CN204076254U - A kind of manipulator for contraposition - Google Patents
A kind of manipulator for contraposition Download PDFInfo
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- CN204076254U CN204076254U CN201420484242.8U CN201420484242U CN204076254U CN 204076254 U CN204076254 U CN 204076254U CN 201420484242 U CN201420484242 U CN 201420484242U CN 204076254 U CN204076254 U CN 204076254U
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- mechanical arm
- drive unit
- turntable
- manipulator
- contraposition
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Abstract
The utility model provides a kind of manipulator for contraposition, belongs to alignment device field, comprises turntable, is arranged at the mechanical arm of turntable and is arranged at the drive unit of turntable.Turntable is provided with rotating shaft, and turntable is connected with axis of rotation.Drive unit comprise for driving machine mechanical arm do in horizontal plane transverse movement the first drive unit, do in horizontal plane for driving machine mechanical arm vertical motion the second drive unit, in vertical plane, make the 3rd drive unit that moves both vertically and the four-drive device for driving turntable to rotate around the axis for driving machine mechanical arm.The manipulator for contraposition that the utility model provides decreases the relative displacement of the film in moving process and between wiring board, improves aligning accuracy.
Description
Technical field
The utility model relates to alignment device field, in particular to a kind of manipulator for contraposition.
Background technology
At present in wiring board manufacturing process, need to use manipulator that the film and wiring board are carried out contraposition, but the existing manipulator for contraposition generally comprises motor, drive mechanism and mechanical arm, mechanical arm is provided with for inhaling the suction nozzle putting the film, the film is positioned on the platform of alignment device.During this robot work, driven by motor drive mechanism makes mechanical arm move up and down, and realizes contraposition by the movement of suction nozzle to the absorption of the film and placement and platform.This manipulator can only do simple moving up and down, and suction nozzle is when the film is put in suction, easily makes to produce relative displacement between the film and wiring board, causes bit errors, and therefore this manipulator aligning accuracy is low.
Utility model content
The utility model provides a kind of manipulator for contraposition, is intended to solve the problem.
The utility model is achieved in that
For a manipulator for contraposition, comprise turntable, be arranged at the mechanical arm of described turntable and be arranged at the drive unit of described turntable;
Described turntable is provided with rotating shaft, and described turntable is connected with described axis of rotation;
Described drive unit comprise for drive described mechanical arm do in horizontal plane transverse movement the first drive unit, for drive described mechanical arm do in horizontal plane vertical motion the second drive unit, for the 3rd drive unit that drives described mechanical arm to do to move both vertically in vertical plane and for driving described turntable around the four-drive device of described axis of rotation.
Further, described first drive unit, described second drive unit and described 3rd drive unit are lead screw transmission mechanism.Adopt lead screw transmission mechanism, transmission is more accurate, improves aligning accuracy.
Further, described first drive unit comprises the first motor, the first guide rail and the first screw mandrel;
Described first motor is connected with described first screw mandrel;
Described first guide rail is arranged at described turntable, and described mechanical arm is connected with described first slide by the first platform;
Described first platform is connected by the first nut with described first screw mandrel.
Make the first screw mandrel described in described first driven by motor, and then drive described mechanical arm to do transverse movement in horizontal plane.
Further, described second drive unit comprises the second motor, the second guide rail and the second screw mandrel;
Described second motor is connected with described second screw mandrel;
Described second guide rail is arranged at described first platform, and described mechanical arm is connected with described second slide by the second platform;
Described second platform is connected by the second nut with described second screw mandrel.
Make the second screw mandrel described in described second driven by motor, and then drive described mechanical arm to make vertical motion in horizontal plane.
Further, described 3rd drive unit comprises the 3rd motor, the 3rd guide rail and the 3rd screw mandrel;
Described 3rd motor is connected with described 3rd screw mandrel;
Described 3rd guide rail is arranged at described second platform, and described mechanical arm is connected with described 3rd slide;
Described mechanical arm is connected by the 3rd nut with described 3rd screw mandrel.
Make the 3rd screw mandrel described in described 3rd driven by motor, and then drive described mechanical arm to move both vertically in vertical plane.
Further, described four-drive device comprises the 4th motor and Timing Belt;
Described Timing Belt is set around the circumference of described turntable, and described turntable is connected by described Timing Belt with described 4th motor, and described turntable is connected by bearing with described rotating shaft.
Make Timing Belt described in described 4th driven by motor, make described turntable around described axis of rotation, and then enable described mechanical arm around described axis of rotation.
