SMT electronic material tray turret robotic arm

Abstract

This utility model provides a robotic arm device for SMT electronic material trays and pylons, comprising a pylon top plate, a pylon bottom plate, a top rotating shaft, a bottom rotating drive device, a rotating robotic arm, and a fork gripping mechanism. The pylon top plate is fixed to the top of the pylon, and the pylon bottom plate is fixed to the bottom. The top rotating shaft passes through the top plate and is rotatably connected via a radial ball bearing. The bottom rotating drive device uses a servo motor and an RV hollow turntable to drive the rotating shaft to rotate. The rotating robotic arm is fixed to the top of the rotating shaft, and the fork gripping mechanism drives the fork plate to extend and retract horizontally via a synchronous motor and synchronous belt, cooperating with the pylon pressure plate to achieve precise gripping of the pylon. This device improves rotational efficiency, structural stability, and gripping accuracy, reduces maintenance costs, and meets the efficient and reliable production needs of the electronics manufacturing industry.

Description

Technical Field

[0001] This utility model relates to the field of electronic tray processing technology, specifically to an SMT electronic tray material tower robot device, used to realize the rotation drive and horizontal gripping function of the tray. Background Technology

[0002] SMT electronic component tray trolley robots belong to the field of automation equipment technology and are widely used in the production, assembly, and warehousing of electronic components to achieve automatic tray loading, handling, and storage. As the electronics manufacturing industry develops towards higher efficiency, higher precision, and intelligence, the application of trolley robots in semiconductor, integrated circuit, and electronic component production is increasing. This device integrates rotary drive, horizontal gripping, and positioning functions to achieve rapid storage and precise positioning of trays within the trolley, significantly improving production efficiency and reducing manual operation costs. In recent years, with the advancement of intelligent manufacturing technology, trolley robots have been continuously optimized in structural design, drive methods, and control precision, gradually developing towards modularity, integration, and high reliability. However, existing technologies still have some shortcomings in practical applications, limiting their performance and applicability in complex production scenarios.

[0003] In existing technologies, the rotary drive mechanism of a material handling tower robot typically employs a conventional motor combined with a reducer to achieve the rotational transport of the material tray. However, this design suffers from low power transmission efficiency during long-term operation, especially under high load or high-frequency rotation scenarios, leading to faster wear of the motor and reducer and increased maintenance costs. Some rotary drive mechanisms do not utilize a hollow turntable structure, limiting wiring and installation space on the central shaft and making it difficult to meet complex wiring requirements or multi-functional integration needs. This not only increases the size of the device but may also result in insufficient stability during rotation, affecting the positioning accuracy of the material tray.

[0004] For top-rotating material handling mechanisms, existing technologies often employ simple fixed connections or single-axis designs to install and move the robot. However, under high-intensity or high-frequency operation, this design suffers from insufficient stability of the top plate, especially in the case of a hollow design. The top plate is prone to deformation or vibration due to uneven stress, which in turn affects the robot's operational accuracy. Existing top-rotating mechanisms typically lack integrated guide columns or support structures, resulting in poor stability of the robot's motion trajectory when rotating or handling material trays. This is particularly problematic when handling heavy trays, where deviation or vibration can easily occur, impacting production efficiency.

[0005] In terms of fork gripping mechanisms, existing technologies mostly employ pneumatic or simple mechanical transmission methods to achieve horizontal extension and retraction of the fork. However, pneumatic drives have a slow response speed, and in high-precision production environments, the control accuracy is difficult to meet requirements. Mechanical transmission methods, such as chain or gear drives, while simple in structure, suffer from severe wear, high noise, and difficult maintenance over long-term use. Existing fork gripping mechanisms typically do not use high-precision transmission components such as synchronous belts, leading to potential deviations during horizontal extension and retraction, especially during rapid extension and retraction or frequent operation, resulting in insufficient stability and reliability in gripping the material tray.

