Spider manipulator flexible feeding station

Abstract

The utility model relates to the technical field of flexible feeding equipment, and discloses a spider manipulator flexible feeding station. The spider manipulator flexible feeding station comprises a rack. A spider manipulator; comprising a driving assembly, a mounting base, a main swing arm, an auxiliary swing arm and a movable plate, the mounting base is vertically hoisted below the top of a rack, the driving assembly is installed on the mounting base, the output end of the driving assembly is in driving connection with the main swing arm, one end of the auxiliary swing arm is movably connected with the end of the main swing arm, and the other end of the auxiliary swing arm is movably connected to the movable plate. A taking and placing assembly is installed in the middle of the movable plate. The flexible vibration mechanism is arranged below the spider manipulator; and the feeding mechanism is close to the flexible vibration mechanism and is arranged at the bottom of the rack. By means of the structure, the feeding and discharging speed of the spider manipulator flexible feeding station is higher, and the production efficiency is improved; and meanwhile, the spider manipulator flexible feeding station is smaller in occupied area, so that the spider manipulator flexible feeding station is wider in applicability.

Description

Technical Field

[0001] The utility model relates to the technical field of flexible feeding equipment, in particular to a spider manipulator flexible feeding station. Background Art

[0002] The flexible loading workstation is a complete, standardized, modular integrated loading equipment that can automatically complete a series of automated operations such as feeding, arranging, identifying, positioning, picking and sorting of various irregular and special-shaped parts with little or no labor; the flexible automatic loading workstation is mainly composed of a silo, a flexible vibration plate, visual inspection and a manipulator. These components work closely together to complete the loading and sorting of materials, improving the flexibility and adaptability of the production line.

[0003] In the current Industrial 4.0 era, the variety of parts and components changes more and more frequently, the replacement speed of production lines is also getting faster and faster, and the requirements for the loading speed of flexible workstations are also getting higher and higher; the multi-axis manipulators used in existing flexible loading stations have too much weight of their own mechanical arms, which affects the loading speed; in addition, the existing multi-axis manipulators are generally set on the work surface close to the flexible vibration plate, which occupies a large space. As a result, the size of the flexible loading station has also increased, and it can no longer be fully adapted to the updated production line, resulting in its poor applicability.

[0004] Therefore, there is an urgent need for a spider manipulator flexible loading station to solve the above problems. Utility Model Content

[0005] Based on the above, the purpose of the utility model is to provide a spider manipulator flexible loading station to solve the problem that the existing multi-axis manipulators in the flexible loading station have slow running speed and large occupied area, resulting in poor applicability.

[0006] In order to solve the above technical problems, the utility model adopts the following technical solutions:

[0007] The utility model provides a spider manipulator flexible loading station, comprising: a frame; a base and side support plates vertically and symmetrically arranged on the base, and top plates are installed at the upper ends of the two side support plates;

[0008] The spider manipulator comprises a driving assembly, a mounting seat, a main swing arm, a slave swing arm and a movable plate, wherein the mounting seat is vertically hoisted below the top of the frame, the driving assembly is mounted on the mounting seat, and its output end is drivingly connected to the main swing arm, one end of the slave swing arm is movably connected to the end of the main swing arm, and the other end of the slave swing arm is movably connected to the movable plate, and a material taking and placing assembly is mounted on the movable plate;

[0009] A flexible vibration mechanism is provided below the spider manipulator and is used to change the posture of the material to facilitate the grasping of the spider manipulator;

[0010] A feeding mechanism is arranged at the bottom of the frame close to the flexible vibration mechanism and is used for feeding the flexible vibration mechanism.

[0011] As an optional technical solution for a flexible loading station of a spider manipulator, the drive assembly includes a first drive motor, a reducer, a flange and a coupling. The output end of the first drive motor is drivingly connected to the input end of the reducer. The flange is penetrated through the mounting seat and fixedly connected to the mounting seat. The coupling is rotatably arranged in the axial hole of the flange. One end of the coupling is drivingly connected to the output end of the reducer, and the other end of the coupling is connected to the main swing arm.

[0012] As an optional technical solution for a spider manipulator flexible loading station, the slave swing arm includes two parallel connecting rods and ball head assemblies arranged at both ends of the two connecting rods, and the two ends of the two connecting rods are respectively connected to the main swing arm and the movable plate through the ball head assemblies.

