CN207986157U - A movable platform device - Google Patents

Abstract

The utility model provides a movable platform device, which comprises a platform support frame and a movable platform positioned above the platform support frame; the platform support frame comprises a first support frame, a second support frame, a first slide rail and a second slide rail; the moving platform comprises a horizontal supporting plate erected above the first sliding rail and the second sliding rail; the horizontal supporting plate is provided with a Y-axis track; the Y-axis track is movably connected with a rotating mechanism; and a Z-axis vertical frame is connected above the rotating mechanism, a Z-axis track is arranged on the Z-axis vertical frame, and a clamping and taking piece mounting bracket is movably connected with the Z-axis track. This platform device is simple structure not only, operates steadily, removes the precision height, has good compatibility moreover, installs SMT charging tray clamp additional on pressing from both sides get a installing support and gets after getting the device, and the usable free removal of this platform device, the function that goes up and down help SMT charging tray clamp to get the device and accomplish the charging tray transport work of multidimension degree to through the speed of calling that promotes the material, make the production efficiency of enterprise can improve.

Description

A movable platform device

technical field

The utility model relates to the field of automatic production, in particular to the storage technology of SMT materials, which is a movable platform device.

Background technique

SMT (Surface Mount Technology) is a relatively common technology and process in the electronic assembly industry. In the process of using this technology for product processing, enterprises need to use materials frequently. Therefore, whether the storage and transfer methods of materials are appropriate will affect the production efficiency of enterprises.

At present, enterprises mainly store or distribute SMT reels through the SMT reel storage warehouse. The storage warehouse has a high degree of automation, in which, the SMT tray clamping device in the storage warehouse needs to move the trays between multiple SMT tray storage racks. Due to the different positions, heights and angles of each storage rack, the The gripping device must have the function of free movement and lifting to complete the handling work. Therefore, there is an urgent need for a platform device with a load-carrying function that can move and lift freely to assist the SMT tray gripping device to complete multi-dimensional trays. Portage work.

Utility model content

The technical problem to be solved by the utility model is to provide a movable platform device for the deficiencies of the prior art, so as to solve the problem that the existing SMT material tray clamping device cannot move and lift freely, and cannot successfully complete the SMT material tray. Handling operations, resulting in low production efficiency of enterprises.

In order to achieve the above object, the utility model provides the following technical solutions:

This embodiment provides a movable platform device, including a platform support frame and a mobile platform located above the platform support frame;

The platform support frame includes a first support frame and a second support frame parallel to each other arranged side by side, and an X-axis track parallel to the ground; the X-axis track includes a first slide mounted on the first support frame rail, and a second slide rail installed on the second support frame; the first slide rail and the second slide rail are parallel to each other;

The mobile platform includes a horizontal support plate erected above the first slide rail and the second slide rail, and the horizontal support plate can move back and forth along the X-axis track;

A Y-axis track perpendicular to the X-axis track is installed above the horizontal support plate; a rotation mechanism is movably connected above the Y-axis track, and the rotation axis of the rotation mechanism is perpendicular to the ground;

A lifting mechanism is connected above the rotating mechanism; the lifting mechanism includes a Z-axis stand, and the Z-axis stand is provided with a Z-axis track perpendicular to the ground, and the Z-axis track is movably connected with a clamping piece mounting bracket.

Optionally, the side of the horizontal support plate close to the first support frame is connected with an X-axis driving member, and the X-axis driving member is wound with an X-axis synchronous belt, and the two ends of the X-axis synchronous belt are respectively fixed connected to opposite sides of the first support frame.

Optionally, a Y-axis driver is installed on the side of the horizontal support plate close to the second support frame, and the Y-axis driver is connected with a Y-axis movable screw parallel to the Y-axis track, and the Y-axis The movable screw rod sleeve is provided with a Y-axis follower nut, and the Y-axis follower nut is fixedly connected to the bottom of the rotating mechanism.

Optionally, the lifting mechanism also includes a Z-axis driving member arranged at the lower end of the Z-axis stand, and a roller arranged at the upper end of the Z-axis stand; tension between the Z-axis driving member and the roller There is a Z-axis synchronous belt, and the Z-axis synchronous belt is connected with a bracket connecting piece, and the bracket connecting piece is fixedly connected above the clamping piece mounting bracket.

