Lifting mechanism and carrying equipment

Abstract

The utility model relates to the technical field of carrying equipment, in particular to a lifting mechanism and carrying equipment. The lifting mechanism comprises a base plate, a bearing structure and a horizontal taking and placing device. The bearing structure is arranged on the base plate in a lifting manner and is used for bearing a plurality of cutter heads; the horizontal taking and placing device comprises a taking and placing driving assembly and a taking and placing frame, the taking and placing driving assembly is arranged on the bearing structure, and the taking and placing frame is connected to the output end of the taking and placing driving assembly and used for enabling the multiple cutter heads to move in the direction close to or away from the base plate under driving of the taking and placing driving assembly. According to the lifting mechanism, the bearing structure ascends and descends, so that the cutter heads are aligned with the machining equipment in the height direction, then the taking and placing frame drives the cutter heads to move in the horizontal direction, and therefore the cutter heads are in butt joint with the machining equipment, the cutter heads are recycled or conveyed at the same time, and the conveying efficiency is also improved.

Description

Technical Field

[0001] The utility model relates to the technical field of handling equipment, in particular to a lifting mechanism and handling equipment. Background Art

[0002] With the development of technology, AGV is increasingly used in PCB processing equipment, that is, the automatic pick-up and placement of tool discs is realized by using AGV, thereby realizing the automatic pick-up and placement of tool discs in PCB processing equipment. The overall structure of the lifting mechanism in the AGV handling device in the prior art is relatively complex, and it occupies a large space. The larger the size of the AGV, the larger the channel required. In addition, the existing processing equipment usually requires a manipulator to transfer the discs one by one to the processing equipment, and the transportation efficiency is low.

[0003] Therefore, it is necessary to improve the lifting mechanism in AGV to change the current situation. Utility Model Content

[0004] The utility model provides a lifting mechanism and a handling device, which are used to solve the problems in the prior art that the lifting mechanism in an AGV handling device occupies a large space and the knife disc conveying efficiency is low.

[0005] The utility model provides a lifting mechanism, comprising:

[0006] substrate;

[0007] A bearing structure is liftably disposed on the base plate, and the bearing structure is used to bear a plurality of cutter discs;

[0008] The horizontal pick-and-place device comprises a pick-and-place drive assembly and a pick-and-place rack, wherein the pick-and-place drive assembly is arranged on the bearing structure, and the pick-and-place rack is connected to the output end of the pick-and-place drive assembly and is used to move the multiple knife discs towards or away from the substrate under the drive of the pick-and-place drive assembly.

[0009] According to an embodiment of the utility model, the lifting mechanism further comprises a lifting device, and the lifting device comprises a lifting drive assembly and a plurality of transmission assemblies, wherein the plurality of transmission assemblies are arranged parallel to each other and connected to the lifting drive assembly.

[0010] According to an embodiment of the present utility model, the lifting drive assembly is connected to the base plate and is at least partially disposed on a side of the base plate away from the lifting drive assembly.

[0011] According to one embodiment of the utility model, the lifting drive assembly includes a lifting drive member and a synchronous shaft, and the transmission assembly includes a synchronous belt assembly, the synchronous shaft is rotatably connected to the base plate, a plurality of synchronous belt assemblies are arranged parallel to each other and are respectively connected to the synchronous shaft in terms of power, and the lifting drive member is connected to the base plate and is at least partially arranged on a side of the base plate away from the synchronous belt assembly.

[0012] According to one embodiment of the utility model, the synchronous belt assembly includes a transmission synchronous belt, a synchronous wheel and a synchronous idler wheel, the synchronous wheel is connected to the synchronous shaft, the synchronous idler wheel is rotationally connected to the base plate, the transmission synchronous belt is respectively dynamically connected to the synchronous wheel and the synchronous idler wheel, and the transmission synchronous belt is connected to the bearing structure.

[0013] According to one embodiment of the utility model, the lifting drive component includes a lifting motor and a driving synchronous belt, the lifting motor is arranged on a side of the base plate away from the transmission assembly, and the driving synchronous belt is passed through the base plate and is respectively connected to the lifting motor and the synchronous shaft.

[0014] According to an embodiment of the utility model, the horizontal picking and placing device further comprises a picking and placing hook block, and the picking and placing hook block is connected to the picking and placing frame and is used for engaging with the cutter disc.

