CN201120612Y - Mechanical arm and transmission mechanism, and circuit board retraction machine with the mechanical arm - Google Patents
Mechanical arm and transmission mechanism, and circuit board retraction machine with the mechanical arm Download PDFInfo
- Publication number
- CN201120612Y CN201120612Y CNU200720176768XU CN200720176768U CN201120612Y CN 201120612 Y CN201120612 Y CN 201120612Y CN U200720176768X U CNU200720176768X U CN U200720176768XU CN 200720176768 U CN200720176768 U CN 200720176768U CN 201120612 Y CN201120612 Y CN 201120612Y
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- armshaft
- drive
- power set
- rotating shaft
- circuit board
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Abstract
The utility model discloses a manipulator, a transmission mechanism used for the manipulator and a circuit board extending-retracting machine with the manipulator; wherein, the manipulator comprises a first shaft arm, a second shaft arm, a third shaft arm, a first power device, a second power device and a third power device; one end of the second shaft arm is pivoted with the third shaft arm and the other end is pivoted with the first shaft arm; the other end of the first shaft arm is pivoted with the frame through a transmission mechanism; the first power device, the second power device and the third power device are all fixedly arranged on the frame; the power of the first, the second and the third power devices is respectively transmitted to the first, the second and the third shaft arms through the position where the first shaft arm is pivoted with the frame. The manipulator, the transmission mechanism used for the manipulator and the circuit board extending-retracting machine with the manipulator provided by the utility model are applicable to a plurality of types of extending-retracting machines and have no need to change along with the change of the application platform type.
Description
Technical field
The utility model relates to a kind of manipulator and inner transmission mechanism thereof, particularly relevant for a kind of manipulator that relates to the circuit board radio and tape player.
Background technology
On traditional circuit board radio and tape player, draw the mechanism of printed circuit board (PCB), all use endless belt to drive material taking hand arm and suction means with continuous action, no matter this material taking hand arm is to be positioned at platform top (as No. the 379748th, Chinese patent, No. the 489818th, Chinese patent etc.), still be positioned at platform side (as No. the 538882nd, Chinese patent, Chinese patent M289100 number, Chinese patent M290358 number etc.), the design of its material taking hand arm, other assembly on common this circuit board radio and tape player of all need arranging in pairs or groups, for example: the angle of circuit board bearing frame, and adjust.Be in course of adjustment, except needs are adjusted the geometry of material taking hand arm itself, also need to adjust the angle of its swing.Specification change whenever circuit board, cooperate the position and the angle of circuit board bearing frame also need change, and the hunting range of material taking hand arm also need change with the related software or the program of operating the material taking hand arm, even needs to change the structural design of material taking hand arm, causes the difficulty in the use.
Secondly, traditional material taking hand arm is no matter be positioned at the top or the side of platform, its anglec of rotation is limited, is merely able to the simple rotation of back and forth making arc or straight line in point-to-point transmission, so function also is subjected to its anglec of rotation and restricted, can't carry out the plane of 360 degree and move, so function also significantly reduces.
The utility model content
Given this, the utility model provides a kind of manipulator, as circuit board material taking hand arm, can significantly promote the function of circuit board radio and tape player.While manipulator provided by the utility model, its application can be not limited to the circuit board radio and tape player, and every automation equipment all can use this manipulator to carry out automatic flow.
Therefore, the improved purpose of the utility model is to provide a kind of manipulator, and the function of utilizing its armshaft to operate simultaneously must adapt to multiple circuit board radio and tape player.
Another purpose of the present utility model is to provide a kind of manipulator, and the function of utilizing its armshaft to operate simultaneously must adapt to the circuit board of multiple size.
Another purpose of the present utility model is to provide a kind of circuit board radio and tape player, and the function of utilizing the armshaft of manipulator wherein to operate simultaneously must adapt to the circuit board of multiple size.
Another purpose of the present utility model is to provide a kind of transmission mechanism of manipulator, and each rotating shaft is made up in the little axle of macro-axis bag mode, with the economization operating space, and each armshaft of manipulator can be operated simultaneously.
