CN117124300A - Multi-station annular circuit board machining mechanical arm structure - Google Patents
Multi-station annular circuit board machining mechanical arm structure Download PDFInfo
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- CN117124300A CN117124300A CN202311253689.4A CN202311253689A CN117124300A CN 117124300 A CN117124300 A CN 117124300A CN 202311253689 A CN202311253689 A CN 202311253689A CN 117124300 A CN117124300 A CN 117124300A
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- driving gear
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- circuit board
- gear
- annular circuit
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- 238000003754 machining Methods 0.000 title abstract description 8
- 238000012545 processing Methods 0.000 claims abstract description 28
- 230000002457 bidirectional effect Effects 0.000 claims abstract description 11
- 230000000149 penetrating effect Effects 0.000 claims abstract description 3
- 230000003068 static effect Effects 0.000 claims description 16
- 230000008030 elimination Effects 0.000 claims 2
- 238000003379 elimination reaction Methods 0.000 claims 2
- 238000011161 development Methods 0.000 abstract description 4
- 230000005540 biological transmission Effects 0.000 abstract description 2
- 238000010586 diagram Methods 0.000 description 4
- 238000004519 manufacturing process Methods 0.000 description 4
- 230000000694 effects Effects 0.000 description 3
- 101000623895 Bos taurus Mucin-15 Proteins 0.000 description 2
- 238000010923 batch production Methods 0.000 description 2
- 230000007547 defect Effects 0.000 description 2
- 238000000034 method Methods 0.000 description 2
- 238000012986 modification Methods 0.000 description 2
- 230000004048 modification Effects 0.000 description 2
- 230000008569 process Effects 0.000 description 2
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000008859 change Effects 0.000 description 1
- 230000006872 improvement Effects 0.000 description 1
- 230000007246 mechanism Effects 0.000 description 1
- 238000011160 research Methods 0.000 description 1
- 238000012546 transfer Methods 0.000 description 1
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
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- 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
- B25J15/0052—Gripping heads and other end effectors multiple gripper units or multiple end effectors
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- 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
- B25J15/02—Gripping heads and other end effectors servo-actuated
- B25J15/0206—Gripping heads and other end effectors servo-actuated comprising articulated grippers
- B25J15/0213—Gripping heads and other end effectors servo-actuated comprising articulated grippers actuated by gears
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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
- B25J9/102—Gears specially adapted therefor, e.g. reduction gears
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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
- B25J9/12—Programme-controlled manipulators characterised by positioning means for manipulator elements electric
- B25J9/126—Rotary actuators
Abstract
The invention discloses a multi-station annular circuit board machining mechanical arm structure, which relates to the technical field of annular circuit board machining and comprises a linkage assembly and a clamping assembly III, wherein the linkage assembly comprises a supporting plate, a first bidirectional motor, a driving roller, a driving belt, a first driving gear, a second driving gear and a third driving gear, the surface of the supporting plate is provided with the first bidirectional motor in a penetrating way, the output end of the first bidirectional motor is connected with the driving roller, and the driving belt is arranged outside the driving roller. This multistation annular circuit board processing arm structure, a driving roller is driven through bi-directional motor and rotates, and the driving roller drives the driving belt transmission and makes driving gear one, driving gear two and driving gear three rotate, can realize respectively with driving gear one, driving gear two and driving gear three associated clamping component one, clamping component two, clamping component three possess the ability to the centre gripping of target annular circuit board, have reduced bi-directional motor one set up quantity, have reduced development cost.
Description
Technical Field
The invention relates to the technical field of annular circuit board processing, in particular to a multi-station annular circuit board processing mechanical arm structure.
Background
Along with the complicacy and the diversification of current electrical apparatus function, the shape of the circuit board on the electrical apparatus is more and more complicated, and some special-shaped circuit boards have just unavoidable appeared, take annular circuit board as an example, need the processing of the different processes of a plurality of stations in the production process, and its circulation process between different stations needs to be with the help of the arm structure.