[0013] As an optional technical solution for a flexible loading station of a spider manipulator, the ball head assembly includes a ball joint and a joint bearing that are movably connected to each other, the other end of the joint bearing is connected to one end of the connecting rod, and the other end of the ball joint is fixedly connected to the main swing arm or the movable plate.

[0014] As an optional technical solution for a flexible loading station of a spider manipulator, the material picking and placing assembly includes a second drive motor, a suction nozzle and a sensor sheet. The second drive motor is vertically installed in the middle of the movable plate, and its output shaft passes through the movable plate and extends to the bottom of the movable plate. The sensor sheet is installed on the output shaft of the second drive motor, and the suction nozzle is drive-connected to the end of the output shaft of the second drive motor. A sensor matching the sensor sheet is also provided at the bottom of the movable plate.

[0015] As an optional technical solution for a flexible loading station of a spider manipulator, the material picking and placing assembly includes a third drive motor, a connecting seat, a suction head and a buffer assembly. The third drive motor is vertically installed in the middle of the movable plate, and its output shaft passes through the movable plate and extends to the bottom of the movable plate. The connecting seat is installed at the end of the output shaft of the third drive motor, and the suction head is installed below the connecting seat so that it can move up and down through the buffer assembly.

[0016] As an optional technical solution for a flexible loading station of a spider manipulator, the flexible vibration mechanism includes a fixed plate and four voice coil motors arranged in a rectangular shape below the fixed plate. The fixed plate is a hollow structure, and a material tray is provided on the upper end surface of the fixed plate. A light source panel for providing lighting is also provided below the hollow part of the fixed plate.

[0017] As an optional technical solution for a flexible loading station of a spider manipulator, the feeding mechanism includes a straight vibrator, a storage bin and a bottom plate. The straight vibrator is arranged between the storage bin and the bottom plate, and foot pads are installed at the four corners of the bottom of the bottom plate.

[0018] As an optional technical solution for a flexible loading station of a spider manipulator, a discharge port is provided at one end of the storage bin, and the discharge port extends above the material tray. A limit baffle for adjusting the discharge amount is installed in the storage bin.

[0019] As an optional technical solution for a spider manipulator flexible loading station, the top plate is equipped with a camera, which is arranged toward the flexible vibration mechanism. The camera is used to photograph the material on the flexible vibration mechanism and transmit instructions to the spider manipulator to facilitate the spider manipulator to accurately grasp the material.

[0020] The beneficial effects of the utility model are:

[0021] The utility model provides a spider manipulator flexible loading station, which includes a frame, a spider manipulator, a flexible vibrator and a feeding mechanism; wherein the spider manipulator includes a driving assembly, a mounting seat, a main swing arm, a slave swing arm and a movable plate, the mounting seat is vertically hoisted below the top of the frame, the driving assembly is installed on the mounting seat, the output end of which is connected to the main swing arm drive, one end of the slave swing arm is movably connected to the end of the main swing arm, and the other end of the slave swing arm is movably connected to the movable plate, and a material picking and placing assembly for grabbing and placing materials is installed on the movable plate. Under the above structure, since the spider manipulator is hoisted on the top of the frame, when the first drive motor drives the slave swing arm to move, the slave swing arm does not need to bear its own weight, and its moving speed is faster and more stable than that of a traditional multi-axis manipulator, further improving the efficiency of loading and unloading; on the other hand, since the spider manipulator is hoisted on the top of the frame, the spider manipulator does not occupy floor space, thereby reducing the floor space of the spider manipulator flexible loading station, so that the spider manipulator flexible loading station can be suitable for various working environments. BRIEF DESCRIPTION OF THE DRAWINGS

[0022] Figure 1 This is a schematic diagram of the overall structure of a spider manipulator flexible loading station according to the first embodiment of the utility model;

[0023] Figure 2This is a partial structural schematic diagram of a spider manipulator flexible loading station according to the first embodiment of the utility model;

[0024] Figure 3 This is an exploded schematic diagram of the driving assembly in the first embodiment of the utility model;

[0025] Figure 4 This is a schematic diagram of the structure of the material taking and placing assembly and the movable plate in the first embodiment of the utility model;

[0026] Figure 5 This is a schematic diagram of the structure of the feeding mechanism in the first embodiment of the utility model;

[0027] Figure 6 It is a cross-sectional view of the flexible vibration mechanism in the first embodiment of the utility model;

[0028] Figure 7 It is a structural schematic diagram of the material taking and placing assembly and the movable plate in the second embodiment of the utility model.