Further, described mechanical arm is provided with mechanical finger, described mechanical finger is provided with non-slipping block.Make described mechanical finger press the mobile film, and described non-slipping block prevent the relative sliding of described mechanical finger and the film, can contraposition well, provide aligning accuracy.
Further, described mechanical finger is two.Make described mechanical finger press the mobile film convenient, realize contraposition better.
Further, described mechanical arm and described mechanical finger removably connect, and described mechanical arm are provided with the installing hole of multiple described mechanical finger.By arranging multiple described installing hole, enabling described mechanical finger be installed on the diverse location of described mechanical arm, achieving the adjustment of described mechanical finger installation site, to adapt to the contraposition of the film of different size.
Further, described non-slipping block adopts anti-slip material to make.Make the coefficient of friction between described non-slipping block and the film larger, increase frictional force, relative sliding can be prevented better.
The utility model by arranging turntable on the manipulator for contraposition, turntable arranges mechanical arm and drive unit, and rotating shaft is set at turntable, turntable is connected with axis of rotation, arrange on the drive means and be used for the first drive unit that driving machine mechanical arm does transverse movement in horizontal plane, in horizontal plane, the second drive unit of vertical motion is made for driving machine mechanical arm, in vertical plane, move both vertically the 3rd drive unit and the four-drive device for driving turntable to rotate around the axis is made for driving machine mechanical arm, when using this manipulator for contraposition to carry out the contraposition of the film and wiring board, first wiring board is fixed, the film is positioned on wiring board, then drive unit driving machine mechanical arm does transverse movement respectively in horizontal plane, vertical motion is made in horizontal plane, move both vertically and rotate around the axis in vertical plane, make mechanical arm press the film to move, until the film is aimed at the home position of wiring board, realize the contraposition of the film and wiring board thus.The utility model is by arranging drive unit at the manipulator for contraposition, mechanical arm can be made to do respectively to do in transverse movement, horizontal plane to move both vertically in vertical motion, vertical plane and rotate around the axis in horizontal plane, realize the multi-direction motion of mechanical arm, and adopt mechanical arm to press the mode of the mobile film, decrease the relative displacement of the film in moving process and between wiring board, improve aligning accuracy.
Accompanying drawing explanation
Fig. 1 shows the stereochemical structure of the manipulator for contraposition that the utility model embodiment provides;
Fig. 2 shows the side-looking structure of the manipulator for contraposition that the utility model embodiment provides;
Fig. 3 shows the first drive unit of the manipulator for contraposition that the utility model embodiment provides and the structure of the second drive unit.
Detailed description of the invention
Fig. 1 shows the stereochemical structure of the manipulator for contraposition that the utility model embodiment provides; Refer to Fig. 1, the utility model embodiment provides a kind of manipulator for contraposition, be applied to film aligning machine, for in wiring board manufacturing process by the operation of the film and wiring board contraposition, this manipulator being used for contraposition comprises turntable 101, is arranged at the mechanical arm 102 of turntable 101 and is arranged at the drive unit of turntable 101; Turntable 101 is provided with rotating shaft 103, and turntable 101 and rotating shaft 103 are rotationally connected; Drive unit comprise for driving machine mechanical arm 102 do in horizontal plane transverse movement the first drive unit 201, do in horizontal plane for driving machine mechanical arm 102 vertical motion the second drive unit 301, in vertical plane, to make the 3rd drive unit 401 that moves both vertically for driving machine mechanical arm 102 and for driving turntable 101 103 four-drive devices 501 rotated around the shaft.Rotating shaft 103 is fixedly connected on film aligning machine.
When using this manipulator for contraposition to carry out the contraposition of the film and wiring board, first wiring board is fixed, the film is positioned on wiring board, then drive unit driving machine mechanical arm 102 is done to do in transverse movement, horizontal plane to move both vertically in vertical motion, vertical plane and 103 rotate around the shaft respectively in horizontal plane, make mechanical arm 102 press the film to move, until aimed at the home position of wiring board by the film, realize the contraposition of the film and wiring board thus.
The utility model is by arranging drive unit, mechanical arm 102 can be made to do respectively to do in transverse movement, horizontal plane to move both vertically in vertical motion, vertical plane and 103 rotate around the shaft in horizontal plane, realize the multi-direction motion of mechanical arm 102, and adopt mechanical arm 102 to press the mode of the mobile film, decrease the relative displacement of the film in moving process and between wiring board, improve aligning accuracy.