Optionally, the mobile platform further includes a carrier feed mechanism arranged between the first support frame and the second support frame, and the carrier feed mechanism is connected below the horizontal support plate;

The carrier feed mechanism includes an X-axis feed track fixedly connected to the horizontal support plate, and a grabbing arm that is movably connected to the X-axis feed track; the X-axis feed track is parallel to the X-axis track;

The grabbing boom includes a first boom and a second boom that are parallel to each other and perpendicular to the ground; the first boom and the second boom are respectively equipped with two symmetrically arranged grabbing cylinders, and the stretching direction of the grabbing cylinders parallel to the ground;

The side of the second cantilever close to the second support frame is fixedly connected with a feed mechanism drive assembly; the feed mechanism drive assembly includes a feed drive, and an X-axis that is connected to the feed drive movable nut;

The X-axis follower nut is movably connected to an X-axis stationary screw rod, and both ends of the X-axis static screw rod are fixedly connected to the horizontal support plate.

Optionally, the X-axis driver is a servo motor capable of absolute value encoding.

Optionally, the Y-axis driving member is a servo motor capable of absolute encoding.

Optionally, the Z-axis driving member is a servo motor capable of absolute encoding.

Optionally, the side of the second cantilever close to the second support frame is connected with a grabbing cantilever positioning sensing piece, and a grabbing cantilever matching the grabbing cantilever positioning sensing piece is connected below the horizontal support plate Positioning sensor.

Optionally, a carrier sensor is connected below the carrier feeding mechanism.

Compared with the prior art, the utility model embodiment has the following beneficial effects:

This platform device is not only simple in structure, stable in operation, high in moving precision, but also has good compatibility. After installing the SMT material tray clamping device on the clamping part mounting bracket, the platform device can use the functions of free movement and lifting. To assist the SMT tray clamping device to complete the multi-dimensional tray handling work, so as to improve the production efficiency of the enterprise by improving the material transfer rate.

Description of drawings

In order to more clearly illustrate the technical solutions in the embodiments of the present invention or the prior art, the following will briefly introduce the accompanying drawings that need to be used in the description of the embodiments or the prior art. Obviously, the accompanying drawings in the following description These are only some embodiments of the present utility model, and those skilled in the art can also obtain other drawings according to these drawings without any creative effort.

Fig. 1 is a structural schematic diagram of a movable platform device;

Fig. 2 is the structural representation of another kind of movable platform device;

Fig. 3 is a working diagram of a movable platform device.

Illustration: 401, first support frame; 402, second support frame; 410, X-axis track; 411, first slide rail; 412, second slide rail; 413, X-axis driving member; 420, Y-axis track ;421, Y-axis driving part; 422, Y-axis movable screw rod; 423, Y-axis follower nut; 430, Z-axis stand; 431, Z-axis track; 434, roller; 435, Z-axis timing belt; 436, bracket connector; 440, horizontal support plate; 451, first cantilever; 452, second cantilever; 453, grab cylinder; 454, feed mechanism drive assembly ;4541, feed driver; 4542, X-axis follower nut; 4543, X-axis static screw; 5, rotating mechanism; 1, SMT tray; 2, tray carrier; 3, tray storage rack; 4 , Platform device; 6, SMT tray clamping device.

Detailed ways

In order to make the purpose, features and advantages of the utility model more obvious and easy to understand, the technical solutions in the utility model embodiment will be clearly and completely described below in conjunction with the accompanying drawings in the utility model embodiment, Apparently, the embodiments described below are only some of the embodiments of the present invention, but not all of them. Based on the embodiments of the present utility model, all other embodiments obtained by persons of ordinary skill in the art without making creative efforts belong to the scope of protection of the present utility model.

In the description of the present invention, it is to be understood that when a component is said to be "connected" to another component, it may be directly connected to the other component or there may be an intervening component at the same time. When a component is said to be "set on" another component, it can be set directly on another component or there may be a centered component at the same time.

The technical scheme of the utility model will be further described below in conjunction with the accompanying drawings and through specific embodiments.

The movable platform device mentioned in the following embodiments is a device in the entire automated SMT tray storage equipment, that is, the platform device needs a series of related equipment to cooperate with each other in order to complete the storage of SMT trays. Store work.

Embodiment one:

Please refer to FIG. 1 , which is a schematic structural diagram of a movable platform device, which includes: a platform support frame and a mobile platform located above the platform support frame.

The platform support frame includes a first support frame 401 and a second support frame 402 arranged side by side parallel to each other, and an X-axis track 410 parallel to the ground; the X-axis track 410 includes a first slide rail installed on the first support frame 401 411, and the second slide rail 412 installed on the second support frame 402.

Wherein, the first sliding rail 411 and the second sliding rail 412 are parallel to each other. A transport channel is provided between the first support frame 401 and the second support frame 402, and the carrier transport trolley (automatic transport vehicle) can shuttle back and forth in the channel.

