CN106272340B - Manipulator - Google Patents
Manipulator Download PDFInfo
- Publication number
- CN106272340B CN106272340B CN201610765676.9A CN201610765676A CN106272340B CN 106272340 B CN106272340 B CN 106272340B CN 201610765676 A CN201610765676 A CN 201610765676A CN 106272340 B CN106272340 B CN 106272340B
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- CN
- China
- Prior art keywords
- circuit board
- connecting column
- pedestal
- hole
- manipulator
- 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.)
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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
- B25J9/0009—Constructional details, e.g. manipulator supports, bases
Landscapes
- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Manipulator (AREA)
Abstract
This application discloses manipulators, belong to manipulator technical field, and which solve the low problems of current manipulator disassembly efficiency.Manipulator, including pedestal, the pedestal is equipped with circuit board one, it is characterized in that, the circuit board one is equipped with through-hole one, and the connecting column being in the form of a column and with through-hole three is equipped between the pedestal and circuit board one, be resisted against on circuit board one respectively at the both ends of the connecting column and pedestal on, manipulator includes bolt, and the through-hole one of the screw bolt passes circuit board one and the through-hole three of connecting column and fixation are on the base.This manipulator is threadedly coupled using primary, so that the dismounting of manipulator is more convenient on the base since setting has the connecting column of through-hole three between circuit board one and pedestal so that circuit board one is fixed.
Description
Technical field
The invention belongs to manipulator technical fields.
Background technique
Original manipulator is when installation is higher by the circuit board of pedestal, in order to which there are enough skies between circuit board and pedestal
Between, generally first it is screwed on the base with the connecting column that a both ends are external screw thread and internal screw thread respectively, it then will with bolt
Circuit board is fixed on connecting column.In this connection type, at a connecting column be threadedly coupled quantity be twice, therefore,
The efficiency of loading and unloading of its circuit board is lower.
Summary of the invention
The present invention is in view of the above-mentioned problems, propose a kind of higher manipulator of disassembly efficiency.
Manipulator, including pedestal, the pedestal are equipped with circuit board one, which is characterized in that on the circuit board one
Equipped with through-hole one, the connecting column being in the form of a column and with through-hole three, the connection are equipped between the pedestal and circuit board one
It is resisted against respectively at the both ends of column on circuit board one on pedestal, manipulator includes bolt, the screw bolt passes circuit board
One through-hole one and the through-hole three of connecting column are simultaneously fixed on the base.
In the use process of manipulator, need to use circuit board to transmit or handle signal.In this manipulator, circuit
Structure at plate one is mainly used in the joint in manipulator.For example, manipulator includes bottom in flapping articulation manipulator
Seat, large arm and forearm have working shaft and the screw rod for driving working shaft to move up and down on forearm, in this manipulator,
Structure at circuit board one can apply the junction of pedestal and large arm, the junction of large arm and forearm, screw rod lower end at,
The center of working shaft.For another example manipulator includes multiple arms being sequentially connected, circuit board in the joint Manipulator of space
Structure at one can be applied in the junction of each arm.
In this manipulator, since connecting column has a through-hole three, bolt can be directly through in connecting column and being fixed on base
On seat, therefore, compared to the technology referred in background technique, the structure of this manipulator only needs once to be threadedly coupled, and can incite somebody to action
Circuit board one is fixed on the base and makes to facilitate observation there are biggish space between circuit board one and pedestal and carry out other behaviour
Make, disassembly efficiency is higher.
In above-mentioned manipulator, one end on the connecting column close to circuit board one is snugly plugged on electricity
In the through-hole one of road plate one, there is convex shoulder one close to one end of circuit board one on the connecting column, the convex shoulder one is resisted against
On circuit board one.
Connecting column is plugged in the through-hole one of circuit board one in a manner of tight fit, and therefore, connecting column can be relatively firm
And circuit board link together.After bolt is disassembled from pedestal, connecting column continues to keep the connection with circuit board one
Relationship, therefore, in disassembly process, connecting column is not easy individually to fall off, easy disassembly.The convex shoulder one of connecting column is in one He of circuit board
There is position-limiting action to circuit board one in positional relationship between pedestal, so that the installation site of circuit board one is more accurate.
