CN205928656U - Can accurately get PCB board transfer robot of blowing - Google Patents
Can accurately get PCB board transfer robot of blowing Download PDFInfo
- Publication number
- CN205928656U CN205928656U CN201620761859.9U CN201620761859U CN205928656U CN 205928656 U CN205928656 U CN 205928656U CN 201620761859 U CN201620761859 U CN 201620761859U CN 205928656 U CN205928656 U CN 205928656U
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- gear
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- rotation
- latch
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Abstract
The utility model discloses a can accurately get PCB board transfer robot of blowing, changeing forearm on big arm of big arm on the waist changes the part of part, pin joint, pin joint, installing the manipulator on the forearm including the base body, the waist of pin joint on the base body, the waist changes the part and rotates around the base body, and big arm changes the part around the waist and rotates, and the forearm rotates around big arm. The manipulator includes a pair of sucking disc group, a pair of sucking disc of the drive rotatory actuating mechanism of group, actuating mechanism includes base, rotating assembly, rotation driving device and latching assembly. The utility model discloses a but the drive assembly unblock latching assembly who makes annular circular motion is to rotating assembly's restraint and drive rotatory 180 degrees of rotating assembly, and a pair of sucking disc is along with rotatory 180 degrees of rotating assembly. Through the utility model discloses an actuating mechanism can make two sucking discs on the manipulator accurately rotate 180 degrees to the blowing is accurately got to the manipulator.
Description
Technical field
The utility model is related to robotics and in particular to a kind of pcb board transfer robot.
Background technology
In prior art, cutting of pcb board generally adopts special pcb board guillotine.However, operating personnel pass through by hand
Pcb board to be cut is sent into pcb board guillotine by mode, then the pcb board having cut is exported pcb board guillotine, not only works
Amount is big, and, pcb board cuts efficiency and is also difficult to be improved.
The utility model of Application No. CN201520484088.9 discloses and a kind of picks and places material by the manipulator of robot
Pcb board guillotine, wherein, the manipulator of robot sets two sucker groups, sucker group draws PCB by vacuum suction mode
Plate and waste material.Described two sucker groups can carry out 180 degree rotation, to facilitate two sucker groups to pick and place pcb board or waste material to corresponding
Station.
Utility model content
The utility model is directed to above-mentioned technical problem, provides a kind of two suckers installed on a robotic arm can revolve exactly
The pcb board transfer robot being provided with rotating machine arm of turnback.
For reaching above-mentioned purpose, a kind of pcb board transfer robot that can accurately pick and place material of the present utility model, 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, it is arranged on
Manipulator on forearm；Described manipulator includes a pair of sucker group, the drive mechanism of a pair of sucker group rotation of driving；Described driving
Mechanism includes pedestal, rotating driving device, latch components and rotary components；Rotary components include a pair of locating rod, rotary support
And first gear；Rotary support upper end be fixed with a pair of locating rod, be fixedly arranged in the middle of first gear, lower end is articulated on pedestal；
First gear offers a spacing hole；Latch components include unlocking feature and a pair of rotating latch；Unlocking feature includes first
Cylinder ring, second gear and the first annulus rack segments；Second gear is fixed on the external cylindrical surface of the first cylinder ring；First annulus
Rack segments are fixed on the inner cylinder face of the first cylinder ring；First cylinder ring lower end is articulated on pedestal；Rotating latch includes propping up
Frame, central rotation part and screw thread latch；Support is fixed on the pedestal within the first cylinder ring；Central rotation lower pivot
It is connected on support；Central rotation part includes the second cylinder ring and the 3rd gear；3rd gear is fixed on the upper of the second cylinder ring
On portion's external cylindrical surface；Screw thread is formed inside second cylinder ring；Screw thread is formed in the middle part of screw thread latch；It is spirally connected in the middle part of screw thread latch
In the second cylinder ring of central rotation part；A pair of one of them upper end insertion spacing hole of rotating latch；A pair of rotating latch
Central shaft substantially symmetrical about its central axis with respect to rotary support；First annulus rack segments can be engaged with the 3rd gear；Rotating driving device
Including the 4th gear and the 5th gear；The gear teeth of the 4th gear only have one section；4th gear can be engaged with first gear；5th tooth
Wheel is engaged with second gear.
