CN105690415A - Mechanical hand mechanism for gripping PCB boards - Google Patents
Mechanical hand mechanism for gripping PCB boards Download PDFInfo
- Publication number
- CN105690415A CN105690415A CN201610209804.1A CN201610209804A CN105690415A CN 105690415 A CN105690415 A CN 105690415A CN 201610209804 A CN201610209804 A CN 201610209804A CN 105690415 A CN105690415 A CN 105690415A
- Authority
- CN
- China
- Prior art keywords
- base
- pcb board
- turntable
- moving guide
- mechanical hand
- 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
- B25J15/00—Gripping heads and other end effectors
- B25J15/08—Gripping heads and other end effectors having finger members
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J5/00—Manipulators mounted on wheels or on carriages
- B25J5/007—Manipulators mounted on wheels or on carriages mounted on wheels
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J5/00—Manipulators mounted on wheels or on carriages
- B25J5/02—Manipulators mounted on wheels or on carriages travelling along a guideway
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
Abstract
The invention discloses a mechanical hand mechanism for gripping PCB boards. The mechanical hand mechanism comprises a base, a rotary table arranged on the base, a rotary unit for driving the rotary table to rotate, a mechanical hand arranged on the rotary table, a mobile unit arranged below the base, mobile guide rails and a lifting unit, wherein the rotary unit comprises a circular-ring-shaped rack which is arranged at the outer side of the middle part of the rotary table in a sleeved manner, a gear which is engaged with the rack, and a drive motor, the output shaft of which is connected to the gear; the mobile unit comprises travelling wheels hinged at the two sides of the bottom of the base, a mobile block fixedly arranged on the middle part of the bottom of the base, a rotary screw which is in threaded connection on the mobile block, and a motor, the output shaft of which is connected to the rotary screw; the lifting unit comprises two lifting boards beside sides, far away from the mobile block, of the two mobile guide rails, and two lifting air cylinders which are separately arranged at the two sides below each lifting plate. The mechanical hand mechanism can flexibly move, regulate the height and regulate the angle to obtain the PCBs, so that the production efficiency of the PCBs is greatly improved.
Description
Technical field:
The present invention relates to pcb board technical field of processing equipment, be specifically related to a kind of manipulator mechanism capturing pcb board。
Background technology:
At present, in pcb board process equipment field, generally adopting mechanical hand to be obtained from pipeline by pcb board, then be transplanted on pcb board process equipment to be processed, then the pcb board machined is placed on pipeline and exports from process equipment by mechanical hand again。But, above-mentioned mechanical hand of the prior art cannot adjust the position of self flexibly according to the position of the pcb board in actual production, thus cannot adapt to constantly produce needs and get pcb board neatly, this makes pcb board production efficiency be substantially reduced。
Because above-mentioned defect, the design people, actively in addition research and innovation, to founding the manipulator mechanism capturing pcb board of a kind of new structure so that it is have more the value in industry。
Summary of the invention:
The purpose of the present invention aims to solve the problem that prior art Problems existing, it is provided that one shift position, adjustment height, adjustment angle can obtain pcb board flexibly, are greatly improved the manipulator mechanism capturing pcb board of pcb board production efficiency。
The present invention relates to a kind of manipulator mechanism capturing pcb board, including base, the turntable being arranged on described base, drive rotary unit that described turntable rotates, mechanical hand on a spinstand is set, is arranged on the mobile unit below base, moving guide rail and lifting unit；
The upper surface of described base offers circular mounting groove, turntable is cylindrical, the lower rotational of turntable is arranged in described mounting groove, the drive motor that described rotary unit includes being set in gear that in the middle part of turntable, the tooth bar of an annular in outside is meshed with described tooth bar, output shaft is connected with described gear, described drive motor is arranged on base；