[0015] According to one embodiment of the utility model, the horizontal picking and placing device includes an abutment block and an elastic positioning member, the abutment block and the elastic positioning member are both connected to the picking and placing frame, and the abutment block and the elastic positioning member are arranged at intervals, and the elastic positioning member is used to drive the knife disc to abut against the abutment block.

[0016] According to one embodiment of the utility model, the bearing structure includes a guide frame and a plurality of bearing rollers, the plurality of bearing rollers are arranged side by side on the guide frame and are used to guide the cutter disc, and the pick-and-place drive assembly is connected to the guide frame and is used to drive the pick-and-place frame to move relative to the guide frame.

[0017] According to one embodiment of the utility model, a guide portion is formed at the end of the guide frame, and the guide portion gradually narrows in a direction away from the substrate; and / or the supporting structure also includes a guide wheel, and a groove is formed on the end face of the guide frame, and a guide wheel is arranged in the groove, and the guide wheel is used for guiding the cutter disc.

[0018] According to one embodiment of the utility model, the bearing structure also includes a proximity sensor, which is connected to the guide frame and is used to obtain a position signal of the cutter disc; and / or the bearing structure also includes a stop block, which is connected to the guide frame and is used to limit the movement of the cutter disc.

[0019] According to an embodiment of the utility model, the pick-and-place drive assembly includes a pick-and-place drive member and a screw rod, the pick-and-place drive member is connected to the guide frame, the screw rod is rotationally connected to the guide frame, and the screw rod is transmission-connected to the pick-and-place frame.

[0020] According to an embodiment of the utility model, the horizontal pick-and-place device further includes a sensor and a sensing plate, the sensor is connected to the bearing structure, the sensing plate is connected to the pick-and-place rack, and the sensor and the sensing plate are inductively matched.

[0021] According to an embodiment of the utility model, the lifting mechanism further includes a power distribution base plate, the power distribution base plate is connected to the base plate, and the power distribution base plate is located on a side of the base plate away from the bearing structure.

[0022] According to an embodiment of the utility model, the lifting mechanism further includes a lifting sensor, a sensing frame is provided on one side of the substrate, and the sensing frame is arranged parallel to the moving direction of the supporting structure, and the lifting sensor cooperates with the sensing frame by induction.

[0023] The utility model also provides a handling device, comprising:

[0024] Mobile devices; and

[0025] The lifting mechanism as described in any one of the above items is installed on the moving device, and the moving device is used to drive the lifting mechanism to transfer the tool disc between the tool magazine and the PCB processing equipment.

[0026] Implementing the embodiments of the utility model has the following beneficial effects:

[0027] In the lifting mechanism of this embodiment, the support structure is lifted and lowered to align the cutter disc with the processing equipment in the height direction, and then the multiple cutter discs are driven to move in the horizontal direction by the pick-up and placement rack to dock with the processing equipment. At the same time, multiple cutter discs are recovered or transported, and the transportation efficiency is also improved. BRIEF DESCRIPTION OF THE DRAWINGS

[0028] In order to more clearly illustrate the embodiments of the utility model or the technical solutions in the prior art, the drawings required for use in the embodiments or the description of the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the utility model. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative work.

[0029] in:

[0030] Figure 1 It is a three-dimensional view of the lifting mechanism in the embodiment of the utility model;

[0031] Figure 2 This is another perspective view of the lifting mechanism in the embodiment of the utility model;

[0032] Figure 3 It is a structural schematic diagram of the bearing structure and the horizontal pick-and-place device in the embodiment of the utility model;

[0033] Figure 4 It is a structural schematic diagram of a horizontal pick-and-place device in an embodiment of the utility model;

[0034] Reference numerals:

[0035] 10. Lifting mechanism; 100. Base plate; 110. Induction frame; 200. Lifting device; 210. Lifting drive assembly; 211. Lifting motor; 212. Driving synchronous belt; 220. Synchronous shaft; 230. Synchronous belt assembly; 231. Transmission synchronous belt; 232. Synchronous wheel; 233. Synchronous idler wheel; 240. Lifting sensor; 300. Bearing structure; 310. Guide frame; 311. Guide plate; 3111. Guide part; 3112. Groove; 312. Fixing Plate; 313, fixed bottom plate; 320, load-bearing roller; 330, guide wheel; 340, proximity sensor; 350, stopper; 400, horizontal pick-up and placement device; 410, pick-up and placement drive assembly; 411, pick-up and placement drive member; 412, screw; 413, guide rod; 420, pick-up and placement rack; 430, pick-up and placement hook block; 431, abutment block; 432, elastic positioning member; 433, mounting seat; 450, sensor; 460, induction plate; 500, power distribution bottom plate; 20, knife disc. DETAILED DESCRIPTION

[0036] In order to make the purpose, technical solution and advantages of the utility model clearer, the technical solution of the utility model will be described clearly and completely in conjunction with the drawings in the utility model. Obviously, the described embodiments are part of the embodiments of the utility model, not all of the embodiments. Based on the embodiments in the utility model, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the utility model.