However, most mechanical arm structures only can support the processing of a single-station annular circuit board, and the efficiency is very low for mass production and manufacturing.
Accordingly, in view of the above, research and improvement on the existing structure and defects have been made, and a multi-station annular circuit board processing mechanical arm structure is proposed.
Disclosure of Invention
Aiming at the defects of the prior art, the invention provides a multi-station annular circuit board processing mechanical arm structure, which solves the problems in the prior art.
In order to achieve the above purpose, the invention is realized by the following technical scheme: the utility model provides a multistation annular circuit board processing mechanical arm structure, includes linkage subassembly and clamping assembly III, linkage subassembly includes bearing plate, bi-directional motor I, driving roller, driving belt, driving gear I, driving gear II and driving gear III, and the surface of bearing plate runs through and is provided with bi-directional motor I, bi-directional motor I's output is connected with the driving roller, and driving roller's outside is provided with driving belt, driving belt's inside still is provided with driving gear I, driving gear II and driving gear III respectively through three shaft, and driving gear I's bottom is provided with clamping assembly I, driving gear II's bottom is provided with clamping assembly II, clamping assembly III sets up in driving gear III's bottom.
Furthermore, the middle parts of the first driving gear, the second driving gear and the third driving gear are fixedly penetrated by wheel shafts, the wheel shafts and the driving rollers are in meshed connection with the driving belt, and the first driving gear, the second driving gear and the third driving gear are distributed in an equidistant mode relative to the surface of the supporting plate.
Further, the first clamping assembly comprises a first driven gear, a first swing arm, a first clamping head and a first supporting rod, the bottom of the first driven gear is connected with the first swing arm, one end, far away from the first driven gear, of the first swing arm is connected with the first clamping head through a pin shaft, and the middle end of the first clamping head is connected with the first supporting rod through a pin shaft.
Further, the first clamping assembly further comprises a second driven gear, a second swing arm, a second clamping head and a second supporting rod, the second driven gear is arranged on the outer side of the first driven gear, the second swing arm is connected to the bottom of the second driven gear, one end, far away from the second driven gear, of the second swing arm is connected with the second clamping head through a pin shaft, and the middle end of the second clamping head is connected with the second supporting rod through a pin shaft.
Furthermore, one end of the first support rod, which is far away from the clamping head I, is connected with a support plate through a pin shaft, one end of the second support rod, which is far away from the clamping head II, is connected with the support plate through a pin shaft, and the first support rod and the second support rod are symmetrically distributed.
Further, the first clamping assembly, the second clamping assembly and the third clamping assembly are consistent in structure, the first driving gear, the second driving gear and the third driving gear are consistent in rotation direction, and the first driven gear and the second driven gear are opposite in rotation direction.
Further, a side plate is installed on the right side of the supporting plate, a eliminating assembly is arranged on the right side of the side plate, the eliminating assembly comprises a one-way motor, a first driving shaft and a connecting rod, the output end of the one-way motor is connected with the first driving shaft, and the connecting rod is arranged outside the first driving shaft.
Further, the eliminating assembly further comprises a rocker arm, a sliding block, a track body and a static eliminator, one end of the connecting rod, which is far away from the first driving shaft, is connected with the rocker arm through a pin shaft, the other end of the rocker arm is connected with the sliding block through a pin shaft, the static eliminator is arranged at the bottom of the sliding block, and the track body is arranged below the right side of the side plate.
Further, the top of linkage subassembly is provided with the long arm, and the left end of long arm is connected with the pneumatic cylinder through the pivot, the other end of pneumatic cylinder is connected with the roating seat through the pivot, and the surface of roating seat is connected with the big arm through the pivot, the other end of big arm is connected through pivot and long arm bottom rotation.
