Positioning jacking structure and AGV back frame

Abstract

The utility model relates to the field of back material frame, the utility model discloses a positioning jacking structure and AGV back material frame, including bearing unit, bearing unit includes two symmetrical support legs, the bearing plate fixed in the top of support leg and the support installed in the top of bearing plate, install the crosspiece between two supports, clamping unit, two clamping units are symmetrically installed on the crosspiece, power unit, power unit is installed in the top of bearing plate, and the support is arranged in the inboard of support, jacking unit, two jacking units are symmetrically installed in the both ends of support, the utility model has the beneficial effect that: the setting of bearing unit can limit the position of the dumper, and through the setting of clamping unit, can hold and fix the dumper, prevent the device from appearing the problem when running, through the cooperation of power unit and jacking unit, can jacking AGV back material frame, and keep stable in the jacking process.

Description

Technical Field

[0001] This utility model relates to the field of material backing frames, and in particular to a positioning and lifting structure and an AGV material backing frame. Background Technology

[0002] Although some devices on the AGV back frame have clamping functions, the clamping force is uneven or not adjustable, and the clamping effect varies significantly for frames of different thicknesses. The clamping qualification rate is 60% when the frame thickness is 10mm, and only 40% when the thickness is 50mm. Most of them are simple mechanical slots or single-point lifting designs, with large lifting deviations, which cannot meet the precision requirements of chip packaging.

[0003] In the existing technology, the material frame cannot be accurately positioned, clamped, and lifted, which makes it unable to meet the process requirements. At the same time, the positioning is not accurate during lifting, resulting in deviations during lifting. Utility Model Content

[0004] Therefore, the technical problem to be solved by this utility model is that it cannot accurately position, clamp and lift the material frame, so that it cannot meet the process requirements.

[0005] The above-mentioned technical problems are solved by the following technical solution: This utility model proposes a positioning and lifting structure, which includes a bearing unit, the bearing unit including two symmetrical legs, a bearing plate fixed to the top of the legs, and a bracket installed on the top of the bearing plate, with a crossbar installed between the two brackets; a clamping unit, the two clamping units being symmetrically installed on the crossbar; a power unit, the power unit being installed on the top of the bearing plate, and the bracket being located inside the bracket; and a lifting unit, the two lifting units being symmetrically installed at both ends of the bracket, and the two lifting units being located above the two ends of the power unit respectively.

[0006] In a preferred embodiment of the positioning and lifting structure of this utility model: a fixing plate is provided on the top of the bracket, and pulleys are evenly provided on the top of the fixing plate. The inner side of the part of the fixing plate that extends beyond the bracket gradually approaches the outer side of the fixing plate from the point near the bracket.

[0007] In a preferred embodiment of the positioning and lifting structure of this utility model: the clamping unit includes a first mounting plate and a mounting frame mounted adjacent to each other on the crossbar, a clamping cylinder mounted on the top of the first mounting plate via a mounting seat, and a gripper rotating on the clamping cylinder via a rotating shaft. A first photoelectric sensor is mounted on the top of the mounting frame.

[0008] In a preferred embodiment of the positioning and lifting structure of this utility model: the power unit includes a lifting cylinder installed at the middle of the top of the support plate, two slide rails symmetrically installed at both ends of the support plate, a slide block sliding on the slide rail, and a lifting plate fixed on the slide block.

[0009] In a preferred embodiment of the positioning and lifting structure of this utility model: the two lifting plates are installed in the same direction, and the two telescopic ends of the lifting cylinder are respectively fixed to the end of one lifting plate and the tail of the other lifting plate.

[0010] In a preferred embodiment of the positioning and lifting structure of this utility model: the lifting unit includes a mounting frame mounted on the inner side of the bracket via a second mounting plate, a moving component disposed on the mounting frame, and a ranging component mounted on the mounting frame. A second photoelectric sensor is mounted on the top of the mounting frame via a second fixing bracket.

[0011] In a preferred embodiment of the positioning and lifting structure of this utility model: the moving component includes two outer cylinders symmetrically fixed on the mounting frame, a push rod sliding inside the outer cylinder, a moving seat fixed to the bottom end of the push rod, and a positioning pin installed on the top end of the push rod. The bottom of the push rod is rotatably connected to a roller.