[0037] See also Figures 1 to 4As shown, the embodiment of the utility model provides a lifting mechanism 10, which includes a substrate 100, a lifting device 200, a bearing structure 300 and a horizontal pick-and-place device 400; the lifting device 200 includes a lifting drive assembly 210 and a plurality of transmission assemblies, the plurality of transmission assemblies are arranged in parallel with each other and connected to the lifting drive assembly 210, the lifting drive assembly is connected to the substrate 100 and at least partially arranged on a side of the substrate 100 away from the lifting drive assembly 210; the bearing structure 300 can be lifted and lowered on the substrate, and the bearing structure 300 is used to carry a plurality of cutter discs 20; the horizontal pick-and-place device 400 includes a pick-and-place drive assembly 410 and a pick-and-place rack 420, the pick-and-place drive assembly 410 is arranged on the bearing structure 300, and the pick-and-place rack 420 is connected to the output end of the pick-and-place drive assembly 410 and is used to connect with the cutter disc 20, the pick-and-place drive assembly 410 is used to drive the cutter disc 20 to move in a direction close to or away from the substrate 100, and in the process of moving the cutter disc 20, a plurality of cutter discs 20 can be recovered or transported at the same time, and the transport efficiency is also improved.

[0038] In the lifting mechanism 10 of the present embodiment, the supporting structure 300 is set to lift and lower so that the cutter disc 20 is aligned with the processing equipment in the height direction, and then the multiple cutter discs 20 are driven to move in the horizontal direction through the pick-up and placement rack 420 to dock with the processing equipment. At the same time, multiple cutter discs are recovered or transported, and the transportation efficiency is also improved.

[0039] In one embodiment, the lifting drive assembly 210 includes a lifting drive member and a synchronous shaft 220, the transmission assembly includes a synchronous belt assembly 230, the synchronous shaft 220 is rotatably connected to the substrate 100, a plurality of synchronous belt assemblies 230 are arranged parallel to each other and are respectively connected to the synchronous shaft 220 in terms of power, and the lifting drive member is connected to the substrate 100 and is at least partially arranged on a side of the substrate 100 away from the synchronous belt assembly 230.

[0040] It should be noted that in conventional lifting mechanisms, a combination of gears and racks is usually used to drive the carrier to move up and down, or a linear motor is used for driving. These two driving forms will cause the lifting mechanism to have a large size in the vertical direction. In the lifting mechanism 10 of the present application, by using a synchronous belt assembly 230 as the lifting power mechanism of the bearing structure 300, since the overall thickness of the synchronous belt assembly 230 is relatively small, the lifting mechanism 10 can have a relatively small thickness in the horizontal direction (i.e., in the direction perpendicular to the substrate 100), and at the same time, it will not cause excessive occupation of the vertical space of the lifting mechanism 10, thereby making the overall structure of the lifting mechanism 10 compact.

[0041] Specifically, see Figure 1 and Figure 2As shown, the lifting drive component includes a lifting motor 211 and a driving synchronous belt 212. The lifting motor 211 is arranged on a side of the base plate 100 away from the transmission component. The driving synchronous belt 212 is passed through the base plate 100 and is respectively connected to the lifting motor 211 and the synchronous shaft 220.

[0042] In this embodiment, the lifting motor 211 is fixed on the substrate 100, and the lifting motor 211 and the supporting structure 300 are respectively located on opposite sides of the substrate 100, thereby making the lifting mechanism 10 more compact in the direction perpendicular to the substrate 100.

[0043] It should be noted that, in some embodiments, the base plate 100 is generally a T-shaped structure, and is composed of a bottom plate and a vertical plate connected to each other. The bottom plate is connected to the AGV body, and the lifting drive assembly 210 and the supporting structure 300 are respectively arranged on opposite sides of the vertical plate. At this time, the supporting structure 300 and the lifting motor 211 can make full use of the lateral space of the base plate 100 to make the overall structure of the lifting mechanism 10 compact.