Fig. 2 shows the side-looking structure of the manipulator for contraposition that the utility model embodiment provides; Fig. 3 shows the first drive unit 201 of the manipulator for contraposition that the utility model embodiment provides and the structure of the second drive unit 301; Refer to Fig. 1 ~ Fig. 3, on the basis of the technical scheme of the above-mentioned manipulator for contraposition, further, the first drive unit 201, second drive unit 301 and the 3rd drive unit 401 are lead screw transmission mechanism.Adopt lead screw transmission mechanism, transmission is more accurate, improves aligning accuracy.
Refer to Fig. 3, the first drive unit 201 comprises the first motor 202, first guide rail 203 and the first screw mandrel 204.First motor 202 is connected with the first screw mandrel 204.First guide rail 203 is arranged at turntable 101, and mechanical arm 102 is slidably connected by the first platform 205 and the first guide rail 203.First platform 205 is connected by the first nut 206 with the first screw mandrel 204.
Make the first motor 202 drive the first screw mandrel 204, first screw mandrel 204 rotate and promote the first platform 205 by the first nut 206, the first platform 205 is slided on the first guide rail 203, and then driving mechanical arm 102 does transverse movement in horizontal plane.
Refer to Fig. 1 ~ Fig. 3, the second drive unit 301 comprises the second motor 302, second guide rail 303 and the second screw mandrel 304; Second motor 302 is connected with the second screw mandrel 304; Second guide rail 303 is arranged at the first platform 205, and mechanical arm 102 is slidably connected by the second platform 305 and the second guide rail 303; Second platform 305 is connected by the second nut 306 with the second screw mandrel 304.
Make the second motor 302 drive the second screw mandrel 304, second screw mandrel 304 rotate and promote the second platform 305 by the second nut 306, the second platform 305 is slided on the second guide rail 303, and then driving mechanical arm 102 makes vertical motion in horizontal plane.
Refer to Fig. 1 and Fig. 2, the 3rd drive unit 401 comprises the 3rd motor 402, the 3rd guide rail 403 and the 3rd screw mandrel 404.3rd motor 402 is connected with the 3rd screw mandrel 404.3rd guide rail 403 is arranged at the second platform 305, and mechanical arm 102 and the 3rd guide rail 403 are slidably connected.Mechanical arm 102 is connected by the 3rd nut 405 with the 3rd screw mandrel 404.
Make the 3rd motor 402 drive the 3rd screw mandrel the 404, three screw mandrel 404 to rotate and be slided on the 3rd guide rail 403 by the 3rd nut 405 pusher mechanical arm 102, and then driving mechanical arm 102 move both vertically in vertical plane.
First drive unit 201, second drive unit 301 of the manipulator for contraposition that the utility model embodiment provides and the 3rd drive unit 401 all preferably adopt lead screw transmission mechanism, also other kinds of drive can be adopted, as pinion and rack, synchronous belt drive, slider-crank mechanism, as long as reciprocating translatory on three mutually orthogonal directions can be separately implemented at, namely do to do in transverse movement, horizontal plane to move both vertically in vertical motion, vertical plane in horizontal plane.
Refer to Fig. 1 and Fig. 2, four-drive device 501 comprises the 4th motor 502 and Timing Belt 503.Timing Belt 503 is set around the circumference of turntable 101, and turntable 101 is connected by Timing Belt 503 with the 4th motor 502, and turntable 101 is connected by bearing with rotating shaft 103.Turntable 101 is provided with bearing block 107, it is inner that bearing is arranged at bearing block 107.
Timing Belt 503 is provided with uniform tooth, the circumference of turntable 101 is also provided with tooth, the motor shaft of the 4th motor 502 is provided with tooth, the tooth on Timing Belt 503 can engage with the tooth on the motor shaft of the 4th motor 502 and the tooth on turntable 101 respectively.One end of Timing Belt 503 is connected with the side of turntable 101, and the other end walks around the motor shaft of the 4th motor 502, is connected with the opposite side of turntable 101.
Make the 4th motor 502 drive Timing Belt 503, turntable 101 103 is rotated around the shaft, turntable 101 driving mechanical arm 102, and then mechanical arm 102 can 103 be rotated around the shaft.
What the four-drive device 501 of the manipulator for contraposition that the utility model embodiment provides preferably adopted is Timing Belt 503 transmission, also gear mechanism transmission, Worm and Worm Gear Driving can be adopted, as long as turntable 101 can be realized 103 rotate around the shaft, and then driving mechanical arm 102 103 rotates around the shaft.
Refer to Fig. 1 and Fig. 2, mechanical arm 102 is provided with mechanical finger 104, mechanical finger 104 is provided with non-slipping block 105.Make mechanical finger 104 press the mobile film, and non-slipping block 105 prevent the relative sliding of mechanical finger 104 and the film, can contraposition well, provide aligning accuracy.
