CN210504677U

CN210504677U - Carrying manipulator

Info

Publication number: CN210504677U
Application number: CN201921538061.8U
Authority: CN
Inventors: 温来德
Original assignee: Zhuhai Mecun Technology Co ltd
Current assignee: Zhuhai Mecun Technology Co ltd
Priority date: 2019-09-17
Filing date: 2019-09-17
Publication date: 2020-05-12
Anticipated expiration: 2029-09-17

Abstract

The utility model belongs to the technical field of the manipulator technique and specifically relates to a transport manipulator, support including two symmetry settings, two support top surface middle part is fixed with the support slat jointly, the support slat is connected with T type movable block through translation mechanism, T type movable block is connected with the rotation connecting rod through slewing mechanism, rotate connecting rod bottom fixedly connected with telescopic adjusting rod, and rotate the cover on the connecting rod and be equipped with rather than fixed connection's first gear, first gear one side is equipped with first servo motor, first servo motor output shaft fixedly connected with and first gear engagement's second gear, telescopic adjusting rod is connected with the sucking disc. The utility model discloses can realize the function of multiposition transport PCB board, do benefit to the mill and remove the PCB board and use.

Description

Carrying manipulator

Technical Field

The utility model relates to a manipulator technical field especially relates to a transport manipulator.

Background

The manipulator has all been adopted in the aspect of present many transport, so not only liberated the labour and also improved handling efficiency, has also adopted the transport manipulator when some PCB boards are carried, but the transport manipulator that uses now can only carry out the transport of horizontal direction, so just very big to the limitation of transport position, is unfavorable for the mill to carry the use of PCB board.

SUMMERY OF THE UTILITY MODEL

The utility model aims at solving the shortcoming that has the limitation of carrying the manipulator transport position among the prior art, and the transport manipulator who provides.

In order to achieve the above purpose, the utility model adopts the technical scheme that: the utility model provides a carrying manipulator, includes the support that two symmetries set up, two support top surface middle part is fixed with the support slat jointly, the support slat is connected with T type movable block through translation mechanism, T type movable block is connected with the rotation connecting rod through slewing mechanism, rotate connecting rod bottom fixedly connected with telescopic adjusting rod, and rotate the connecting rod on the cover be equipped with rather than fixed connection's first gear, first gear one side is equipped with a servo motor, a servo motor output shaft fixedly connected with and first gear engagement's second gear, telescopic adjusting rod is connected with the sucking disc.

Preferably, the telescopic adjusting rod comprises a first hollow rod, the top surface of the first hollow rod is fixed on the bottom surface of the rotating connecting rod, the middle part of the bottom surface of the first hollow rod is provided with a first strip bayonet, the inside cartridge of the first hollow rod is provided with a second hollow rod, the middle part of the bottom surface of the second hollow rod is provided with a second strip bayonet which is the same as the width of the first strip bayonet, the solid rod fixedly connected with the sucker is inserted in the second hollow rod, and the bottom end part of the second hollow rod and the bottom end part of the solid rod are both fixed with threaded columns which are clamped in the first strip bayonet and the second strip bayonet, and each threaded column is connected with a nut through equal threads.

Preferably, translation mechanism is including setting up the sliding opening on supporting the slat, sliding opening middle part level is equipped with and supports the slat and rotate the lead screw of being connected, sliding opening serves and is equipped with the second servo motor of fixing on the supporting strip top surface, fixedly connected with third gear on the second servo motor output shaft, the meshing of third gear has the fourth gear with lead screw fixed connection.

Preferably, the rotating mechanism comprises a connecting disc fixed at the bottom of the T-shaped moving block, the connecting disc is connected with a mounting plate through a steel column, the bottom surface of the mounting plate is fixedly connected with the first servo motor, the mounting plate is penetrated through by a rotating connecting rod, a circular baffle fixed with the top end of the rotating connecting rod is arranged above the mounting plate, and ten balls are arranged between the bottom surface of the circular baffle and the mounting plate along the circumferential direction of the circular baffle at equal intervals.

Preferably, the first gear and the second gear have the same tooth diameter, and the third gear and the fourth gear have the same tooth diameter.

Compared with the prior art, the utility model discloses following beneficial effect has: the utility model discloses a sucking disc snatchs the PCB board, just reverses through the first servo motor of control and can realize the horizontal migration of PCB board, and when control second servo motor rotated, alright make the sucking disc turn left right both sides transport PCB board, so can realize the function of multiposition transport goods, do benefit to the transport PCB board of mill and use.