According to an aspect of the present utility model, a kind of manipulator is provided, comprise frame, first armshaft, second armshaft, the 3rd armshaft, first power set, second power set and the 3rd power set, one end of this second armshaft is articulated in the 3rd armshaft, the other end is articulated in this first armshaft, the other end of this first armshaft is articulated in this frame, it is characterized in that: these first power set, second power set and the 3rd power set all are fixedly arranged on this frame, and these first power set, the power of second power set and the 3rd power set all is passed to this first armshaft respectively via the articulated section of this first armshaft and this frame, second armshaft and the 3rd armshaft.
According to manipulator of the present utility model, it is characterized in that the articulated section that this first armshaft is articulated in this frame is provided with first transmission mechanism, this first transmission mechanism comprises: first rotating shaft, be located at the articulated section of this first armshaft and this frame, provide this first armshaft affixed; First drive is fixedly arranged on this first rotating shaft, can be by this first power set driven rotary, thus to drive this first armshaft rotation; Second rotating shaft is concentric arrangement with this first rotating shaft; Second drive and the 4th drive are fixedly arranged on this second rotating shaft respectively, and this second drive can be by this second power set driven rotary, thus to drive the rotation of the 4th drive; The 3rd rotating shaft is concentric arrangement with this first rotating shaft and this second rotating shaft; And the 3rd drive and the 5th drive, being fixedly arranged on the 3rd rotating shaft respectively, the 3rd drive can be by the 3rd power set driven rotary, thus to drive the rotation of the 5th drive.
According to manipulator of the present utility model, it is characterized in that the articulated section of first armshaft and second armshaft is provided with second transmission mechanism, this second transmission mechanism comprises: the 4th rotating shaft provides this second armshaft affixed; The 6th drive is fixedly arranged on the 4th rotating shaft, drives the rotation of the 4th rotating shaft in order to accept the power that these second power set transmit; The 5th rotating shaft is concentric arrangement with the 4th rotating shaft; And the 7th drive and the 8th drive, being fixedly arranged on the 5th rotating shaft respectively, the 7th drive is in order to accept the power of the 3rd power set, thus to drive the rotation of the 8th drive.
According to manipulator of the present utility model, it is characterized in that the articulated section of this second armshaft and the 3rd armshaft is provided with the 3rd transmission mechanism, the 3rd transmission mechanism comprises: the 6th rotating shaft provides the 3rd armshaft affixed; And the 9th drive, be fixedly arranged on the 6th rotating shaft, drive the rotation of the 3rd armshaft in order to the power of accepting the 3rd power set.
According to manipulator of the present utility model, it is characterized in that this manipulator further comprises: the 4th moving part is engaged in the 4th drive and the 6th drive, by to transmit the power of these second power set; The 5th moving part is engaged in the 5th drive and the 7th drive, by to transmit the power of the 3rd power set; And the 6th moving part, be engaged in the 8th drive and the 9th drive, by to transmit the power of the 3rd power set.
According to manipulator of the present utility model, it is characterized in that the 3rd armshaft further is connected with the circuit board pick device, its operating principle is selected from the group that is made of vacuum suction, jaw gripping, magnetic means and adhesion etc.
According to another aspect of the present utility model, a kind of circuit board radio and tape player is provided, has a frame, and the first circuit board bogey that is arranged at this frame, second circuit board bogey and manipulator, this manipulator is in order to be sent to this second circuit board bogey with circuit board from this first circuit board bogey, it is characterized in that: this manipulator comprises first armshaft, second armshaft, the 3rd armshaft, first power set, second power set and the 3rd power set, one end of this second armshaft is articulated in the 3rd armshaft, the other end is articulated in this first armshaft, the other end of this first armshaft is articulated in this frame, the 3rd armshaft further is connected with the circuit board pick device, these first power set, second power set and the 3rd power set all are fixedly arranged on this frame, and these first power set, the power of second power set and the 3rd power set all is passed to this first armshaft respectively via the articulated section of this first armshaft and this frame, second armshaft and the 3rd armshaft.
According to circuit board radio and tape player of the present utility model, it is characterized in that this first circuit board bogey or this second circuit board bogey comprise the circuit board bearing frame.
According to circuit board radio and tape player of the present utility model, it is characterized in that this first circuit board bogey or this second circuit board bogey comprise circuit board conveyor.
