Swing arm robot

Abstract

The swing arm manipulator of the present invention comprises an arm frame arranged on a support, a left feeder arm and a right feeder arm are respectively installed at the left and right ends of the arm frame, and an arm rotating motor is arranged on the rear side of the arm frame. The overall structural design of the present invention realizes that only one arm rotating motor is used to drive the left feeder arm and the right feeder arm to synchronously complete the process of picking up materials, conveying materials and swinging materials, and can transfer materials, so that it is convenient to reposition materials at the transfer position. It has the advantages of high feeding efficiency, stable operation, simple structure, small size, low production cost and convenient use. It not only effectively solves the problem that traditional equipment cannot transfer and position materials when equipped with one manipulator, but also solves the problem that traditional equipment needs to use more than two motors to control when equipped with two manipulators to transfer materials, resulting in high production cost, complex structure, large size and unstable operation.

Description

Technical Field

[0001] The invention relates to the field of swing arm manipulators, and in particular to a swing arm manipulator. Background Art

[0002] In today's industrial modernization, in order to meet the requirements of automated production of enterprises, it is a conventional industrial design method to use a robot to transfer materials between two stations. However, the robot structure currently on the market generally transfers the workpiece from one station directly to the target station, and the workpiece cannot be transferred and positioned during the transfer process; if the material needs to be transferred and positioned and the angle needs to be flipped, it needs to be equipped with two robots to complete the material transfer. And if each robot wants to achieve displacement transmission in three-dimensional space, it generally uses an X-axis linear module, a Y-axis linear module, and a Z-axis linear module to be used in combination with each other, and each linear module needs to be equipped with a motor, that is, it needs to be equipped with at least two motors. Therefore, when the equipment is equipped with two robots, it increases the volume of the equipment on the one hand, and increases the production cost of the equipment on the other hand. In addition, when two robots are used to transfer materials, the robot after the transfer needs to waste time waiting for the robot before the transfer to complete the material swinging before it can start working, that is, the two robots cannot work synchronously, which makes it have the problems of long material transfer cycle and low material transfer efficiency. In addition, the complex structure of the two robots requiring more than two motors to control is prone to the risk of unstable operation, which is not conducive to the requirements of high-precision operation required by industry. Summary of the invention

[0003] The technical problem to be solved by the present invention is to provide a swing arm manipulator, whose overall structural design realizes that only one arm rotation motor is used to drive the left feeder arm and the right feeder arm to synchronously complete the process of material picking, material transmission and material swinging and transfer the material, so that it can reposition the material at the transfer station and transfer the repositioned material to the next station or the target station. It has the advantages of stable operation, high feeding efficiency, simple structure, small size, small space occupation, low production cost and easy use. It not only effectively solves the problem that traditional equipment cannot transfer and position materials when equipped with one manipulator, but also solves the problem that traditional equipment needs to use more than two motors to control when equipped with two manipulators to transfer materials, resulting in high production cost, complex structure, large size and unstable operation. The present invention is achieved through the following technical solutions:

[0004] It includes a pillar, on which an arm frame is arranged, the arm frame includes a base plate arranged on the pillar, on which a front vertical plate and a rear vertical plate are arranged opposite to each other, the front vertical plate is connected and installed with the rear vertical plate through a supporting rod, and also includes a left feeder arm, which is arranged at one end of the arm frame and performs a rotating, swinging and reciprocating motion in a longitudinal plane to reciprocate material taking and discharging between two adjacent workstations; a right feeder arm is arranged at the other end of the arm frame and performs a rotating, swinging and reciprocating motion in the longitudinal plane to reciprocate material taking and discharging between two adjacent workstations.

[0005] Preferably, the left feeder arm and the right feeder arm are arranged in left-right arrangement in sequence, the left feeder arm comprises a first feeding central axis assembly, a second feeding central axis assembly and a left suction feeding assembly, the first feeding central axis assembly and the second feeding central axis assembly are arranged in upper and lower arrangement in sequence, and the left suction feeding assembly is clamped and installed at the front end of the first feeding central axis assembly and the second feeding central axis assembly; the right feeder arm comprises a third feeding central axis assembly, a fourth feeding central axis assembly and a right suction feeding assembly, the third feeding central axis assembly and the fourth feeding central axis assembly are arranged in upper and lower arrangement in sequence, and the right suction feeding assembly is clamped and installed at the front end of the third feeding central axis assembly and the fourth feeding central axis assembly.

[0006] Preferably, a linkage frame is arranged in the arm frame, and the linkage frame includes a linkage pull plate and a longitudinal and transverse sliding assembly. The right feeder arm is connected and installed with the left feeder arm through the linkage pull plate. The left feeder arm and the right feeder arm are linked and synchronously reciprocate to pick up and discharge materials between two adjacent workstations.

[0007] Preferably, a longitudinal and transverse sliding assembly is used to connect the linkage pull plate and the front vertical plate. The linkage pull plate performs planar rotation, swinging and reciprocating motion on the rear side of the front vertical plate through the longitudinal and transverse sliding assembly. The right feeder arm is synchronously linked to the left feeder arm through the linkage pull plate and the longitudinal and transverse sliding assembly to reciprocate and discharge materials between two adjacent workstations.

[0008] Preferably, the arm rotating motor is arranged on the rear side of the arm frame and is connected and installed with the right feeder arm. The arm rotating motor drives the right feeder arm and the left feeder arm to synchronously and reciprocally pick up and discharge materials between two adjacent workstations.