Described mobile unit includes the road wheel being hinged on base bottom both sides, the motor rotating screw rod, the output shaft described rotation screw rod of connection being fixed on the movable block in the middle part of base bottom, being screwed onto on described movable block, described road wheel is pressed against on described moving guide rail, the quantity of moving guide rail is two and is parallel to each other, movable block is arranged in the gap in the middle of two moving guide rails, rotates screw rod and runs through movable block and parallel with two moving guide rails；
Described lifting unit include being arranged on two moving guide rails away from the side of movable block side two pieces of lifter plates, be separately positioned on two lift cylinders of both sides below described every piece of lifter plate, two pieces of lifter plates are separately positioned on below the two ends of base, the piston shaft of described lift cylinder is fixing with the bottom of lifter plate to be connected, and lift cylinder is for lifting lifter plate thus the mechanical hand on base is carried out altitude mixture control。
By technique scheme, motor-driven rotation screw rod rotates, movable block is along rotating moving axially of screw rod, base is driven to move together with turntable thereon, rotary unit and mechanical hand, the road wheel of base bottom is pressed against on moving guide rail and moves back and forth, after moving to desired location, by lifting unit base lifted and position is fixed, thus the position adjusting mechanical hand can be moved according to the position of pcb board；By lift cylinder action, lifter plate is lifted, base is lifted by lifter plate contact base, thus the height of the mechanical hand that can adjust within the specific limits on base, to adapt to the position of pcb board, wherein, article two, two pieces of lifter plates of moving guide rail both sides are connected with four lift cylinders, and each two lift cylinder is arranged on the both sides below one piece of lifter plate, so can stably be lifted by lifter plate；Driving gear to rotate by drive motor, the racks turn that gear driven is meshed with it, rack drives turntable rotates in the mounting groove of base, thus the crawl angle of mechanical hand on turntable arbitrarily can be adjusted according to the position of pcb board。
By such scheme, the manipulator mechanism of the present invention can move freely position, adjust height, adjust angle to obtain pcb board, can in actual job dexterous actions, substantially increase the production efficiency of pcb board。
The effect present invention's is a kind of preferred, and the quantity of described road wheel is two, and two road wheels are separately positioned on the both sides of base bottom, and two road wheels press up against on two moving guide rails；Offering two corresponding with said two road wheel gathering sill respectively on described two moving guide rails, road wheel moves in described gathering sill。By such scheme, two road wheels move respectively in the two of two moving guide rails gathering sills, so can carry out spacing to the shift position of road wheel, thus ensureing that mechanical hand moves to destination locations。
The effect present invention's is a kind of preferred, and the two ends, bottom of described base offer two locating slots, and described two locating slots are corresponding with two pieces of lifter plates respectively。By such scheme, when lifter plate is lifted by lift cylinder, lifter plate is inserted in the locating slot of the base of top, so can the position of effective positioning base, thus ensureing that mechanical hand lifts within a certain height。
The effect present invention's is a kind of preferred, and the gear of described rotary unit and drive motor are installed in a case, and described case is fixed on base。By such scheme, gear and drive motor are shielded by case, it is to avoid be exposed in air for a long time, cause the damage of outer bound pair gear and drive motor；, easily operator being damaged during pinion rotation, case can avoid this injury to occur meanwhile。
The effect present invention's is a kind of preferred, and described turntable is positioned at the lateral wall of mounting groove and is provided with wearing layer；The bottom surface that described turntable contacts with mounting groove is provided with rubber buffer。By such scheme, when turntable rotates in mounting groove, wearing layer protection turntable reduces damage, and turntable can be cushioned by rubber buffer when base lifts。
Described above is only the general introduction of technical solution of the present invention, in order to better understand the technological means of the present invention, and can be practiced according to the content of description, below with presently preferred embodiments of the present invention and coordinate accompanying drawing describe in detail as after。
Accompanying drawing illustrates:
The following drawings is only intended to, in the present invention being schematically illustrated and explaining, not delimit the scope of the invention。Wherein:
Fig. 1 is the structural representation of the present invention；
Fig. 2 is the top view of Fig. 1；
Fig. 3 is the enlarged diagram at A place in Fig. 1；
Fig. 4 is the structural representation of base in Fig. 1；
Fig. 5 is the structural representation of lifting unit in the present invention；
Fig. 6 is the structural representation in the present invention between movable block and rotation screw rod。
Detailed description of the invention:
Below in conjunction with drawings and Examples, the specific embodiment of the present invention is described in further detail。Following example are used for illustrating the present invention, but are not limited to the scope of the present invention。
Referring to Fig. 1, Fig. 2, a kind of manipulator mechanism capturing pcb board of the present invention, including base 10, the turntable 20 being arranged on described base, drives rotary unit 30 that described turntable rotates, arranges mechanical hand 40 on a spinstand, is arranged on the mobile unit 50 below base, moving guide rail 60 and lifting unit 70；
Referring to Fig. 1, the upper surface of described base offers circular mounting groove 11, turntable 20 is cylindrical, the lower rotational of turntable is arranged in described mounting groove, the drive motor 33 that described rotary unit 30 includes being set in gear 32 that in the middle part of turntable, the tooth bar 31 of an annular in outside is meshed with described tooth bar, output shaft is connected with described gear, described drive motor is arranged on base；
Referring to Fig. 1, described mobile unit 50 includes the road wheel 51 being hinged on base bottom both sides, the motor 54 rotating screw rod 53, the output shaft described rotation screw rod of connection being fixed on the movable block 52 in the middle part of base bottom, being screwed onto on described movable block, described road wheel is pressed against on described moving guide rail 60, the quantity of moving guide rail is two and is parallel to each other, movable block is arranged in the gap in the middle of two moving guide rails, rotates screw rod and runs through movable block and parallel with two moving guide rails；
Referring to Fig. 1, described lifting unit 70 include being arranged on two moving guide rails away from the side of movable block side two pieces of lifter plates 71, be separately positioned on two lift cylinders 72 of both sides below described every piece of lifter plate, two pieces of lifter plates are separately positioned on below the two ends of base 10, the piston shaft of described lift cylinder and the bottom of lifter plate are fixing to be connected, lift cylinder for lifter plate is lifted thus the mechanical hand 40 on base is carried out altitude mixture control。
Referring to Fig. 1, the quantity of described road wheel 51 is two, and two road wheels are separately positioned on the both sides bottom base 10, and two road wheels press up against on two moving guide rails 60；Offering two corresponding with said two road wheel gathering sill 61 respectively on described two moving guide rails, road wheel moves in described gathering sill。
Referring to Fig. 1, the two ends, bottom of described base 10 offer two locating slots 12, and described two locating slots are corresponding with two pieces of lifter plates 71 respectively。
Referring to Fig. 1, the gear 32 of described rotary unit 30 and drive motor 33 are installed in a case 80, and described case is fixed on base。
Referring to Fig. 1, the lateral wall that described turntable 20 is positioned at mounting groove is provided with wearing layer 21；The bottom surface that described turntable contacts with mounting groove 11 is provided with rubber buffer 22。
The operation principle of the present invention is:
Motor 54 drives rotation screw rod 53 to rotate, movable block 52 is along rotating moving axially of screw rod, base 10 is driven to move together with turntable 20 thereon, rotary unit 30 and mechanical hand 40, the road wheel 51 of base bottom is pressed against on moving guide rail 60 and moves back and forth, after moving to desired location, by lifting unit 70 base lifted and position is fixed, thus the position adjusting mechanical hand 40 can be moved according to the position of pcb board；
By lift cylinder 72 action, lifter plate 71 is lifted, base is lifted by lifter plate contact base, thus the height of the mechanical hand that can adjust within the specific limits on base, to adapt to the position of pcb board, wherein, article two, two pieces of lifter plates 71 of moving guide rail 60 both sides are connected with four lift cylinders 72, and each two lift cylinder is arranged on the both sides below one piece of lifter plate, so can stably be lifted by lifter plate；