Further, the outside of roating seat is from last to cover in proper order to be equipped with bearing and driven ring gear, and driven ring gear's left side is provided with the initiative ring gear, the middle part of initiative ring gear wears to be equipped with the drive shaft second perpendicularly, and the end of drive shaft second is provided with two-way motor second, two-way motor's bottom is provided with the casing, and the top lid of casing has closed movable cap.
The invention provides a multi-station annular circuit board machining mechanical arm structure, which has the following beneficial effects:
1. this multistation annular circuit board processing arm structure, a driving roller is driven through bi-directional motor and rotates, and the driving roller drives the driving belt transmission and makes driving gear one, driving gear two and driving gear three rotate, can realize respectively with driving gear one, driving gear two and driving gear three associated clamping component one, clamping component two, clamping component three possess the ability to the centre gripping of target annular circuit board, have reduced bi-directional motor one set up quantity, have reduced development cost.
2. This multistation annular circuit board processing arm structure, driving gear one drives driven gear and rotates, driven gear one drives driven gear two and rotates for when the driven gear one that the rotation direction is opposite, driven gear two are rotatory towards opposite direction, can change the bracing piece respectively, bracing piece two's support angle makes clamp get first, clamp get first two centre gripping annular circuit boards of centre gripping and fold the fastening, so, get annular circuit boards on the three stations simultaneously from preceding station through clamping component one, clamping component two, clamping component three and transfer to the later station again, effectually improved work efficiency, satisfied batch production's demand.
3. This multistation annular circuit board processing arm structure drives drive shaft two, initiative ring gear through two-way motor two and rotates, and the initiative ring gear drives driven ring gear and rotates, can make the roating seat reach the effect of carrying out arbitrary angle rotation on the horizontal plane to enlarge the range of application of arm, drive the long arm with the help of the pneumatic cylinder and swing from top to bottom, and utilize the big arm to assist to swing, can reach whole anteversion or the mechanical degree of back shake.
4. This multistation annular circuit board processing arm structure drives drive shaft two, initiative ring gear through two-way motor two and rotates, and the initiative ring gear drives driven ring gear and rotates, can make the roating seat reach the effect of carrying out arbitrary angle rotation on the horizontal plane to enlarge the range of application of arm, drive the long arm with the help of the pneumatic cylinder and swing from top to bottom, and utilize the big arm to assist to swing, can reach whole anteversion or the mechanical degree of back shake.
Drawings
FIG. 1 is a schematic diagram of the whole structure of a multi-station annular circuit board processing mechanical arm structure;
FIG. 2 is a schematic diagram of a cross-sectional structure of a housing of a multi-station annular circuit board processing mechanical arm structure according to the present invention;
FIG. 3 is a schematic diagram of a right side view of a side board of a multi-station annular circuit board processing mechanical arm structure according to the present invention;
FIG. 4 is a schematic diagram of a left-hand structure of a support plate of a multi-station annular circuit board processing mechanical arm structure of the invention;
fig. 5 is an enlarged schematic view of a portion a in fig. 4 of a multi-station annular circuit board processing mechanical arm structure according to the present invention.
In the figure: 1. a linkage assembly; 101. a support plate; 102. a bi-directional motor I; 103. a driving roller; 104. a drive belt; 105. a first driving gear; 106. a driving gear II; 107. a driving gear III; 2. a clamping assembly I; 201. a driven gear I; 202. swing arm I; 203. clamping a first head; 204. a first support rod; 205. a driven gear II; 206. swing arm II; 207. a clamping head II; 208. a second support rod; 3. a clamping assembly II; 4. a clamping assembly III; 5. a side plate; 6. an abatement assembly; 601. a unidirectional motor; 602. a first driving shaft; 603. a connecting rod; 604. a rocker arm; 605. a slide block; 606. a rail body; 607. a static eliminator; 7. a large arm; 8. a hydraulic cylinder; 9. a rotating seat; 10. a bearing; 11. a driven gear ring; 12. a driving gear ring; 13. a second driving shaft; 14. a two-way motor II; 15. a housing; 16. a movable cover; 17. a long arm.
