CN203357445U - Mechanical arm - Google Patents
Mechanical arm Download PDFInfo
- Publication number
- CN203357445U CN203357445U CN 201320452415 CN201320452415U CN203357445U CN 203357445 U CN203357445 U CN 203357445U CN 201320452415 CN201320452415 CN 201320452415 CN 201320452415 U CN201320452415 U CN 201320452415U CN 203357445 U CN203357445 U CN 203357445U
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- Prior art keywords
- driving shaft
- axis
- belt
- motor
- swing arm
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- Expired - Fee Related
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Abstract
The utility model discloses a mechanical arm which comprises a bottom plate, a frame and an X-axis swing arm device, wherein the bottom plate is provided with a mobile slide rail and a first motor, and the frame is arranged on the mobile slide rail and is provided with a lead screw, a second motor, a third motor, an X driving shaft and a X driving shaft. One end of the lead screw is arranged in the first motor, the second motor is provided with a first belt pulley which is connected with a first driven wheel on the X driving shaft through a belt, the third motor is provided with a second belt pulley which is connected with a second driven wheel on the Z driving shaft through a belt, both the X driving shaft and the Z driving shaft are connected with the X-axis swing arm device which is provided with a Z-axis swing arm, and the Z-axis swing arm is provided with a sucking disc mechanism. According to the mechanical arm applied to board receiving and releasing equipment in the PCB (Printed Circuit Board) industry, not only is the equipment structure simplified and the production cost lowered, but also the demand of receiving and releasing boards in multiple plate frames at multiple angles can be easily realized without changing the equipment.
Description
Technical field
The utility model relates to PCB circuit-board industry automatic material flow equipment, has been specifically related to a kind of manipulator that possesses folding and unfolding plate function.
Background technology
Existing market is directed to the mechanical arm that PCB factory folding and unfolding board device is used, the most frequently used single shaft linear pattern manipulator that mostly is, as needs complete the folding and unfolding plate requirement of different angles, must be by a plurality of single shaft linear robot arm in conjunction with completing, its combining structure complexity, installation volume is huge, and control action is various, easily causes equipment fault and damage of product.
The utility model content
For solving the problems of the technologies described above, we have proposed a kind of manipulator, its purpose: just can complete the folding and unfolding plate work of different angles by the operation of a manipulator, avoid causing damage of product.
For achieving the above object, the technical solution of the utility model is as follows:
A kind of manipulator, comprise base plate, frame and X-axis swinging arm device, base plate is provided with shifting sledge and the first motor, frame is arranged on shifting sledge, frame is provided with screw mandrel, the second motor, the 3rd motor, X driving shaft and Z driving shaft, one end of screw mandrel is arranged in the first motor, and the second motor is provided with the first belt pulley, and the first belt pulley is connected with the first driven pulley on being arranged on the X driving shaft by belt;
The 3rd motor is provided with the second belt pulley, and the second belt pulley is connected with the second driven pulley on being arranged on the Z driving shaft by belt;
The X driving shaft all is connected with the X-axis swinging arm device with the Z driving shaft, and the X-axis swinging arm device is provided with the Z axis swing arm, and the Z axis swing arm is provided with sucking disc mechanism.
Preferably, X driving shaft and Z driving shaft are hollow circular-tube, and the axis of X driving shaft and Z driving shaft all is on same axis.
In order further to realize the driving function of X driving shaft and Z driving shaft, the X driving shaft is mutually nested by ball bearing with the Z driving shaft.
In order to coordinate the driving function that realizes X driving shaft and Z driving shaft, the X-axis swinging arm device comprises X-axis pipe mounting flange and X-axis swing arm, be provided with successively the 3rd belt pulley in the X-axis swing arm, belt tension mechanism and the 3rd driven pulley, by the X driving shaft, with X-axis, swing arm is fixedly connected with X-axis pipe mounting flange, the 3rd belt pulley is socketed on the Z driving shaft, the 3rd belt pulley is connected with the 3rd driven pulley by belt, the 3rd driven pulley is socketed in the Z axis swing arm, and belt tension mechanism is arranged between the 3rd belt pulley and the 3rd driven pulley.