[0012] In a preferred embodiment of the positioning and lifting structure of this utility model: the ranging component includes a displacement sensor fixed to the top of the movable seat, a through hole opened on the mounting frame, and a positioning detection switch installed between the two outer cylinders through a first fixing bracket. The through hole corresponds to the displacement sensor, and the positioning detection switch and the displacement sensor do not interfere with each other's movements.

[0013] The beneficial effects of this utility model are as follows: the setting of the bearing unit can limit the position of the material cart, and the setting of the clamping unit can clamp and fix the material cart to prevent problems from occurring during the operation of the device. Through the cooperation of the power unit and the lifting unit, the AGV back material frame can be lifted and kept stable during the lifting process.

[0014] Therefore, the technical problem to be solved by this utility model is: inaccurate positioning during jacking, resulting in deviations during jacking.

[0015] The above-mentioned technical problems are solved by the following technical solution: This utility model proposes an AGV back material frame, which includes a material cart, the width of which is less than the distance between two support legs, and a fixing block is fixedly connected to the four corners of the bottom of the top plate of the material cart, and a positioning hole is opened at the bottom of the fixing block; and material, which is movably placed on the top of the material cart.

[0016] In a preferred embodiment of the AGV back material frame of this utility model: the positioning hole and the positioning pin are inserted and matched, and the clamping unit is used to clamp and fix the material cart.

[0017] The beneficial effects of this utility model are as follows: through the cooperation between the positioning hole and the positioning pin, the position of the back material frame can be adjusted at the beginning of the lifting stage, ensuring accuracy during the lifting process. Attached Figure Description

[0018] To more clearly illustrate the technical solutions of the embodiments of this utility model, the accompanying drawings of the embodiments of this utility model will be briefly described below. Obviously, the drawings described below only relate to some embodiments of this utility model and are not intended to limit the scope of this utility model. Wherein:

[0019] Figure 1 A schematic diagram of the positioning and lifting structure is shown.

[0020] Figure 2 A schematic diagram of the clamping unit is shown;

[0021] Figure 3 A schematic diagram of the power unit structure is shown;

[0022] Figure 4 A schematic diagram of the lifting unit is shown;

[0023] Figure 5 A schematic diagram of the AGV back material frame is shown.

[0024] Figure 6 A partial structural schematic diagram of the AGV backing frame is shown. Detailed Implementation

[0025] To enable those skilled in the art to better understand this utility model, the present utility model will be further described in detail below with reference to specific embodiments and accompanying drawings.

[0026] The terminology used in this invention refers to those general terms currently widely used in the art in consideration of the functionality of this invention; however, these terms may vary according to the intent, precedent, or new technology of those skilled in the art. Furthermore, specific terms may be chosen by the applicant, and in such cases, their detailed meanings will be described in the detailed description of this invention. Therefore, the terminology used in this specification should not be construed as simple names, but rather based on the meaning of the terms and the overall description of this invention.

[0027] Example 1

[0028] Reference Figures 1-4This is the first embodiment of the present invention. This embodiment provides a positioning and lifting structure, which includes a bearing unit 1, which includes two symmetrical support legs 11, a bearing plate 12 fixed to the top of the support legs 11, and a bracket 13 installed on the top of the bearing plate 12. A crossbar 16 is installed between the two brackets 13; a clamping unit 2, which is symmetrically installed on the crossbar 16; a power unit 3, which is installed on the top of the bearing plate 12, and the bracket 13 is located inside the bracket 13; and a lifting unit 4, which is symmetrically installed at both ends of the bracket 13, and the two lifting units 4 are respectively located above the two ends of the power unit 3.

[0029] The distance between the two support legs 11 can be set according to the width of the material cart 5 in actual use. The two support legs 11 are connected by a crossbar 16, which is also used to restrict the movement of the material cart 5 and provide the installation conditions for the clamping unit 2. The setting of the bearing plate 12 and the bracket 13 provides the conditions for the installation of the power unit 3 and the lifting unit 4.

