Three-axis module pick-and-place platform based on stepper motor

Abstract

The utility model relates to material taking and placing platform technical field, and disclose three -axis module material taking and placing platform based on stepping motor, including frame, the frame top fixedly connected with three -axis mobile platform, the frame is placed with the conveyer belt of conveying work piece, three -axis mobile platform end joint is equipped with the clamping mechanism of work piece clamping, the clamping mechanism includes the clamping cylinder fixedly connected in three -axis mobile platform working end, both clamping jaws of clamping cylinder all are fixedly connected with side clamping plate, two adjusting slots are seted up in side clamping plate one side. The utility model can wedge and lift from the workpiece bottom while clamping the workpiece laterally, the complex effect of " lateral clamping " and " bottom lifting " greatly increases the contact area and stability of clamping, can effectively overcome the shaking, rotation or slip problem that may occur in the high -speed movement, the whole process does not need manual handling, reduces the labor cost.

Description

Technical Field

[0001] This utility model relates to the field of material handling platform technology, and more specifically to a three-axis module material handling platform based on a stepper motor. Background Technology

[0002] In modern industrial production processes such as electronic assembly, semiconductor packaging, precision parts machining, and product packaging, there is a common need to move workpieces from one conveyor belt to another workstation or another conveyor belt. To automate this process, a pick-and-place platform based on a three-axis Cartesian coordinate module has become a standard solution. Among these, platforms using stepper motors as the drive source are widely used in low-to-medium load, low-to-medium speed applications due to their simple control, cost-effectiveness, and acceptable open-loop positioning accuracy.

[0003] With the development of technology, the working efficiency of production lines is constantly improving. Traditional manual methods have problems such as discontinuous work in production lines, which affect the production efficiency of production lines. At the same time, the continuous increase in labor costs also increases the production costs of production lines. Furthermore, during the movement of workpieces, inertia can easily cause workpieces to slide, rotate, or even fall off, causing damage to the workpieces. Utility Model Content

[0004] In order to overcome the above-mentioned defects of the prior art, this utility model provides a three-axis module loading and unloading platform based on a stepper motor to solve the problems of discontinuous work in the production line caused by traditional manual methods, which affect the production efficiency of the production line. At the same time, the continuous increase in labor costs also increases the production cost of the production line. Furthermore, during the movement of the workpiece, the workpiece is prone to sliding, rotating or even falling off due to inertia, which can cause damage to the workpiece.

[0005] This utility model provides the following technical solution: a three-axis module material handling platform based on a stepper motor, including a frame, a three-axis moving platform fixedly connected to the top of the frame, a conveyor belt for conveying workpieces placed inside the frame, and a clamping mechanism for clamping workpieces provided at the end joint of the three-axis moving platform. The clamping mechanism includes a clamping cylinder fixedly connected to the working end of the three-axis moving platform. Side clamping plates are fixedly connected to both jaws of the clamping cylinder. Two adjustment notches are opened on one side of the side clamping plates. A T-shaped slider is slidably connected in the adjustment notch. A wedge-shaped block is fixedly connected to one side of the T-shaped slider for supporting the bottom of the workpiece. The end joint of the three-axis moving platform is fixedly connected with a contact component.

[0006] As a further embodiment of this utility model, a set of adjusting screw holes is provided on one side of the side clamping plate and on both sides of the adjusting notch, and two clearance holes are provided on one side of the T-shaped slider to cooperate with the two sets of adjusting screw holes on both sides of the adjusting notch.

[0007] As a further embodiment of this utility model, the contact component includes a fixed frame fixedly connected to the working end of the three-axis moving platform, and the fixed frame covers the clamping cylinder. A slide is fixedly connected to one side of the fixed frame, and two sliding holes are opened on one side of the slide. A connecting rod is slidably connected in each of the two sliding holes. An internally threaded recess is fixedly connected to one end of each of the two connecting rods, and a contact sensor is internally threaded to the internally threaded recess.

[0008] As a further embodiment of this utility model, a spring is fitted inside each of the two connecting rods, with one end of the spring fixed to one side of the slide block and the other end fixed to one side of the internal threaded recess.