In order to ensure the transmission between the 3rd belt pulley and the 3rd driven pulley, belt tension mechanism is provided with and the contacted belt pressure wheel of belt that is connected the 3rd belt pulley and the 3rd driven pulley.
Preferably, the X driving shaft is provided with the X-axis sensing chip.
Preferably, the Z driving shaft is provided with the Z axis sensing chip.
Preferably, be provided with expansion sleeve between X driving shaft and the first driven pulley.
Preferably, be provided with expansion sleeve between Z driving shaft and the second driven pulley.
Preferably, be provided with ball bearing between Z driving shaft and frame.
The manipulator of technique scheme promotes frame by shifting sledge, the first motor and screw mandrel and carries out the Y-axis positioning sliding; The X-axis positioning sliding is carried out in cooperation by the second motor, X driving shaft and X-axis swinging arm device; The Z axis positioning sliding is carried out in cooperation by the 3rd motor, Z driving shaft, X-axis swinging arm device and Z axis swing arm, and the Z axis swing arm is provided with sucking disc mechanism, and plate is placed in sucking disc mechanism absorption.The design of manipulator internal structure is succinct, is easy to processing, the installing space compactness, and handling are simple, and manipulator deep seated blowhole and routing electric wires safe ready coordinate and control by each between centers of program setting manipulator, its graceful movements, security is higher, and speed is faster.
The accompanying drawing explanation
In order to be illustrated more clearly in the utility model embodiment or technical scheme of the prior art, below will the accompanying drawing of required use in embodiment or description of the Prior Art be briefly described, apparently, accompanying drawing in the following describes is only embodiment more of the present utility model, for those of ordinary skills, under the prerequisite of not paying creative work, can also obtain according to these accompanying drawings other accompanying drawing.
The perspective view that Fig. 1 is a kind of manipulator disclosed in the utility model;
The structural representation of the X-axis swinging arm device that Fig. 2 is a kind of manipulator disclosed in the utility model.
Numeral and the represented corresponding component title of letter in figure:
1. base plate 11. shifting sledge 12. first motor 2. frame 21. screw mandrel 22. second motor 221. first belt pulley 23. the 3rd motor 231. second belt pulley 24.X driving shaft 241. first driven pulley 242.X axle sensing chip 25.Z driving shaft 251. second driven pulley 252.Z axle sensing chip 3.X axle swinging arm device 31.X central siphon mounting flange 32.X axle swing arm 321. the 3rd belt pulley 322. belt tension mechanism 3221. belt pressure wheels 323. the 3rd driven pulley 4.Z axle swing arm 5. sucking disc mechanisms
The specific embodiment
Below in conjunction with the accompanying drawing in the utility model embodiment, the technical scheme in the utility model embodiment is clearly and completely described, obviously, described embodiment is only the utility model part embodiment, rather than whole embodiment.Embodiment based in the utility model, those of ordinary skills are not making under the creative work prerequisite the every other embodiment obtained, and all belong to the scope of the utility model protection.
Below in conjunction with schematic diagram, the specific embodiment of the present utility model is described in further detail.
As shown in Figure 1, a kind of manipulator, comprise base plate 1, frame 2 and X-axis swinging arm device 3, base plate 1 is provided with shifting sledge 11 and the first motor 12, described frame 2 is arranged on shifting sledge 11, frame 2 is provided with screw mandrel 21, the second motor 22, the 3rd motor 23, X driving shaft 24 and Z driving shaft 25, one end of screw mandrel 21 is arranged in the first motor 12, the second motor 22 is provided with the first belt pulley 221, the first belt pulleys 221 and is connected with the first driven pulley 241 on being arranged on X driving shaft 24 by belt;
The 3rd motor 23 is provided with the second belt pulley 231, the second belt pulleys 231 and is connected with the second driven pulley 251 on being arranged on Z driving shaft 25 by belt;
This manipulator promotes frame 2 by shifting sledge 11, the first motor 12 and screw mandrel 21 and carries out the Y-axis positioning sliding; The X-axis positioning sliding is carried out in cooperation by the second motor 22, X driving shaft 24 and X-axis swinging arm device 3; The Z axis positioning sliding is carried out in cooperation by the 3rd motor 23, Z driving shaft 25, X-axis swinging arm device 3 and Z axis swing arm 4, and Z axis swing arm 4 is provided with sucking disc mechanism 5, and plate is placed in sucking disc mechanism 5 absorption.