Detailed Description
Embodiments of the present invention are described in further detail below with reference to the accompanying drawings and examples. The following examples are illustrative of the invention but are not intended to limit the scope of the invention.
Referring to fig. 4 to 5, the present invention provides the following technical solutions: a multi-station annular circuit board machining mechanical arm structure comprises a linkage assembly 1 and a clamping assembly three 4, wherein the linkage assembly 1 comprises a supporting plate 101, a first bidirectional motor 102, a driving roller 103, a driving belt 104, a first driving gear 105, a second driving gear 106 and a third driving gear 107, the surface of the supporting plate 101 is penetrated and provided with the first bidirectional motor 102, the output end of the first bidirectional motor 102 is connected with the driving roller 103, the driving roller 103 is externally provided with the driving belt 104, the driving belt 104 is internally provided with the first driving gear 105, the second driving gear 106 and the third driving gear 107 through three axles respectively, the bottom of the first driving gear 105 is provided with the clamping assembly 2, the bottom of the second driving gear 106 is provided with the clamping assembly two 3, the clamping assembly three 4 is arranged at the bottom of the third driving gear 107, the first driving gear 105, the second driving gear 106 and the third driving gear 107 are respectively, the first swinging arm 202 and the second swinging arm 203 are connected with the first swinging arm 205 and the second swinging arm 203 through the first swinging arm 202, the second swinging arm 203 is connected with the first swinging arm 203 and the second swinging arm 206, the first swinging arm 203 is connected with the end of the second swinging arm 204 is connected with the end of the second swinging arm 206, the swinging arm 206 is connected with the end of the swinging arm 206 through the first swinging arm 206, the swinging arm 206 is connected with the end of the swinging arm 204, and one end of the swing arm II 206 far away from the driven gear II 205 is connected with a clamping head II 207 through a pin shaft, the middle end of the clamping head II 207 is connected with a support rod II 208 through a pin shaft, one end of the support rod I204 far away from the clamping head I203 is connected with a support plate 101 through a pin shaft, one end of the support rod II 208 far away from the clamping head II 207 is connected with the support plate 101 through a pin shaft, the support rod I204 and the support rod II 208 are symmetrically distributed, the structure of the clamping assembly I2, the structure of the clamping assembly II 3 and the structure of the clamping assembly III 4 are consistent, the rotation directions of the driving gear I105, the driving gear II 106 and the driving gear III 107 are consistent, and the rotation directions of the driven gear I201 and the driven gear II 205 are opposite.
The device specifically comprises a first driving roller 103 is driven to rotate by a first bidirectional motor 102, the driving roller 103 drives a driving belt 104 to drive a first driving gear 105, a second driving gear 106 and a third driving gear 107 to rotate, and a first clamping component 2, a second clamping component 3 and a third clamping component 4 respectively associated with the first driving gear 105, the second driving gear 106 and the third driving gear 107 can have the capability of clamping a target annular circuit board, so that the number of the first bidirectional motor 102 is reduced, and the development cost is reduced; the driving gear I105 drives the driven gear I201 to rotate, the driven gear I201 drives the driven gear II 205 to rotate, when the driven gear I201 and the driven gear II 205 which are opposite in rotation direction rotate in opposite directions, the support angles of the support rods I204 and the support rods II 208 can be changed respectively to enable the clamping head I203 and the clamping head II 207 to clamp the annular circuit board for folding and fastening, so that the annular circuit board on the three stations is simultaneously taken and placed from the previous station and then transferred to the next station through the clamping assembly I2, the clamping assembly II 3 and the clamping assembly III 4, the working efficiency is effectively improved, and the requirement of batch production is met;
referring to fig. 1 to 2, a long arm 17 is disposed at the top of the linkage assembly 1, a hydraulic cylinder 8 is connected to the left end of the long arm 17 through a rotating shaft, a rotating seat 9 is connected to the other end of the hydraulic cylinder 8 through a rotating shaft, a large arm 7 is connected to the surface of the rotating seat 9 through a rotating shaft, the other end of the large arm 7 is rotatably connected to the bottom of the long arm 17 through a rotating shaft, a bearing 10 and a driven gear ring 11 are sequentially sleeved outside the rotating seat 9 from top to bottom, a driving gear ring 12 is disposed on the left side of the driven gear ring 11, a driving shaft II 13 is vertically arranged in the middle of the driving gear ring 12 in a penetrating manner, a bi-directional motor II 14 is disposed at the tail end of the driving shaft II 13, a housing 15 is disposed at the bottom of the bi-directional motor II 14, and a movable housing cover 16 is covered on the top of the housing 15.