[0009] As a further embodiment of this utility model, two fixed cylinders are fixedly connected to the end side of the conveyor belt, and a connecting frame is slidably connected inside each of the two fixed cylinders. A baffle is fixedly connected to one side of the top of the two connecting frames to block the workpiece conveyed by the conveyor belt.

[0010] As a further embodiment of this utility model, the frame is equipped with railings on three sides, and one of the railings has a clearance opening for avoiding obstruction of the conveyor belt.

[0011] As a further embodiment of this utility model, the side wall of the fixed cylinder is provided with a locking screw hole, and a locking screw for fixing the height of the connecting bracket is threaded into the locking screw hole.

[0012] As a further embodiment of this invention, a rubber pad is provided on the side of the baffle facing the conveyor belt in the feeding direction.

[0013] The technical effects and advantages of this utility model are as follows: 1. This utility model utilizes a unique clamping mechanism composed of side clamping plates, T-shaped sliders, and wedge-shaped blocks. While clamping the workpiece laterally, it can also wedge and lift it from the bottom. The combined effect of "lateral clamping" and "bottom lifting" greatly increases the contact area and stability of the clamping, effectively overcoming the problems of shaking, rotation, or slippage that may occur during high-speed movement. This ensures the safety and reliability of the handling process, eliminating the need for manual handling and reducing labor costs.

[0014] 2. This utility model, through the setting of contact components, enables the contact sensor to detect the workpiece in a flexible manner, which can not only absorb the overshoot energy that may be generated when the Z-axis moves downward, but also avoid rigid collisions that may cause damage to the workpiece or the equipment itself.

[0015] 3. The T-shaped slider and the adjusting notch in the clamping mechanism of this utility model allow the wedge block to be flexibly adjusted in height according to the workpiece size. The baffle can be quickly adjusted in blocking height through the sliding connecting frame and locking screw. It can quickly adapt to a variety of workpieces of different specifications and sizes, and is suitable for mixed production lines with small batches and multiple varieties. Attached Figure Description

[0016] Figure 1 This is a front perspective view of the present invention.

[0017] Figure 2 For the present utility model Figure 1 The image on the right.

[0018] Figure 3 This is an exploded view of the clamping mechanism of this utility model.

[0019] Figure 4 This is an exploded view of the contact component of this utility model.

[0020] Figure 5 This is a structural diagram of the conveyor belt of this utility model.

[0021] The attached diagram is labeled as follows: 1. Frame; 2. Three-axis moving platform; 3. Conveyor belt; 4. Clamping mechanism; 5. Contact component; 6. Fixed cylinder; 7. Connecting frame; 8. Baffle; 9. Fence; 10. Clearance opening; 401. Clamping cylinder; 402. Side clamping plate; 403. Adjustment notch; 404. T-shaped slider; 405. Wedge-shaped stop; 406. Adjustment screw hole; 407. Clearance hole; 501. Fixture; 502. Slide; 503. Connecting rod; 504. Internal threaded recess; 505. Contact sensor; 506. Spring. Detailed Implementation

[0022] The technical solution of this utility model will be clearly and completely described below with reference to the accompanying drawings. In addition, the forms of the various structures described in the following embodiments are merely illustrative. This utility model is not limited to the structures described in the following embodiments. All other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of this utility model.

[0023] Reference Figures 1-5 This utility model provides a three-axis module material handling platform based on a stepper motor, including a frame 1, a three-axis moving platform 2 fixedly connected to the top of the frame 1 by bolts, a conveyor belt 3 for conveying workpieces placed inside the frame 1, and a clamping mechanism 4 for clamping workpieces provided at the end joint of the three-axis moving platform 2. The clamping mechanism 4 includes a clamping cylinder 401 that is bolted to the working end of the three-axis moving platform 2. Each of the two grippers of the clamping cylinder 401 is bolted to a side clamping plate 402. Two adjustment notches 403 are provided on one side of the side clamping plate 402. A T-shaped slider 404 is slidably connected in the adjustment notch 403. A wedge-shaped block 405 is bolted to one side of the T-shaped slider 404 for supporting the bottom of the workpiece. It should be noted that the clamping cylinder 401 is an actuator specifically designed for gripping operations. Its core components include a cylinder body, piston, piston rod, end cap, and grippers. It is an energy conversion device that converts the pressure energy of compressed air into the linear mechanical energy of the piston, and then converts the linear mechanical energy into the clamping and releasing mechanical energy of the grippers through an internal inclined plane or linkage mechanism. Those skilled in the art can configure it according to actual needs, which will not be elaborated here.