Z driving shaft 25 is provided with Z axis sensing chip 252, facilitates rotation and the location of programme-control Z driving shaft 25.
Be provided with expansion sleeve between described X driving shaft 24 and the first driven pulley 241, guaranteed being locked firmly of X driving shaft 24 and the first driven pulley 241.
Be provided with expansion sleeve between described Z driving shaft 25 and the second driven pulley 251, guaranteed being locked firmly of Z driving shaft 25 and the second driven pulley 251.
Be provided with ball bearing between Z driving shaft 25 and frame 2, guaranteed the fluency of the rotation of Z driving shaft 25.
As shown in Figure 2, described X-axis swinging arm device 3 comprises X-axis pipe mounting flange 31 and X-axis swing arm 32, be provided with successively the 3rd belt pulley 321 in described X-axis swing arm 32, belt tension mechanism 322 and the 3rd driven pulley 323, X-axis pipe mounting flange 31 is fixedly connected with X driving shaft 24 with X-axis swing arm 32, the 3rd belt pulley 321 is socketed on Z driving shaft 25, the 3rd belt pulley 321 is connected with the 3rd driven pulley 323 by belt, the 3rd driven pulley 323 is socketed in Z axis swing arm 4, described belt tension mechanism 322 is arranged between the 3rd belt pulley 321 and the 3rd driven pulley 323, drive X-axis swing arm 32 by X driving shaft 24 and rotate to appropriate position, drive by described Z driving shaft 25 top that Z axis swing arm 4 moves to plate again, facilitated sucking disc mechanism 5 absorption to place plate.
Described belt tension mechanism 322 is provided with and the contacted belt pressure wheel 3221 of the belt that is connected the 3rd belt pulley 321 and the 3rd driven pulley 323, has guaranteed the transmission between the 3rd belt pulley 321 and the 3rd driven pulley 323.
Beneficial effect: this manipulator applies on PCB circuit-board industry folding and unfolding board device, has not only simplified device structure, has reduced production cost, and more exchange device just can easily be realized many grillages multi-angle folding and unfolding plate demand.This manipulator internal structure design is succinct, is easy to processing, the installing space compactness, and handling are simple, and this manipulator deep seated blowhole and routing electric wires safe ready coordinate and control by each between centers of this manipulator of program setting, its graceful movements, security is higher, and speed is faster.
The structure that is exactly more than a kind of manipulator forms and action effect, its advantage: a minute three-dimensional is independently controlled, and registration, can adjust the different angles in space; This manipulator applies on PCB circuit-board industry folding and unfolding board device, has not only simplified device structure, has reduced production cost, and more exchange device just can easily be realized many grillages multi-angle folding and unfolding plate demand.This manipulator internal structure design is succinct, is easy to processing, the installing space compactness, and handling are simple, and this manipulator deep seated blowhole and routing electric wires safe ready coordinate and control by each between centers of this manipulator of program setting, its graceful movements, security is higher, and speed is faster.
Above-described is only preferred embodiment of the present utility model; it should be pointed out that for the person of ordinary skill of the art, under the prerequisite that does not break away from the utility model creation design; can also make some distortion and improvement, these all belong to protection domain of the present utility model.