[0006] To address the aforementioned issues, some improvements have been proposed in existing technologies. For example, to improve the efficiency of rotary drives, some devices have introduced servo motors to replace traditional motors, thereby enhancing power output and control precision. However, this improvement increases costs, and the heat dissipation and durability of servo motors still require further optimization under complex operating conditions. Regarding the top rotating mechanism, some designs improve the stability of the top plate by adding auxiliary support structures, but these structures often increase the complexity and weight of the device, failing to fundamentally solve the problem of insufficient integration. For the toothed fork gripping mechanism, some improvements attempt to introduce synchronous pulleys or similar transmission components to improve telescopic accuracy, but the selection and installation methods of transmission components remain limited, making it difficult to balance high precision with low maintenance costs.

[0007] This application aims to address the shortcomings of existing material turret manipulators in terms of rotational drive efficiency, top structure stability, and fork gripping accuracy, and to provide a compact, stable, and efficient SMT electronic material tray turret manipulator to meet the electronics manufacturing industry's demands for high precision, high efficiency, and high reliability. Utility Model Content

[0008] To address the aforementioned technical problems, this utility model provides an SMT electronic material tray turret robot device. Its purpose is to achieve efficient and precise tray handling by integrating a bottom rotary drive device, a hollow rotary table, and a toothed fork gripping mechanism. This solves the problems of low rotary drive efficiency, insufficient top plate stability, and poor toothed fork extension accuracy in existing technologies. Through optimized structural design and transmission methods, the device's operational stability and positioning accuracy are improved, maintenance costs are reduced, and the high efficiency and reliability requirements of the electronics manufacturing industry are met.

[0009] A robotic arm device for SMT electronic material trays includes a tray top plate, a tray bottom plate, a top rotating shaft, a bottom rotating drive device, a rotating robotic arm, and a fork gripping mechanism.

[0010] The top plate of the material tower is fixedly installed on the top of the material tower, and the bottom plate of the material tower is fixedly installed on the bottom of the material tower. The top rotating shaft passes through the central hole of the top plate of the material tower in the vertical direction and is rotatably connected to the top plate of the material tower through a radial ball bearing.

[0011] The bottom rotation drive device is fixedly installed on the top surface of the bottom plate of the material tower. The bottom rotation drive device includes a geared motor and a hollow rotating table. The geared motor is fixed on the bottom plate of the material tower. The hollow rotating table is fixedly connected to the output shaft of the geared motor through a turntable mounting base at its bottom. The bottom end of the top rotation shaft is fixedly connected to the center of the hollow rotating table so as to drive the top rotation shaft to rotate around its axis through the geared motor.

[0012] The rotating manipulator is fixedly installed on the top of the top rotating shaft and rotates synchronously with it. The rotating manipulator includes a manipulator body and a toothed fork gripping mechanism disposed at the bottom of the manipulator body.

[0013] The fork gripping mechanism includes a fork plate, a synchronous motor, and a synchronous belt. The synchronous motor is fixedly installed at the bottom of the robot body. One end of the synchronous belt is connected to the output shaft of the synchronous motor, and the other end is connected to the fork plate. The fork plate slides and extends horizontally at the bottom of the robot body under the drive of the synchronous motor to realize the gripping and release of the material tray.

[0014] Furthermore, the top plate of the material tower adopts a 270-degree hollow design and is fixedly connected to the top rotating shaft through a central hole. The top plate of the material tower is also provided with guide columns, which are fixed vertically to the bottom surface of the top plate of the material tower to enhance the rotational stability of the rotating manipulator.

[0015] Furthermore, the fork gripping mechanism also includes a tray pressure plate, which is disposed on the top of the fork plate and connected to the robot body through a lifting mechanism. When the fork plate grips the tray, the tray pressure plate can be raised or lowered in the vertical direction to press or release the tray.

[0016] Furthermore, the geared motor is a servo motor, and the servo motor is threadedly connected to the turntable mounting base of the hollow rotary table through its output shaft. The turntable mounting base is fixed to the top surface of the bottom plate of the material tower and is used to precisely control the rotation speed and angle of the top rotating shaft.

[0017] Furthermore, the hollow rotary table is an RV hollow rotary table, and the central hole of the RV hollow rotary table is arranged vertically to accommodate the top rotating shaft and related wiring, so as to improve the utilization of wiring space and rotational stability.

