CN205835390U - A kind of being provided with rotates the pcb board transfer robot performing end - Google Patents
A kind of being provided with rotates the pcb board transfer robot performing end Download PDFInfo
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- CN205835390U CN205835390U CN201620764494.5U CN201620764494U CN205835390U CN 205835390 U CN205835390 U CN 205835390U CN 201620764494 U CN201620764494 U CN 201620764494U CN 205835390 U CN205835390 U CN 205835390U
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Abstract
The utility model discloses a kind of being provided with and rotate the pcb board transfer robot performing end, the waist rotation member including base body, being articulated on base body, the large arm being articulated on waist rotation member, the forearm being articulated in large arm, the mechanical hand that is arranged on forearm, waist rotation member rotates around base body, large arm rotates around waist rotation member, and forearm rotates around large arm.Described mechanical hand includes a pair sucker group, the drive mechanism driving a pair sucker group to rotate；Described drive mechanism includes pedestal, rotary components, rotating driving device and latch components.Of the present utility model make annular circumferential motion drive assembly can unlock latch components the constraint of rotary components drives rotary components revolve turnback, a pair sucker revolves turnback along with rotary components.Two suckers on mechanical hand can be made to revolve turnback exactly by drive mechanism of the present utility model, in order to mechanical hand picks and places material exactly.
Description
Technical field
This utility model relates to robotics, is specifically related to a kind of being provided with and rotates the robot performing end.
Background technology
In prior art, cutting of pcb board generally uses special pcb board guillotine.But, operator are by manual
Pcb board to be cut is sent into pcb board guillotine, then the pcb board output pcb board guillotine that will have cut by mode, not only works
Amount is big, and, pcb board cuts efficiency to be also difficult to be improved.
The utility model of Application No. CN201520484088.9 discloses a kind of mechanical hand by robot and picks and places material
Pcb board guillotine, wherein, the mechanical hand of robot sets two sucker groups, sucker group draws PCB by vac sorb mode
Plate and waste material.Said two sucker group can carry out 180 degree of rotations, to facilitate two sucker groups to pick and place pcb board or waste material to accordingly
Station.
Utility model content
This utility model is for above-mentioned technical problem, it is provided that a kind of installation two suckers on a robotic arm can revolve exactly
Being provided with of turnback rotates the pcb board transfer robot performing end.
For reaching above-mentioned purpose, a kind of being provided with of the present utility model rotates the pcb board transfer robot performing end, including
Base body, the waist rotation member being articulated on base body, the large arm being articulated on waist rotation member, the forearm being articulated in large arm, peace
The mechanical hand being contained on forearm；Described mechanical hand includes a pair sucker group, the drive mechanism driving a pair sucker group to rotate；Described
Drive mechanism includes pedestal, rotating driving device, latch components and rotary components；Rotary components includes a pair location bar, rotation
Bearing and the first gear；Rotary support upper end be fixed with a pair location bar, be fixedly arranged in the middle of the first gear, lower end is articulated in pedestal
On；The spacing hole run through about level is offered in the middle part of rotary support；Latch components includes that unlocking feature conciliates locking plug；Unlock
Parts include the first cylinder ring, the second gear and annulus guide plate；Second gear is fixed on the external cylindrical surface of the first cylinder ring；Circle
Ring guide plate is fixed on the inner cylinder face of the first cylinder ring；Annulus guide plate is by the inner guide plate of two ends different-diameter and outer guide plate head and the tail
It is formed by connecting；Solve locking plug and include horizontal pin, support and roller composition；Support is vertically fixed on the pedestal in the first cylinder ring
On；Offer guide groove inside frame upper, sidewall center, left and right offers circular hole；Guide block is formed in the middle part of horizontal pin；Level
Latch is plugged on support by guide block；Pair of guide rods is formed between the sidewall of support left and right；Guide block set in the middle part of horizontal pin
It is located on guide rod；A pair stage clip is respectively sleeved at pair of guide rods；Stage clip left end is resisted against on guide block right side, right-hand member is resisted against and props up
On frame right side wall；Horizontal pin left end is articulated with roller, right-hand member is plugged in the spacing hole of rotary support；Roller is resisted against annulus
On the medial wall of guide plate；Rotating driving device includes the 4th gear and the 5th gear；The wheel teeth portion of the 4th gear only has one section；The
Four gears can engage with the first gear；5th gear and the engagement of the second gear.
Preferred as technique scheme, described mechanical hand includes the linking arm being articulated on forearm, is fixed on connection
Housing on arm, the spill spin block being positioned at outside housing, described drive mechanism is fixed in housing by pedestal, and described spill spin block is fixed
On the securing lever；The pair of sucker is fixed on spill spin block.