[0044] In one embodiment, the synchronous belt assembly 230 includes a transmission synchronous belt 231, a synchronous wheel 232 and a synchronous idler wheel 233, the synchronous wheel 232 is connected to the synchronous shaft 220, the synchronous idler wheel 233 is rotationally connected to the base plate 100, the transmission synchronous belt 231 is respectively connected to the synchronous wheel 232 and the synchronous idler wheel 233, and the transmission synchronous belt 231 is connected to the bearing structure 300, and the transmission synchronous belt 231 is arranged along the vertical direction.

[0045] In this embodiment, the lifting motor 211 drives the synchronous belt 212 to drive the synchronous shaft 220 to rotate. At this time, the synchronous wheels 232 in the multiple synchronous belt assemblies 230 can be driven by the synchronous shaft 220 to rotate synchronously and transmit power to the transmission synchronous belt 231, so that the synchronous idler wheel 233 can rotate under the driving action of the transmission synchronous belt 231, thereby driving the supporting structure 300 to move up and down to realize the lifting function of the supporting structure 300; specifically in this embodiment, in order to improve the smoothness of the movement of the supporting structure 300, the supporting structure 300 and the substrate 100 can be connected by a linear guide rail, and the extension direction of the linear guide rail is parallel to the movement direction of the supporting structure 300.

[0046] In addition, in this embodiment, the lifting motor 211 can be arranged parallel to the synchronous shaft 220 and attached to the side of the substrate 100 away from the supporting structure 300, and the driving synchronous belt 212 passes through the substrate 100 and is connected to the synchronous shaft 220 by power, thereby making the distance between the lifting motor 211 and the substrate 100 as small as possible, thereby making the overall structure after the substrate 100 and the lifting device 200 are combined more compact.

[0047] See also Figure 3As shown, in one embodiment, the supporting structure 300 includes a guide frame 310 and a plurality of supporting rollers 320. The guide frame 310 is provided with a storage space for accommodating the blade disc 20. The plurality of supporting rollers 320 are arranged side by side and rotatably connected to the guide frame 310 and are arranged at the bottom of the storage space. The supporting rollers 320 are used for guiding the blade 20. The pick-and-place drive assembly 410 is connected to the guide frame 310 and is used to drive the pick-and-place frame 420 to move relative to the guide frame 310.

[0048] When the lifting mechanism 10 of this embodiment is used to carry the cutter disc 20, the cutter disc 20 can enter the accommodation space from the opening of the accommodation space of the guide frame 310 by an external conveying device. At this time, the bearing roller 320 can be supported on the bottom of the cutter disc 20 and roll in contact with the cutter disc 20 when the cutter disc 20 moves relative to the bearing structure 300, thereby reducing the friction loss between the cutter disc 20 and the guide frame 310 and making the cutter disc 20 move smoothly. Specifically, the number of bearing rollers 320 can be multiple, and the multiple bearing rollers 320 are respectively arranged on opposite sides of the accommodation space, and are spaced and arranged in parallel along the moving direction of the cutter disc 20. By arranging multiple bearing rollers 320 to cooperate with the cutter disc 20, the conveying smoothness of the cutter disc 20 can be further improved.

[0049] Specifically, the guide frame 310 includes a guide plate 311, a fixed plate 312 and a fixed bottom plate 313, the guide plate 311 and the fixed bottom plate 313 are respectively connected to the fixed plate 312, and the number of the guide plates 311 is at least two, and two adjacent guide plates 311 are arranged in parallel and spaced apart and enclosed with the fixed plate 312 to form a receiving space, at this time, when the number of the guide plates 311 is greater than three, every two adjacent guide plates 311 can separate a receiving space, and by setting a plurality of guide plates 311 connected to the fixed plate 312, a plurality of parallel receiving spaces can be formed to increase the conveying capacity of the blade disc 20 of the bearing structure 300. In this embodiment, the fixed plate 312 is fixedly connected to the base plate 100, and the pick-and-place frame 420 is connected to the fixed bottom plate 313 by power through the pick-and-place drive assembly 410, the blade disc 20 is located at the top of the fixed bottom plate 313, and the pick-and-place drive assembly 410 is at least partially located at the bottom of the fixed bottom plate 313.