[0018] Furthermore, the synchronous motor is a stepper motor, which is fixed to the bottom side wall of the robot body. The synchronous belt is connected to the output shaft of the stepper motor through a synchronous pulley to improve the accuracy of the horizontal extension and retraction of the toothed fork plate.

[0019] Furthermore, the lifting mechanism includes a cylinder, which is fixed to the bottom of the robot body. The piston rod of the cylinder is fixedly connected to the material tray pressure plate to drive the material tray pressure plate to rise and fall in the vertical direction.

[0020] Furthermore, there are multiple guide columns, which are evenly distributed around the circumference of the top plate of the tower and fixed to its bottom surface. The top of the rotating manipulator is slidably connected to the guide columns.

[0021] Furthermore, the robotic arm body also includes a support frame, which is fixed to the top of the top rotating shaft, and the toothed fork gripping mechanism is fixed to the bottom of the support frame by bolts to enhance the installation rigidity of the toothed fork gripping mechanism.

[0022] Furthermore, a rotary encoder is also provided on the top of the RV hollow turntable. The rotary encoder is coaxially connected to the top rotating shaft and is used to detect the rotation angle of the top rotating shaft in real time to improve the rotation positioning accuracy.

[0023] This utility model provides an SMT electronic material tray and turret robotic arm device. Its advantages lie in its bottom-mounted rotary drive mechanism, employing a combination of a geared motor and a hollow rotary table, which effectively improves the power transmission efficiency of the rotary drive. Compared to traditional motor and reducer designs, this device, through the optimized design of the hollow rotary table, significantly reduces wear during long-term operation, lowers maintenance costs, and ensures stability under high load or high-frequency rotation scenarios. The central hole design of the hollow rotary table provides ample space for wiring, solving the wiring limitations problem in existing technologies, enhancing the device's multi-functional integration capabilities, and making it particularly suitable for complex production environments.

[0024] This invention significantly improves the overall stability and operational accuracy of the device through an integrated top-rotating material handling robot structure. The top plate of the material tower features a 270-degree hollow design and is fixedly connected to the top rotating shaft through a central hole. Combined with the guide columns, this effectively reduces the weight of the top plate while enhancing structural stability during rotation and reducing the risk of deformation or vibration caused by uneven stress. This design ensures precise positioning of the robot under high-intensity or high-frequency operation, making it particularly suitable for handling heavy material trays and significantly improving production efficiency.

[0025] The horizontal drive unit of the fork gripping mechanism achieves stable horizontal extension and retraction of the fork plate through precise transmission via a synchronous motor and synchronous belt. Compared with traditional pneumatic or mechanical transmission methods, synchronous belt drive effectively reduces noise and wear, improves the control precision of the extension and retraction action, and ensures the reliability and stability of the material tray gripping. The lifting design of the material tray pressure plate further optimizes the gripping process, improving gripping stability by pressing the material tray firmly and reducing the risk of material tray displacement during handling.

[0026] Through the synergistic effect of the above structures, the SMT electronic material tray and turret robot device of this utility model is superior to the existing technology in terms of rotational drive efficiency, structural stability and gripping accuracy. The overall structure is compact and the operation is reliable. It can significantly improve the production efficiency of the electronics manufacturing industry, meet the production requirements of high precision, high efficiency and high reliability, and at the same time reduce maintenance costs, providing a more optimized solution for automated production under complex working conditions. Attached Figure Description

[0027] Appendix Figure 1 This is a schematic diagram of the overall structure of this utility model;

[0028] Appendix Figure 2 This is a cross-sectional view of the top rotating mechanism of this utility model;

[0029] Appendix Figure 3 This is an exploded view of the bottom rotation drive device of this utility model;

[0030] Appendix Figure 4 This is a side view of the toothed fork gripping mechanism of this utility model;

[0031] Appendix Figure 5 Here is a detailed drawing of the synchronous belt drive system of this utility model;

[0032] Appendix Figure 6 This is a bottom view of the robotic arm of this utility model.