[0029] In the figure:

[0030] 1. Frame; 10. Side support plate; 11. Base; 12. Top plate;

[0031] 2. Spider manipulator; 21. Drive assembly; 212. First drive motor; 213. Mounting seat; 214. Reducer; 215. Flange; 216. Coupling; 22. Main swing arm; 23. Slave swing arm; 231. Connecting rod; 24. Ball head assembly; 241. Ball joint; 242. Joint bearing; 25. Movable plate; 251. Connecting part;

[0032] 3. Material taking and placing assembly; 31. Second driving motor; 32. Suction nozzle; 33. Sensor; 34. Sensor sheet; 35. Third driving motor; 36. Connecting seat; 37. Suction head; 38. Buffer assembly;

[0033] 4. Camera;

[0034] 5. Feeding mechanism; 51. Bottom plate; 52. Foot pad; 53. Straight vibrator; 54. Storage bin; 55. Limit baffle; 56. Discharge port;

[0035] 6. Flexible vibration mechanism; 61. Voice coil motor; 62. Fixing plate; 63. Light source panel; 64. Material tray;

[0036] 7. Engine hood;

[0037] 8. Control module. DETAILED DESCRIPTION

[0038] The present invention is further described in detail below in conjunction with the accompanying drawings and embodiments. It is to be understood that the specific embodiments described herein are only used to explain the present invention, rather than to limit the present invention. It should also be noted that, for ease of description, only the parts related to the present invention, rather than all structures, are shown in the accompanying drawings.

[0039] In the description of the present invention, unless otherwise clearly specified and limited, the terms "connected", "connected", and "fixed" should be understood in a broad sense, for example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be a direct connection or an indirect connection through an intermediate medium, it can be the internal connection of two elements or the interaction relationship between two elements. For ordinary technicians in this field, the specific meanings of the above terms in the present invention can be understood according to specific circumstances.

[0040] In the present utility model, unless otherwise clearly specified and limited, a first feature being "above" or "below" a second feature may include that the first and second features are in direct contact, or may include that the first and second features are not in direct contact but are in contact through another feature between them. Moreover, a first feature being "above", "above" and "above" a second feature includes that the first feature is directly above and obliquely above the second feature, or simply indicates that the first feature is higher in level than the second feature. A first feature being "below", "below" and "below" a second feature includes that the first feature is directly below and obliquely below the second feature, or simply indicates that the first feature is lower in level than the second feature.

[0041] In the description of this embodiment, terms such as "up", "down", "left", and "right" and other orientations or positional relationships are based on the orientations or positional relationships shown in the accompanying drawings and are only for the convenience of description and simplification of operation, and do not indicate or imply that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation. Therefore, they should not be understood as limitations on the present utility model.

[0042] In the description of the present invention, unless otherwise specified, the meaning of "plurality" is two or more than two. In addition, the terms "first" and "second" are only used to distinguish in the description and have no special meaning.

[0043] Embodiment 1

[0044] like Figure 1-6As shown, the utility model provides a spider manipulator 2 flexible loading station, which includes: a frame 1; including a base 11 and side support plates 10 vertically and symmetrically arranged on the base 11, and the upper ends of the two side support plates 10 are equipped with a top plate 12; the spider manipulator 2; including a drive assembly 21, a mounting seat 212, a first drive motor; 213, a main swing arm 22, a slave swing arm 23 and a movable plate 25, the mounting seat 212 first drive motor; 213 is vertically hoisted below the top of the frame 1, and the drive assembly Component 21 is mounted on the first driving motor of the mounting seat 212; on 213, its output end is drivingly connected to the main swing arm 22, one end of the slave swing arm 23 is movably connected to the end of the main swing arm 22, and the other end of the slave swing arm 23 is movably connected to the movable plate 25, on which the material taking and placing assembly 3 is installed; the flexible vibration mechanism 6 is arranged below the spider manipulator 2, for changing the posture of the material to facilitate the spider manipulator 2 to grab; the feeding mechanism 5 is arranged at the bottom of the frame 1 close to the flexible vibration mechanism 6, for feeding the flexible vibration mechanism 6.

[0045] The utility model provides a spider manipulator 2 flexible loading station. Since the spider manipulator 2 is hoisted on the top of the frame 1, when the first drive motor drives the slave swing arm 23 to move, the slave swing arm 23 does not need to bear its own weight, and its movement speed is faster and more stable than that of a traditional multi-axis manipulator, thereby further improving the efficiency of loading and unloading. On the other hand, since the spider manipulator 2 is hoisted on the top of the frame 1, the spider manipulator 2 does not occupy floor space, thereby reducing the floor space of the flexible loading station of the spider manipulator 2, so that the flexible loading station of the spider manipulator 2 can be suitable for various working environments.