[0050] Further, see Figure 3 As shown, a guide portion 3111 is formed at the end of the guide frame 310, the guide portion 3111 is located at the opening of the accommodating space, and the guide portion 3111 gradually narrows in a direction away from the substrate 100; and / or the supporting structure 300 also includes a guide wheel 330, the guide wheel 330 is rotatably connected to the guide frame 310, a groove 3112 is formed on the end surface of the guide frame 310, and the guide wheel 330 is arranged in the groove 3112 and at least partially protrudes into the accommodating space.

[0051] In this embodiment, by providing a guide portion 3111 at the end of the guide frame 310, the opening of the accommodating space can be made V-shaped. When the cutter disc 20 moves to the opening of the guide frame 310, the cutter disc 20 can be guided into the accommodating space by contacting the guide portion 3111 with the cutter disc 20, thereby improving the smoothness of the cutter disc 20 entering the guide frame 310.

[0052] By providing a guide wheel 330 on the guide frame 310, when the cutter disc 20 enters the guide frame 310, the guide wheel 330 can roll in contact with the side wall of the cutter disc 20, which can not only guide the movement of the cutter disc 20, but also avoid friction between the cutter disc 20 and the inner wall of the guide frame 310, thereby avoiding damage to the outer wall of the cutter disc 20.

[0053] Furthermore, the supporting structure 300 also includes a proximity sensor 340, which is connected to the guide frame 310 and is used to obtain a position signal of the cutter disc 20; and / or the supporting structure 300 also includes a stopper 350, which is connected to the guide frame 310 and is disposed in the accommodating space.

[0054] In this embodiment, by setting a proximity sensor 340 connected to the guide frame 310, when the cutter disc 20 moves into the accommodation space, the proximity sensor 340 can obtain the position signal of the cutter disc 20 and feed it back to the external conveying device to identify and locate the placement position of the cutter disc 20 in the accommodation space. Specifically, in some embodiments, the lifting mechanism 10 also includes a control module, the control module signal is connected to the proximity sensor 340 and is used to receive the position signal of the cutter disc 20 transmitted by the proximity sensor 340, and the control module can send a control instruction to the external conveying device to automatically control the movement of the cutter disc 20. The control module can be, but is not limited to, various PLCs (Programmable Logic Controllers, full name Programmable Logic Controllers), STM32 (STM32 microcontrollers, 32-bit microcontrollers with ARM Cortex-M cores), single-chip microcomputers, FPGAs (Field Programmable Gate Arrays, full name Field Programmable Gate Arrays), ARMs (ARM processors, full name Advanced RISC Machines), etc.

[0055] In addition, by providing a stopper 350 in the guide frame 310, when the cutter disc 20 moves into position, the stopper 350 can abut against the outer wall of the cutter disc 20 to limit the movement of the cutter disc 20. When the stopper 350 is detachably connected to the guide frame 310 by means of screws, buckles, magnets, etc., it can be easily replaced when the stopper 350 is worn, so as to avoid direct contact between the cutter disc 20 and the guide frame 310. In some embodiments, the end of the stopper 350 facing the cutter disc 20 can be at least partially a flexible structure, for example, a silicone pad or a rubber pad can be provided at the end of the stopper 350. When the cutter disc 20 contacts the stopper 350, the flexible structure contacts the cutter disc 20 to buffer the cutter disc 20, so as to avoid collision between the cutter disc 20 and the guide frame 310 and cause damage.

[0056] Specifically, the pick-and-place drive assembly 410 includes a pick-and-place drive member 411 and a screw 412. The pick-and-place drive member 411 is connected to the guide frame 310 and is arranged on a side of the guide frame 310 away from the blade disc 20. The screw 412 is rotationally connected to the guide frame 310 and is transmission-connected to the pick-and-place frame 420.

[0057] In this embodiment, the pick-and-place drive member 411 can be arranged at the bottom of the fixed bottom plate 313, and the screw 412 is arranged at the top of the fixed bottom plate 313, so that the pick-and-place drive assembly 410 can make full use of the upper and lower spaces of the fixed bottom plate 313, so that the guide frame 310 and the guide frame 310 combined structure are more compact and have a smaller vertical size. The pick-and-place drive member 411 and the screw 412 can be connected by transmission, such as gears, pulleys, etc. In a preferred embodiment, the pick-and-place drive member 411 can also be arranged in parallel with the screw 412 to achieve an optimal compact layout.