[0033] Figure reference numerals: 1. Top plate of the tower - 2. Top rotating shaft of the tower - 3. Bottom plate of the tower - 4. Top assembly - 5. Bearing - 6. Top rotating device - 7. Rotary manipulator - 8. Bottom rotating device of the manipulator - 9. RV hollow turntable - 10. Turntable mounting base - 11. Servo motor - 12. Bottom rotating mounting plate - 13. Bottom rotating drive device - 14. Feed pan - 15. Feed pan pressure plate - 16. Timing belt drive mechanism for the feed pan - 17. Detailed Implementation

[0034] The technical solution of this utility model will now be clearly and completely described in conjunction with the accompanying drawings. In the description of this utility model, it should be noted that the terms "center," "upper," "lower," "left," "right," "vertical," "horizontal," "inner," and "outer," etc., indicating the orientation or positional relationship, are based on the orientation or positional relationship shown in the accompanying drawings and are only for the convenience of describing this utility model and simplifying the description. They do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation, and therefore should not be construed as a limitation of this utility model. The terms "first," "second," and "third" are used for descriptive purposes only and should not be construed as indicating or implying relative importance.

[0035] In the description of this utility model, it should be noted that, unless otherwise explicitly specified and limited, the terms "installation," "connection," and "joining" should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral connection; they can refer to a mechanical connection or an electrical connection; they can refer to a direct connection or an indirect connection through an intermediate medium; and they can refer to the internal connection of two components. Those skilled in the art can understand the specific meaning of the above terms in this utility model based on the specific circumstances. The utility model will be further described below with reference to the accompanying drawings.

[0036] This utility model provides a robotic arm device for SMT electronic material trays and turrets, aiming to solve the technical problems of low rotary drive efficiency, insufficient top plate stability, and poor telescopic accuracy of the toothed fork in existing technologies, and to meet the needs of the electronics manufacturing industry for high-efficiency, high-precision, and high-reliability automated production. (See attached diagram) Figure 1 As shown, the overall structure of the device includes a top plate 1, a bottom plate 3, and a rotating shaft 2 at the top of the tower, which together form the main frame of the tower, providing a stable mechanical foundation for the precise loading and unloading of the material tray. The top plate 1 is bolted to the top of the tower, forming the upper support structure of the device. Its central hole is designed to accommodate the installation of the rotating shaft 2. The bottom plate 3 is also bolted to the bottom of the tower, serving as the bottom support platform and ensuring the stability of the overall structure. The rotating shaft 2 passes vertically through the central hole of the top plate 1 and is rotatably connected to the top plate 1 via a bearing 5, as shown in the attached diagram. Figure 2 As shown in the attached diagram. The radial ball bearing 5 adopts a high-precision design, which can effectively reduce frictional resistance during rotation, ensure the smooth operation of the rotating shaft 2 at the top of the tower under high-frequency operation, and extend the service life of the components. The tower top assembly 4 is located above the tower top plate 1 and is fixedly connected to the top end of the rotating shaft 2 at the top of the tower, providing a stable transition structure for the installation of the rotating manipulator, as shown in the attached diagram. Figure 2 As shown in the figure. This structural design significantly improves the rotational stability of the device, providing reliable mechanical protection for subsequent tray handling operations.

[0037] The bottom end of the rotating shaft 2 at the top of the material tower is connected to the bottom rotating drive device 13, as shown in the attached diagram. Figure 5 As shown in the attached diagram. The bottom rotary drive device 13 is fixedly installed on the top surface of the tower bottom plate 3. Its core components include a geared motor, an RV hollow turntable 9, and a bottom rotary mounting plate 12. The bottom rotary mounting plate 12 is fixed to the top surface of the tower bottom plate 3, serving as the mounting base for the bottom rotary drive device 13 and ensuring the stability of the drive components. Figure 5 As shown. The geared motor adopts a servo motor 11, which features high precision and high torque output, enabling precise rotation control. The output shaft of the servo motor 11 is fixed to the turntable mounting base 10 of the RV hollow turntable 9 via a threaded connection. The turntable mounting base 10 is securely mounted to the top surface of the bottom rotating mounting plate 12 with bolts, ensuring the stability of power transmission. The center hole of the RV hollow turntable 9 is vertically through-hole, which not only serves to fix the bottom end of the rotating shaft 2 at the top of the tower, but also provides ample space for related electrical wiring, as shown in the attached diagram. Figure 5 As shown in the attached diagram. This hollow design optimizes the wiring layout of the device, reduces the difficulty of installation and maintenance caused by complex wiring, and improves the overall structural compactness. The servo motor 11 precisely controls the rotation of the RV hollow turntable 9, driving the top rotating shaft 2 of the material tower to rotate around its axis with high precision, thus realizing the function of the top rotation 6, as shown in the attached diagram. Figure 3 As shown. Compared with traditional motors and reducers, this rotary drive method significantly improves power transmission efficiency, reduces mechanical wear during long-term operation, and ensures the stability and durability of the device under high load conditions.