Preferred as technique scheme, linking arm that described manipulator includes being articulated on forearm, it is fixed on connection
Housing on arm, the spill spin block being located 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 rotation driving axle and the first motor；The
One motor is vertically fixed on pedestal；4th gear and the 5th gear are fixed with from top to down successively on the first motor output shaft.
Preferred as technique scheme, described large arm is fixed with the second motor, the output shaft of the second motor with little
Arm couples；3rd motor is fixed with described forearm, the output shaft of the 3rd motor is coupled with manipulator；Manipulator turns around forearm
The rotation centerline of dynamic rotation centerline rotary support in rotary components.
Preferred as technique scheme, the thread rotary orientation of the central rotation components interior of a pair of rotating latch is contrary.
The beneficial effects of the utility model are：The drive component making annular circumferential motion can unlock latch components to rotation
The constraint of assembly and drive rotary components rotation 180 degree, a pair of sucker rotates 180 degree with rotary components.New by this practicality
The drive mechanism of type can make two suckers on manipulator rotate 180 degree exactly, so that manipulator picks and places material exactly.
Brief description
Fig. 1 is structural representation of the present utility model；
Fig. 2 is the structural representation of manipulator 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 structural representation of rotating latch of the present utility model；
Fig. 6 is the side structure schematic view of drive mechanism of the present utility model；
Fig. 7 is the cross-sectional view of A-A in Fig. 6 of the present utility model；
In figure, 10, base body；20th, waist rotation member；30th, large arm；31st, the second motor；40th, forearm；41st, the 3rd motor；
50th, manipulator；51st, linking arm；52nd, housing；53rd, spill spin block；60th, drive mechanism；61st, pedestal；62nd, rotating driving device；
621st, the 4th gear；6211st, take turns teeth portion；622nd, the 5th gear；623rd, the first motor；624th, rotation driving axle；63rd, lock group
Part；631st, unlocking feature；6311st, the first cylinder ring；6312nd, second gear；6313rd, the first annulus rack segments；632nd, rotary insertion
Pin；6321st, support；6322nd, central rotation part；6323rd, screw thread latch；64th, rotary components；641st, locating rod；642nd, rotate
Bearing；643rd, first gear；6431st, spacing hole.
Specific embodiment
As shown in Fig. 1～Fig. 7, a kind of pcb board transfer robot that can accurately pick and place material, including base body 10, it is articulated in
Waist rotation member 20 on base body 10, the large arm 30 being articulated on waist rotation member 20, the forearm 40 being articulated in large arm 30, installation
Manipulator 50 on forearm 40；Described manipulator 50 includes a pair of sucker group, the drive mechanism of a pair of sucker group rotation of driving
60；Described drive mechanism 60 includes pedestal 61, rotating driving device 62, latch components 63 and rotary components 64；Rotary components 64
Including a pair of locating rod 641, rotary support 642 and first gear 643；Rotary support 642 upper end is fixed with a pair of locating rod
641st, it is fixedly arranged in the middle of first gear 643, lower end is articulated on pedestal 61；First gear 643 offers a spacing hole 6431；
Latch components 63 include unlocking feature 631 and a pair of rotating latch 632；Unlocking feature 631 includes the first cylinder ring 6311, second
Gear 6312 and the first annulus rack segments 6313；Second gear 6312 is fixed on the external cylindrical surface of the first cylinder ring 6311；The
One annulus rack segments 6313 are fixed on the inner cylinder face of the first cylinder ring 6311；First cylinder ring 6311 lower end is articulated in pedestal
On 61；Rotating latch 632 includes support 6321, central rotation part 6322 and screw thread latch 6323；Support 6321 is fixed on
On pedestal 61 within one cylinder ring 6311；Central rotation part 6322 lower end is articulated on support 6321；Central rotation part
6322 include the second cylinder ring and the 3rd gear；3rd gear is fixed on the top external cylindrical surface of the second cylinder ring；Second circle
Screw thread is formed inside the band of column；Screw thread is formed in the middle part of screw thread latch 6323；It is screwed onto central rotation in the middle part of screw thread latch 6323
In second cylinder ring of part 6322；A pair of one of them upper end insertion spacing hole 6431 of rotating latch 632；A pair of rotating latch
632 central shaft is substantially symmetrical about its central axis with respect to rotary support 642；First annulus rack segments 6313 can be engaged with the 3rd gear；Rotation
Rotary driving device 62 includes the 4th gear 621 and the 5th gear 622；The gear teeth of the 4th gear 621 only have one section；4th gear
621 can be engaged with first gear 643；5th gear 622 is engaged with second gear 6312.