Preferred as technique scheme, described rotating driving device also includes rotating driveshaft and the first motor；The
One motor is vertically fixed on pedestal；The 4th gear and the 5th gear it is fixed with the most from top to down on first motor output shaft.
Preferred as technique scheme, described large arm is fixed with the second motor, and the output shaft of the second motor is with little
Arm couples；Being fixed with the 3rd motor on described forearm, the output shaft of the 3rd motor couples with mechanical hand；Mechanical hand turns around forearm
Dynamic rotation centerline is perpendicular to the rotation centerline of rotary support in rotary components.
Preferred as technique scheme, rounding off between inner guide plate and the outer guide plate of annulus guide plate.
Preferred as technique scheme, frame upper left side wall forms lower plate on a pair；Annulus guide plate sets
Put between upper lower plate.
The beneficial effects of the utility model are: the driving assembly making annular circumferential motion can unlock latch components to rotation
The constraint of assembly and drive rotary components to revolve turnback, a pair sucker revolves turnback along with rotary components.New by this practicality
The drive mechanism of type can make two suckers on mechanical hand revolve turnback exactly, in order to mechanical hand picks and places material exactly.
Accompanying drawing explanation
Fig. 1 is structural representation of the present utility model；
Fig. 2 is the structural representation of mechanical hand of the present utility model；
Fig. 3 is the structural representation of drive mechanism of the present utility model；
Fig. 4 is the structural representation of drive mechanism of the present utility model；
Fig. 5 is the side-looking structural representation of drive mechanism of the present utility model；
Fig. 6 is the cross-sectional view of A-A in Fig. 5 of the present utility model；
Fig. 7 is the structural representation of latch components of the present utility model；
Fig. 8 is the horizontal profile structure schematic diagram of latch components of the present utility model；
In figure, 10, base body；20, waist rotation member；30, large arm；31, the second motor；40, forearm；41, the 3rd motor；
50, mechanical hand；51, linking arm；52, housing；53, spill spin block；60, drive mechanism；61, pedestal；62, rotating driving device；
621, the 4th gear；6211, wheel teeth portion；622, the 5th gear；623, the first motor；624, rotating driveshaft；63, snap close group
Part；631, unlocking feature；6311, the first cylinder ring；6312, the second gear；6313, annulus guide plate；632, locking plug is solved；
6321, horizontal pin；6322, support；6323, roller；6324, guide rod；6325, stage clip；64, rotary components；641, location bar；
642, rotary support；6421, spacing hole；643, the first gear.
Detailed description of the invention
As shown in Fig. 1～Fig. 8, a kind of being provided with rotates the pcb board transfer robot performing end, including base body 10, pivot
The waist rotation member 20 being connected on base body 10, the large arm 30 being articulated on waist rotation member 20, the forearm 40 being articulated in large arm 30,
The mechanical hand 50 being arranged on forearm 40；Described mechanical hand 50 includes a pair sucker group, drives the driving that sucker group rotates a pair
Mechanism 60；Described drive mechanism 60 includes pedestal 61, rotating driving device 62, latch components 63 and rotary components 64；Rotation group
Part 64 includes a pair location bar 641, rotary support 642 and the first gear 643；Rotary support 642 upper end is fixed with a pair location
Bar 641, be fixedly arranged in the middle of the first gear 643, lower end is articulated on pedestal 61；Offer about level in the middle part of rotary support 642
The spacing hole 6421 run through；Latch components 63 includes that unlocking feature 631 conciliates locking plug 632；Unlocking feature 631 includes the first circle
The band of column the 6311, second gear 6312 and annulus guide plate 6313；Second gear 6312 is fixed on the outside cylinder of the first cylinder ring 6311
On face；Annulus guide plate 6313 is fixed on the inner cylinder face of the first cylinder ring 6311；Annulus guide plate 6313 is by two ends different-diameter
Inner guide plate and outer guide plate head and the tail be formed by connecting；Solve locking plug 632 and include horizontal pin 6321, support 6322 and roller 6323
Composition；Support 6322 is vertically fixed on the pedestal 61 in the first cylinder ring 6311；Support 6322 upper interior portion offer guide groove,
Sidewall center, left and right offers circular hole；Guide block is formed in the middle part of horizontal pin 6321；Horizontal pin 6321 is plugged in by guide block
On support 6322；Pair of guide rods 6324 is formed between support about 6322 sidewall；Guide block in the middle part of horizontal pin 6321 is sheathed
On guide rod 6324；A pair stage clip 6325 is respectively sleeved at pair of guide rods 6324；Stage clip 6325 left end is resisted against guide block right side
Upper, right-hand member is resisted against on support 6322 right side wall；Horizontal pin 6321 left end is articulated with roller 6323, right-hand member is plugged in rotation
In the spacing hole 6421 of seat 642；Roller 6323 is resisted against on the medial wall of annulus guide plate 6313；Rotating driving device 62 includes
Four gear 621 and the 5th gears 622；The wheel teeth portion 6211 of the 4th gear 621 only one section；4th gear 621 can be with the first tooth
Wheel 643 engagement；5th gear 622 engages with the second gear 6312.