[0046] In this embodiment, if Figure 1 and Figure 2 As shown, the mounting seat 212 is provided with three first drive motors; 213 is provided with three mounting seats 212 first drive motors; 213 are arranged in different directions relative to each other, and each mounting seat 212 first drive motor; 213 is provided with a driving assembly 21 and a main swing arm 22, and each main swing arm 22 is far away from the mounting seat 212 first drive motor; one end of 213 is respectively connected to a slave swing arm 23, and the slave swing arm 23 includes two parallel connecting rods 231 and ball head assemblies 24 arranged at both ends of the two connecting rods 231, and the ball head assembly 24 includes a ball joint 241 and a joint bearing 242 that are movably connected to each other; the two ends of the two connecting rods 231 are respectively movably connected to the main swing arm 22 and the movable plate 25 through the ball head assembly 24, specifically, as shown Figure 4As shown, the movable plate 25 is provided with three connecting parts 251 protruding in three different directions, and the two ends of the connecting part 251 are respectively connected to a ball joint 241, and the two ends of the connecting rod 231 are connected to a joint bearing 242. The ball joint 241 and the joint bearing 242 are rotatably connected to each other, and the connecting rod 231 and the joint bearing 242 are adjustable by a thread, so that the horizontality of the movable plate 25 can be calibrated by adjusting the stroke between the connecting rod 231 and the joint bearing 242; the end of the main swing arm 22 is away from the first drive motor of the mounting seat 212; A ball joint 241 is fixedly provided on both sides of the main swing arm 22, and the upper end of the connecting rod 231 is rotatably connected to the ball joints 241 on both sides of the main swing arm 22 through a joint bearing 242; under the above structure, the main swing arm 22 and the slave swing arm 23 are driven to move by the driving component 21, so that the material picking and placing component 3 on the movable plate 25 can pick and place materials without dead angles; due to the weight of the slave swing arm 23 during the swinging process and the hoisting setting, the movement speed of the spider manipulator 2 is faster and the stability is better than that of the traditional multi-axis manipulator, which further improves the efficiency of loading and unloading.

[0047] Specifically, Figure 3 As shown, the driving assembly 21 includes a first driving motor, a reducer 214, a flange 215 and a coupling 216. The output end of the first driving motor is drivingly connected to the input end of the reducer 214, and the first driving motor body is fixed to the reducer 214 body by a screw. The flange 215 is penetrated by the first driving motor 213 of the mounting seat 212 and is fixedly connected to the first driving motor 213 of the mounting seat 212 by a screw. Two sets of bearings are arranged in the shaft hole of the flange 215. The shaft hole of the coupling 216 penetrates the shaft hole of the bearing and is rotatably arranged in the shaft hole of the flange 215. The two sets of bearings can make the coupling 216 more stable during rotation and generate less centrifugal force, making the spider manipulator 2 more stable during operation and more precise in loading and unloading. One end of the coupling 216 is fixedly connected to the output shaft of the reducer 214 via a keyway and a key pin, and the other end of the coupling 216 is locked with one end of the main swing arm 22 via a screw. Under the above structure, the first drive motor can stably transmit the driving force to the main swing arm 22 through the reducer 214, and the operating speed of the spider manipulator 2 can also be changed by setting its rotation speed in the background.

[0048] like Figure 4As shown, in this embodiment, the material taking and placing component 3 includes a second drive motor, a suction nozzle 31, a second drive motor; 32 and a sensor sheet 34. The second drive motor is vertically installed in the middle of the movable plate 25, and its output shaft passes through the movable plate 25 and extends to the bottom of the movable plate 25. The sensor sheet 34 is installed on the output shaft of the second drive motor. The suction nozzle 31, the second drive motor; 32 is drivingly connected to the end of the output shaft of the second drive motor. A sensor matching the sensor sheet 34 is also provided at the bottom of the movable plate 25. The sensor 33 is an origin return sensor 33, that is, the suction nozzle 31, the second drive motor; 32, and the sensor sheet 34 rotate after each material taking and placing. When it moves to the sensor 33, the suction nozzle 31 and the second drive motor 32 stop rotating, so that the suction nozzle 31 and the second drive motor 32 are reset to the initial state; the output shaft of the second drive motor is a hollow structure, and the upper end of the output shaft extends to the top of the second drive motor body, the suction nozzle 31 and the second drive motor 32 are conductively connected with the output shaft of the second drive motor, and the negative pressure airflow used by the suction nozzle 31 and the second drive motor 32 circulates through the flow channel in the output shaft of the second drive motor, so that the structure of the material taking and placing component 3 of this embodiment is more compact, and the effect of sucking materials is better, and the suction nozzle 31 and the second drive motor 32 are suitable for smaller materials.