As shown in Figure 1 and Figure 2, described manipulator 50 includes being articulated on forearm 40 linking arm 51, it is fixed on linking arm 51
On housing 52, be located at housing 52 outside spill spin block 53, described drive mechanism 60 is fixed in housing 52 by pedestal 61, described
Spill spin block 53 is fixed in locating rod 641；The pair of sucker is fixed on spill spin block 53.
As shown in Fig. 4, Fig. 6, Fig. 7, described rotating driving device 62 also includes rotation driving axle 624 and the first motor 623；
First motor 623 is vertically fixed on pedestal 61；4th gear is fixed with from top to down successively on the first motor 623 output shaft
621 and the 5th gear 622.As shown in figure 1, the second motor 31 is fixed with described large arm 30, the output shaft of the second motor 31 with
Forearm 40 couples；3rd motor 41 is fixed with described forearm 40, the output shaft of the 3rd motor 41 is coupled with manipulator 50；Machinery
The rotation centerline of rotation centerline rotary support 642 in rotary components 64 that hand 50 rotates around forearm 40.
The thread rotary orientation within central rotation part 6322 of a pair of rotating latch 632 is contrary.
Latch components 63 concrete operations are as follows：First Motor drive the 4th gear 621 and the 5th gear 622 rotate；5th
Gear 622 drives unlocking feature 631 to rotate by second gear 6312, and unlocking feature 631 passes through the first annulus rack segments 6313
The central rotation part 6322 that latch 632 is rotated rotates, central rotation part 6322 drive screw thread latch 6323 rotate to
The lower spacing hole 6431 departing from first gear 643, such first gear 643 unlocks, now the gear teeth on the 4th gear 621 and the
One gear engagement, is rotated locating rod 641 on bearing 642 and its rotary support 642 and rotates together with spill spin block 53, work as rotation
Block 53 rotation 180 degree when, the gear teeth on the 4th gear 621 are separated with first gear, simultaneously the first annulus rack segments with separately
The central rotation part 6322 of one rotating latch 632 engages, and screw thread latch 6323 rotation is inserted upwardly into first gear 643
In spacing hole 6431, such first gear 643 is defined, and such sucker just completes rotation 180 degree；Sucker is subsequently needed to revolve again
Turnback, only needs reverse start first motor.
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, all will change in specific embodiments and applications, and this specification content should not be understood
It is to restriction of the present utility model.
Claims (5)
1. a kind of pcb board transfer robot that can accurately pick and place material, including base body (10), the waist that is articulated on base body (10)
Rotation member (20), the large arm (30) being articulated on waist rotation member (20), the forearm (40) being articulated in large arm (30), be arranged on little
Manipulator (50) on arm (40)；
It is characterized in that：Described manipulator (50) includes a pair of sucker group, the drive mechanism (60) of a pair of sucker group rotation of driving；
Described drive mechanism (60) includes pedestal (61), rotating driving device (62), latch components (63) and rotary components (64)；Rotation
Assembly (64) a pair of locating rod (641) of inclusion, rotary support (642) and first gear (643)；Rotary support (642) upper end is solid
Surely have a pair of locating rod (641), be fixedly arranged in the middle of first gear (643), lower end is articulated on pedestal (61)；First gear
(643) offer a spacing hole (6431)；Latch components (63) include unlocking feature (631) and a pair of rotating latch (632)；
Unlocking feature (631) includes the first cylinder ring (6311), second gear (6312) and the first annulus rack segments (6313)；Second tooth
Wheel (6312) is fixed on the external cylindrical surface of the first cylinder ring (6311)；First annulus rack segments (6313) are fixed on the first cylinder
On the inner cylinder face of ring (6311)；First cylinder ring (6311) lower end is articulated on pedestal (61)；Rotating latch (632) includes propping up
Frame (6321), central rotation part (6322) and screw thread latch (6323)；Support (6321) is fixed on the first cylinder ring (6311)
On internal pedestal (61)；Central rotation part (6322) lower end is articulated on support (6321)；Central rotation part (6322)
Including the second cylinder ring and the 3rd gear；3rd gear is fixed on the top external cylindrical surface of the second cylinder ring；Second cylinder ring
Inside forms screw thread；Screw thread latch forms screw thread in the middle part of (6323)；Screw thread latch is screwed onto central rotation in the middle part of (6323)
In second cylinder ring of part (6322)；A pair of one of them upper end of rotating latch (632) insertion spacing hole (6431)；A pair
The central shaft of rotating latch (632) is substantially symmetrical about its central axis with respect to rotary support (642)；First annulus rack segments (6313) can be with
Three gear engagements；Rotating driving device (62) includes the 4th gear (621) and the 5th gear (622)；The wheel of the 4th gear (621)
Only one section of teeth portion (6211)；4th gear (621) can be engaged with first gear (643)；5th gear (622) and second gear
(6312) engage.