As shown in Figure 1 and Figure 2, described mechanical hand 50 includes the linking arm 51 being articulated on forearm 40, is fixed on linking arm 51
On housing 52, the spill spin block 53 that is positioned at outside housing 52, described drive mechanism 60 is fixed in housing 52 by pedestal 61, described
Spill spin block 53 is fixed on the bar 641 of location；The pair of sucker is fixed on spill spin block 53.
As shown in Fig. 4, Fig. 6, described rotating driving device 62 also includes rotating driveshaft 624 and the first motor 623；First
Motor 623 is vertically fixed on pedestal 61；The 4th gear 621 He it is fixed with the most from top to down on first motor 623 output shaft
5th gear 622.
As shown in Figure 1 and Figure 2, described large arm 30 is fixed with the second motor 31, the output shaft of the second motor 31 and forearm 40
Couple；Being fixed with the 3rd motor 41 on described forearm 40, the output shaft of the 3rd motor 41 couples with mechanical hand 50；Mechanical hand 50 encloses
The rotation centerline rotated around forearm 40 is perpendicular to the rotation centerline of rotary support 642 in rotary components 64.
As shown in Figure 7, Figure 8, rounding off between inner guide plate and the outer guide plate of annulus guide plate 6313.
As shown in Figure 6, support 6322 upper left-hand wall forms lower plate on a pair；Annulus guide plate 6313 is arranged on
Between lower plate.
Latch components 63 concrete operations are as follows: initial state: the inner guide plate of annulus guide plate 6313 makes horizontal pin 6321 right
End inserts in spacing hole 6421 one end of rotary support 642；Then the first motor drives the 4th gear 621 and the 5th gear 622
Rotate；5th gear 622 drives unlocking feature 631 to rotate by the second gear 6312, and unlocking feature 63 drives annulus guide plate
6313 rotate, and roller 6323 arrives guide plate from the inner guide plate of annulus guide plate 6313, and such horizontal pin 6321 right-hand member departs from rotation
Turn the spacing hole 6421 of bearing 642, driven the first gear 643 to rotate by the 4th gear 621 simultaneously, thus spill spin block 53 and sucker
Rotation turnback；When the first gear 643 revolves turnback, roller 6323 from the outer guide plate of annulus guide plate 6313 to inside and outside guide plate,
Horizontal pin 6321 right-hand member inserts again the other end of the spacing hole 6421 of rotary support 642, and such sucker is the most limited.
Above content is only better embodiment of the present utility model, for those of ordinary skill in the art, according to this
The thought of utility model, the most all will change, and this specification content should not be understood
For to restriction of the present utility model.
Claims (6)
1. it is provided with and rotates the pcb board transfer robot performing end, including base body (10), be articulated on base body (10)
Waist rotation member (20), the large arm (30) being articulated on waist rotation member (20), the forearm (40) being articulated in large arm (30), install
Mechanical hand (50) on forearm (40)；
It is characterized in that: described mechanical hand (50) includes a pair sucker group, the drive mechanism (60) driving a pair sucker group to rotate；
Described drive mechanism (60) includes pedestal (61), rotating driving device (62), latch components (63) and rotary components (64)；Rotate
Assembly (64) includes a pair location bar (641), rotary support (642) and the first gear (643)；Rotary support (642) upper end is solid
Surely have a pair location bar (641), be fixedly arranged in the middle of the first gear (643), lower end is articulated on pedestal (61)；Rotary support
(642) middle part offers the spacing hole (6421) run through about level；Latch components (63) includes unlocking feature (631) and unlocks
Latch (632)；Unlocking feature (631) includes the first cylinder ring (6311), the second gear (6312) and annulus guide plate (6313)；The
Two gears (6312) are fixed on the external cylindrical surface of the first cylinder ring (6311)；Annulus guide plate (6313) is fixed on the first cylinder ring
(6311) on inner cylinder face；Annulus guide plate (6313) is formed by connecting by inner guide plate and the outer guide plate head and the tail of two ends different-diameter；
Solve locking plug (632) and include horizontal pin (6321), support (6322) and roller (6323) composition；Support (6322) is vertically fixed
On pedestal (61) in the first cylinder ring (6311)；Support (6322) upper interior portion offers guide groove, sidewall center, left and right is opened
It is provided with circular hole；Horizontal pin (6321) middle part forms guide block；Horizontal pin (6321) is plugged in support (6322) by guide block
On；Pair of guide rods (6324) is formed between the sidewall of support (6322) left and right；The guide block at horizontal pin (6321) middle part is set in
On guide rod (6324)；A pair stage clip (6325) is respectively sleeved at pair of guide rods (6324)；Stage clip (6325) left end is resisted against guide block
On right side, right-hand member is resisted against on support (6322) right side wall；Horizontal pin (6321) left end is articulated with roller (6323), right-hand member
It is plugged in the spacing hole (6421) of rotary support (642)；Roller (6323) is resisted against on the medial wall of annulus guide plate (6313)；
Rotating driving device (62) includes the 4th gear (621) and the 5th gear (622)；The wheel teeth portion (6211) of the 4th gear (621)
Only one section；4th gear (621) can engage with the first gear (643)；5th gear (622) is nibbled with the second gear (6312)
Close.