[0030] The extension and retraction of the telescopic end is controlled by the power unit 3, which simultaneously controls the lifting of the two lifting units 4, ensuring that the two lifting units 4 can rise or fall synchronously, and ensuring that one side is higher than the other during lifting, thereby achieving the lifting of the material car 5.

[0031] After being lifted, the clamping unit 2 can clamp and fix the material cart 5, keeping the material cart 5 stable. While the material cart 5 is stable, it can also ensure that the material 6 will not shake, preventing problems from occurring in subsequent operations.

[0032] Specifically, a fixing plate 14 is provided on the top of the bracket 13, and pulleys 15 are evenly provided on the top of the fixing plate 14. The inner side of the part of the fixing plate 14 that extends beyond the bracket 13 gradually approaches the outer side of the fixing plate 14 from the point near the bracket 13.

[0033] By setting the fixing plate 14, when the material 6 is transported into the device by the material cart 5, the position of the material cart 5 can be adjusted to ensure that the material cart 5 moves stably when it enters between the two support legs 11 and does not deflect. In addition, the inclined setting of the inner side of the fixing plate 14 will also straighten the material cart 5 if it deviates when it enters between the two support legs 11. Furthermore, the setting of the pulley 15 will prevent the material cart 5 from rubbing against the fixing plate 14 and causing damage.

[0034] In use, the material cart 5 is pushed in from the side of the support leg 11 without the crossbar 16, and then the material cart 5 is clamped and fixed by the clamping unit 2. The power unit 3 is then turned on, and the lifting unit 4 is driven by the power unit 3 to lift the back material frame.

[0035] Example 2

[0036] Reference Figures 2-4 This is the second embodiment of the present invention, which differs from the first embodiment in that it further includes a clamping unit 2, which includes a first mounting plate 21 and a mounting frame 26 mounted adjacent to the crossbar 16, a clamping cylinder 23 mounted on the top of the first mounting plate 21 via a mounting base 22, and a gripper 25 rotating on the clamping cylinder 23 via a rotating shaft 24. A first photoelectric sensor 27 is mounted on the top of the mounting frame 26.

[0037] The clamping cylinder 23 has a built-in pressure sensor, model PSE540A-M5, with an accuracy of ±1%FS. The clamping cylinder 23 is connected to the control system and feeds back the clamping force of the pressure sensor to the control system. The control system adjusts the air intake of the clamping cylinder 23 through a PID algorithm with proportional coefficient Kp=2, integral coefficient Ki=0.5, and derivative coefficient Kd=1, so that the clamping force is stabilized within the range of 80-120N. The specific force can be determined by testing the material and surface hardness of the material cart 5 to ensure stable clamping without damaging the surface.

[0038] The installation position of the clamping cylinder 23 can be adjusted by the first mounting plate 21, and the mounting base 22 serves as an intermediate component, facilitating the installation and disassembly of the clamping cylinder 23. The gripper 25 is rotatably connected to the clamping cylinder 23 via the rotating shaft 24. When the clamping cylinder 23 is opened, it can drive the gripper 25 to rotate around the rotating shaft 24. When not in use, the gripper 25 will not obstruct the entry of the material cart 5. When the material cart 5 reaches the designated position, it is lifted by the cooperation of the power unit 3 and the lifting unit 4, and then the clamping cylinder 23 drives the gripper 25 to rotate to achieve clamping and fixing of the material cart 5.

[0039] The mounting bracket 26 is designed to work with the gripper 25 to clamp and fix the material cart 5. The inner side of the gripper 25 is covered with an elastic buffer layer to prevent the risk of friction or detachment between the two during clamping.

[0040] The elastic buffer layer undergoes an elastic deformation of 1.5mm during clamping, compensating for the dimensional errors of the material cart 5 and the effects of uneven ground, ensuring uniform clamping.

[0041] Furthermore, by setting the first photoelectric sensor 27, it is possible to detect whether the material cart 5 enters between the two support legs 11. The model of the first photoelectric sensor 27 is E3X-DA11.

[0042] Specifically, the power unit 3 includes a lifting cylinder 31 installed in the middle of the top of the support plate 12, two slide rails 32 symmetrically installed at both ends of the support plate 12, a slide block 33 sliding on the slide rails 32, and a lifting plate 34 fixed on the slide block 33.