Driving gear 32 to rotate by drive motor 33, the tooth bar 31 that gear driven is meshed with it rotates, and rack drives turntable 20 rotates in the mounting groove 11 of base, thus the crawl angle of mechanical hand 40 on turntable arbitrarily can be adjusted according to the position of pcb board。
In sum, the manipulator mechanism of the present invention can move freely position, adjust height, adjust angle to obtain pcb board, can in actual job dexterous actions, substantially increase the production efficiency of pcb board。
The manipulator mechanism of crawl pcb board provided by the present invention; it is only the specific embodiment of the present invention; but protection scope of the present invention is not limited thereto; any those familiar with the art is in the technical scope that the invention discloses; change can be readily occurred in or replace, all should be encompassed within scope。Therefore, protection scope of the present invention should be as the criterion with described scope of the claims。
Claims (7)
1. the manipulator mechanism capturing pcb board, it is characterised in that: the turntable (20) include base (10), being arranged on described base, the rotary unit (30) driving described turntable to rotate, mechanical hand (40) on a spinstand is set, it is arranged on the mobile unit (50) below base, moving guide rail (60) and lifting unit (70)；
The upper surface of described base offers circular mounting groove (11), turntable (20) is cylindrical, the lower rotational of turntable is arranged in described mounting groove, the drive motor (33) that described rotary unit (30) includes being set in gear (32) that in the middle part of turntable, the tooth bar (31) of an annular in outside is meshed with described tooth bar, output shaft is connected with described gear, described drive motor is arranged on base；
Described mobile unit (50) include being hinged on base bottom both sides road wheel (51), be fixed on the movable block (52) in the middle part of base bottom, the rotation screw rod (53) that is screwed onto on described movable block, output shaft connect the motor (54) of described rotation screw rod, described road wheel is pressed against on described moving guide rail (60), the quantity of moving guide rail is two and is parallel to each other, movable block is arranged in the gap in the middle of two moving guide rails, rotates screw rod and runs through movable block and parallel with two moving guide rails；
Described lifting unit (70) include being arranged on two moving guide rails away from the side of movable block side two pieces of lifter plates (71), be separately positioned on two lift cylinders (72) of both sides below described every piece of lifter plate, two pieces of lifter plates are separately positioned on below the two ends of base, the piston shaft of described lift cylinder is fixing with the bottom of lifter plate to be connected, and lift cylinder is for lifting lifter plate thus the mechanical hand on base is carried out altitude mixture control。
2. the manipulator mechanism of crawl pcb board according to claim 1, it is characterized in that: the quantity of described road wheel (51) is two, two road wheels are separately positioned on the both sides of base bottom, and two road wheels press up against on two moving guide rails (60)。
3. the manipulator mechanism of crawl pcb board according to claim 2, it is characterized in that: offering two gathering sills (61) corresponding with said two road wheel (51) on described two moving guide rails (60) respectively, road wheel moves in described gathering sill。
4. the manipulator mechanism of crawl pcb board according to claim 1, it is characterized in that: the two ends, bottom of described base (10) offer two locating slots (12), described two locating slots are corresponding with two pieces of lifter plates (71) respectively。
5. the manipulator mechanism of crawl pcb board according to claim 1, it is characterized in that: the gear (32) of described rotary unit (30) and drive motor (33) are installed in a case (80), and described case is fixed on base (10)。
6. the manipulator mechanism of crawl pcb board according to claim 1, it is characterised in that: described turntable (20) is positioned at the lateral wall of mounting groove (11) and is provided with wearing layer (21)。
7. the manipulator mechanism capturing pcb board according to claim 1 or 6, it is characterised in that: the bottom surface that described turntable (20) contacts with mounting groove (11) is provided with rubber buffer (22)。
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610209804.1A CN105690415A (en) | 2016-04-06 | 2016-04-06 | Mechanical hand mechanism for gripping PCB boards |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610209804.1A CN105690415A (en) | 2016-04-06 | 2016-04-06 | Mechanical hand mechanism for gripping PCB boards |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN105690415A true CN105690415A (en) | 2016-06-22 |