[0038] The rotary manipulator 7, as the core actuator for picking up and placing the material tray, is fixedly installed at the top of the rotating shaft 2 at the top of the material tower and rotates synchronously with it 6, as shown in the attached diagram. Figure 3 As shown in the attached diagram. The rotary manipulator 7 includes a manipulator body and a bottom rotating device 8 disposed at the bottom of the manipulator body. The bottom rotating device 8 is fixedly connected to the top of the rotating shaft 2 at the top of the material tower via a support frame. The support frame is made of high-strength steel and is fixed to the bottom of the manipulator body with bolts, significantly enhancing the installation rigidity and structural stability of the rotary manipulator 7. The bottom rotating device 8 integrates a toothed fork gripping mechanism for gripping and releasing the material tray 14, as shown in the attached diagram. Figure 6 As shown. The fork gripping mechanism includes a fork plate, a synchronous motor, and a fork synchronous belt drive mechanism 17. The synchronous motor is a stepper motor, fixedly mounted on the bottom side wall of the robot body. Its output shaft is connected to one end of the synchronous belt via a synchronous pulley, and the other end of the synchronous belt is fixedly connected to the fork plate. The stepper motor drives the synchronous belt through precise pulse control, causing the fork plate to slide horizontally on the guide rail at the bottom of the robot body, so that the fork 15 can contact or move away from the bottom of the material tray 14, as shown in the attached diagram. Figure 6As shown. Compared with traditional pneumatic or chain drives, the toothed fork synchronous belt drive mechanism 17 has higher control precision and lower operating noise, while reducing mechanical wear and extending the service life of the toothed fork gripping mechanism.

[0039] To further enhance the stability of the gripping of the material tray 14, the fork gripping mechanism also includes a material tray pressure plate 16, which is located on top of the fork plate and connected to the robot body via a lifting mechanism, as shown in the attached figure. Figure 6 As shown. The lifting mechanism is driven by a cylinder, which is fixed to the bottom of the robot body. Its piston rod is fixedly connected to the material tray pressure plate 16 by bolts. The cylinder drives the piston rod to move up and down by compressed air, causing the material tray pressure plate 16 to rise or fall vertically. This allows it to press the material tray 14 when the fork gripper grabs it, or to lift it when releasing the material tray 14 to avoid interference, as shown in the attached diagram. Figure 6 As shown, the movement of the tray clamping plate 16 is precisely controlled by air pressure, ensuring uniform and moderate clamping force and preventing the tray 14 from shifting or slipping during handling. This design significantly improves the reliability and stability of the gripping process, making it particularly suitable for high-speed or high-load tray handling scenarios.

[0040] The structural design of the top plate 1 of the feed tower further optimizes the overall stability of the device. (See attached image) Figure 3 As shown, the top plate 1 of the material tower adopts a 270-degree hollow design. By removing some material from non-stressed areas, the weight of the top plate is significantly reduced, thereby reducing the inertial load when the rotating shaft 2 at the top of the material tower rotates. The top plate 1 is fixedly connected to the rotating shaft 2 at the top of the material tower through its central hole. High-strength fasteners are used at the connection to ensure structural reliability during long-term operation. Multiple guide columns are provided on the bottom surface of the top plate 1, evenly distributed along its circumference and fixed to the bottom surface with bolts. The top of the rotating manipulator 7 is slidably connected to the guide columns through a sliding kit. The guide columns provide additional support and guidance for the rotating manipulator 7, further reducing vibration and offset during rotation, as shown in the attached figure. Figure 3 As shown in the figure. This design effectively solves the deformation problem of the top plate caused by uneven stress in the existing technology, ensuring the stability and accuracy of the device under high-frequency operation.