Mechanical finger 104 is two.Make mechanical finger 104 press the mobile film convenient, realize contraposition better.The quantity of the present embodiment mechanical finger 104 is preferably two, but is not limited to two, also can be one or three or multiple.
Mechanical arm 102 and mechanical finger 104 removably connect, and mechanical arm 102 are provided with the installing hole 106 of multiple mechanical finger 104.By arranging multiple installing hole 106, making mechanical finger 104 can be installed on the diverse location of mechanical arm 102, achieving the adjustment of mechanical finger 104 installation site, to adapt to the contraposition of the film of different size.
Non-slipping block 105 adopts anti-slip material to make.Anti-slip material is nonmetallic materials, such as: rubber, silica gel, polyurethane and electrostatic anti-slip material.Make the coefficient of friction between non-slipping block 105 and the film larger, increase frictional force, relative sliding can be prevented better.
Refer to Fig. 1 ~ Fig. 3, when using this manipulator for contraposition to carry out the contraposition of the film and wiring board, first wiring board is positioned on film aligning machine, again the film is positioned on wiring board, film aligning machine controls the 3rd drive unit 401, the 3rd motor 402 is made to drive the 3rd screw mandrel 404,3rd screw mandrel 404 is rotated and is slided on the 3rd guide rail 403 by the 3rd nut 405 pusher mechanical arm 102, and then driving mechanical arm 102 moves both vertically in vertical plane, until the non-slipping block 105 on mechanical finger 104 pushes down the film gently.Because the non-slipping block 105 of mechanical finger 104 and the coefficient of friction of the film are much larger than the coefficient of friction of the film and wiring board, the film can move in the circuit board.
Then film aligning machine controls the first drive unit 201, second drive unit 301 and four-drive device 501 respectively, makes mechanical finger 104 press the promotion film by non-slipping block 105 and does transverse direction, vertical translation in the circuit board respectively and 103 rotate around the shaft.First drive unit 201 makes the first motor 202 drive the first screw mandrel 204, first screw mandrel 204 rotates and promotes the first platform 205 by the first nut 206, first platform 205 is slided on the first guide rail 203, and then driving mechanical arm 102 do transverse movement in horizontal plane.Second drive unit 301 makes the second motor 302 drive the second screw mandrel 304, second screw mandrel 304 rotates and promotes the second platform 305 by the second nut 306, second platform 305 is slided on the second guide rail 303, and then driving mechanical arm 102 make vertical motion in horizontal plane.3rd drive unit 401 makes the 3rd motor 402 drive the 3rd screw mandrel the 404, three screw mandrel 404 to rotate and be slided on the 3rd guide rail 403 by the 3rd nut 405 pusher mechanical arm 102, and then driving mechanical arm 102 moves both vertically in vertical plane.
Mechanical finger 104 is pressed by non-slipping block 105 and promotes that the film is done laterally in the circuit board respectively, vertical translation and 103 rotating around the shaft, until the home position of the film and wiring board is aimed at, finally realizes the contraposition of the film and wiring board.When the mobile film, mechanical finger 104 can not cause the film to be out of shape, and ensure that the precision of the film and wiring board contraposition.
For the contraposition of the film of different size, only need regulate the installation site of mechanical finger 104 on mechanical arm 102, namely adjustable mechanical points the distance between the front and back position of 104 and two fingers, therefore this manipulator being used for contraposition is also applicable to the contraposition, particularly large-sized film of the film of different size.
The manipulator for contraposition that the utility model embodiment provides, basic to rotate to be, based on turntable 101, mechanical arm 102 can be moved upward by the Vertical Square in vertical, the vertical plane in horizontal, the horizontal plane in horizontal plane.Above-mentioned three directions form orthogonal coordinate system X-Y-Z mutually orthogonal between two, vertical direction in vertical, vertical plane in horizontal, horizontal plane in horizontal plane corresponds respectively to Y direction, X-direction and Z-direction, therefore the motion in X-Y-Z direction is all arranged on turntable 101, and turntable 101 can 103 rotate around the shaft, be R to motion, this manipulator being used for contraposition can carry out the interlock of X-Y-Z-R four-way thus.
The manipulator for contraposition that the utility model embodiment provides, is applied to film aligning machine and carries out contraposition to the film and wiring board.This manipulator for contraposition also can be applied to the contraposition of other article in wiring board making, printing, dyeing.