The mobile platform includes a horizontal support plate 440 erected above the first slide rail 411 and the second slide rail 412 , and the horizontal support plate 440 can move back and forth along the X-axis track 410 .

Wherein, the side of the horizontal support plate 440 close to the first support frame 401 is connected with an X-axis driving member 413, and the X-axis driving member 413 is wound with an X-axis timing belt, and the two ends of the X-axis timing belt are respectively fixedly connected to the first support frame Opposite sides of the 401.

Specifically, the X-axis driving part 413 is a servo motor capable of absolute value encoding, and the X-axis driving part 413 can drive the horizontal support plate 440 to move back and forth on the X-axis track 410; according to actual needs, the X-axis driving part can accurately control The displacement distance of the horizontal support plate 440 .

A Y-axis track 420 perpendicular to the X-axis track 410 is installed above the horizontal support plate 440; a rotation mechanism 5 is movably connected above the Y-axis track 420, and the rotation axis of the rotation mechanism 5 is perpendicular to the ground. The rotating mechanism 5 can perform a spin motion parallel to the ground around the axis of rotation of the mechanism itself.

Wherein, the side of the horizontal support plate 440 close to the second support frame 402 is equipped with a Y-axis driving member 421, and the Y-axis driving member 421 is connected with a Y-axis movable screw rod 422 parallel to the Y-axis track 420, and the Y-axis movable screw rod 422 A Y-axis follower nut 423 is sheathed, and the Y-axis follower nut 423 is fixedly connected to the bottom of the rotation mechanism 5 .

Specifically, the Y-axis driver 421 is a servo motor capable of absolute value encoding, and the Y-axis driver 421 can drive the Y-axis movable screw to rotate, so that the rotating mechanism 5 can move back and forth on the Y-axis track 420 through the principle of screw drive. Movement; according to actual needs, the Y-axis driving part can precisely control the displacement distance of the rotating mechanism 5 .

The top of the rotating mechanism 5 is connected with a lifting mechanism; the lifting mechanism includes a Z-axis stand 430, and the Z-axis stand 430 is provided with a Z-axis track 431 perpendicular to the ground, and the Z-axis track 431 is movably connected with a gripper mounting bracket 432.

Wherein, the lifting mechanism also includes a Z-axis driver 433 arranged at the lower end of the Z-axis stand 430, and a roller 434 arranged at the upper end of the Z-axis stand 430; Z-axis synchronization is tensioned between the Z-axis driver 433 and the roller 434. The belt 435 and the Z-axis synchronous belt 435 are connected with a bracket connecting piece 436 , and the bracket connecting piece 436 is fixedly connected above the mounting bracket 432 of the clamping piece.

Specifically, the Z-axis driving part 433 is a servo motor capable of absolute value encoding, and the Z-axis driving part 433 can drive the Z-axis synchronous belt 435 to operate, thereby driving the clamping part mounting bracket 432 to move up and down along the Z-axis track 431; according to the actual According to the requirement, the Z-axis driving part can precisely control the displacement distance of the clamping part mounting bracket 432 .

In actual operation, the SMT material tray clamping device can be installed on the mounting bracket 432 of the clamping part, and the clamping device can cooperate with the platform device to successfully complete the handling operation of the SMT material tray.

This platform device is not only simple in structure, stable in operation, high in moving precision, but also has good compatibility. After installing the SMT material tray clamping device on the clamping part mounting bracket 432, the platform device can use the functions of free movement and lifting , to assist the SMT tray clamping device to complete the multi-dimensional tray handling work, so that the production efficiency of the enterprise can be improved by increasing the material transfer rate.

Embodiment two:

Please refer to FIG. 2 , which is a schematic structural diagram of another movable platform device.

In this embodiment, on the basis of the foregoing embodiments, some components are added, including:

Further, the mobile platform further includes a carrier feeding mechanism arranged between the first supporting frame 401 and the second supporting frame 402 , and the carrier feeding mechanism is connected under the horizontal supporting plate 440 .

The carrier feeding mechanism includes an X-axis feed track fixedly connected to the horizontal support plate 440 , and a grabbing arm movably connected to the X-axis feed track; the X-axis feed track is parallel to the X-axis track 410 .

The grabbing boom includes a first boom 451 and a second boom 452 that are parallel to each other and perpendicular to the ground. Among them, the carrier transport trolley can pass between the two cantilevers.