[0041] To further improve the accuracy of rotary positioning, a rotary encoder is also installed on the top of the RV hollow turntable 9, which is coaxially connected to the rotating shaft 2 at the top of the pylon, as shown in the attached diagram. Figure 5 As shown, the rotary encoder detects the rotation angle of the rotating shaft 2 at the top of the pylon in real time and feeds the data back to the control system, thereby achieving closed-loop control and further improving the accuracy of rotational positioning. This design is particularly suitable for electronic tray handling scenarios that require high-precision positioning, ensuring the accurate storage and retrieval of the tray 14 within the pylon.

[0042] In actual operation, the SMT electronic material tray turret robot device operates as follows: First, the servo motor 11 starts, driving the rotating shaft 2 at the top of the turret to rotate via the RV hollow turntable 9, so that the rotating robot 7 is precisely positioned above the target material tray 14, as shown in the attached diagram. Figure 3 As shown. Subsequently, the stepper motor drives the synchronous belt, causing the fork plate to extend horizontally, with the fork 15 positioned below the material tray 14 in preparation for gripping, as shown in the attached diagram. Figure 6 As shown. Simultaneously, the cylinder drives the material tray pressure plate 16 to descend, pressing the material tray 14 to ensure stable gripping, as shown in the attached diagram. Figure 6 As shown. After completing the gripping process, the servo motor 11 continues to control the rotary manipulator 7 to rotate to the designated position, the toothed fork plate retracts, the material tray pressure plate 16 rises, and the material tray 14 is released to the target position. Throughout the process, the tower top assembly 4 provides a stable mounting base for the rotary manipulator 7, the guide column and the radial ball bearing 5 together ensure the smooth operation of the rotary manipulator 7, the bottom rotating mounting plate 12 provides reliable support for the bottom rotating drive device 13, and the rotary encoder monitors the rotation angle in real time to ensure positioning accuracy.

[0043] Through the coordinated operation of the above structures, the SMT electronic material tray turret robot device of this utility model achieves efficient and precise material tray picking and placing functions. The top plate 1 and bottom plate 3 of the material turret provide a stable support frame, the top rotating shaft 2 and the radial ball bearing 5 ensure the smoothness of rotation, the top assembly 4 enhances the stability of the top structure, and the bottom rotating drive device 13 achieves efficient power transmission through the servo motor 11, the RV hollow turntable 9 and the bottom rotating mounting plate 12. The rotating robot 7 completes the precise gripping of the material tray 14 through the bottom rotating device 8 and the toothed fork gripping mechanism, and the material tray pressure plate 16 and the toothed fork synchronous belt drive mechanism 17 further improve the stability and accuracy of gripping. The design of the guide column and rotary encoder further enhances the operational stability and positioning accuracy of the device. Compared with the prior art, this device has significantly improved in terms of rotary drive efficiency, structural stability and gripping accuracy, reduces maintenance costs, meets the needs of the electronics manufacturing industry for high efficiency and high reliability, and provides an optimized solution for automated production under complex working conditions.

[0044] The above are merely preferred embodiments of this utility model. It should be noted that those skilled in the art can make various improvements and modifications without departing from the principle of this utility model, and these improvements and modifications should also be considered within the scope of protection of this utility model. Other parts of this utility model not described in detail belong to the prior art and will not be elaborated upon here.

[0045] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of this 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 skilled in the art should understand that modifications can still be made to the technical solutions described in the foregoing embodiments, or equivalent substitutions can be made to some or all of the technical features therein. Such modifications or substitutions do not cause the essence of the corresponding technical solutions to deviate from the scope of the technical solutions of the embodiments of this utility model.