The manipulator for contraposition that the utility model provides is by arranging drive unit, mechanical arm 102 can be made to do respectively to do in transverse movement, horizontal plane to move both vertically in vertical motion, vertical plane and 103 rotate around the shaft in horizontal plane, realize the multi-direction motion of mechanical arm 102, and adopt mechanical arm 102 to press the mode of the mobile film, decrease the relative displacement of the film in moving process and between wiring board, improve aligning accuracy.
The foregoing is only preferred embodiment of the present utility model, be not limited to the utility model, for a person skilled in the art, the utility model can have various modifications and variations.All within spirit of the present utility model and principle, any amendment done, equivalent replacement, improvement etc., all should be included within protection domain of the present utility model.
Claims (10)
1. for a manipulator for contraposition, it is characterized in that, comprise turntable, be arranged at described turntable mechanical arm and be arranged at the drive unit of described turntable;
Described turntable is provided with rotating shaft, and described turntable is connected with described axis of rotation;
Described drive unit comprise for drive described mechanical arm do in horizontal plane transverse movement the first drive unit, for drive described mechanical arm do in horizontal plane vertical motion the second drive unit, for the 3rd drive unit that drives described mechanical arm to do to move both vertically in vertical plane and for driving described turntable around the four-drive device of described axis of rotation.
2. the manipulator for contraposition according to claim 1, is characterized in that, described first drive unit, described second drive unit and described 3rd drive unit are lead screw transmission mechanism.
3. the manipulator for contraposition according to claim 1, is characterized in that, described first drive unit comprises the first motor, the first guide rail and the first screw mandrel;
Described first motor is connected with described first screw mandrel;
Described first guide rail is arranged at described turntable, and described mechanical arm is connected with described first slide by the first platform;
Described first platform is connected by the first nut with described first screw mandrel.
4. the manipulator for contraposition according to claim 3, is characterized in that, described second drive unit comprises the second motor, the second guide rail and the second screw mandrel;
Described second motor is connected with described second screw mandrel;
Described second guide rail is arranged at described first platform, and described mechanical arm is connected with described second slide by the second platform;
Described second platform is connected by the second nut with described second screw mandrel.
5. the manipulator for contraposition according to claim 4, is characterized in that, described 3rd drive unit comprises the 3rd motor, the 3rd guide rail and the 3rd screw mandrel;
Described 3rd motor is connected with described 3rd screw mandrel;
Described 3rd guide rail is arranged at described second platform, and described mechanical arm is connected with described 3rd slide;
Described mechanical arm is connected by the 3rd nut with described 3rd screw mandrel.
6. the manipulator for contraposition according to claim 1, is characterized in that, described four-drive device comprises the 4th motor and Timing Belt;
Described Timing Belt is set around the circumference of described turntable, and described turntable is connected by described Timing Belt with described 4th motor, and described turntable is connected by bearing with described rotating shaft.
7. the manipulator for contraposition according to claim 1, is characterized in that, described mechanical arm is provided with mechanical finger, and described mechanical finger is provided with non-slipping block.
8. the manipulator for contraposition according to claim 7, is characterized in that, described mechanical finger is two.
9. the manipulator for contraposition according to claim 7, is characterized in that, described mechanical arm and described mechanical finger removably connect, and described mechanical arm is provided with the installing hole of multiple described mechanical finger.
10. the manipulator for contraposition according to claim 7, is characterized in that, described non-slipping block adopts anti-slip material to make.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201420484242.8U CN204076254U (en) | 2014-08-26 | 2014-08-26 | A kind of manipulator for contraposition |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201420484242.8U CN204076254U (en) | 2014-08-26 | 2014-08-26 | A kind of manipulator for contraposition |
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| Publication Number | Publication Date |
|---|---|
| CN204076254U true CN204076254U (en) | 2015-01-07 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201420484242.8U Active CN204076254U (en) | 2014-08-26 | 2014-08-26 | A kind of manipulator for contraposition |
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| Country | Link |
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| CN (1) | CN204076254U (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108145734A (en) * | 2017-12-26 | 2018-06-12 | 浙江勃嘉工业自动化有限公司 | A kind of easy-to-dismount automatic mechanical hand |
-
2014
- 2014-08-26 CN CN201420484242.8U patent/CN204076254U/en active Active
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108145734A (en) * | 2017-12-26 | 2018-06-12 | 浙江勃嘉工业自动化有限公司 | A kind of easy-to-dismount automatic mechanical hand |
| CN108145734B (en) * | 2017-12-26 | 2020-12-29 | 浙江勃嘉工业自动化有限公司 | Automatic mechanical arm convenient to dismantle |
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