According to another aspect of the present utility model, a kind of transmission mechanism of manipulator is provided, this manipulator comprises frame, first armshaft, second armshaft, the 3rd armshaft, first power set, second power set and the 3rd power set, this transmission mechanism is arranged at the articulated section that this first armshaft is articulated in this frame, in order to transmit the power of these first power set, second power set and the 3rd power set simultaneously, it is characterized in that this drive mechanism comprises: first rotating shaft; Be located at the articulated section of this first armshaft and this frame, provide this first armshaft affixed; First drive is fixedly arranged on this first rotating shaft, can be by this first power set driven rotary, thus to drive this first armshaft rotation; Second rotating shaft is concentric arrangement with this first rotating shaft; Second drive and the 4th drive are fixedly arranged on this second rotating shaft respectively, and this second drive can be by this second power set driven rotary, thus to drive the rotation of the 4th drive; The 3rd rotating shaft is concentric arrangement with this first rotating shaft and this second rotating shaft; And the 3rd drive and the 5th drive, being fixedly arranged on the 3rd rotating shaft respectively, the 3rd drive can be by the 3rd power set driven rotary, thus to drive the rotation of the 5th drive.
Manipulator of the present utility model can significantly promote the function of circuit board radio and tape player as circuit board material taking hand arm.While manipulator provided by the utility model, its application can be not limited to the circuit board radio and tape player, and every automation equipment all can use this manipulator to carry out automatic flow.The function that this manipulator utilizes its armshaft to operate simultaneously makes to adapt to multiple circuit board radio and tape player.
Description of drawings
Figure 1A and Figure 1B are first preferred embodiment that the utility model proposes, and are a kind of schematic diagram of first power set, second power set and the 3rd power set of manipulator.
Fig. 2 is first preferred embodiment and the 3rd embodiment that the utility model proposes, the stereogram of the transmission mechanism that uses for a kind of manipulator.
Fig. 3 is first preferred embodiment that the utility model proposes, and is a kind of stereogram of manipulator.
Fig. 4 is second preferred embodiment that the utility model proposes, and is a kind of circuit board radio and tape player schematic diagram.
The specific embodiment
Below; to introduce embodiment of the present utility model; yet; be to be understood that; the following embodiment that states only is preferred embodiment, for the person of ordinary skill of the art, and under the situation that does not deviate from spirit and scope of the present utility model; can carry out various changes and variation to the utility model, protection domain of the present utility model is by being as the criterion that claims limited subsequently.
The utility model provides a kind of transmission mechanism and the circuit board radio and tape player with manipulator of manipulator, its main purpose is to carry out the improvement of board transfer apparatus, yet the application of this manipulator can be not limited to board transfer apparatus, every automation equipment, all can use this manipulator to carry out automatic flow, therefore in embodiment, only therefore explanation does not limit the spirit and the scope of the utility model manipulator when the situation of manipulator as board transfer apparatus.
As Figure 1A to Fig. 3, first preferred embodiment that it provides for the utility model, a kind of manipulator 1 mainly comprises a frame 71, first armshaft 31, second armshaft 32, the 3rd armshaft 33, first power set 11, second power set 12 and the 3rd power set 13.One end and the frame 71 of first armshaft 31 are joined, and the relative other end then joins with second armshaft 32.Then second armshaft 32 joins with first armshaft 31 and the relative other end then joins with the 3rd armshaft 33, so can distinguish the manipulator 1 that operates mutually between formation armshaft and armshaft.
Above-mentioned first power set 11, second power set 12 and the 3rd power set 13 all are fixedly set on the frame 71, first power set 11 are in order to drive 31 swings of first armshaft, second power set 12 are in order to drive 32 swings of second armshaft, and the 3rd power set 13 are in order to drive 33 swings of the 3rd armshaft.And the running power of first armshaft 31, second armshaft 32 and the 3rd armshaft 33 all can just be operated via the power that transmit respectively in the place that first armshaft 31 and frame 71 articulate.