In above-mentioned manipulator, there is location hole on the pedestal, one end of close pedestal on the connecting column
It is snugly plugged on the positioning hole of pedestal, the end of close pedestal is against on the base on the connecting column.
Connecting column is plugged on the positioning hole of pedestal in a manner of tight fit, therefore, the sum that connecting column can be relatively firm
Pedestal links together.After bolt is disassembled from pedestal, connecting column continues to keep the connection relationship with pedestal, therefore,
In disassembly process, connecting column is not easily to fall off, easy disassembly.Connecting column is against on the base, so that between connecting column and pedestal
Matching relationship is more close, improves the stability of robot manipulator structure.
In above-mentioned manipulator, the pedestal includes the circuit board two of ontology and setting on the body, and described determines
Position hole is located on ontology or is located on circuit board two；The connecting column is described between circuit board one and circuit board two
The through-hole one of screw bolt passes circuit board one, the through-hole three of connecting column and circuit board two are simultaneously fixed on the ontology of pedestal, institute
It states and is resisted against on circuit board two at one end of circuit board two on connecting column.
In this structure, circuit board one and circuit board two can be also secured to pedestal by the cooperation of bolt and connecting column
On ontology, fixing circuit board one and circuit simultaneously can be realized by being once threadedly coupled between bolt and the ontology of pedestal
The effect of plate two, and make to facilitate observation there are biggish space between circuit board one and pedestal and carry out other operations, dismounting
Efficiency is higher.
In above-mentioned manipulator, the location hole is located on circuit board two, and bolt passes through location hole, the connection
One end on column close to circuit board two is snugly plugged on the positioning hole of circuit board two, close base on the connecting column
One end of seat has convex shoulder two, and the convex shoulder two is resisted against on circuit board two against the convex shoulder two described on the base.
In this configuration, connecting column relatively firm can link together with circuit board two, when bolt is from the sheet of pedestal
When disassembling on body, connecting column is not easy individually to fall off, easy disassembly.Convex shoulder two is resisted against on circuit board two, so that connecting column
Relatively stable position-limiting action can be played to circuit board two, so that the structure of manipulator is more stable.
In above-mentioned manipulator, one end on the connecting column close to circuit board one is snugly plugged on electricity
In the through-hole one of road plate one, there is convex shoulder one close to one end of circuit board one on the connecting column, the convex shoulder one is resisted against
On circuit board one；The pedestal includes the circuit board two of ontology and setting on the body, has positioning on the circuit board two
Hole, the connecting column is between circuit board one and circuit board two；The through-hole one of the screw bolt passes circuit board one connects
It connects the through-hole three of column and the location hole of circuit board two and is fixed on the ontology of pedestal；Close to circuit board two on the connecting column
One end be snugly plugged on the positioning hole of circuit board two, there is convex shoulder close to one end of pedestal on the connecting column
Two, the convex shoulder two is resisted against on circuit board two against the convex shoulder two described on the base.
In this configuration, the both ends of connecting column respectively with two tight fit connection of circuit board one and circuit board, when bolt from
After disassembling on base body, circuit board one, connecting column and circuit board two can be as a whole directly from the sheets of pedestal
It is taken down on body, in disassembly process, circuit board one, connecting column and circuit board two are not readily separated and fall off, so that manipulator dismounting side
Just.Convex shoulder one and convex shoulder two play position-limiting action to circuit board one and circuit board two respectively, so that circuit board one and circuit board two
Installation site it is more accurate so that the structure of manipulator is more stable.
In above-mentioned manipulator, the material of the connecting column is plastics.
The material selection plastics of connecting column, since plastics have preferable elasticity, when connecting column be plugged on circuit board one or
When in circuit board two, tight fit effect is more preferable between components, connects between components more stable.In addition, connecting column and electricity
Road plate one or circuit board two contact, and insulating effect are also functioned to, so that the circuit of manipulator is more stable.
In above-mentioned manipulator, the quantity of the connecting column is multiple and equal with the quantity of through-hole one and through-hole one
It is corresponded with connecting column.
Using multiple connecting columns, the setting for enabling circuit board one more stable is on the base.
This manipulator, since setting has the connecting column of through-hole three between circuit board one and pedestal, so that circuit board one
It is fixed to be threadedly coupled on the base using primary, so that the dismounting of manipulator is more convenient.