[0024] The unique clamping mechanism, consisting of side clamping plates 402, T-shaped sliders 404, and wedge-shaped blocks 405, can clamp the workpiece laterally while simultaneously wedging and lifting it from the bottom. The combined effect of "lateral clamping" and "bottom lifting" greatly increases the contact area and stability of the clamping, effectively overcoming potential shaking, rotation, or slippage problems during high-speed movement and ensuring the safety and reliability of the handling process.

[0025] It achieves a combination of "lateral clamping" and "bottom lifting", which greatly improves the stability and reliability of clamping. Especially for workpieces with a high center of gravity or smooth surface, it can effectively prevent them from shaking or slipping during movement.

[0026] The end joint of the three-axis moving platform 2 is fixedly connected to the contact component 5 by bolts.

[0027] The three-axis moving platform 2 starts, moving its end clamping mechanism 4 and contact component 5 to above the pre-grip position at the end of the conveyor belt 3. Then, the entire end moves downward, and the contact component 5 gently contacts the workpiece surface. When the contact component 5 detects stable contact with the workpiece, the Z-axis stops moving downward.

[0028] It should be noted that the conveyor belt 3 is existing technology, including a conveyor belt, idlers, drive unit, tensioning device, frame, cleaner and protection device. The material is evenly added to the running conveyor belt, which is supported by the idler group to form a continuous "moving road". It is a device that transports materials from one end to the other. Those skilled in the art can set it up according to actual needs, which will not be elaborated here.

[0029] Furthermore, a set of adjusting screw holes 406 are provided on one side of the side clamping plate 402 and on both sides of the adjusting notch 403, and two clearance holes 407 are provided on one side of the T-shaped slider 404, which are respectively used to cooperate with the two sets of adjusting screw holes 406 located on both sides of the adjusting notch 403.

[0030] The T-shaped slider 404 and the adjusting notch 403 cooperate to allow the user to flexibly adjust the vertical installation position of the wedge block 405 on the side clamping plate 402 according to the actual size of the workpiece, and lock it with the bolt through the adjusting screw hole 406, so that the clamping mechanism 4 can adapt to a variety of workpieces of different specifications.

[0031] After the workpiece height position is determined, the clamping cylinder 401 is activated, driving the side clamping plates 402 on both sides to move towards each other to clamp the workpiece. During the clamping process, the wedge-shaped abutment 405 fixed on the side clamping plate 402 will be inserted from the lower side of the workpiece and abut against the bottom of the workpiece. After the workpiece is firmly clamped, the Z-axis of the three-axis module rises, and the workpiece is smoothly lifted from the conveyor belt 3. The X and Y axis stepper motors of the three-axis moving platform 2 work together according to the program instructions to move the workpiece precisely above the target position. The Z axis descends again to place the workpiece in the target position. The clamping cylinder 401 is released, and the side clamps 402 and wedge blocks 405 on both sides of the workpiece move away from each other, releasing the workpiece. The clamping mechanism 4 is lifted and returned to the initial waiting position at the end of the conveyor belt 3 under the drive of the three-axis module, ready to start the next work cycle.

