CN217516229U

CN217516229U - Conveying and transferring device

Info

Publication number: CN217516229U
Application number: CN202221626085.0U
Authority: CN
Inventors: 赵凯; 梁猛; 林海涛; 李益; 徐娜
Original assignee: Shanghai Shiyu Precision Machinery Co ltd
Current assignee: Shanghai Shiyu Precision Equipment Co.,Ltd.
Priority date: 2022-06-24
Filing date: 2022-06-24
Publication date: 2022-09-30
Anticipated expiration: 2032-06-24

Abstract

The utility model discloses a carry transfer device, Y axle sliding structure and both ends including two parallel arrangement respectively the cross-over connect on two Y axle sliding structure and with Y axle sliding structure sliding connection's X axle sliding structure, X axle sliding structure's both ends all are provided with and are used for driving X axle sliding structure along the gliding linear electric motor of Y axle sliding structure, linear electric motor's active cell magnet is fixed on X axle sliding structure, linear electric motor's stator coil is fixed on stator bearing structure, stator bearing structure separates contactless with Y axle sliding structure each other, the stability that X axle sliding structure moved on Y axle sliding structure has been guaranteed.

Description

Conveying and transferring device

Technical Field

The utility model relates to a mobile device technical field, concretely relates to carry transfer device.

Background

At present, a conveying and transferring device with an X-axis sliding structure and a Y-axis sliding structure is widely applied to the field of industrial assembly and processing, the X-axis sliding structure is driven by a linear motor to move on the Y-axis sliding structure, and a sucker is arranged on the X-axis sliding structure and used for adsorbing and moving various parts. For example, in the field of chip processing, a conveying and transferring device with a suction head can suck up a chip and then stick the chip to a preset position of a circuit board, so that automatic chip sticking is realized.

However, in the prior art, when the linear motor drives the X-axis sliding structure to slide on the Y-axis sliding structure, the linear motor drives the Y-axis sliding structure to vibrate in the operation process, so that the X-axis sliding structure is influenced by the Y-axis sliding structure to vibrate when moving on the Y-axis sliding structure, and the X-axis sliding structure deviates in the moving process, thereby influencing the working precision.

SUMMERY OF THE UTILITY MODEL

An object of the utility model is to provide a carry transfer device solves among the prior art because the front and back end interval varies or does not cause the easy problem of warping of in-process that the X axle guide rail removed on the Y axle guide rail at same height around between two Y axle guide rails.

The purpose of the utility model can be realized by the following technical scheme:

a conveying and transferring device comprises two Y-axis sliding structures arranged in parallel and an X-axis sliding structure, wherein two ends of the X-axis sliding structure are respectively bridged on the two Y-axis sliding structures and are in sliding connection with the Y-axis sliding structures, two ends of the X-axis sliding structure are respectively provided with a linear motor used for driving the X-axis sliding structure to slide along the Y-axis sliding structures, a rotor magnet of the linear motor is fixed on the X-axis sliding structure, a stator coil of the linear motor is fixed on a stator supporting structure, and the stator supporting structure and the Y-axis sliding structures are separated from each other and are not in contact with each other.

As a further aspect of the present invention: the Y-axis sliding structure comprises a track supporting beam and a Y-axis sliding rail arranged on the track supporting beam, the track supporting beam is arranged in a hollow mode, and the stator coil is located in the cavity of the track supporting beam.

As a further aspect of the present invention: the stator supporting structure comprises a supporting frame and a stator fixing beam arranged on a cross beam of the supporting frame, wherein a stator coil is fixed to form a traction channel in the stator fixing beam, at least part of the rotor magnet is located in the traction channel, the cross beam of the supporting frame and the stator fixing beam are arranged in a cavity of the track supporting beam, a stand column of the supporting frame penetrates through the bottom surface of the track supporting beam and extends out of the cavity of the track supporting beam, and the supporting frame and the stator fixing beam and the cavity wall of the cavity are arranged at intervals.

As a further aspect of the present invention: the X-axis sliding structure comprises an X-axis beam and two sliding seats respectively arranged at two ends of the X-axis beam, the rotor magnet is fixed to the bottom of each sliding seat, and sliding feet used for sliding on the Y-axis sliding structure are further arranged at the bottom of each sliding seat.

As a further aspect of the present invention: the Y-axis sliding structure comprises a track supporting beam and Y-axis sliding rails arranged on the track supporting beam, the number of the sliding feet is two, the two sliding feet are arranged on two sides of the rotor magnet respectively, and the track supporting beam is provided with two Y-axis sliding rails matched with the two sliding feet respectively.