Claims

1. An SMT electronic tray magazine robot apparatus, characterized by, Includes the top plate of the pylon, the bottom plate of the pylon, the top rotating shaft, the bottom rotating drive device, the rotating manipulator, and the toothed fork gripping mechanism; The top plate of the material tower is fixedly installed on the top of the material tower, and the bottom plate of the material tower is fixedly installed on the bottom of the material tower. The top rotating shaft passes through the central hole of the top plate of the material tower in the vertical direction and is rotatably connected to the top plate of the material tower through a radial ball bearing. The bottom rotation drive device is fixedly installed on the top surface of the bottom plate of the material tower. The bottom rotation drive device includes a geared motor and a hollow rotating table. The geared motor is fixed on the bottom plate of the material tower. The hollow rotating table is fixedly connected to the output shaft of the geared motor through a turntable mounting base at its bottom. The bottom end of the top rotation shaft is fixedly connected to the center of the hollow rotating table so as to drive the top rotation shaft to rotate around its axis through the geared motor. The rotating manipulator is fixedly installed on the top of the top rotating shaft and rotates synchronously with it. The rotating manipulator includes a manipulator body and a toothed fork gripping mechanism disposed at the bottom of the manipulator body. The fork gripping mechanism includes a fork plate, a synchronous motor, and a synchronous belt. The synchronous motor is fixedly installed at the bottom of the robot body. One end of the synchronous belt is connected to the output shaft of the synchronous motor, and the other end is connected to the fork plate. The fork plate slides and extends horizontally at the bottom of the robot body under the drive of the synchronous motor to realize the gripping and release of the material tray.

2. The SMT electronic material tray and trolley robot device according to claim 1, characterized in that, The top plate of the material tower adopts a 270-degree hollow design and is fixedly connected to the top rotating shaft through the central hole. The top plate of the material tower is also provided with guide columns, which are fixed vertically to the bottom surface of the top plate of the material tower to enhance the rotational stability of the rotating manipulator.

3. The SMT electronic material tray and trolley robot device according to claim 1, characterized in that, The fork gripping mechanism also includes a tray pressure plate, which is located on the top of the fork plate and connected to the robot body via a lifting mechanism. When the fork plate grips the tray, the tray pressure plate can be raised or lowered vertically to press or release the tray.

4. The SMT electronic material tray and trolley robot device according to claim 1, characterized in that, The geared motor is a servo motor, and the servo motor is threadedly connected to the turntable mounting base of the hollow rotary table through its output shaft. The turntable mounting base is fixed to the top surface of the bottom plate of the material tower and is used to precisely control the rotation speed and angle of the top rotating shaft.

5. The SMT electronic material tray and trolley robot device according to claim 1, characterized in that, The hollow rotary table is an RV hollow rotary table. The central hole of the RV hollow rotary table is set through in the vertical direction to accommodate the top rotating shaft and related wiring, so as to improve the utilization of wiring space and rotational stability.

6. The SMT electronic material tray and trolley robot device according to claim 1, characterized in that, The synchronous motor is a stepper motor, which is fixed to the bottom side wall of the robot body. The synchronous belt is connected to the output shaft of the stepper motor through a synchronous pulley to improve the accuracy of the horizontal extension and retraction of the toothed fork plate.

7. The SMT electronic material tray and trolley robot device according to claim 3, characterized in that, The lifting mechanism includes a cylinder, which is fixed to the bottom of the robot body. The piston rod of the cylinder is fixedly connected to the material tray pressure plate to drive the material tray pressure plate to rise and fall in the vertical direction.

8. The SMT electronic material tray and trolley robot device according to claim 2, characterized in that, The number of guide columns is multiple, and the multiple guide columns are evenly distributed along the circumference of the top plate of the material tower and fixed to its bottom surface. The top of the rotating manipulator is slidably connected to the guide columns.

9. The SMT electronic material tray and trolley robot device according to claim 1, characterized in that, The robotic arm body also includes a support frame, which is fixed to the top of the top rotating shaft. The toothed fork gripping mechanism is fixed to the bottom of the support frame by bolts to enhance the installation rigidity of the toothed fork gripping mechanism.

10. The SMT electronic material tray and trolley robot device according to claim 5, characterized in that, The top of the RV hollow turntable is also equipped with a rotary encoder, which is coaxially connected to the top rotating shaft and is used to detect the rotation angle of the top rotating shaft in real time to improve the rotation positioning accuracy.

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