[0043] Furthermore, the two lifting plates 34 are installed in the same direction, and the two telescopic ends of the lifting cylinder 31 are respectively fixed to the end of one lifting plate 34 and the tail of the other lifting plate 34.

[0044] The lifting cylinder 31 is model DSBC-80-200-T-PPVA, with a stroke of 200mm and a thrust of 500N, ensuring stable lifting of the material cart 5. After the lifting cylinder 31 is opened, it can simultaneously drive the two lifting plates 34 to move in the same direction, so that the lifting height of the two lifting units 4 is consistent, ensuring the stability of the lifting process. The lifting cylinder 31 is connected to the control system, which controls the opening and stopping of the lifting cylinder 31.

[0045] The cooperation between the slide rail 32 and the slide block 33 ensures the smooth sliding of the lifting plate 34 and can limit the movement of the lifting plate 34.

[0046] Both lifting plates 34 are inclined at the top, which allows the lifting unit 4 to be raised or lowered during movement.

[0047] Specifically, the lifting unit 4 includes a mounting frame 42 mounted on the inside of the bracket 13 via a second mounting plate 41, a moving component 43 disposed on the mounting frame 42, and a ranging component 44 mounted on the mounting frame 42. A second photoelectric sensor 451 is mounted on the top of the mounting frame 42 via a second fixing bracket 45.

[0048] The second mounting plate 41 and mounting frame 42 provide a supporting base for this component. The lifting effect of the material cart 5 is achieved by the cooperation of the moving component 43 and the lifting plate 34. The distance measuring component 44 is used to determine the lifting height. The installation of the second photoelectric sensor 451 is used to sense the position of the material cart 5. The second photoelectric sensor 451 is connected to the control system. The model of the second photoelectric sensor 451 is E3X-DA11, and the model of the control system is GE IC695CPE310. The second photoelectric sensor 451 is used to detect whether the material cart 5 has been pushed into place.

[0049] When the AGV material carrier 5 enters the sensing area of ​​the second photoelectric sensor 451, the control system triggers the two lifting cylinders 31 to move synchronously, ensuring that the four lifting units 4 can lift synchronously.

[0050] Furthermore, the movable component 43 includes two outer cylinders 434 symmetrically fixed on the mounting frame 42, a push rod 433 sliding inside the outer cylinder 434, a movable seat 431 fixed to the bottom of the push rod 433, and a positioning pin 435 installed on the top of the push rod 433. A roller 432 is rotatably connected to the bottom of the push rod 433.

[0051] The roller 432 ensures that the lifting plate 34 reduces friction with the moving seat 431 when it moves, making its movement smoother and the fit between the two tighter. The push rod 433 moves in the outer cylinder 434, and the outer cylinder 434 limits the push rod 433 to ensure its vertical movement. The positioning pin 435 can cooperate with the positioning hole 52 for coarse positioning and also ensures that the material cart 5 will not move when it is lifted.

[0052] Furthermore, the ranging component 44 includes a displacement sensor 442 fixed to the top of the movable base 431, a through hole 441 opened on the mounting frame 42, and a position detection switch 444 installed between the two outer cylinders 434 via the first fixing bracket 443. The through hole 441 corresponds to the displacement sensor 442, and the position detection switch 444 and the displacement sensor 442 do not interfere with each other's movements.

[0053] The first fixed frame 443 is used to install the position detection switch 444. When the moving seat 431 moves upward, the displacement sensor 442 moves through the through hole 441 to the top of the mounting frame 42. When the position detection switch 444 detects the displacement sensor 442, it indicates that the lifting is in place. Since the position detection switch 444 is connected to the control system, the position detection switch 444 will transmit the detected signal to the control system, and the control system will stop the operation of the lifting cylinder 31.

[0054] The displacement sensor 442 is model SMT-8M-A-PS-24V-E-0.3-M8D. When the position detection switch 444 is installed through the first fixing bracket 443, the height of the position detection switch 444 can be adjusted according to actual operation requirements, and the height of the displacement sensor 442 can also be adjusted synchronously according to requirements. No specific limitation is made here.