As a further aspect of the present invention: x axle crossbeam one end or one of them the slide is close to the one end of X axle crossbeam is provided with the cylinder shaft hole, it is provided with linear bearing to slide in the cylinder shaft hole, X axle crossbeam or the rigid coupling has on another in the slide with linear bearing pegs graft fixed connection circle axle.

As a further aspect of the present invention: the cylindrical shaft hole is formed in one end of the X-axis beam, and the connecting circular shaft is fixedly connected with the sliding seat.

As a further aspect of the present invention: still include the workstation, the workstation has first mesa and interval setting and is in the second mesa of first mesa below, Y axle sliding structure fixes on the first mesa, stator bearing structure fixes on the second mesa.

The utility model has the advantages that: this application makes separation and contactless between stator bearing structure and the Y axle sliding structure through setting up the stator bearing structure who is used for independently supporting linear electric motor's stator coil, and when stator coil received the reaction force vibration of active cell magnet, only can drive the vibration of stator bearing structure, and can't influence with Y axle sliding structure, and then guaranteed the stability that X axle sliding structure moved on Y axle sliding structure.

Drawings

The present invention will be further described with reference to the accompanying drawings.

Fig. 1 is a schematic structural view of the whole of the present invention;

FIG. 2 is a schematic structural view of a portion of the present invention;

FIG. 3 is a sectional view of the overall structure of the present invention;

FIG. 4 is a schematic view of the structure at A in FIG. 3;

FIG. 5 is a schematic view of the present invention with a structure on the worktable;

FIG. 6 is a cross-sectional view of another cross-section of the overall structure of the present invention;

fig. 7 is a schematic diagram of the structure at B in fig. 6.

Detailed Description

The technical solutions in the embodiments of the present invention will be described clearly and completely with reference to the accompanying drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only some embodiments of the present invention, not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by a person skilled in the art without making creative efforts belong to the protection scope of the present invention.

Please refer to fig. 1-4, the utility model relates to a transport transfer device, including X axle sliding structure 1 and the Y axle sliding structure 2 of setting in X axle sliding structure 1 below, Y axle sliding structure 2 parallel arrangement has two, the both ends of X axle sliding structure 1 cross over respectively on two Y axle sliding structure 2 and with Y axle sliding structure 2 sliding connection, the both ends of X axle sliding structure 1 all are provided with linear electric motor 3, linear electric motor 3 drive X axle sliding structure 1 moves along Y axle sliding structure 2. Carry transfer device still including measuring respectively the displacement measurement piece 4 of the 1 both ends displacement distance of X axle sliding structure, displacement measurement piece 4 with linear electric motor 3 all with carry transfer device's controller (not shown in the figure) to be connected, the controller is through the displacement distance at the 1 both ends of the X axle sliding structure that two displacement measurement pieces 4 measured respectively, adjusts two linear electric motor 3's moving speed in real time, makes the displacement at the both ends of X axle sliding structure 1 synchronous, avoids leading to X axle sliding structure 1 when removing that the both ends displacement is asynchronous and the distortion because the span is big between two Y axle sliding structure 2. In this embodiment, displacement measurement spare 4 adopts the grating chi, the grating chi is provided with two and is located respectively the both ends of X axle sliding structure 1.

Further, stator supporting structures 5 are respectively arranged below two ends of the X-axis sliding structure 1, the mover magnet 32 of the linear motor 3 is fixed on the X-axis sliding structure 1, the stator coil 31 of the linear motor 3 is fixed on the stator supporting structure 5, the stator supporting structure 5 is arranged separately from the Y-axis sliding structure 2, so that when the stator coil 31 drives the mover magnet 32 to move, the reaction force generated by the mover magnet 32 on the stator coil 31 acts on the stator supporting structure 5, and the stator supporting structure 5 vibrates and cannot affect the Y-axis sliding structure 2, thereby ensuring the moving precision and stability of the X-axis sliding structure 1, and at this time, when the attaching part 9 with a sucker can realize high-precision operation on the X-axis sliding structure 1.

Specifically, stator bearing structure 5 includes support frame 51 and sets up fixed beam 52 of stator on the support frame 51, and support frame 51 has the crossbeam and sets up the stand that is used for supporting in crossbeam both ends below, and fixed beam 52 of stator sets up to the U-shaped structure, stator coil 31 is fixed to be set up in the fixed frame 52 of stator, including setting up the suspension force coil of the fixed frame 52 diapire of stator and setting up the traction coil at the fixed frame 52 both sides wall of stator, enclose between suspension force coil and the traction coil and establish and form the traction passageway. The rotor magnet 32 of the linear motor 3 is at least partially positioned in the traction channel and is dragged by the stator coil 31, and under the condition of electrification, the suspension coil provides moving buoyancy for the rotor magnet 32 to reduce the friction resistance between the X-axis sliding structure 1 and the Y-axis sliding rail 22 and improve the moving speed of the X-axis sliding structure 1; the traction coil pulls the mover magnet 32 to move along the Y-axis direction, so as to provide power for the movement of the X-axis sliding structure 1.