The first cantilever 451 and the second cantilever 452 are respectively equipped with two symmetrically arranged grasping cylinders 453, and the stretching direction of the grasping cylinders 453 is parallel to the ground.

Wherein, the grabbing cylinder 453 is driven by air pressure, and when the carrier feeding mechanism is in the initial position, the push rod of the grabbing cylinder 453 shrinks in the cylinder.

Specifically, when the SMT tray carrier was transported between the two booms, the grabbing cylinders 453 of the first boom 451 and the second boom 452 were extended simultaneously, and the carrier was clamped so that the SMT tray The gripping device completes the handling work.

The side of the second cantilever 452 close to the second support frame 402 is fixedly connected with a feed mechanism drive assembly 454; the feed mechanism drive assembly 454 includes a feed drive 4541, and an X-axis follower nut connected to the feed drive 4541 4542.

The X-axis follower nut 4542 is movably connected to the X-axis stationary screw rod 4543 , and the two ends of the X-axis static screw rod 4543 are fixedly connected to the horizontal support plate 440 . Wherein, the X-axis stationary screw rod 4543 is parallel to the X-axis track 410 .

Specifically, the feed drive 4541 is a servo motor. Under the action of the feed drive 4541, the X-axis follower nut 4542 can move back and forth on the X-axis stationary screw 4543, thereby driving the entire grab cantilever to feed on the X-axis. reciprocating motion on the track.

In this embodiment, the position of the carrier feeding mechanism with a moving function can be adjusted accordingly according to the actual situation, so as to better cooperate with the gripping device for carrying work.

Embodiment three:

On the basis of the foregoing embodiments, this embodiment adds some components, including:

Further, the platform device is also electrically connected with a control system.

Further, the side of the second cantilever 452 close to the second support frame 402 is connected with a grasping cantilever positioning sensor, and the bottom of the horizontal support plate 440 is connected with a grasping cantilever positioning sensor that matches the grasping cantilever positioning sensor.

Wherein, the grasping cantilever positioning sensor is electrically connected with the control system. The control system can judge the real-time position of the grabbing arm through the positional relationship between the grabbing arm positioning sensing sheet and the grabbing arm positioning sensor, so as to implement more precise control on the grabbing arm.

Further, a carrier sensor is connected below the carrier feeding mechanism, and the carrier sensor is used to sense the position of the SMT tray carrier.

Specifically, the control system can judge whether each component is in a normal working state according to the feedback of various sensors and induction sheets, which is helpful for the operator to maintain the device.

Please refer to FIG. 3 , which is a working diagram of a movable platform device.

The platform device 4 cooperates with related equipment to store the SMT tray 1, and the specific working method is as follows:

The first step: The AGV trolley equipped with the tray carrier 2 enters from the warehouse entrance and stays at the predetermined position, and then the moving platform moves to the top of the tray carrier 2 along the X-axis direction, and the carrier feeding mechanism The tray carrier 2 performs clamping operation; then the AGV trolley separates from the tray carrier 2 and drives out of the warehouse.

Step 2: The SMT tray clamping device 6 on the mobile platform descends from the origin position to the pick-up position along the Z-axis track, and then the pneumatic finger of the SMT tray clamping device 6 picks one from the tray carrier 2 SMT tray 1, and then the moving platform raises the SMT tray clamping device 6 to the visual inspection position, and then the visual inspection component detects the SMT tray 1 and records the information of the SMT tray 1.

Step 3: The SMT tray clamping device 6 clamps the SMT tray 1 and rises to an appropriate height through the Z-axis track, then the SMT tray clamping device 6 rotates 90 degrees to the horizontal position, and then the Y-axis driving part drives the SMT material The tray clamping device 6 moves along the Y-axis track to the storage position of the tray storage rack 3, and then the pneumatic fingers of the SMT tray clamping device 6 are released to store the SMT tray 1 into the storage position.

Step 4: The Y-axis driver drives the SMT tray clamping device 6 to move along the Y-axis track to the Y-axis origin, and then the SMT tray clamping device 6 reversely rotates 90 degrees to the initial position, and then the Z-axis feed mechanism Make the SMT tray clamping device 6 move to the height of the origin position.

In this embodiment, the platform device 4 cooperates with related devices to store and distribute the SMT tray 1. In this process, the whole set of equipment has a high degree of automation and can be connected with the AGV handling system to realize unmanned operation. ;The storage method of SMT tray 1 is changed to horizontal storage, which makes full use of space resources and greatly increases the storage quantity per unit volume; and the clamping mechanism for grabbing the tray has good structural stability, increases the function of material identification and bad discharge, and can Effectively eliminate the potential safety hazards caused by personnel entering the warehouse.