[0055] In use, the material cart 5 is pushed between the two support legs 11. The fixing plate 14 cooperates with the pulley 15 to ensure that the pulley 15 remains stable and the vehicle body is level when entering. Upon entry, the material cart 5 is detected by the first photoelectric sensor 27 and the signal is transmitted to the control system. The control system receives the signal and prepares. When the material cart 5 is pushed into the sensing area of ​​the second photoelectric sensor 451, the second photoelectric sensor 451 transmits the signal to the control system. The control system controls the opening of the lifting cylinder 31. The lifting cylinder 31 drives the lifting plate 34 to move. The movement of the lifting plate 34 drives the moving seat 431 to rise, and drives the positioning pin 435 to rise. When the positioning pin 43... When the 5-positioning hole 52 comes into contact with the 5-positioning hole, the two achieve coarse positioning. During the lifting process, the displacement sensor 442 passes through the through hole 441. When the position detection switch 444 detects the displacement sensor 442, it means that the lifting is in place. The position detection switch 444 transmits the signal to the control system. The control system controls the closing of the lifting cylinder 31. After closing, the clamping cylinder 23 is opened. The clamping cylinder 23 drives the gripper 25 to rotate, thereby clamping and fixing the material cart 5. During clamping, the air intake of the clamping cylinder 23 can be controlled by the clamping force of the pressure sensor inside the clamping cylinder 23, thereby controlling the clamping force to ensure stable and safe clamping, which is convenient for subsequent operations.

[0056] Based on the data fed back by the first photoelectric sensor 27, the pressure sensor, the displacement sensor 442, and the second photoelectric sensor 451, the control system controls the lifting cylinder 31 and the clamping cylinder 23 to operate according to the set program. When the displacement sensor 442 detects that the height difference between the lifting cylinders exceeds ±0.1mm, the control system adjusts the air intake / exhaust volume of the lifting cylinder 31 to achieve synchronous lifting.

[0057] Example 3

[0058] Reference Figures 5-6 This is the third embodiment of the present invention. Based on the previous two embodiments, this embodiment provides an AGV back material frame, which includes a material cart 5. The width of the material cart 5 is less than the distance between the two support legs 11. Fixing blocks 51 are fixedly connected to the four corners of the bottom of the top plate of the material cart 5. The bottom of the fixing blocks 51 is provided with positioning holes 52. Material 6 is movably placed on the top of the material cart 5.

[0059] Specifically, the positioning hole 52 and the positioning pin 435 are inserted and engaged, and the clamping unit 2 is used to clamp and fix the material cart 5.

[0060] By setting the positioning hole 52, it can cooperate with the positioning pin 435 during the lifting process to perform coarse positioning of the material carriage 5, and adjust the position of the material carriage 5 to ensure the stability of the lifting.

[0061] In summary, during use, the material cart 5 is pushed between the two support legs 11. The fixing plate 14 cooperates with the pulley 15 to ensure that the pulley 15 remains stable and the vehicle body is level during entry. Upon entry, the material cart 5 is detected by the first photoelectric sensor 27 and a signal is transmitted to the control system. The control system receives the signal and prepares. When the material cart 5 is pushed into the sensing area of ​​the second photoelectric sensor 451, the second photoelectric sensor 451 transmits a signal to the control system. The control system controls the opening of the lifting cylinder 31, which drives the lifting plate 34 to move. The movement of the lifting plate 34 causes the moving seat 431 to rise, and also causes the positioning pin 435 to rise. When the positioning pin 435 rises... When the 35 contacts the positioning hole 52, coarse positioning is achieved. During the lifting process, the displacement sensor 442 passes through the through hole 441. When the position detection switch 444 detects the displacement sensor 442, it means that the lifting is in place. The position detection switch 444 transmits the signal to the control system. The control system controls the closing of the lifting cylinder 31. After closing, the clamping cylinder 23 is opened. The clamping cylinder 23 drives the gripper 25 to rotate, thereby clamping and fixing the material cart 5. During clamping, the air intake of the clamping cylinder 23 can be controlled by the clamping force of the pressure sensor inside the clamping cylinder 23, thereby controlling the clamping force to ensure stable and safe clamping, which is convenient for subsequent operations.