The Y-axis sliding structure 2 includes a rail support beam 21 and a Y-axis slide rail 22 provided on the rail support beam 21, the rail support beam 21 is provided in a hollow state, the cross beam of the support frame 51, the stator fixing beam 52, and the stator coil 31 are provided in the cavity of the rail support beam 21, the column of the support frame 51 extends out of the cavity of the rail support beam 21 through the bottom surface of the rail support beam 21, and the support frame 51, the stator fixing beam 52, and the cavity wall of the cavity are provided at an interval to form an interval gap 6, that is, the Y-axis sliding mechanism 2 and the stator support structure 5 are separated from each other and do not contact with each other, so that the stator coil 31 is separated from the rail support beam 21 by the support frame 51, and the stator coil 31 is prevented from affecting the stability of the Y-axis sliding structure 2 when vibrating under the reaction force given by the magnetic mover 32.

The X-axis sliding structure 1 includes an X-axis beam 11 and two sliding seats 12 respectively disposed at two ends of the X-axis beam 11, and the mounting component 9 can move on the X-axis beam 11 along the X-axis direction through a linear module or other driving components to implement operations. Grating reading heads of a grating ruler are fixedly arranged at the bottoms of the two ends of the X-axis beam 11. The scale grating of the grating ruler is oppositely arranged on the Y-axis sliding structure 2 and extends along the length direction of the Y-axis track 22, so that the displacements at two ends of the X-axis beam 11 can be accurately measured. The mover magnet 32 of the linear motor 3 is arranged at the bottom of the slide base 12, the mover magnet 32 is an i-shaped permanent magnet, the top end of the mover magnet is fixedly connected to the bottom of the slide base 12, a gap is formed between the bottom end of the mover magnet and the suspension force coil, the traction force coil is located in the grooves at two sides of the mover magnet 32, and a gap is formed between the traction force coil and the mover magnet 32.

The bottom of the sliding base 12 is further provided with two sliding feet 13 used for sliding on the Y-axis sliding rails 22, the bottom of each sliding base 12 is provided with two sliding feet 13, the two sliding feet 13 are respectively arranged on two sides of the rotor magnet 32, at this time, the two Y-axis sliding rails 22 on each rail supporting beam 21 are also provided with two sliding feet 13 which are respectively in sliding fit, and the stability of the X-axis sliding structure 1 sliding on the Y-axis sliding structure 2 is improved.

Referring to fig. 5, the conveying and transferring device further includes a working table 7, the working table 7 has a first table 71 and a second table 72 spaced below the first table 71, a feeding channel (not shown) for chips is provided on the top of the first table 71, the first table 71 and the second table 72 are fixedly connected by a supporting column 73 to form a receiving space therebetween for receiving and placing other devices, the second table 72 is disposed near the ground, and four supporting legs 74 are provided on the bottom surface of the second table 72 to ensure the stability of the working table 7 on the ground, the bottom of the rail supporting beam 21 is fixedly connected to the first table 71, the column of the supporting frame 51 penetrates through the first table 71 and is fixedly connected to the second table 72, a gap is provided between the column and the first table 71, that is the column and the first table 71 are separated from each other and are not in contact, so that the Y-axis sliding structure 2 is fixed on the first table 71, the stator support structure 5 is fixed on the second table 72 to prevent the vibration of the stator support structure 5 from being transmitted to the Y-axis sliding structure 2.

The track support beam 21 and the support frame 51 are respectively and fixedly connected to the first table top 71 and the second table top 72 with height difference, and the second table top 72 is arranged close to the ground, so that the integrity of the device is ensured, and meanwhile, the support frame 51 is buffered by the deformation of the length in the height difference due to the certain height difference between the first table top 71 and the second table top 72, and the shaking influence of the vibration source stator coil 31 on the second table top 72 is reduced; meanwhile, because the position of the second table 72 is very close to the ground, most of the vibration transmitted by the support frame 51 can be transmitted to the ground, the influence on the vibration of the second table 72 is further reduced, the second table 72 is further prevented from influencing the first table 71, the stability of the track supporting beam 21 fixedly connected to the first table 71 is ensured, and the stability of the X-axis guide rail structure 1 in sliding connection with the track supporting beam 21 under high-speed movement is ensured.