[0049] In this embodiment, if Figure 6 As shown, the flexible vibration mechanism 6 includes a fixed plate 62 and four voice coil motors 61 arranged in a rectangular shape below the fixed plate 62. The tops of the four voice coil motors 61 are respectively connected to the four corners of the bottom of the fixed plate 62. The fixed plate 62 is a hollow structure. A material tray 64 is provided on the upper end surface of the fixed plate 62. Thus, the voice coil motor 61 can indirectly transmit vibration to the material tray 64. At the same time, the material tray 64 will not be damaged by the vibration. A light source panel 63 for providing lighting is also provided below the hollow part of the fixed plate 62. The light source panel 63 can effectively provide lighting for the bottom of the material tray 64, so that the camera 4 can more clearly capture the position and posture of the material in the material tray 64, thereby improving the accuracy of the spider manipulator 2 in grabbing materials.

[0050] In this embodiment, if Figure 5As shown, the feeding mechanism 5 includes a straight vibrator 53, a storage bin 54 and a bottom plate 51. The straight vibrator 53 is arranged between the storage bin 54 and the bottom plate 51. Foot pads 52 are installed at the four corners of the bottom of the bottom plate 51. The foot pads 52 are rubber pads or materials that can reduce vibration. The setting of the foot pads 52 further prevents the vibration generated by the straight vibrator 53 from being transmitted to the frame 1; at the same time, a mounting block can be installed on both sides of the straight vibrator 53, and a foot pad 52 is provided at the bottom of both ends of each mounting block. The straight vibrator 53 is connected to the frame 1 through the bottom of the two mounting blocks. The mounting block and the foot pad 52 on the mounting block are arranged on the bottom plate 51, which further reduces the vibration of the straight vibrator 53 on the frame 1; the storage bin 54 is an upper open structure, and one end of the storage bin 54 is provided with a discharge port 56, and the discharge port 56 extends to the top of the material tray 64. A limit baffle 55 for adjusting the discharge amount is installed in the storage bin 54. By adjusting the size of the opening of the straight vibrator 53 and the limit baffle 55, the discharge speed and discharge amount of the storage bin 54 can be controlled, thereby realizing the accurate feeding of the feeding mechanism 5 to the material tray 64.

[0051] In this embodiment, if Figure 1 and Figure 2 As shown, the camera 4 is arranged on the top plate 12 facing the flexible material tray 64. The camera 4 is used to shoot the position and posture of the material in the material tray 64, and transmit the command to the spider manipulator 2, so that the spider manipulator 2 can accurately grasp the material; a hood 7 is also arranged above the top plate 12. The setting of the hood 7 can effectively protect the components on the top plate 12, and at the same time prevent dust from polluting the camera 4 and affecting its shooting effect; a control module 8 is also installed on the side support plate 10. The control module 8 can adjust and set various operating parameters of the flexible feeding station of the spider manipulator 2, and can also intuitively read the operating status of the flexible feeding station of the spider manipulator 2, thereby effectively improving work efficiency.

[0052] Embodiment 2

[0053] like Figure 7 As shown, this embodiment is based on the above-mentioned embodiment 1, and is different from the embodiment 1 in that: the material taking and placing component 3 includes a third driving motor 35, a connecting seat 36, a suction head 37 and a buffer component 38. The third driving motor 35 is vertically installed in the middle of the movable plate 25, and its output shaft passes through the movable plate 25 and extends to the bottom of the movable plate 25. The connecting seat 36 is installed at the end of the output shaft of the third driving motor 35. The suction head 37 is installed below the connecting seat 36 so as to be movable up and down through the buffer component 38. The buffer component 38 includes a guide rod connected to the suction head 37 and the connecting seat 36. An elastic member is passed through the guide rod. The elastic member can be a compression spring but is not limited to a compression spring. When the suction head 37 touches the material with a large force, the suction head 37 rebounds under the contraction of the compression spring, which can effectively avoid the suction head 37 from wearing the material.