[0032] In this invention, the contact component 5 includes a fixed frame 501 that is bolted to the working end of the three-axis moving platform 2, and the fixed frame 501 covers the clamping cylinder 401. A slide block 502 is bolted to one side of the fixed frame 501. Two sliding holes are opened on one side of the slide block 502, and connecting rods 503 are slidably connected in both sliding holes. One end of the two connecting rods 503 is bolted to an internally threaded recess 504. A contact sensor 505 is internally threaded to the internally threaded recess 504. A spring 506 is sleeved in both connecting rods 503. One end of the spring 506 is fixed to one side of the slide block 502, and the other end is fixed to one side of the internally threaded recess 504. Since the connecting rods 503 can slide in the slide block 502 and are buffered by the spring 506, even if the Z-axis descends slightly excessively, it will not hard impact the workpiece, but will absorb the overshoot by compressing the spring 506 to protect the surface of the workpiece.

[0033] It should be noted that the contact sensor 505 is model number: Turck BI2-EG08 miniature proximity sensor, which is existing technology. Its principle is a coordinated process of "mechanical triggering-buffering-electrical signal feedback". Its core is to reliably convert the physical signal of mechanical contact into an electrical signal that can be recognized by the control system through a buffer mechanism. Those skilled in the art can set it according to actual needs, which will not be elaborated here.

[0034] The contact component 5 enables the contact sensor 505 to detect the workpiece in a flexible manner, which can not only absorb the overshoot energy that may be generated when the Z-axis moves downward, but also avoid rigid collisions that could damage the workpiece or the equipment itself.

[0035] In this application, the inner wall of the internal threaded concave block 504 is provided with an annular groove, and a nylon 66 damping ring with a Shore hardness of 85A is embedded in the groove. The continuous axial clamping force generated by its elastic deformation forms a helical angle interference fit with the external thread surface of the contact sensor 505 at 15°-20°. When the threaded pair is subjected to axial vibration load, the nylon insert can generate a maximum elastic compression of 0.3mm, which increases the friction coefficient between the threaded contact surfaces from 0.15 to 0.68 (tested according to ASTM D1894 standard), effectively suppressing loosening displacement caused by thread springback.

[0036] In this invention, two fixed cylinders 6 are bolted to the end of the conveyor belt 3. A connecting frame 7 is slidably connected inside each of the two fixed cylinders 6. A baffle 8 is bolted to one side of the top of each of the two connecting frames 7 to block the workpieces conveyed by the conveyor belt 3. A locking screw hole is provided on the side wall of the fixed cylinder 6. A locking screw for fixing the height of the connecting frame 7 is threaded into the locking screw hole. A rubber pad is provided on the side of the baffle 8 facing the material direction of the conveyor belt 3. The rubber pad on the baffle 8 can effectively buffer the impact of the workpiece, prevent damage to the workpiece surface and reduce noise.

[0037] The T-shaped slider 404 and the adjusting notch 403 in the clamping mechanism 4 allow the wedge block 405 to be flexibly adjusted in height according to the workpiece size. The baffle 8 can be quickly adjusted in blocking height through the sliding connecting frame 7 and the locking screw. It can quickly adapt to a variety of workpieces of different specifications and sizes, and is suitable for mixed production lines with small batches and multiple varieties.

[0038] When the conveyor belt 3 starts, it continuously transports the workpiece to the end. When the workpiece reaches the end, it is blocked by the vertically set baffle 8, ensuring that the workpiece stays in the same horizontal position in each cycle, thus completing the initial positioning.

[0039] In this utility model, the frame 1 is provided with a fence 9 on three sides, and a clearance opening 10 is provided in one of the fences 9 to allow the conveyor belt 3 to be moved.

[0040] Fence 9 establishes a physical safety barrier, which can effectively prevent on-site operators from accidentally entering the equipment working area, avoiding possible safety accidents such as mechanical collisions and pinching injuries, and complies with industrial production safety standards.

[0041] It should be noted that the three-axis moving platform 2 includes an X-axis stepper motor, a Y-axis stepper motor, a Z-axis stepper motor, an X-axis left limit switch, an X-axis right limit switch, a Y-axis front limit switch, a Y-axis rear limit switch, a Z-axis upper limit switch, and a Z-axis lower limit switch.