Drawings

Fig. 1 is a schematic structural view of a overlooking angle of a carrying manipulator of the present invention;

fig. 2 is a schematic structural view of a side view angle of a handling manipulator of the present invention;

FIG. 3 is an enlarged view taken at A in FIG. 2;

fig. 4 is a schematic structural view of a telescopic adjusting rod in a carrying manipulator of the present invention.

In the figure: the device comprises a support 1, a support slat 2, a T-shaped moving block 3, a rotating connecting rod 4, a telescopic adjusting rod 5, a first hollow rod 501, a first long bayonet 502, a second hollow rod 503, a second long bayonet 504, a solid rod 505, a threaded column 506, a nut 507, a first gear 6, a first servo motor 7, a second gear 8, a sucker 9, a sliding opening 10, a screw rod 11, a second servo motor 12, a third gear 13, a fourth gear 14, a connecting disc 15, a mounting plate 16, a circular baffle 17 and balls 18.

Detailed Description

The following description is presented to disclose the invention so as to enable any person skilled in the art to practice the invention. The preferred embodiments in the following description are given by way of example only, and other obvious variations will occur to those skilled in the art.

As shown in fig. 1-4, a carrying manipulator comprises two symmetrically arranged supports 1, a supporting strip plate 2 is fixed at the middle part of the top surface of the two supports 1, the supporting strip plate 2 is connected with a T-shaped moving block 3 through a translation mechanism, the T-shaped moving block 3 is connected with a rotating connecting rod 4 through a rotating mechanism, a telescopic adjusting rod 5 is fixedly connected at the bottom of the rotating connecting rod 4, a first gear 6 fixedly connected with the rotating connecting rod 4 is sleeved on the rotating connecting rod 4, a first servo motor 7 is arranged at one side of the first gear 6, an output shaft of the first servo motor 7 is fixedly connected with a second gear 8 meshed with the first gear 6, the gear diameters of the first gear 6 and the second gear 8 are the same, the telescopic adjusting rod 5 is connected with a suction cup 9, when the carrying manipulator is in operation, the PCB can be clamped through the suction cup 9 on the carrying manipulator, when horizontal, can make sucking disc 9 carry out the reciprocating motion of horizontal direction, realize horizontal transport, when needs move about, inject T type movable block 3 in the assigned position, through the rotation range of controller control first servo motor 7, can drive through the transmission of first gear 6 and second gear 8 and rotate connecting rod 4 and carry out the rotation of certain range to can make sucking disc 9 carry out the removal of position about to the PCB board.

The telescopic adjusting rod 5 comprises a first hollow rod 501, the top surface of the first hollow rod 501 is fixed on the bottom surface of the rotating connecting rod 4, a first long bayonet 502 is arranged in the middle of the bottom surface of the first hollow rod 501, a second hollow rod 503 is inserted in the first hollow rod 501, a second long bayonet 504 with the same width as the first long bayonet 502 is arranged in the middle of the bottom surface of the second hollow rod 503, a solid rod 505 fixedly connected with the suction cup 9 is inserted in the second hollow rod 503, threaded columns 506 clamped in the first long bayonet 502 and the second long bayonet 504 are fixed at the bottom surface end of the second hollow rod 503 and the bottom surface end of the solid rod 505, a nut 507 is connected with each threaded column 506 in a threaded manner, the length of the telescopic adjusting rod 5 can be adjusted, the position of moving iron products left and right can be changed, when the length of the telescopic adjusting rod 5 is adjusted, the nuts 507 on the two threaded columns 506 are firstly screwed down, then the extension lengths of the second hollow rod 503 and the solid rod 505 are, and finally, the nut 507 on the threaded column 506 is screwed.

The translation mechanism comprises a sliding opening 10 arranged on a supporting strip plate 2, a screw rod 11 which is rotatably connected with the supporting strip plate 2 is horizontally arranged in the middle of the sliding opening 10, one end of the sliding opening 10 is provided with a second servo motor 12 fixed on the top surface of the supporting strip plate 2, an output shaft of the second servo motor 12 is fixedly connected with a third gear 13, the third gear 13 is meshed with a fourth gear 14 fixedly connected with the screw rod 11, the tooth diameters of the third gear 13 and the fourth gear 14 are the same, when the PCB is moved left and right, regular forward and reverse rotation of the second servo motor 12 is controlled, so that the screw rod 11 can perform regular forward and reverse rotation, and then a T-shaped moving block 3 in threaded connection with the screw rod 11 can perform regular reciprocating motion to realize horizontal movement.