[0062] Finally, it should be noted that the methods and devices described in detail above are merely embodiments, and those skilled in the art can modify these embodiments in different ways as long as they do not depart from the scope of this utility model.

Claims

1. A positioning and lifting structure, characterized in that: include, The support unit (1) includes two symmetrical legs (11), a support plate (12) fixed to the top of the legs (11), and a bracket (13) installed on the top of the support plate (12). A crossbar (16) is installed between the two brackets (13). Clamping unit (2), two clamping units (2) are symmetrically mounted on the crossbar (16); The power unit (3) is installed on the top of the support plate (12), and the bracket (13) is disposed on the inner side of the bracket (13); Lifting unit (4): Two lifting units (4) are symmetrically installed at both ends of the bracket (13), and the two lifting units (4) are respectively located above the two ends of the power unit (3).

2. The positioning and lifting structure according to claim 1, characterized in that: The top of the bracket (13) is provided with a fixing plate (14), and the top of the fixing plate (14) is evenly provided with pulleys (15). The inner side of the part of the fixing plate (14) that extends beyond the bracket (13) gradually approaches the outer side of the fixing plate (14) from the point near the bracket (13).

3. The positioning and lifting structure according to claim 2, characterized in that: The clamping unit (2) includes a first mounting plate (21) and a mounting bracket (26) mounted adjacent to the crossbar (16), a clamping cylinder (23) mounted on the top of the first mounting plate (21) via a mounting base (22), and a gripper (25) rotating on the clamping cylinder (23) via a rotating shaft (24). A first photoelectric sensor (27) is mounted on the top of the mounting bracket (26).

4. The positioning and lifting structure according to claim 3, characterized in that: The power unit (3) includes a lifting cylinder (31) installed at the top center of the support plate (12), two slide rails (32) symmetrically installed at both ends of the support plate (12), a slide block (33) sliding on the slide rail (32), and a lifting plate (34) fixed on the slide block (33).

5. The positioning and lifting structure according to claim 4, characterized in that: The two lifting plates (34) are installed in the same direction, and the two telescopic ends of the lifting cylinder (31) are respectively fixed to the end of one lifting plate (34) and the tail of the other lifting plate (34).

6. The positioning and lifting structure according to any one of claims 3 to 5, characterized in that: The lifting unit (4) includes a mounting frame (42) mounted on the inside of the bracket (13) via a second mounting plate (41), a moving component (43) disposed on the mounting frame (42), and a ranging component (44) mounted on the mounting frame (42). A second photoelectric sensor (451) is mounted on the top of the mounting frame (42) via a second fixing bracket (45).

7. The positioning and lifting structure according to claim 6, characterized in that: The movable component (43) includes two outer cylinders (434) symmetrically fixed on the mounting frame (42), a push rod (433) sliding inside the outer cylinder (434), a movable seat (431) fixed to the bottom of the push rod (433), and a positioning pin (435) installed on the top of the push rod (433). The bottom of the push rod (433) is rotatably connected to a roller (432).

8. The positioning and lifting structure according to claim 7, characterized in that: The ranging component (44) includes a displacement sensor (442) fixed to the top of the movable base (431), a through hole (441) opened on the mounting frame (42), and a position detection switch (444) installed between the two outer cylinders (434) via a first fixing bracket (443). The through hole (441) corresponds to the displacement sensor (442), and the position detection switch (444) and the displacement sensor (442) do not interfere with each other's movements.

9. An AGV backing frame, characterized in that: Including the positioning and lifting structure as described in any one of claims 1 to 8; and Material cart (5), the width of the material cart (5) is less than the distance between the two support legs (11), and the top plate of the material cart (5) is fixedly connected to the four corners of the bottom of the four corners of the top plate. The bottom of the fixed block (51) is provided with positioning holes (52). Material (6), which is movably placed on top of the material cart (5).

10. The AGV backing frame according to claim 9, characterized in that: The positioning hole (52) is inserted into the positioning pin (435), and the clamping unit (2) is used to clamp and fix the material cart (5).

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