[0042] In use: Program the PLC externally, then preset parameters such as material pick-up delay, material release delay, X-axis origin position, Y-axis origin position, Z-axis origin position, X-axis pick-up position, X-axis pick-up speed, X-axis release position, X-axis release speed, Y-axis pick-up position, Y-axis pick-up speed, Y-axis release position, Y-axis release speed, Z-axis pick-up position, Z-axis pick-up speed, Z-axis release position, and Z-axis release speed via the touchscreen. If the axis movement position exceeds the limits of three axes, an alarm will be displayed on the touchscreen.

[0043] Press the start button on the touchscreen to begin material handling. After a set delay of the material handling time, the X-axis stepper motor is started, and the X-axis moves to the material handling position. When the X-axis reaches the material handling position, the X-axis stepper motor stops running. The Y-axis stepper motor is started, and the Y-axis moves to the material handling position. When the Y-axis reaches the material handling position, the Y-axis stepper motor stops running. The Z-axis stepper motor is started, and the Z-axis moves to the material handling position. When the Z-axis reaches the material handling position, the Z-axis stepper motor stops running.

[0044] After the material is picked up, the feeding delay is set for the picking time. Then, the Z-axis stepper motor is started, and the Z-axis begins to move towards the feeding position. After the Z-axis reaches the feeding position, the Z-axis stepper motor stops running. Then, the Y-axis stepper motor is started, and the Y-axis begins to move towards the feeding position. After the Y-axis reaches the feeding position, the Y-axis stepper motor stops running. Then, the X-axis stepper motor is started, and the X-axis begins to move towards the feeding position. After the X-axis reaches the feeding position, the X-axis stepper motor stops running.

[0045] After all materials have been picked up, you can press the stop button on the touch screen. If the last material is not finished being unloaded, the motor module will continue the unloading process. If the last material is finished being unloaded, the X-axis will start moving towards the origin. When the X-axis reaches the origin, it will stop running. The Y-axis will move towards the origin. When the Y-axis reaches the picking position, it will stop running. The Z-axis will move in the picking direction. After the Z-axis reaches the picking position, it will stop running. The picking and unloading process will stop and wait for the next start-up.

[0046] The X-axis stepper motor, Y-axis stepper motor, and Z-axis stepper motor are used to move the position of the clamping cylinder 401. The left and right limits of the X-axis are used for the program limits of the X-axis stepper motor. The front and rear limits of the Y-axis are used for the program limits of the Y-axis stepper motor. The upper and lower limits of the Z-axis are used for the program limits of the Z-axis stepper motor.

[0047] The use of this utility model involves the following steps: S1: First, the conveyor belt 3 starts and continuously transports the workpiece to the end. When the workpiece moves to the end, it is blocked by the vertically set baffle 8, ensuring that the workpiece stays in the same horizontal position in each cycle and completes the initial positioning. S2: Subsequently, the three-axis moving platform 2 starts, moving its end clamping mechanism 4 and contact assembly 5 to above the pre-grabbing position at the end of the conveyor belt 3. Then, the entire end moves downward, and the contact sensor 505 in the contact assembly 5 first gently contacts the workpiece surface. When the contact sensor 505 detects stable contact with the workpiece, the Z-axis stops moving downward. S3: After determining the height position of the workpiece, the clamping cylinder 401 is activated, driving the side clamping plates 402 on both sides to move towards each other to clamp the workpiece. During the clamping process, the wedge-shaped abutment 405 fixed on the side clamping plate 402 will be inserted from the lower side of the workpiece and abut against the bottom of the workpiece. After the workpiece is firmly clamped, the Z-axis of the three-axis module rises, and the workpiece is smoothly lifted from the conveyor belt 3. S4: The X-axis and Y-axis stepper motors of the three-axis moving platform 2 work together according to the program instructions to move the workpiece precisely above the target position. The Z-axis descends again to place the workpiece at the target position. The clamping cylinder 401 is released, and the side clamps 402 and wedge blocks 405 on both sides of the workpiece move away from each other, releasing the workpiece. The clamping mechanism 4 is lifted and returned to the initial waiting position at the end of the conveyor belt 3 under the drive of the three-axis module, ready to start the next work cycle.