The mechanical arm has the specific operation that the driving shaft II 13 and the driving gear ring 12 are driven to rotate through the two-way motor II 14, the driving gear ring 12 drives the driven gear ring 11 to rotate, and the rotating seat 9 can achieve the effect of rotating at any angle on the horizontal plane, so that the application range of the mechanical arm is enlarged, the long arm 17 is driven to swing up and down by the aid of the hydraulic cylinder 8, and the large arm 7 is utilized to assist swinging, so that the mechanical degree of integral forward tilting or backward swinging can be achieved.
Referring to fig. 3, a side plate 5 is installed on the right side of the support plate 101, an eliminating assembly 6 is disposed on the right side of the side plate 5, the eliminating assembly 6 includes a unidirectional motor 601, a first driving shaft 602 and a connecting rod 603, an output end of the unidirectional motor 601 is connected with the first driving shaft 602, the connecting rod 603 is disposed outside the first driving shaft 602, the eliminating assembly 6 further includes a rocker 604, a slider 605, a rail body 606 and a static eliminator 607, one end of the connecting rod 603 far away from the first driving shaft 602 is connected with the rocker 604 through a pin, the other end of the rocker 604 is connected with the slider 605 through a pin, the static eliminator 607 is installed at the bottom of the slider 605, and the rail body 606 is installed below the right side of the side plate 5.
The operation is as follows, the unidirectional motor 601 drives the driving shaft I602 and the connecting rod 603 to rotate, so that the connecting rod 603 drives the sliding block 605 rotationally connected with the rocker arm 604 to do horizontal reciprocating motion on the track body 606, further the working coverage of the static eliminator 607 is enlarged, the static eliminator 607 is sequentially close to the clamping component I2, the clamping component II 3 and the clamping component III 4 to neutralize static, static is prevented from being generated at a processing position, and static damage is reduced.
In summary, when the multi-station annular circuit board machining mechanical arm structure is used, firstly, a first driving shaft 602 and a connecting rod 603 are driven to rotate by a unidirectional motor 601, so that the connecting rod 603 drives a sliding block 605 rotationally connected with a rocker arm 604 to do horizontal reciprocating motion relative to a track body 606, a static eliminator 607 reciprocates in a fixed range by a reciprocating motion mechanism formed by the unidirectional motor 601, the first driving shaft 602, the connecting rod 603, the rocker arm 604, the sliding block 605 and the track body 606, and static is neutralized by sequentially approaching a first clamping component 2, a second clamping component 3 and a third clamping component 4, static is prevented from being generated at a machining position, and static damage is reduced;
then, a driving shaft II 13 and a driving gear ring 12 are driven to rotate by a two-way motor II 14 in a shell 15 and a movable shell cover 16, a driven gear ring 11 is driven by the driving gear ring 12 to rotate, a rotating seat 9 rotates at any angle on a horizontal plane, a long arm 17 is driven by a hydraulic cylinder 8 to swing up and down during the period, the large arm 7 is utilized to assist swinging, the mechanical degree of integral forward tilting or backward swinging is achieved until the long arm 17 reaches the periphery of a target annular circuit board, and a clamping component I2, a clamping component II 3 and a clamping component III 4 respectively correspond to the positions of three annular circuit boards;
because the structure of the clamping assembly I2, the clamping assembly II 3 and the clamping assembly III 4 are consistent, the middle parts of the driving gear I105, the driving gear II 106 and the driving gear III 107 are respectively fixedly penetrated by a wheel shaft, and the three wheel shafts and the driving roller 103 are in meshed connection with the driving belt 104, so that the driving roller 103 is driven by the bi-directional motor I102 to rotate reversely, and the driving gear I105, the driving gear II 106 and the driving gear III 107 can respectively drive the driven gear I201 in the clamping assembly I2, the clamping assembly II 3 and the clamping assembly III 4 when the driving roller 103 drives the driving belt 104 to drive;