Slewing mechanism is including fixing the connection disc 15 in T type movable block 3 bottom, connection disc 15 has mounting panel 16 through steel column connection, mounting panel 16 bottom surface and first servo motor 7 fixed connection, and mounting panel 16 is run through by slewing connection pole 4, mounting panel 16 top is equipped with the circular baffle 17 fixed with 4 tops of slewing connection pole, be equipped with ten balls 18 along circular baffle 17 circumference equidistance range between circular baffle 17 bottom surface and the mounting panel 16, can realize slewing connection pole 4 through setting up slewing mechanism and can realize rotating under second servo motor 12 drives, realize moving about the PCB board, ball 18 in the slewing mechanism can play antifriction's effect.

The foregoing shows and describes the general principles, essential features, and advantages of the invention. It will be understood by those skilled in the art that the present invention is not limited to the above embodiments, and that the principles of the present invention may be applied to any other embodiment without departing from the spirit and scope of the present invention. The scope of the invention is defined by the appended claims and equivalents thereof.

Claims

1. The utility model provides a carrying manipulator, includes support (1) that two symmetries set up, its characterized in that, two support (1) top surface middle part is fixed with support slat (2) jointly, support slat (2) are connected with T type movable block (3) through translation mechanism, T type movable block (3) are connected with through slewing mechanism and rotate connecting rod (4), rotate connecting rod (4) bottom fixedly connected with and stretch out and draw back regulation pole (5), and rotate connecting rod (4) and go up the cover and be equipped with first gear (6) rather than fixed connection, first gear (6) one side is equipped with first servo motor (7), first servo motor (7) output shaft fixedly connected with and first gear (6) meshed second gear (8), flexible regulation pole (5) are connected with sucking disc (9).

2. Handling robot according to claim 1, characterized in that the telescopic adjustment bar (5) comprises a first hollow bar (501), the top surface of the first hollow rod (501) is fixed on the bottom surface of the rotating connecting rod (4), a first strip bayonet (502) is arranged in the middle of the bottom surface of the first hollow rod (501), a second hollow rod (503) is inserted in the first hollow rod (501), a second long bayonet (504) with the same width as the first long bayonet (502) is arranged in the middle of the bottom surface of the second hollow rod (503), a solid rod (505) fixedly connected with the sucker (9) is inserted in the second hollow rod (503), the bottom surface end part of the second hollow rod (503) and the bottom surface end part of the solid rod (505) are fixedly provided with threaded columns (506) clamped in the first strip bayonet (502) and the second strip bayonet (504), and each threaded column (506) is in threaded connection with a nut (507).

3. A handling manipulator according to claim 1, wherein the translation mechanism comprises a slide opening (10) arranged on the supporting strip plate (2), a screw (11) rotatably connected with the supporting strip plate (2) is horizontally arranged in the middle of the slide opening (10), a second servo motor (12) fixed on the top surface of the supporting strip plate (2) is arranged at one end of the slide opening (10), a third gear (13) is fixedly connected to the output shaft of the second servo motor (12), and a fourth gear (14) fixedly connected with the screw (11) is meshed with the third gear (13).

4. A conveying manipulator as claimed in claim 1, wherein the rotating mechanism comprises a connecting disc (15) fixed at the bottom of the T-shaped moving block (3), the connecting disc (15) is connected with a mounting plate (16) through a steel column, the bottom surface of the mounting plate (16) is fixedly connected with the first servo motor (7), the mounting plate (16) is penetrated by the rotating connecting rod (4), a circular baffle (17) fixed to the top end of the rotating connecting rod (4) is arranged above the mounting plate (16), and ten balls (18) are arranged between the bottom surface of the circular baffle (17) and the mounting plate (16) at equal intervals along the circumferential direction of the circular baffle (17).

5. A handling robot according to claim 1, characterised in that the first gear wheel (6) and the second gear wheel (8) have the same tooth diameter and the third gear wheel (13) and the fourth gear wheel (14) have the same tooth diameter.