[0058] Furthermore, the pick-and-place drive assembly 410 further includes a guide rod 413, which is inserted into the pick-and-place rack 420 and slidably cooperates with the pick-and-place rack 420, and the guide rod 413 is parallel to and spaced from the screw rod 412. Thus, when the pick-and-place rack 420 moves relative to the fixed bottom plate 313, the guide rod 413 can guide the movement of the pick-and-place rack 420 to improve the smoothness of the movement of the pick-and-place rack 420.

[0059] See also Figure 4 As shown, in one embodiment, the horizontal pick-up and placement device 400 further includes a pick-up and placement hook block 430 , which is connected to the pick-up and placement frame 420 and is used for engaging with the cutter disc 20 .

[0060] Thus, when the horizontal pick-and-place device 400 needs to pull the cutter disc 20 from the outside, the pick-and-place driving member 411 first drives the pick-and-place frame 420 to move to the outside of the guide frame 310, and then drives the lifting device 200 to move the pick-and-place hook block 430 to the bottom of the cutter disc 20. At this time, the pick-and-place driving member 411 drives in the reverse direction to pull the cutter disc 20 into the guide frame 310. By combining the pick-and-place hook block 430 and the pick-and-place frame 420 in a detachable connection, the pick-and-place hook block 430 can be easily replaced and maintained.

[0061] Furthermore, the pick-and-place hook block 430 includes an abutment block 431, an elastic positioning member 432 and a mounting seat 433. The abutment block 431 and the mounting seat 433 are both connected to the pick-and-place frame 420. The elastic positioning member 432 is detachably connected to the mounting seat 433, and the abutment block 431 and the mounting seat 433 are arranged at intervals. When the cutter disc 20 is connected to the pick-and-place hook block 430, the elastic positioning member 432 and the abutment block 431 are respectively located on opposite sides of the connection portion with the cutter disc 20, and the elastic positioning member 432 is used to drive the cutter disc 20 to abut against the abutment block 431. In one embodiment, the elastic positioning member 432 includes a ball plunger.

[0062] In this embodiment, by providing a ball plunger to cooperate with the pick-up hook block 430, after the pick-up hook block 430 is correspondingly connected to the cutter disc 20, the ball plunger can abut against the cutter disc 20 under the action of elasticity, so as to drive the cutter disc 20 to abut against the side of the abutment block 431 toward the elastic positioning member 432 to position the cutter disc 20. Specifically, the elastic positioning member 432 can be threadedly connected to the mounting seat 433, so as to adjust the relative position between the elastic positioning member 432 and the abutment block 431.

[0063] In one embodiment, the horizontal pick-and-place device 400 further includes a sensor 450 and a sensing plate 460 . The sensor 450 is connected to the supporting structure 300 , and the sensing plate 460 is connected to the pick-and-place rack 420 . The sensor 450 and the sensing plate 460 cooperate with each other by sensing.

[0064] Specifically, the sensor 450 in this embodiment can be connected to the control module signal, and when the pick-and-place rack 420 moves relative to the guide rack 310, when the sensing plate 460 moves to the sensing position in the sensor 450, the sensor 450 can transmit a position signal to the control module to achieve position sensing of the pick-and-place rack 420. The sensor 450 can be a slot-type photoelectric switch.

[0065] See also Figure 2 As shown, in one embodiment, the lifting mechanism 10 further includes a power distribution base plate 500 , which is connected to the base plate 100 and is located on a side of the base plate 100 away from the supporting structure 300 .

[0066] In this embodiment, by setting a power distribution base plate 500 on the side of the substrate 100 away from the supporting structure 300, electrical equipment such as a control module and a power module can be arranged on the power distribution base plate 500. At this time, the lifting motor 211 can be located on the lower side of the cutter disc 20 to fully utilize the back space of the substrate 100. This arrangement can make the overall structure of the lifting mechanism 10 compact.

[0067] Furthermore, the lifting device 200 also includes a lifting sensor 240 . A sensing frame 110 is provided on one side of the substrate 100 , and the sensing frame 110 is arranged parallel to the moving direction of the supporting structure 300 . The lifting sensor 240 cooperates with the sensing frame 110 by sensing.

[0068] The lifting sensor 240 in this embodiment can be connected to the control module signal. When the supporting structure 300 is lifted or moved, the lifting sensor 240 can cooperate with the sensing of different positions of the sensing frame 110 to obtain the height signal of the supporting structure 300 and transmit it to the control module. Specifically, a plurality of sensing slots are provided at intervals along the movement of the supporting structure 300 on the sensing frame 110. The height signal of the supporting structure 300 can be obtained by cooperating with the sensing slots at different positions of the lifting sensor 240.