[0054] The above is only a preferred embodiment of the utility model, and does not limit the utility model in any form. Although the utility model is disclosed as a preferred embodiment as above, it is not used to limit the utility model. Any technician familiar with this profession can make some changes or modifications to equivalent embodiments of equivalent changes by using the technical content disclosed above without departing from the scope of the technical solution of the utility model. However, any simple modification, equivalent change and modification made to the above embodiments according to the technology of the utility model, which does not depart from the content of the technical solution of the utility model, belongs to the scope of the technical solution of the utility model.

Claims

1. A spider manipulator flexible loading station, characterized in that: include: frame; It comprises a base and side support plates vertically and symmetrically arranged on the base, and top plates are arranged on the upper ends of the two side support plates; Spider manipulator; It includes a driving assembly, a mounting seat, a main swing arm, a slave swing arm and a movable plate. The mounting seat is vertically hoisted below the top plate. The driving assembly is installed on the mounting seat, and its output end is drivingly connected to the main swing arm. One end of the slave swing arm is movably connected to the end of the main swing arm, and the other end of the slave swing arm is movably connected to the movable plate. A material taking and placing assembly is installed in the middle of the movable plate. A flexible vibration mechanism is provided below the spider manipulator and is used to change the posture of the material to facilitate the grasping of the spider manipulator; A feeding mechanism is arranged at the bottom of the frame close to the flexible vibration mechanism and is used for feeding the flexible vibration mechanism.

2. A spider manipulator flexible loading station according to claim 1, characterized in that: The driving assembly includes a first driving motor, a reducer, a flange and a coupling. The output end of the first driving motor is drivingly connected to the input end of the reducer. The flange is penetrated through the mounting seat and fixedly connected to the mounting seat. The coupling is rotatably arranged in the axial hole of the flange. One end of the coupling is drivingly connected to the output end of the reducer, and the other end of the coupling is connected to the main swing arm.

3. A spider manipulator flexible loading station according to claim 1, characterized in that: The slave swing arm comprises two connecting rods arranged in parallel and ball head assemblies arranged at both ends of the two connecting rods, and the two ends of the two connecting rods are respectively connected to the main swing arm and the movable plate through the ball head assemblies.

4. A spider manipulator flexible loading station according to claim 3, characterized in that: The ball head assembly includes a ball joint and a joint bearing which are movably connected to each other, the other end of the joint bearing is connected to one end of the connecting rod, and the other end of the ball joint is fixedly connected to the main swing arm or the movable plate.

5. The spider manipulator flexible loading station according to claim 1 is characterized in that: The material picking and placing assembly includes a second drive motor, a suction nozzle and a sensor sheet. The second drive motor is vertically installed in the middle of the movable plate, and its output shaft passes through the movable plate and extends to the bottom of the movable plate. The sensor sheet is installed on the output shaft of the second drive motor, and the suction nozzle is drive-connected to the end of the output shaft of the second drive motor. A sensor matching the sensor sheet is also provided at the bottom of the movable plate.

6. The spider manipulator flexible loading station according to claim 1 is characterized in that: The material picking and placing assembly includes a third driving motor, a connecting seat, a suction head and a buffer assembly. The third driving motor is vertically installed in the middle of the movable plate, and its output shaft passes through the movable plate and extends to the bottom of the movable plate. The connecting seat is installed at the end of the output shaft of the third driving motor, and the suction head is installed below the connecting seat so that it can move up and down through the buffer assembly.

7. The spider manipulator flexible loading station according to claim 1, characterized in that: The flexible vibration mechanism includes a fixed plate and four voice coil motors arranged in a rectangular shape below the fixed plate. The fixed plate is a hollow structure. A material tray is provided on the upper end surface of the fixed plate. A light source panel for providing lighting is also provided below the hollow part of the fixed plate.

8. A spider manipulator flexible loading station according to claim 7, characterized in that: The feeding mechanism comprises a straight vibrator, a material storage bin and a bottom plate. The straight vibrator is arranged between the material storage bin and the bottom plate. Foot pads are installed at the four bottom corners of the bottom plate.

9. A spider manipulator flexible loading station according to claim 8, characterized in that: A discharge port is provided at one end of the storage bin, and the discharge port extends to above the material tray. A limit baffle for adjusting the discharge amount is installed in the storage bin.

10. A spider manipulator flexible loading station according to any one of claims 1-9, characterized in that: The top plate is equipped with a camera, which is arranged toward the flexible vibration mechanism. The camera is used to photograph the material on the flexible vibration mechanism and transmit instructions to the spider manipulator, so that the spider manipulator can accurately grasp the material.

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