Manipulator, transmission mechanism of manipulator, circuit board with manipulator and manufacturing method thereof

Abstract

The invention relates to a mechanical arm, a transmission mechanism used by the same, a circuit board collecting and releasing machine having the same and a method for manufacturing the same. The mechanical arm comprises a machine frame, a first shaft arm, a second shaft arm, a third shaft arm, a first power plant, a second power plant and a third power plant. One end of the second shaft arm is pivoted with the third shaft arm, the other end of the first shaft arm is pivoted with the first shaft arm, and the other end of the first shaft arm is pivoted with the machine frame through the transmission mechanism. The first power plant, the second power plant and the third power plant are all fixedly arranged on the machine frame, and the power of the first power plant, the second power plant and the third power plant is transmitted to the first shaft arm, the second shaft arm and the third shaft arm through the pivoting part between the first shaft arm and the machine frame.

Description

technical field [0001] The invention relates to a manipulator and its internal transmission mechanism, in particular to a manipulator used for a circuit board retracting machine. Background technique [0002] On the traditional circuit board retracting machine, the mechanism for picking up the printed circuit board all uses an endless belt to drive the pick-up arm and the pick-up device in a continuous motion. No matter whether the pick-up arm is located above the machine (such as China Taiwan Patent No. 379748 No., China Taiwan Patent No. 489818, etc.), or located on the side of the machine (such as China Taiwan Patent No. 538882, China Taiwan Patent No. M289100, China Taiwan Patent No. M290358, etc.), the design of its retrieving arm, It often needs to be adjusted in conjunction with other components on the circuit board retractable machine, such as the angle of the circuit board supporting frame. In the adjustment process, in addition to adjusting the geometric structure...

AI Technical Summary

Problems solved by technology

Whenever the specification of the circuit board changes, the position and angle of the matching circuit board carrier also need to be changed, and the swing range of the reclaiming arm and the related software or program for operating the reclaiming arm also need to be changed, and even the structure of the retrieving arm needs to be changed design, causing difficulty in using the

[0003] Furthermore, the traditional retrieving arm, no matter it is located on the top or side of the machine, has a limited rotation angle and can only reciprocate between two points in an arc or a straight line, so the function is also limited by the rotation angle. Restricted, 360-degree plane movement is not possible, so the function is also greatly reduced

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