[0069] The utility model also provides a handling device, which includes a moving device and a lifting mechanism 10 in any one of the above-mentioned embodiments; the moving device is used to drive the handling device to move on the ground; the lifting mechanism 10 is arranged on the top of the moving device, and is moved by the driving of the moving device to drive the lifting mechanism 10 to transfer the tool disc 20 between the tool magazine and the PCB processing equipment.

[0070] It can be understood that in the handling equipment of this embodiment, by setting the lifting mechanism 10 in any of the above embodiments, the lifting mechanism 10 is connected to the lifting drive component assembly by using multiple synchronous belt assemblies 230, and the lifting drive assembly and the synchronous belt assembly 230 are respectively arranged on opposite sides of the substrate 100, so that the lifting mechanism 10 can have a smaller size in the direction of the lifting drive assembly 210 toward the bearing structure 300; at the same time, by setting the horizontal pick-up and placement device 400 to cooperate with the bearing structure 300, the position of the tool disc 20 on the handling equipment can be horizontally moved, and the ground can be automatically controlled to move, thereby realizing the function of automatically picking up and placing the tool. When the handling equipment is applied to PCB processing equipment, the tool change efficiency of the PCB processing equipment can be significantly improved, and the use effect is good.

[0071] In the description of the embodiments of the present utility model, it should be noted that the terms "center", "longitudinal", "lateral", "upper", "lower", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inside", "outside" and the like indicate positions or positional relationships based on the positions or positional relationships shown in the accompanying drawings, and are only for the convenience of describing the embodiments of the present utility model and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore cannot be understood as limiting the embodiments of the present utility model. In addition, the terms "first", "second", and "third" are used for descriptive purposes only and cannot be understood as indicating or implying relative importance.

[0072] In the description of the embodiments of the present utility model, it should be noted that, unless otherwise clearly specified and limited, the terms "connected" and "connection" should be understood in a broad sense, for example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be directly connected or indirectly connected through an intermediate medium. For ordinary technicians in this field, the specific meanings of the above terms in the embodiments of the present utility model can be understood according to specific circumstances.

[0073] In the embodiments of the present invention, unless otherwise clearly specified and limited, the first feature being "above" or "below" the second feature may mean that the first and second features are in direct contact, or the first and second features are in indirect contact through an intermediate medium. Moreover, the first feature being "above", "above" and "above" the second feature may mean that the first feature is directly above or obliquely above the second feature, or simply means that the first feature is higher in level than the second feature. The first feature being "below", "below" and "below" the second feature may mean that the first feature is directly below or obliquely below the second feature, or simply means that the first feature is lower in level than the second feature.

[0074] In the description of this specification, the description with reference to the terms "one embodiment", "some embodiments", "example", "specific example", or "some examples" etc. means that the specific features, structures, materials or characteristics described in conjunction with the embodiment or example are included in at least one embodiment or example of the utility model embodiment. In this specification, the schematic representations of the above terms do not necessarily refer to the same embodiment or example. Moreover, the specific features, structures, materials or characteristics described may be combined in any one or more embodiments or examples in a suitable manner. In addition, those skilled in the art may combine and combine the different embodiments or examples described in this specification and the features of the different embodiments or examples, without contradiction.

[0075] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the utility model, rather than to limit it. Although the utility model has been described in detail with reference to the aforementioned embodiments, those skilled in the art should understand that they can still modify the technical solutions described in the aforementioned embodiments, or make equivalent replacements for some of the technical features therein. However, these modifications or replacements do not deviate the essence of the corresponding technical solutions from the spirit and scope of the technical solutions of the various embodiments of the utility model.

Claims

1. A lifting mechanism, characterized in that: include: substrate; A bearing structure is liftably disposed on the base plate, and the bearing structure is used to bear a plurality of cutter discs; The horizontal pick-and-place device comprises a pick-and-place drive assembly and a pick-and-place rack, wherein the pick-and-place drive assembly is arranged on the bearing structure, and the pick-and-place rack is connected to the output end of the pick-and-place drive assembly and is used to move the multiple knife discs towards or away from the substrate under the drive of the pick-and-place drive assembly.