Then, with reference to Figure 1B, first power set 11 further comprise first power source 112, first driving wheel 111 and first moving part 113.Wherein first power source 112 is connected with first driving wheel 111, and first moving part 113 is engaged in first transmission mechanism 21 of first driving wheel 111 and first armshaft 31 and frame 71 articulated sections simultaneously.Rotate when the power of first power set 11 orders about first driving wheel 111, be passed to first transmission mechanism 21, can make 31 rotations of first armshaft by first moving part 113.
Because three groups of above-mentioned power set are provided with respectively, therefore second power set 12 also further comprise second power source 122, second driving wheel 121 and second moving part 123.Wherein second power source 122 is connected with second driving wheel 121, and second moving part 123 is engaged in second driving wheel 121 and first transmission mechanism 21 simultaneously.Rotate when the power of second power source 122 orders about second driving wheel 121, be passed to first transmission mechanism 21, cooperate the member of follow-up connection, can make 32 rotations of second armshaft by second moving part 123.Therefore the 3rd power set 13 also further comprise the 3rd power source 132, the 3rd driving wheel 131 and the 3rd moving part 133, wherein the 3rd power source 132 is connected with the 3rd driving wheel 131, and the 3rd moving part 133 is engaged in the 3rd driving wheel 131 and first transmission mechanism 21 simultaneously.Therefore bestow power when the 3rd power source 132 and order about 131 rotations of the 3rd driving wheel, be passed to first transmission mechanism 21, cooperate the member of follow-up connection, can make 33 rotations of the 3rd armshaft by the 3rd moving part 133.
In the above-mentioned embodiment, the power of first power source 112, second power source 122 and the 3rd power source 132 can be selected induction motor, DC motor, stepper motor, torsion motor, servo motor or hydraulic motor etc. for use.First driving wheel 111, second driving wheel 121 and the 3rd driving wheel 131 can select for use gear, belt pulley, sprocket wheel or the time rule belt pulley etc.First moving part 113, second moving part 123 and the 3rd moving part 133 for first driving wheel 111, second driving wheel 121 and 131 engagements of the 3rd driving wheel, can select for use tooth bar, belt, chain, the time rule belt or gear train etc.
Then, with reference to Fig. 2 and Fig. 3, the articulated section that first armshaft 31 is articulated in frame 71 is provided with first transmission mechanism 21.First transmission mechanism 21 mainly comprises first rotating shaft 212, second rotating shaft 215 and the 3rd rotating shaft 217, and first rotating shaft 212, second rotating shaft 215 and the 3rd rotating shaft 217 are concentric arrangement mutually, independently rotation separately.First rotating shaft 212 is in order to provide first armshaft 31 affixed, and first drive 214 is fixedly arranged on first rotating shaft 212, can be by first power set, 11 driven rotary, thus to drive 31 rotations of first armshaft.Second drive 2161 and the 4th drive 2162, being fixedly arranged on second rotating shaft, 215, the second drives 2161 respectively can be by second power set, 12 driven rotary, thus to drive 2162 rotations of the 4th drive.The 3rd drive 2181 and the 5th drive 2182, being fixedly arranged on the 3rd rotating shaft 217, the three drives 2181 respectively can be by the 3rd power set 13 driven rotary, thus to drive 2182 rotations of the 5th drive.
Then, with reference to Fig. 2 and Fig. 3, first armshaft 31 and second armshaft, 32 articulated sections are provided with second transmission mechanism, 22, the second transmission mechanisms 22 and comprise the 4th rotating shaft 222 and the 5th rotating shaft 224, and the 4th rotating shaft 222 and the 5th rotating shaft 224 are concentric arrangement mutually.The 4th rotating shaft 222 is in order to provide second armshaft 32 affixed, and the 6th drive 223 is fixedly arranged on the 4th rotating shaft 222, drives 222 rotations of the 4th rotating shaft in order to accept the power that second power set 12 are transmitted.The 7th drive 2251 and the 8th drive 2252 are fixedly arranged on the 5th rotating shaft 224, the seven drives 2251 respectively in order to accept the power of the 3rd power set 13, thus to drive 2252 rotations of the 8th drive.