2. a kind of pcb board transfer robot that can accurately pick and place material according to claim 1 it is characterised in that：Described machine
Tool hand (50) includes the linking arm (51) being articulated on forearm (40), the housing (52) being fixed on linking arm (51), is located at shell
Body (52) spill spin block (53) outward, described drive mechanism (60) is fixed in housing (52) by pedestal (61), described spill spin block
(53) it is fixed in locating rod (641)；The pair of sucker is fixed on spill spin block (53).
3. a kind of pcb board transfer robot that can accurately pick and place material according to claim 1 it is characterised in that：Described rotation
Rotary driving device (62) also includes rotation driving axle (624) and the first motor (623)；First motor (623) is vertically fixed on base
On seat (61)；4th gear (621) and the 5th gear (622) are fixed with from top to down successively on the first motor (623) output shaft.
4. a kind of pcb board transfer robot that can accurately pick and place material according to claim 1 it is characterised in that：Described big
Second motor (31) is fixed with arm (30), the output shaft of the second motor (31) is coupled with forearm (40)；On described forearm (40)
It is fixed with the 3rd motor (41), the output shaft of the 3rd motor (41) is coupled with manipulator (50)；Manipulator (50) is around forearm
(40) rotation centerline of the rotation centerline rotating rotary support (642) in rotary components (64).
5. a kind of pcb board transfer robot that can accurately pick and place material according to claim 1 it is characterised in that：A pair of rotation
The thread rotary orientation turning central rotation part (6322) inside of latch (632) is contrary.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201620761859.9U CN205928656U (en) | 2016-07-18 | 2016-07-18 | Can accurately get PCB board transfer robot of blowing |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201620761859.9U CN205928656U (en) | 2016-07-18 | 2016-07-18 | Can accurately get PCB board transfer robot of blowing |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN205928656U true CN205928656U (en) | 2017-02-08 |
Family
ID=57925648
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201620761859.9U Expired - Fee Related CN205928656U (en) | 2016-07-18 | 2016-07-18 | Can accurately get PCB board transfer robot of blowing |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN205928656U (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105945936A (en) * | 2016-07-18 | 2016-09-21 | 佛山市联智新创科技有限公司 | PCB plate handling robot capable of taking and placing materials accurately |
-
2016
- 2016-07-18 CN CN201620761859.9U patent/CN205928656U/en not_active Expired - Fee Related
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105945936A (en) * | 2016-07-18 | 2016-09-21 | 佛山市联智新创科技有限公司 | PCB plate handling robot capable of taking and placing materials accurately |
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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 |
Inventor after: Lv Jianchao Inventor after: Feng Xuehui Inventor before: Fu Shuzhen |
|
| CB03 | Change of inventor or designer information | ||
| TR01 | Transfer of patent right |
Effective date of registration: 20170512 Address after: 511450, building B, building 4, old water pool Industrial Zone, Dalong street, Dalong Road, Guangdong, Guangzhou, Panyu District 101, China Patentee after: Guangzhou Chuang Chuang Electronic Equipment 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. |
|
| TR01 | Transfer of patent right | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20170208 Termination date: 20200718 |
|
| CF01 | Termination of patent right due to non-payment of annual fee |