Claims (10)
1. a manipulator, comprise base plate (1) and frame (2), it is characterized in that, also comprise X-axis swinging arm device (3), base plate (1) is provided with shifting sledge (11) and the first motor (12), frame (2) is arranged on shifting sledge (11), frame (2) is provided with screw mandrel (21), the second motor (22), the 3rd motor (23), X driving shaft (24) and Z driving shaft (25), one end of screw mandrel (21) is arranged in the first motor (12), the second motor (22) is provided with the first belt pulley (221), the first belt pulley (221) is connected with the first driven pulley (241) on being arranged on X driving shaft (24) by belt,
The 3rd motor (23) is provided with the second belt pulley (231), and the second belt pulley (231) is connected with the second driven pulley (251) on being arranged on Z driving shaft (25) by belt;
X driving shaft (24) all is connected with X-axis swinging arm device (3) with Z driving shaft (25), and X-axis swinging arm device (3) is provided with Z axis swing arm (4), and Z axis swing arm (4) is provided with sucking disc mechanism (5).
2. a kind of manipulator according to claim 1, is characterized in that, X driving shaft (24) and Z driving shaft (25) are hollow circular-tube, and the axis of X driving shaft (24) and Z driving shaft (25) all is on same axis.
3. a kind of manipulator according to claim 2, is characterized in that, X driving shaft (24) is mutually nested by ball bearing with Z driving shaft (25).
4. a kind of manipulator according to claim 3, it is characterized in that, described X-axis swinging arm device (3) comprises X-axis pipe mounting flange (31) and X-axis swing arm (32), be provided with successively the 3rd belt pulley (321) in X-axis swing arm (32), belt tension mechanism (322) and the 3rd driven pulley (323), X-axis pipe mounting flange (31) is fixedly connected with X driving shaft (24) with X-axis swing arm (32), the 3rd belt pulley (321) is socketed on Z driving shaft (25), the 3rd belt pulley (321) is connected with the 3rd driven pulley (323) by belt, the 3rd driven pulley (323) is socketed in Z axis swing arm (4), belt tension mechanism (322) is arranged between the 3rd belt pulley (321) and the 3rd driven pulley (323).
5. a kind of manipulator according to claim 4, is characterized in that, described belt tension mechanism (322) is provided with and the contacted belt pressure wheel of belt (3221) that is connected the 3rd belt pulley (321) and the 3rd driven pulley (323).
6. a kind of manipulator according to claim 1, is characterized in that, X driving shaft (24) is provided with X-axis sensing chip (242).
7. a kind of manipulator according to claim 1, is characterized in that, Z driving shaft (25) is provided with Z axis sensing chip (252).
8. a kind of manipulator according to claim 1, is characterized in that, between X driving shaft (24) and the first driven pulley (241), is provided with expansion sleeve.
9. a kind of manipulator according to claim 1, is characterized in that, between Z driving shaft (25) and the second driven pulley (251), is provided with expansion sleeve.
10. a kind of manipulator according to claim 1, is characterized in that, between Z driving shaft (25) and frame (2), is provided with ball bearing.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN 201320452415 CN203357445U (en) | 2013-07-27 | 2013-07-27 | Mechanical arm |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN 201320452415 CN203357445U (en) | 2013-07-27 | 2013-07-27 | Mechanical arm |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN203357445U true CN203357445U (en) | 2013-12-25 |
Family
ID=49805264
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN 201320452415 Expired - Fee Related CN203357445U (en) | 2013-07-27 | 2013-07-27 | Mechanical arm |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN203357445U (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104029198A (en) * | 2013-07-27 | 2014-09-10 | 昆山昊旺机械有限公司 | Manipulator |
| CN105858203A (en) * | 2015-07-07 | 2016-08-17 | 江苏影速光电技术有限公司 | Automatic PCB feeding manipulator and PCB production line |
-
2013
- 2013-07-27 CN CN 201320452415 patent/CN203357445U/en not_active Expired - Fee Related
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104029198A (en) * | 2013-07-27 | 2014-09-10 | 昆山昊旺机械有限公司 | Manipulator |
| CN105858203A (en) * | 2015-07-07 | 2016-08-17 | 江苏影速光电技术有限公司 | Automatic PCB feeding manipulator and PCB production line |
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Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20131225 Termination date: 20140727 |
|
| EXPY | Termination of patent right or utility model |