Then, with reference to Fig. 2 and Fig. 3, second armshaft 32 and the 3rd armshaft 33 articulated sections are provided with the 3rd transmission mechanism 23, and wherein the 3rd transmission mechanism 23 includes the 6th rotating shaft 232, to provide the 3rd armshaft 33 affixed.The 9th drive 233 is fixedly arranged on the 6th rotating shaft 232, drives 33 rotations of the 3rd armshaft in order to the power of accepting the 3rd power set 13.
In the present embodiment, the power that the rotation of first armshaft 31, second armshaft 32 and the 3rd armshaft 33 all can be transmitted respectively via first transmission mechanism 21 of first armshaft 31 and frame 71 articulated sections is just operated, therefore when first power set 11 during with first drive 214 of transmission of power to the first rotating shaft 212, first rotating shaft 212 can be by first power set, 11 driven rotary, thus to drive 31 rotations of first armshaft.Second power set 12 are during with transmission of power to the second drive 2161, because second drive 2161 and the 4th drive 2162 are fixedly arranged on two sides of second rotating shaft 215 respectively, therefore 2161 rotations of second drive will drive 2162 rotations of the 4th drive, utilize the 4th moving part 41 to be engaged in the 6th drive 223 of the 4th drive 2162 and the 4th rotating shaft 222 again, because second armshaft 32 is fixed in the 4th rotating shaft 222, therefore 41 of the 4th moving parts can make its rotation with transmission of power to the second armshaft 32.The 3rd power set 13 are during with transmission of power to the three drives 2181, because the 3rd drive 2181 and the 5th drive 2182 are fixedly arranged on two sides of the 3rd rotating shaft 217 respectively, therefore the 3rd drive 2181 can drive the 5th drive 2182 and rotates.The 5th moving part 51 is engaged in the 7th drive 2251 on the 5th drive 2182 and the 5th rotating shaft 224 simultaneously, therefore power continues to be passed to the 7th drive 2251, then utilize the 6th moving part 61 to be engaged in the 9th drive 233 on the 8th drive 2252 and the 6th rotating shaft 232 simultaneously, therefore power continues to be passed to the 6th rotating shaft 232, and the 3rd armshaft 33 is fixed in the 6th rotating shaft 232, so the 3rd armshaft 33 is rotated.
The drive of above-mentioned first drive 214, second drive 2161, the 3rd drive 2181, the 4th drive 2162, the 5th drive 2182, the 6th drive 223, the 7th drive 2251, the 8th drive 2252 and the 9th drive 233 can select for use gear, belt pulley, sprocket wheel or the time part such as rule belt pulley.Its drive that is meshed of material fit of the 4th moving part 41, the 5th moving part 51 and the 6th moving part 61, can select for use tooth bar, belt, chain, the time rule belt or gear train etc.
As Fig. 4, it is second preferred embodiment provided by the utility model, and a kind of circuit board radio and tape player 7 consists predominantly of a frame 71, first circuit board bogey 72, second circuit board bogey 73 and manipulator 1.Wherein, first preferred embodiment is described as described above for the feature of manipulator 1.
Above-mentioned manipulator 1 is used for circuit board (not icon) is sent to second circuit board bogey 73 from first circuit board bogey 72, circuit board can also be sent to first circuit board bogey 72 from second circuit board bogey 73.Wherein the plane of movement of manipulator 1 and first circuit board bogey 72 and second circuit board bogey 73 are in vertical direction.
For reaching maximum effective utilization, above-mentioned first circuit board bogey 72 can be positioned at same plane with second circuit board bogey 73, also can be positioned at different planes; When being positioned at different planes, these two planes can be parallel to each other, and also can be crossing state.First circuit board bogey 72 or second circuit board bogey 73 can be provided with the circuit board bearing frame in order to carrying or stack circuit plate; Or circuit board conveyor is set, use entering first circuit board bogey 72 or second circuit board bogey 73 or the circuit board on first circuit board bogey 72 or the second circuit board bogey 73 is transferred out with being positioned at circuit external plate transmission.Above-mentioned circuit board conveyor can be provided with a plurality of conveying rollers or conveyer belt mechanism according to need.
The utility model further proposes the 3rd preferred embodiment, and for a kind of transmission mechanism, as Fig. 2, in order to simultaneously and the power of three power resources devices of independent delivery, the feature of this transmission mechanism first transmission mechanism 21 in first preferred embodiment as described above is described.