2. The lifting mechanism according to claim 1, characterized in that: The lifting mechanism further comprises a lifting device, and the lifting device comprises a lifting drive assembly and a plurality of transmission assemblies, wherein the plurality of transmission assemblies are arranged in parallel with each other and connected to the lifting drive assembly.

3. The lifting mechanism according to claim 2, characterized in that: The lifting drive assembly is connected to the base plate and is at least partially disposed on a side of the base plate away from the supporting structure.

4. The lifting mechanism according to claim 2, characterized in that: The lifting drive assembly includes a lifting drive member and a synchronous shaft, and the transmission assembly includes a synchronous belt assembly, the synchronous shaft is rotatably connected to the base plate, a plurality of synchronous belt assemblies are arranged parallel to each other and are respectively connected to the synchronous shaft in terms of power, and the lifting drive member is connected to the base plate and is at least partially arranged on a side of the base plate away from the synchronous belt assembly.

5. The lifting mechanism according to claim 4, characterized in that: The synchronous belt assembly includes a transmission synchronous belt, a synchronous wheel and a synchronous idler wheel, the synchronous wheel is connected to the synchronous shaft, the synchronous idler wheel is rotationally connected to the base plate, the transmission synchronous belt is respectively connected to the synchronous wheel and the synchronous idler wheel, and the transmission synchronous belt is connected to the bearing structure.

6. The lifting mechanism according to claim 4, characterized in that: The lifting drive member includes a lifting motor and a driving synchronous belt. The lifting motor is arranged on a side of the base plate away from the transmission assembly. The driving synchronous belt passes through the base plate and is respectively connected to the lifting motor and the synchronous shaft.

7. The lifting mechanism according to claim 1, characterized in that: The horizontal pick-up and placement device also includes a pick-up and placement hook block, which is connected to the pick-up and placement frame and is used for clamping and cooperating with the cutter disc.

8. The lifting mechanism according to claim 7, characterized in that: The horizontal placement device includes an abutment block and an elastic positioning member, both of which are connected to the placement frame and are spaced apart from each other, and the elastic positioning member is used to drive the cutter disc to abut against the abutment block.

9. The lifting mechanism according to claim 1, characterized in that: The bearing structure includes a guide frame and a plurality of bearing rollers, wherein the plurality of bearing rollers are arranged side by side on the guide frame and are used for guiding the cutter disc, and the pick-and-place drive assembly is connected to the guide frame and is used for driving the pick-and-place frame to move relative to the guide frame.

10. The lifting mechanism according to claim 9, characterized in that: A guide portion is formed at the end of the guide frame, and the guide portion gradually narrows in a direction away from the substrate; and / or the bearing structure also includes a guide wheel, and a groove is formed on the end surface of the guide frame, and a guide wheel is arranged in the groove, and the guide wheel is used to guide the cutter disc.

11. The lifting mechanism according to claim 9, characterized in that: The bearing structure further includes a proximity sensor, which is connected to the guide frame and used to obtain a position signal of the cutter disc; and / or the bearing structure further includes a stopper, which is connected to the guide frame and used to limit the movement of the cutter disc.

12. The lifting mechanism according to claim 9, characterized in that: The pick-and-place drive assembly comprises a pick-and-place drive member and a screw rod. The pick-and-place drive member is connected to the guide frame. The screw rod is rotationally connected to the guide frame, and the screw rod is transmission-connected to the pick-and-place frame.

13. The lifting mechanism according to claim 1, characterized in that: The horizontal pick-and-place device further comprises a sensor and a sensing plate, wherein the sensor is connected to the bearing structure, the sensing plate is connected to the pick-and-place rack, and the sensor and the sensing plate are inductively matched.

14. The lifting mechanism according to claim 1, characterized in that: The lifting mechanism further comprises a power distribution bottom plate, which is connected to the base plate and is located at a side of the base plate away from the bearing structure.

15. The lifting mechanism according to claim 1, characterized in that: The lifting mechanism further comprises a lifting sensor. A sensing frame is provided on one side of the substrate, and the sensing frame is arranged parallel to the moving direction of the bearing structure. The lifting sensor is inductively matched with the sensing frame.

16. A handling device, characterized in that: include: Mobile devices; as well as The lifting mechanism as described in any one of claims 1-15, wherein the lifting mechanism is installed on the moving device, and the moving device is used to drive the lifting mechanism to transfer the tool disc between the tool magazine and the PCB processing equipment.

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