[0048] Finally, the following points should be noted: In the description of this application, it should be noted that, unless otherwise specified and limited, the terms "installation", "connection" and "linkage" should be interpreted broadly, and can be mechanical or electrical connection, or internal connection between two components, or direct connection. "Up", "down", "left", "right", etc. are only used to indicate relative positional relationship. When the absolute position of the described object changes, the relative positional relationship may change. The electronic components and modules used in this utility model can all be parts that are commonly used in the market and can achieve the specific functions in this case. The specific models and sizes can be selected and adjusted according to actual needs. The accompanying drawings of the embodiments disclosed in this utility model only involve the structures involved in the embodiments disclosed in this utility model. Other structures can refer to the general design. In the absence of conflict, the same embodiment and different embodiments of this utility model can be combined with each other.

Claims

1. A three-axis module loading and unloading platform based on a stepper motor, comprising a frame (1), characterized in that: The top of the frame (1) is fixedly connected to a three-axis moving platform (2), and a conveyor belt (3) for conveying the workpiece is placed inside the frame (1). The end joint of the three-axis moving platform (2) is provided with a clamping mechanism (4) for clamping the workpiece. The clamping mechanism (4) includes a clamping cylinder (401) fixedly connected to the working end of the three-axis moving platform (2). The clamping cylinder (401) has two side clamping plates (402) fixedly connected to its two jaws. Two adjustment notches (403) are opened on one side of the side clamping plate (402). A T-shaped slider (404) is slidably connected in the adjustment notch (403). A wedge-shaped block (405) is fixedly connected to one side of the T-shaped slider (404) for supporting the bottom of the workpiece. The end joint of the three-axis moving platform (2) is fixedly connected to a contact component (5).

2. The three-axis module loading and unloading platform based on a stepper motor according to claim 1, characterized in that: The side clamp (402) has a set of adjustment screw holes (406) on one side and on both sides of the adjustment notch (403). The T-shaped slider (404) has two clearance holes (407) on one side that are used to cooperate with the two sets of adjustment screw holes (406) on both sides of the adjustment notch (403).

3. The three-axis module loading and unloading platform based on a stepper motor according to claim 1, characterized in that: The contact assembly (5) includes a fixed frame (501) fixedly connected to the working end of the three-axis moving platform (2), and the fixed frame (501) covers the clamping cylinder (401). A slide (502) is fixedly connected to one side of the fixed frame (501). Two sliding holes are opened on one side of the slide (502). A connecting rod (503) is slidably connected in each of the two sliding holes. An internal threaded recess (504) is fixedly connected to one end of the two connecting rods (503). A contact sensor (505) is internally threaded connected to the internal threaded recess (504).

4. The three-axis module loading and unloading platform based on a stepper motor according to claim 3, characterized in that: Both connecting rods (503) are fitted with springs (506), one end of which is fixed to one side of the slide (502), and the other end is fixed to one side of the internal threaded concave block (504).

5. The three-axis module loading and unloading platform based on a stepper motor according to claim 1, characterized in that: Two fixed cylinders (6) are fixedly connected to the end side of the conveyor belt (3). A connecting frame (7) is slidably connected inside each of the two fixed cylinders (6). A baffle (8) is fixedly connected to one side of the top of the two connecting frames (7) to block the workpiece conveyed by the conveyor belt (3).

6. The three-axis module loading and unloading platform based on a stepper motor according to claim 1, characterized in that: The frame (1) is equipped with railings (9) on three sides, and one of the railings (9) has a clearance opening (10) for the conveyor belt (3) to be moved away.

7. The three-axis module loading and unloading platform based on a stepper motor according to claim 5, characterized in that: The side wall of the fixed cylinder (6) is provided with a locking screw hole, and a locking screw for fixing the height of the connecting bracket (7) is connected to the locking screw hole.

8. The three-axis module loading and unloading platform based on a stepper motor according to claim 5, characterized in that: A rubber pad is provided on the side of the baffle (8) facing the material feeding direction of the conveyor belt (3).

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