More than, at length illustrate and described the utility model with reference to accompanying drawing by embodiment.Yet; should be appreciated that for the person of ordinary skill of the art, under the situation that does not deviate from spirit and scope of the present utility model; can carry out various changes and variation to the utility model, protection domain of the present utility model is by being as the criterion that claims limited.
Symbol description
1 manipulator, 71 frames
31 first armshafts, 32 second armshafts
33 the 3rd armshafts, 11 first power set
111 first driving wheels, 112 first power sources
113 first moving parts, 12 second power set
121 second driving wheels, 122 second power sources
123 second moving parts 13 the 3rd power set
131 the 3rd driving wheels 132 the 3rd power source
133 the 3rd moving parts, 21 first transmission mechanisms
212 first rotating shafts, 214 first drives
215 second rotating shafts, 2,161 second drives
2162 the 4th drives 217 the 3rd rotating shaft
2181 the 3rd drives 2182 the 5th drive
22 second transmission mechanisms 222 the 4th rotating shaft
223 the 6th drives 224 the 5th rotating shaft
2251 the 7th drives 2252 the 8th drive
23 the 3rd transmission mechanisms 232 the 6th rotating shaft
233 the 9th drives 41 the 4th moving part
51 the 5th moving parts 61 the 6th moving part
7 circuit board radio and tape players, 72 first circuit board bogeys
73 second circuit board bogeys, 74 circuit board pick devices
Claims (10)
1. manipulator, comprise frame, first armshaft, second armshaft, the 3rd armshaft, first power set, second power set and the 3rd power set, one end of described second armshaft is articulated in described the 3rd armshaft, the other end is articulated in described first armshaft, the other end of described first armshaft is articulated in described frame, it is characterized in that:
Described first power set, second power set and the 3rd power set all are fixedly arranged on described frame, and the power of described first power set, second power set and the 3rd power set all is passed to described first armshaft, second armshaft and the 3rd armshaft respectively via the articulated section of described first armshaft and described frame.
2. according to the manipulator of claim 1, it is characterized in that the articulated section that described first armshaft is articulated in described frame is provided with first transmission mechanism, described first transmission mechanism comprises:
First rotating shaft is located at the articulated section of described first armshaft and described frame,
Provide described first armshaft affixed;
First drive is fixedly arranged on described first rotating shaft, can be by the described first power set driven rotary, thus to drive described first armshaft rotation;
Second rotating shaft is concentric arrangement with described first rotating shaft;
Second drive and the 4th drive are fixedly arranged on described second rotating shaft respectively,
Described second drive can be by the described second power set driven rotary, thus to drive
Described the 4th drive rotation;
The 3rd rotating shaft is concentric arrangement with described first rotating shaft and described second rotating shaft; And
The 3rd drive and the 5th drive are fixedly arranged on described the 3rd rotating shaft respectively,
Described the 3rd drive can be by described the 3rd power set driven rotary, thus to drive
Described the 5th drive rotation.
3. according to the manipulator of claim 2, it is characterized in that the articulated section of first armshaft and second armshaft is provided with second transmission mechanism, described second transmission mechanism comprises:
The 4th rotating shaft provides described second armshaft affixed;
The 6th drive is fixedly arranged on described the 4th rotating shaft, drives described the 4th rotating shaft rotation in order to accept the power that described second power set transmit;
The 5th rotating shaft is concentric arrangement with described the 4th rotating shaft; And
The 7th drive and the 8th drive are fixedly arranged on described the 5th rotating shaft respectively,
Described the 7th drive is in order to accept the power of described the 3rd power set, thus to drive described the 8th drive rotation.
4. according to the manipulator of claim 3, it is characterized in that the articulated section of described second armshaft and the 3rd armshaft is provided with the 3rd transmission mechanism, described the 3rd transmission mechanism comprises:
The 6th rotating shaft provides described the 3rd armshaft affixed; And
The 9th drive is fixedly arranged on described the 6th rotating shaft, drives described the 3rd armshaft rotation in order to the power of accepting described the 3rd power set.