As mentioned above, the above embodiments are only used to illustrate the technical solutions of the present utility model, and are not intended to limit it; although the utility model has been described in detail with reference to the foregoing embodiments, those of ordinary skill in the art should understand that: it still can Modifications are made to the technical solutions described in the foregoing embodiments, or equivalent replacements are made to some of the technical features; and these modifications or replacements do not make the essence of the corresponding technical solutions deviate from the spirit and scope of the technical solutions of the various embodiments of the present utility model .

Claims (10)

1. a kind of moveable stage apparatus, including platform frame and the movement above the platform frame are put down Platform, it is characterised in that：

The platform frame includes the first supporting rack being mutually parallel and the second supporting rack arranged side by side, and is parallel to ground The X-axis track in face；The X-axis track includes the first sliding rail being mounted on first supporting rack, and mounted on described the The second sliding rail on two supporting racks；First sliding rail and the second sliding rail are mutually parallel；

The mobile platform includes the horizontal supporting plate being erected above first sliding rail and the second sliding rail, described horizontally-supported Plate can move back and forth along the X-axis track；

Y-axis track perpendicular to the X-axis track is installed above the horizontal supporting plate；It lives the top of the Y-axis track Dynamic to be connected with rotating mechanism, the rotary shaft of the rotating mechanism is perpendicular to ground；

It is connected with elevating mechanism above the rotating mechanism；The elevating mechanism includes Z axis stand, and the Z axis stand is equipped with Z axis track perpendicular to ground, the Z axis track are connected with pickup folder mounting bracket.

2. stage apparatus according to claim 1, which is characterized in that the horizontal supporting plate is close to first supporting rack Side be connected with X-axis drive, the X-axis drive is wound with X-axis synchronous belt, and the both ends of the X-axis synchronous belt are solid respectively Surely it is connected to the opposite sides of first supporting rack.

3. stage apparatus according to claim 1, which is characterized in that the horizontal supporting plate is close to second supporting rack Side Y-axis actuator is installed, the Y-axis actuator connection is parallel to the Y-axis activity lead screw of Y-axis track, and the Y-axis is lived Dynamic screw rod bushing is equipped with Y-axis following nut, and the Y-axis following nut is fixedly connected on the lower section of the rotating mechanism.

4. stage apparatus according to claim 1, which is characterized in that the elevating mechanism further includes being set to the Z axis to stand The Z axis actuator of frame lower end, and the idler wheel set on Z axis stand upper end；Being tensioned between the Z axis actuator and idler wheel has Z axis synchronous belt, the Z axis synchronous belt are connected with stand connection, and the stand connection is fixedly connected on the pickup folder peace Fill the top of holder.

5. stage apparatus according to claim 1, which is characterized in that the mobile platform further includes being set to described first Carrier feed mechanism between support and the second supporting rack, the carrier feed mechanism are connected under the horizontal supporting plate Side；

The carrier feed mechanism includes being fixedly connected on the X-axis feeding track of horizontal supporting plate, and feed rail with the X-axis The crawl cantilever of road flexible connection；The X-axis feeds parallel track in the X-axis track；

The crawl cantilever includes being mutually parallel and perpendicular to first cantilever and the second cantilever on ground；First cantilever and Two cantilevers are separately installed with two symmetrically arranged crawl cylinders, and the telescopic direction of the crawl cylinder is parallel to ground；

Second cantilever is fixedly connected with feed mechanism drive component close to the side of second supporting rack；The feeding machine Structure drive component includes Feed servo system part, and is connected to the X-axis following nut of the Feed servo system part；

The X-axis following nut is connected with the static lead screw of X-axis, and the both ends of the static lead screw of X-axis are fixedly connected on described Horizontal supporting plate.

6. stage apparatus according to claim 2, which is characterized in that the X-axis drive be can absolute encoder watch Take motor.

7. stage apparatus according to claim 3, which is characterized in that the Y-axis actuator be can absolute encoder watch Take motor.

8. stage apparatus according to claim 4, which is characterized in that the Z axis actuator be can absolute encoder watch Take motor.

9. stage apparatus according to claim 5, which is characterized in that second cantilever is close to the side of the second supporting rack It is connected with crawl cantilever location sensing chip, is connected with and the crawl cantilever location sensing chip phase below the horizontal supporting plate Matched crawl cantilever positioning inductor.

10. stage apparatus according to claim 5, which is characterized in that be connected with load below the carrier feed mechanism Has inductor.