the driven gear I201 drives the driven gear II 205 to rotate, when the driven gear I201 and the driven gear II 205 with opposite rotation directions rotate in opposite directions, the support angles of the support rod I204 and the support rod II 208 can be changed respectively to enable the clamping head I203 and the clamping head II 207 to clamp the annular circuit board for folding and fastening, otherwise, the bi-directional motor I102 drives the driving roller 103 to rotate positively, when the driven gear I201 and the driven gear II 205 with opposite rotation directions rotate in opposite directions, the support angles of the support rod I204 and the support rod II 208 can be changed respectively to enable the clamping head I203 and the clamping head II 207 to open, so that the annular circuit board on three stations is simultaneously taken and placed from the previous station to the next station through the clamping assembly I2, the clamping assembly II 3 and the clamping assembly III 4, the working efficiency is effectively improved, the requirement of mass production is met, the set quantity of the bi-directional motor I102 is reduced, and the development cost is reduced.
The embodiments of the invention have been presented for purposes of illustration and description, and are not intended to be exhaustive or limited to the invention in the form disclosed. Many modifications and variations will be apparent to those of ordinary skill in the art. The embodiments were chosen and described in order to best explain the principles of the invention and the practical application, and to enable others of ordinary skill in the art to understand the invention for various embodiments with various modifications as are suited to the particular use contemplated.
Claims (10)
1. The utility model provides a multistation annular circuit board processing arm structure, includes linkage subassembly (1) and clamping assembly III (4), its characterized in that: the linkage assembly (1) comprises a supporting plate (101), a first bidirectional motor (102), a driving roller (103), a driving belt (104), a first driving gear (105), a second driving gear (106) and a third driving gear (107), wherein the surface of the supporting plate (101) is provided with the first bidirectional motor (102) in a penetrating mode, the output end of the first bidirectional motor (102) is connected with the driving roller (103), the driving roller (103) is provided with the driving belt (104), the driving belt (104) is further internally provided with the first driving gear (105), the second driving gear (106) and the third driving gear (107) through three axles respectively, the bottom of the first driving gear (105) is provided with the first clamping assembly (2), the bottom of the second driving gear (106) is provided with the second clamping assembly (3), and the third clamping assembly (4) is arranged at the bottom of the third driving gear (107).
2. The multi-station annular circuit board processing mechanical arm structure according to claim 1, wherein: the middle parts of the first driving gear (105), the second driving gear (106) and the third driving gear (107) are fixedly penetrated by wheel shafts, the wheel shafts and the driving rollers (103) are in meshed connection with the driving belt (104), and the first driving gear (105), the second driving gear (106) and the third driving gear (107) are distributed in an equidistant mode relative to the surface of the supporting plate (101).
3. The multi-station annular circuit board processing mechanical arm structure according to claim 1, wherein: the clamping assembly I (2) comprises a driven gear I (201), a swing arm I (202), a clamping head I (203) and a supporting rod I (204), the bottom of the driven gear I (201) is connected with the swing arm I (202), one end, far away from the driven gear I (201), of the swing arm I (202) is connected with the clamping head I (203) through a pin shaft, and the middle end of the clamping head I (203) is connected with the supporting rod I (204) through a pin shaft.