5. according to the manipulator of claim 4, it is characterized in that described manipulator further comprises:
The 4th moving part is engaged in described the 4th drive and the 6th drive, by to transmit the power of described second power set;
The 5th moving part is engaged in described the 5th drive and the 7th drive, by to transmit the power of described the 3rd power set; And
The 6th moving part is engaged in described the 8th drive and the 9th drive, by to transmit the power of described the 3rd power set.
6. according to each manipulator in the claim 1 to 5, it is characterized in that described the 3rd armshaft further is connected with the circuit board pick device, its operating principle is selected from the group that is made of vacuum suction, jaw gripping, magnetic means and adhesion etc.
7. circuit board radio and tape player, has a frame, and the first circuit board bogey, second circuit board bogey and the manipulator that are arranged at described frame, described manipulator is characterized in that in order to circuit board is sent to described second circuit board bogey from described first circuit board bogey:
Described manipulator comprises first armshaft, second armshaft, the 3rd armshaft, first power set, second power set and the 3rd power set, one end of described second armshaft is articulated in described the 3rd armshaft, the other end is articulated in described first armshaft, the other end of described first armshaft is articulated in described frame, described the 3rd armshaft further is connected with the circuit board pick device, described first power set, second power set and the 3rd power set all are fixedly arranged on described frame, and described first power set, the power of second power set and the 3rd power set all is passed to described first armshaft respectively via the articulated section of described first armshaft and described frame, second armshaft and the 3rd armshaft.
8. according to the circuit board radio and tape player of claim 7, it is characterized in that described first circuit board bogey or described second circuit board bogey comprise the circuit board bearing frame.
9. according to the circuit board radio and tape player of claim 7, it is characterized in that described first circuit board bogey or described second circuit board bogey comprise circuit board conveyor.
10. transmission mechanism that is used for according to each described manipulator of claim 1-9, described manipulator comprises frame, first armshaft, second armshaft, the 3rd armshaft, first power set, second power set and the 3rd power set, described transmission mechanism is arranged at the articulated section that described first armshaft is articulated in described frame, in order to transmit the power of described first power set, second power set and the 3rd power set simultaneously, it is characterized in that described drive mechanism comprises:
First rotating shaft; Be located at the articulated section of described first armshaft and described frame, provide described first armshaft affixed;
First drive is fixedly arranged on described first rotating shaft, can be by the described first power set driven rotary, thus to drive described first armshaft rotation;
Second rotating shaft is concentric arrangement with described first rotating shaft;
Second drive and the 4th drive are fixedly arranged on described second rotating shaft respectively, and described second drive can be by the described second power set driven rotary, thus to drive described the 4th drive rotation;
The 3rd rotating shaft is concentric arrangement with described first rotating shaft and described second rotating shaft; And
The 3rd drive and the 5th drive are fixedly arranged on described the 3rd rotating shaft respectively, and described the 3rd drive can be by described the 3rd power set driven rotary, thus to drive described the 5th drive rotation.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CNU200720176768XU CN201120612Y (en) | 2007-10-18 | 2007-10-18 | Mechanical arm and transmission mechanism, and circuit board retraction machine with the mechanical arm |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CNU200720176768XU CN201120612Y (en) | 2007-10-18 | 2007-10-18 | Mechanical arm and transmission mechanism, and circuit board retraction machine with the mechanical arm |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN201120612Y true CN201120612Y (en) | 2008-09-24 |
Family
ID=40007832
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CNU200720176768XU Expired - Lifetime CN201120612Y (en) | 2007-10-18 | 2007-10-18 | Mechanical arm and transmission mechanism, and circuit board retraction machine with the mechanical arm |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN201120612Y (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103213839A (en) * | 2013-02-28 | 2013-07-24 | 钟昀晖 | Sorting, clamping and conveying industrial robot applied to forging industry |
-
2007
- 2007-10-18 CN CNU200720176768XU patent/CN201120612Y/en not_active Expired - Lifetime
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103213839A (en) * | 2013-02-28 | 2013-07-24 | 钟昀晖 | Sorting, clamping and conveying industrial robot applied to forging industry |
| CN103213839B (en) * | 2013-02-28 | 2016-01-20 | 钟昀晖 | A kind of forging industry is selected materials clamping transportation industrial robot |
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Granted publication date: 20080924 |