Referring to fig. 6-7, one end of the X-axis beam 11 is movably connected to the sliding base 12, and the other end is fixedly connected to the sliding base 12, specifically, a cylindrical shaft hole 81 is disposed at one end of the X-axis beam 11 movably connected to the sliding base 12, a linear bearing 82 is disposed in the cylindrical shaft hole 81, and the linear bearing 82 performs linear movement in the axial direction and rotation in the circumferential direction in the cylindrical shaft hole 81. The slide carriage 12 movably connected with the X-axis beam 11 is provided with a connecting circular shaft 83 fixedly connected in the inner cavity of the linear bearing 82, the linear bearing 82 is fixedly connected through the connecting circular shaft 83, and the linear bearing 82 is movably arranged in the cylindrical shaft hole 81, so that the X-axis beam 11 and the slide carriage 12 have axial linear displacement and circumferential rotational displacement. At this time, when the Y-axis slide rails 22 are slightly unparallel or uneven, the X-axis beam 11 and the slide carriage 12 can slightly move or rotate for the movement deviation brought by the buffer structure through the movable connection relationship between the X-axis beam 11 and the slide carriage 12, so as to avoid the increase of the friction resistance between the sliding feet 13 and the Y-axis slide rails 22 or the damage of the X-axis beam 11 caused by the distortion and the damage of the device due to the precision problem of the device. Indeed, in other embodiments, the arrangement of the cylindrical shaft hole 81 and the connecting circular shaft 83 may be interchanged, for example, the cylindrical shaft hole 81 is arranged on the sliding seat 12, and the connecting circular shaft 83 is arranged at one end of the X-axis beam 11.

While one embodiment of the present invention has been described in detail, the description is only a preferred embodiment of the present invention, and should not be considered as limiting the scope of the present invention. All the equivalent changes and improvements made according to the application scope of the present invention should still fall within the patent coverage of the present invention.

Claims

1. A conveying and transferring device comprises two Y-axis sliding structures arranged in parallel and an X-axis sliding structure, wherein two ends of the X-axis sliding structure are respectively bridged on the two Y-axis sliding structures and are in sliding connection with the Y-axis sliding structures, and two ends of the X-axis sliding structure are respectively provided with a linear motor used for driving the X-axis sliding structure to slide along the Y-axis sliding structure.

2. The transfer unit of claim 1, wherein the Y-axis sliding structure comprises a rail support beam and a Y-axis slide rail disposed on the rail support beam, the rail support beam is disposed in a hollow space, and the stator coil is disposed in the hollow space of the rail support beam.

3. The transfer device of claim 2, wherein the stator supporting structure comprises a supporting frame and a stator fixing beam disposed on a cross beam of the supporting frame, the stator coil is fixed in the stator fixing beam to form a traction channel, the mover magnet is at least partially disposed in the traction channel, the cross beam of the supporting frame and the stator fixing beam are disposed in the cavity of the rail support beam, a column of the supporting frame extends out of the cavity of the rail support beam through a bottom surface of the rail support beam, and the supporting frame and the stator fixing beam are spaced from a wall of the cavity.

4. The transport transfer device of claim 1, wherein the X-axis sliding structure comprises an X-axis beam and two sliding bases respectively disposed at two ends of the X-axis beam, the mover magnet is fixed at the bottom of the sliding bases, and the bottom of the sliding bases is further provided with a sliding foot for sliding on the Y-axis sliding structure.

5. The conveying and transferring device according to claim 4, wherein the Y-axis sliding structure comprises a rail supporting beam and Y-axis sliding rails arranged on the rail supporting beam, the number of the sliding feet is two, the two sliding feet are respectively arranged at two sides of the mover magnet, and the two Y-axis sliding rails respectively matched with the two sliding feet are arranged on the rail supporting beam.

6. The conveying and transferring device according to claim 4, wherein a cylindrical shaft hole is formed in one end of the X-axis beam or one end of the sliding seat close to the X-axis beam, a linear bearing is slidably arranged in the cylindrical shaft hole, and a connecting circular shaft fixedly connected with the linear bearing is fixedly connected to the other one of the X-axis beam or the sliding seat.

7. The conveying and transferring device according to claim 6, wherein the cylindrical shaft hole is arranged at one end of the X-axis beam, and the connecting circular shaft is fixedly connected with the sliding seat.

8. The transfer unit of claim 1, further comprising a table having a first table top and a second table top spaced below the first table top, the Y-axis slide structure being secured to the first table top and the stator support structure being secured to the second table top.