06 | Firm rotational structure for mechanical hand |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201822042100.7U CN209304593U (en) | 2018-12-06 | 2018-12-06 | Firm rotational structure for mechanical hand |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN209304593U true CN209304593U (en) | 2019-08-27 |
Family
ID=67675914
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201822042100.7U Active CN209304593U (en) | 2018-12-06 | 2018-12-06 | Firm rotational structure for mechanical hand |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN209304593U (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111473850A (en) * | 2020-04-22 | 2020-07-31 | 睿科集团(厦门)股份有限公司 | Online automatic counterweight method for mechanical arm before centrifugation |
-
2018
- 2018-12-06 CN CN201822042100.7U patent/CN209304593U/en active Active
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111473850A (en) * | 2020-04-22 | 2020-07-31 | 睿科集团(厦门)股份有限公司 | Online automatic counterweight method for mechanical arm before centrifugation |
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Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| GR01 | Patent grant | ||
| GR01 | Patent grant | ||
| TR01 | Transfer of patent right |
Effective date of registration: 20230601 Address after: Room 101, Building 11, No. 333 Yijian West Road, Xinglong Town, Zhongjiang County, Deyang City, Sichuan Province, 618000 Patentee after: Sichuan Fumosi Industrial Technology Co.,Ltd. Address before: No. 2602, Unit 1, Building 1, No. 46 Minsheng Lane, Qingyang District, Chengdu City, Sichuan Province, 610000 Patentee before: Liang Haorui |
|
| TR01 | Transfer of patent right |