Detailed description of the invention
Fig. 1 is a kind of structural schematic diagram of embodiment of manipulator；
Fig. 2 is a kind of structural schematic diagram of embodiment at pedestal in manipulator；
In figure, 1, pedestal；11, location hole；12, ontology；13, circuit board two；2, circuit board one；21, through-hole one；3, it connects
Column；31, through-hole three；32, convex shoulder one；4, bolt；5, pedestal；6, large arm；7, forearm；8, working shaft；9, screw rod.
Specific embodiment
Embodiment one
As depicted in figs. 1 and 2, including pedestal 1, pedestal 1 are equipped with circuit board 1.In the present embodiment, circuit board 1
On set there are three through-hole 1, the connecting column 3 being in the form of a column and with through-hole 3 31, connection are equipped between pedestal 1 and circuit board 1
The quantity of column 3 is also three, and through-hole 1 and connecting column 3 correspond.Using multiple connecting columns 3, enable circuit board 1
Enough more stable settings are on pedestal 1.
The material of connecting column 3 is plastics.The material selection plastics of connecting column 3, since plastics have preferable elasticity, when even
When connecing column 3 and being plugged in circuit board 1 or circuit board 2 13, tight fit effect is more preferable between components, connects between components
It is more stable.In addition, connecting column 3 is contacted with circuit board 1 or circuit board 2 13, insulating effect is also functioned to, so that manipulator
Circuit is more stable.
Be resisted against respectively at the both ends of connecting column 3 on circuit board 1 and pedestal 1 on, manipulator includes bolt 4, bolt 4 according to
It is secondary across the through-hole 1 of circuit board 1 and the through-hole 3 31 of connecting column 3 and to be fixed on pedestal 1.
In the use process of manipulator, need to use circuit board to transmit signal.In this manipulator, circuit board 1
The structure at place is mainly used in the joint in manipulator.A kind of now implementation using flapping articulation manipulator as this manipulator
Example.
In flapping articulation manipulator, manipulator includes pedestal 5, large arm 6 and forearm 7, has 8 He of working shaft on forearm 7
Screw rod 9 for driving working shaft 8 to move up and down, in this manipulator, the structure at circuit board 1 can be applied in pedestal
5 and the junction of large arm 6, the junction of large arm 6 and forearm 7, screw rod 9 lower end at, the center of working shaft 8.For another example
In the joint Manipulator of space, manipulator includes multiple arms being sequentially connected, and the structure at circuit board 1 can be applied each
The junction of arm.
In this manipulator, since connecting column 3 has through-hole 3 31, bolt 4 can be directly through in connecting column 3 and fixed
On pedestal 1, therefore, compared to the technology referred in background technique, the structure of this manipulator only needs once to be threadedly coupled, just
Circuit board 1 can be fixed on pedestal 1 and make to facilitate between circuit board 1 and pedestal 1 there are biggish space observation and into
The other operations of row, disassembly efficiency are higher.
Embodiment two
The present embodiment is roughly the same with embodiment one, and different places is, in the present embodiment, as shown in Fig. 2, connection
One end on column 3 close to circuit board 1 is snugly plugged in the through-hole 1 of circuit board 1, close on connecting column 3
One end of circuit board 1 has convex shoulder 1, and convex shoulder 1 is resisted against on circuit board 1.
Connecting column 3 is plugged in the through-hole 1 of circuit board 1 in a manner of tight fit, and therefore, connecting column 3 can be more
Firm and circuit board links together.After bolt 4 is disassembled from pedestal 1, connecting column 3 continues to keep and circuit board one
2 connection relationship, therefore, in disassembly process, connecting column 3 is not easy individually to fall off, easy disassembly.At the convex shoulder 1 of connecting column 3
There is position-limiting action to circuit board 1 in positional relationship between circuit board 1 and pedestal 1, so that the installation of circuit board 1
Position is more accurate.
Embodiment three
The present embodiment is roughly the same with embodiment one, and different places is, it is fixed to have in the present embodiment, on pedestal 1
Position hole 11, one end on connecting column 3 close to pedestal 1 is snugly plugged in the location hole 11 of pedestal 1, on connecting column 3
End close to pedestal 1 is resisted against on pedestal 1.