Family
ID=56218364
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201610209804.1A Pending CN105690415A (en) | 2016-04-06 | 2016-04-06 | Mechanical hand mechanism for gripping PCB boards |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN105690415A (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107309864A (en) * | 2017-06-27 | 2017-11-03 | 深圳市引领工业装备有限公司 | Rotate three axle heavy duty manipulators |
Citations (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN2734438Y (en) * | 2004-08-26 | 2005-10-19 | 龙超祥 | Perforated manipulator for plastic rubber fuel oil tank |
| CN201198134Y (en) * | 2008-05-19 | 2009-02-25 | 昆明理工大学 | Cylindrical storehouse stacking robot |
| CN102248529A (en) * | 2010-05-20 | 2011-11-23 | 单树永 | Manipulator for loading and unloading materials |
| CN202528187U (en) * | 2011-12-29 | 2012-11-14 | 湖南神斧集团向红机械化工有限责任公司 | Automatic medicine-feeding manipulator with linear guide rail |
| CN203293185U (en) * | 2013-06-18 | 2013-11-20 | 东营信盛机械有限公司 | Feeding and discharging robot of intermediate frequency quenching machine |
| CN204549476U (en) * | 2015-04-14 | 2015-08-12 | 山东交通学院 | A kind of mechanical arm of two-way robot palletizer |
| CN105415345A (en) * | 2015-11-26 | 2016-03-23 | 荣昌精密机械(苏州)有限公司 | Movable type mechanical hand mechanism for grabbing PCBs |
| CN205521470U (en) * | 2016-04-06 | 2016-08-31 | 江苏金铁人自动化科技有限公司 | Snatch manipulator mechanism of PCB board |
-
2016
- 2016-04-06 CN CN201610209804.1A patent/CN105690415A/en active Pending
Patent Citations (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN2734438Y (en) * | 2004-08-26 | 2005-10-19 | 龙超祥 | Perforated manipulator for plastic rubber fuel oil tank |
| CN201198134Y (en) * | 2008-05-19 | 2009-02-25 | 昆明理工大学 | Cylindrical storehouse stacking robot |
| CN102248529A (en) * | 2010-05-20 | 2011-11-23 | 单树永 | Manipulator for loading and unloading materials |
| CN202528187U (en) * | 2011-12-29 | 2012-11-14 | 湖南神斧集团向红机械化工有限责任公司 | Automatic medicine-feeding manipulator with linear guide rail |
| CN203293185U (en) * | 2013-06-18 | 2013-11-20 | 东营信盛机械有限公司 | Feeding and discharging robot of intermediate frequency quenching machine |
| CN204549476U (en) * | 2015-04-14 | 2015-08-12 | 山东交通学院 | A kind of mechanical arm of two-way robot palletizer |
| CN105415345A (en) * | 2015-11-26 | 2016-03-23 | 荣昌精密机械(苏州)有限公司 | Movable type mechanical hand mechanism for grabbing PCBs |
| CN205521470U (en) * | 2016-04-06 | 2016-08-31 | 江苏金铁人自动化科技有限公司 | Snatch manipulator mechanism of PCB board |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107309864A (en) * | 2017-06-27 | 2017-11-03 | 深圳市引领工业装备有限公司 | Rotate three axle heavy duty manipulators |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN105415345B (en) | A kind of movable type mechanical mobile phone structure for pcb board crawl | |
| CN206217346U (en) | The full-automatic printing equipment of rotating disc type | |
| JP6223631B1 (en) | Work transfer device | |
| CN205521470U (en) | Snatch manipulator mechanism of PCB board | |
| CN104842634B (en) | A kind of full-automatic stencil printing machine | |
| JP2010500041A (en) | Object processing and / or conveying device | |
| CN101648454A (en) | Cartridge device for automatic screen printing production line | |
| CN104440490A (en) | Automatic derusting machine of steel pipes | |
| CN204819563U (en) | Multidirectional arm | |
| CN110116905A (en) | Material conveying device | |
| CN107381427A (en) | One kind is accurately positioned hoisting mechanism | |
| CN105690415A (en) | Mechanical hand mechanism for gripping PCB boards | |
| CN204622791U (en) | A kind of printing machine | |
| CN208728934U (en) | A kind of laser marking machine | |
| CN105798748A (en) | Automatic polishing machine for large boards | |
| CN205111838U (en) | A portable manipulator mechanism for PCB board snatchs | |
| CN109585609A (en) | A kind of solar battery sheet laser ablation and printing integrative apparatus | |
| CN205838442U (en) | A kind of lowering or hoisting gear for lumber elevator streamline discharging | |
| WO2019090684A1 (en) | Laser engraving device for mobile phone shell | |
| CN204487245U (en) | Full-automatic material road hoisting mechanism | |
| CN106628978A (en) | Feeder with automatic turning-over function | |
| CN109047398A (en) | A kind of sheet fabrication center | |
| CN102320460A (en) | Lift | |
| CN204605134U (en) | A kind of full-automatic stencil printing machine | |
| CN210763278U (en) | Automatic unloading device |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C06 | Publication | ||
| PB01 | Publication | ||
| C10 | Entry into substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| RJ01 | Rejection of invention patent application after publication |
Application publication date: 20160622 |
|
| RJ01 | Rejection of invention patent application after publication |