4. A multi-station annular circuit board processing mechanical arm structure according to claim 3, wherein: the clamping assembly I (2) further comprises a driven gear II (205), a swing arm II (206), a clamping head II (207) and a supporting rod II (208), the driven gear II (205) is arranged on the outer side of the driven gear I (201), the swing arm II (206) is connected to the bottom of the driven gear II (205), the clamping head II (207) is connected to one end, far away from the driven gear II (205), of the swing arm II (206) through a pin shaft, and the supporting rod II (208) is connected to the middle end of the clamping head II (207) through a pin shaft.
5. The multi-station annular circuit board processing mechanical arm structure according to claim 4, wherein: one end of the first support rod (204) far away from the first clamping head (203) is connected with the support plate (101) through a pin shaft, one end of the second support rod (208) far away from the second clamping head (207) is connected with the support plate (101) through a pin shaft, and the first support rod (204) and the second support rod (208) are symmetrically distributed.
6. The multi-station annular circuit board processing mechanical arm structure according to claim 4, wherein: the clamping assembly I (2), the clamping assembly II (3) and the clamping assembly III (4) are identical in structure, the driving gear I (105), the driving gear II (106) and the driving gear III (107) are identical in rotation direction, and the driven gear I (201) and the driven gear II (205) are opposite in rotation direction.
7. The multi-station annular circuit board processing mechanical arm structure according to claim 1, wherein: the right side of bearing plate (101) is installed side board (5), and the right side of side board (5) is provided with elimination subassembly (6), elimination subassembly (6) are including unidirectional motor (601), drive shaft one (602) and connecting rod (603), and the output of unidirectional motor (601) is connected with drive shaft one (602), the outside of drive shaft one (602) is provided with connecting rod (603).
8. The multi-station annular circuit board processing mechanical arm structure according to claim 7, wherein: the eliminating assembly (6) further comprises a rocker arm (604), a sliding block (605), a track body (606) and a static eliminator (607), one end, far away from the first driving shaft (602), of the connecting rod (603) is connected with the rocker arm (604) through a pin shaft, the other end of the rocker arm (604) is connected with the sliding block (605) through a pin shaft, the static eliminator (607) is installed at the bottom of the sliding block (605), and the track body (606) is installed below the right side of the side plate (5).
9. The multi-station annular circuit board processing mechanical arm structure according to claim 1, wherein: the top of linkage subassembly (1) is provided with long arm (17), and the left end of long arm (17) is connected with pneumatic cylinder (8) through the pivot, the other end of pneumatic cylinder (8) is connected with roating seat (9) through the pivot, and the surface of roating seat (9) is connected with big arm (7) through the pivot, the other end of big arm (7) is connected through pivot and long arm (17) bottom rotation.
10. The multi-station annular circuit board processing mechanical arm structure according to claim 9, wherein: the outside of roating seat (9) is from last cover in proper order to being equipped with bearing (10) and driven ring gear (11), and the left side of driven ring gear (11) is provided with initiative ring gear (12), drive shaft two (13) are worn perpendicularly in the middle part of initiative ring gear (12), and the end of drive shaft two (13) is provided with two-way motor two (14), the bottom of two-way motor two (14) is provided with casing (15), and the top lid of casing (15) has movable cap (16).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202311253689.4A CN117124300A (en) | 2023-09-26 | 2023-09-26 | Multi-station annular circuit board machining mechanical arm structure |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202311253689.4A CN117124300A (en) | 2023-09-26 | 2023-09-26 | Multi-station annular circuit board machining mechanical arm structure |
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| Publication Number | Publication Date |
|---|---|
| CN117124300A true CN117124300A (en) | 2023-11-28 |
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|---|---|---|---|
| CN202311253689.4A Pending CN117124300A (en) | 2023-09-26 | 2023-09-26 | Multi-station annular circuit board machining mechanical arm structure |
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