Connecting column 3 is plugged in the location hole 11 of pedestal 1 in a manner of tight fit, and therefore, connecting column 3 can be relatively firm
And pedestal 1 link together.After bolt 4 is disassembled from pedestal 1, connecting column 3 continues to keep the connection with pedestal 1 to close
System, therefore, in disassembly process, connecting column 3 is not easily to fall off, easy disassembly.Connecting column 3 is resisted against on pedestal 1, so that connecting column 3
Matching relationship between pedestal 1 is more close, improves the stability of robot manipulator structure.
Pedestal 1 includes ontology 12 and the circuit board 2 13 being arranged on ontology 12, and location hole 11 is located on ontology 12, connects
Column 3 between circuit board 1 and circuit board 2 13, bolt 4 sequentially pass through the through-hole 1 of circuit board 1, connecting column 3 it is logical
Hole 3 31 and circuit board 2 13 are simultaneously fixed on the ontology 12 of pedestal 1, on connecting column 3 close to circuit board 2 13 one end at against
On circuit board 2 13.
In this structure, circuit board 1 and circuit board 2 13 can be also secured to by the cooperation of bolt 4 and connecting column 3
On the ontology 12 of pedestal 1, pass through being once threadedly coupled can be realized and fix simultaneously between bolt 4 and the ontology 12 of pedestal 1
The effect of circuit board 1 and circuit board 2 13, and make to facilitate between circuit board 1 and pedestal 1 there are biggish space observation and
Other operations are carried out, disassembly efficiency is higher.
Example IV
The present embodiment is roughly the same with embodiment three, and different places is, in the present embodiment, location hole 11 is located at electricity
On road plate 2 13, bolt 4 passes through location hole 11, is snugly plugged on connecting column 3 close to one end of circuit board 2 13
In the location hole 11 of circuit board 2 13, there is convex shoulder two close to one end of pedestal 1 on connecting column 3, convex shoulder two is resisted against on pedestal 1
Convex shoulder two is resisted against on circuit board 2 13.
In this configuration, connecting column 3 relatively firm can link together with circuit board 2 13, when bolt 4 is from pedestal 1
Ontology 12 on when disassembling, connecting column 3 is not easy individually to fall off, easy disassembly.Convex shoulder two is resisted against on circuit board 2 13, is made
Obtaining connecting column 3 relatively stable can play position-limiting action to circuit board 2 13, so that the structure of manipulator is more stable.
Embodiment five
The present embodiment is roughly the same with embodiment one, and different places is, in the present embodiment, close on connecting column 3
One end of circuit board 1 is snugly plugged in the through-hole 1 of circuit board 1, close to circuit board 1 on connecting column 3
One end there is convex shoulder 1, convex shoulder 1 is resisted against on circuit board 1.
There is location hole 11, pedestal 1 includes ontology 12 and the circuit board 2 13 being arranged on ontology 12, positioning on pedestal 1
Hole 11 is located on circuit board 2 13.Bolt 4 passes through location hole 11, and one end of close circuit board 2 13 is on connecting column 3 with tight fit
Mode is plugged in the location hole 11 of circuit board 2 13, has convex shoulder two close to one end of pedestal 1 on connecting column 3, and convex shoulder two supports
Convex shoulder two on pedestal 1 is leaned against to be resisted against on circuit board 2 13.
In this configuration, spiral shell is worked as respectively with 2 13 tight fit connection of circuit board 1 and circuit board in the both ends of connecting column 3
After bolt 4 is disassembled from 1 ontology 12 of pedestal, circuit board 1, connecting column 3 and circuit board 2 13 can be straight as a whole
It connects and is taken down from the ontology 12 of pedestal 1, in disassembly process, circuit board 1, connecting column 3 and circuit board 2 13 are not readily separated de-
It falls, so that manipulator is convenient for disassembly and assembly.