A kind of being provided with the most according to claim 1 rotates the pcb board transfer robot performing end, it is characterised in that: institute
State housing (52), position that mechanical hand (50) includes the linking arm (51) being articulated on forearm (40), is fixed on linking arm (51)
In housing (52) spill spin block (53) outward, described drive mechanism (60) is fixed in housing (52) by pedestal (61), described rotation
Switch block (53) is fixed on location bar (641)；The pair of sucker is fixed on spill spin block (53).
A kind of being provided with the most according to claim 1 rotates the pcb board transfer robot performing end, it is characterised in that: institute
State rotating driving device (62) and also include rotating driveshaft (624) and the first motor (623)；First motor (623) is vertically fixed
On pedestal (61)；The 4th gear (621) and the 5th gear it is fixed with the most from top to down on first motor (623) output shaft
(622)。
A kind of being provided with the most according to claim 1 rotates the pcb board transfer robot performing end, it is characterised in that: institute
Stating and be fixed with the second motor (31) in large arm (30), the output shaft of the second motor (31) couples with forearm (40)；Described forearm
(40) being fixed with the 3rd motor (41) on, the output shaft of the 3rd motor (41) couples with mechanical hand (50)；Mechanical hand (50) around
The rotation centerline that forearm (40) rotates is perpendicular to the rotation centerline of rotary support (642) in rotary components (64).
A kind of being provided with the most according to claim 1 rotates the pcb board transfer robot performing end, it is characterised in that: circle
Rounding off between inner guide plate and the outer guide plate of ring guide plate (6313).
A kind of being provided with the most according to claim 1 rotates the pcb board transfer robot performing end, it is characterised in that:
Lower plate on a pair is formed on frame (6322) upper left-hand wall；Annulus guide plate (6313) is arranged between lower plate.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201620764494.5U CN205835390U (en) | 2016-07-18 | 2016-07-18 | A kind of being provided with rotates the pcb board transfer robot performing end |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201620764494.5U CN205835390U (en) | 2016-07-18 | 2016-07-18 | A kind of being provided with rotates the pcb board transfer robot performing end |
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| Publication Number | Publication Date |
|---|---|
| CN205835390U true CN205835390U (en) | 2016-12-28 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201620764494.5U Active CN205835390U (en) | 2016-07-18 | 2016-07-18 | A kind of being provided with rotates the pcb board transfer robot performing end |
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| CN (1) | CN205835390U (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106113073A (en) * | 2016-07-18 | 2016-11-16 | 佛山市联智新创科技有限公司 | A kind of being provided with rotates the pcb board transfer robot performing end |
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2016
- 2016-07-18 CN CN201620764494.5U patent/CN205835390U/en active Active
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106113073A (en) * | 2016-07-18 | 2016-11-16 | 佛山市联智新创科技有限公司 | A kind of being provided with rotates the pcb board transfer robot performing end |
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Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant | ||
| CB03 | Change of inventor or designer information | ||
| CB03 | Change of inventor or designer information |
Inventor after: Zhou Rongbing Inventor before: Fu Shuzhen |
|
| TR01 | Transfer of patent right | ||
| TR01 | Transfer of patent right |
Effective date of registration: 20180321 Address after: 214000 lakes in Jiangsu province Wuxi City foreshore Hudai town 4-1 huijingyuan Patentee after: Wuxi Red Eagle Industrial Automation Co. Ltd. Address before: 528200 Guangdong Province Nanhai District of Foshan City, Guicheng Summer East is Wai Industrial Zone Foshan City Lianzhi Science & Technology Co Ltd Patentee before: FOSHAN LIANZHI XINCHUANG TECHNOLOGY CO., LTD. |