Claims (3)
1. manipulator, including pedestal (1), the pedestal (1) is equipped with circuit board one (2), which is characterized in that the pedestal
(1) include the circuit board two (13) of ontology (12) and setting on ontology (12), there is location hole on the circuit board two (13)
(11), the location hole (11) is located on ontology (12), is equipped with and is in the form of a column between the pedestal (1) and circuit board one (2)
And with through-hole three (31) connecting column (3), the connecting column (3) between circuit board one (2) and circuit board two (13),
One end on the connecting column (3) close to circuit board one (2) is snugly plugged on the through-hole one of circuit board one (2)
(21) in, there is convex shoulder one (32) close to one end of circuit board one (2) on the connecting column (3), the convex shoulder one (32) supports
It leans against on circuit board one (2)；One end on the connecting column (3) close to circuit board two (13) is snugly plugged on electricity
In the location hole (11) of road plate two (13), one end on the connecting column (3) close to pedestal (1) has convex shoulder two, and described is convex
Shoulder two is resisted against convex shoulder two described on pedestal (1) and is resisted against on circuit board two (13), close to circuit board on the connecting column (3)
It is resisted against at one end of two (13) on circuit board two (13), manipulator includes bolt (4), and the bolt (4) sequentially passes through circuit
The location hole (11) of the through-hole three (31) of the through-hole one (21) and connecting column (3) of plate one (2) is simultaneously fixed on pedestal (1), described
Pedestal (1) on there are location hole (11), close to one end snugly grafting of pedestal (1) on the connecting column (3)
In the location hole (11) of pedestal (1), the end on the connecting column (3) close to pedestal (1) is resisted against on pedestal (1).
2. manipulator according to claim 1, which is characterized in that the material of the connecting column (3) is plastics.
3. manipulator according to claim 1, which is characterized in that the quantity of the connecting column (3) be it is multiple and with it is logical
The quantity in hole one (21) is equal and through-hole one (21) and connecting column (3) correspond.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610765676.9A CN106272340B (en) | 2016-08-30 | 2016-08-30 | Manipulator |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610765676.9A CN106272340B (en) | 2016-08-30 | 2016-08-30 | Manipulator |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN106272340A CN106272340A (en) | 2017-01-04 |
| CN106272340B true CN106272340B (en) | 2019-10-11 |
Family
ID=57674583
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201610765676.9A Active CN106272340B (en) | 2016-08-30 | 2016-08-30 | Manipulator |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN106272340B (en) |
Citations (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN201327501Y (en) * | 2008-12-29 | 2009-10-14 | 河北华美光电子有限公司 | Work fixture for testing optical-electric module |
| CN101745913A (en) * | 2009-12-21 | 2010-06-23 | 哈尔滨工业大学 | Nimble arm of six-DOF robot |
| CN101797748A (en) * | 2010-01-08 | 2010-08-11 | 武汉若比特机器人有限公司 | Multiple-degree-of-freedom anti-explosion mechanical arm |
| CN201742669U (en) * | 2010-05-10 | 2011-02-09 | 爱铭数码株式会社 | Assembly structure of laser head circuit board |
| CN201900648U (en) * | 2009-10-09 | 2011-07-20 | Abb技术有限公司 | Robot system |
| CN203851373U (en) * | 2014-05-22 | 2014-09-24 | 格力电器（合肥）有限公司 | Auxiliary tool used for printed circuit board |
| CN206029883U (en) * | 2016-08-30 | 2017-03-22 | 浙江琦星电子有限公司 | Manipulator |
Family Cites Families (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP2002299772A (en) * | 2001-03-30 | 2002-10-11 | Toshiba Corp | Printed board device and electronic device |
-
2016
- 2016-08-30 CN CN201610765676.9A patent/CN106272340B/en active Active
Patent Citations (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN201327501Y (en) * | 2008-12-29 | 2009-10-14 | 河北华美光电子有限公司 | Work fixture for testing optical-electric module |
| CN201900648U (en) * | 2009-10-09 | 2011-07-20 | Abb技术有限公司 | Robot system |
| CN101745913A (en) * | 2009-12-21 | 2010-06-23 | 哈尔滨工业大学 | Nimble arm of six-DOF robot |
| CN101797748A (en) * | 2010-01-08 | 2010-08-11 | 武汉若比特机器人有限公司 | Multiple-degree-of-freedom anti-explosion mechanical arm |
| CN201742669U (en) * | 2010-05-10 | 2011-02-09 | 爱铭数码株式会社 | Assembly structure of laser head circuit board |
| CN203851373U (en) * | 2014-05-22 | 2014-09-24 | 格力电器（合肥）有限公司 | Auxiliary tool used for printed circuit board |
| CN206029883U (en) * | 2016-08-30 | 2017-03-22 | 浙江琦星电子有限公司 | Manipulator |
Also Published As
| Publication number | Publication date |
|---|---|
| CN106272340A (en) | 2017-01-04 |
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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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