[0009] Preferably, the metal sensor is disposed above the right end of the arm frame to detect whether the left feeder arm and the right feeder arm synchronously return to the highest initial static position when they stop working. The metal sensor can be a sensor of the TSH51 series, but is not limited thereto.

[0010] Through the above technical scheme, when the metal sensor senses that the left feeder arm or the right feeder arm has rotated forward to the position (i.e., it rotates forward to the highest initial static position), the arm rotation motor starts the reverse rotation, so that the left feeder arm and the right feeder arm rotate in the opposite direction synchronously; conversely, when the metal sensor senses that the left feeder arm or the right feeder arm has rotated backward to the position (i.e., it rotates backward to the highest initial static position), the arm rotation motor starts the forward rotation, so that the left feeder arm and the right feeder arm rotate forward synchronously, which can ensure the high rotation accuracy of the left feeder arm and the right feeder arm, and further ensure the high feeding accuracy of the left feeder arm and the right feeder arm.

[0011] Preferably, feed bearings are provided at the four corners of the front vertical plate; feed bearings are also provided at the upper left corner, lower left corner and upper right corner of the rear vertical plate, and a mounting hole for the output shaft of the arm rotation motor to pass through is provided at the lower right corner of the rear vertical plate.

[0012] Preferably, linkage parts are respectively arranged at the four corners of the linkage pull plate, linkage bearings are arranged on the linkage parts, and a slider mounting part is arranged in the middle of the linkage pull plate. The slider mounting part refers to a mounting part for mounting the slider. The linkage part refers to a mounting part for linkage installation with other parts.

[0013] Preferably, the first feeding center shaft assembly includes a rotating center shaft, a linkage rocker and a feeding rocker, one end of the linkage rocker is sleeved on the middle part of the rotating center shaft, the other end of the linkage rocker is recessed inwardly and provided with a groove for mounting with the linkage part, one end of the feeding rocker is connected and installed with the front end of the rotating center shaft, the other end of the feeding rocker is internally installed with a synchronous bearing and a synchronous rotating shaft, and the synchronous rotating shaft is installed in the synchronous bearing. The linkage rocker refers to a mounting part or mounting rod with a hole for the rotating center shaft to pass through at one end and a groove for mounting with the linkage part at the other end. The feeding rocker refers to a mounting rod or connecting rod with one end of which can be connected and installed with the front end of the rotating center shaft and with a synchronous bearing and a synchronous rotating shaft installed at the other end.

[0014] Preferably, the second feeding shaft assembly, the third feeding shaft assembly and the fourth feeding shaft assembly adopt the same structural arrangement as the first feeding shaft assembly.

[0015] Preferably, the linkage rockers in the first feeding shaft assembly, the second feeding shaft assembly and the third feeding shaft assembly are connected and installed with the corresponding linkage parts through corresponding bearing fixing pins and linkage bearings.

[0016] Specifically, the linkage rocker in the first feeding shaft assembly is connected and installed with the corresponding linkage part through the corresponding bearing fixing pin and linkage bearing, that is, the linkage rocker in the first feeding shaft assembly is connected and installed with the bearing fixing pin, linkage bearing and linkage part corresponding to its position respectively. Similarly, the linkage rocker in the second feeding shaft assembly is connected and installed with the corresponding linkage part through the corresponding bearing fixing pin and linkage bearing, that is, the linkage rocker in the second feeding shaft assembly is connected and installed with the bearing fixing pin, linkage bearing and linkage part corresponding to its position respectively. The linkage rocker in the third feeding shaft assembly is connected and installed with the corresponding linkage part through the corresponding bearing fixing pin and linkage bearing, that is, the linkage rocker in the third feeding shaft assembly is connected and installed with the bearing fixing pin, linkage bearing and linkage part corresponding to its position respectively.

[0017] Preferably, the rotating central axes of the first feeding central axis assembly, the second feeding central axis assembly and the third feeding central axis assembly are installed on the arm frame by respectively passing through the feeding bearings corresponding to the front vertical plate and the rear vertical plate.

[0018] Specifically, the rotating center axis of the first feeding center axis assembly is installed on the arm frame by respectively passing through the feeding bearing corresponding to its position in the front vertical plate and the feeding bearing corresponding to its position in the rear vertical plate; similarly, the rotating center axis of the second feeding center axis assembly is installed on the arm frame by respectively passing through the feeding bearing corresponding to its position in the front vertical plate and the feeding bearing corresponding to its position in the rear vertical plate; the rotating center axis of the third feeding center axis assembly is installed on the arm frame by respectively passing through the feeding bearing corresponding to its position in the front vertical plate and the feeding bearing corresponding to its position in the rear vertical plate.

[0019] Preferably, the linkage rocker in the fourth feeding center shaft assembly is connected and installed with the corresponding linkage part through the corresponding bearing fixing pin and the linkage bearing (that is, the linkage rocker in the fourth feeding center shaft assembly is connected and installed with the bearing fixing pin, the linkage bearing and the linkage part corresponding to the position respectively); the output end of the arm rotating motor is provided with a reducer, and the reducer is fixedly installed behind the mounting hole position on the rear vertical plate, and the reducer is connected and installed with the rear end of the rotating center shaft of the fourth feeding center shaft assembly through a coupling; the front end of the rotating center shaft of the fourth feeding center shaft assembly is connected to the feeding bearing corresponding to the front vertical plate, and the fourth feeding center shaft assembly is installed on the arm frame through the corresponding feeding bearing, coupling and reducer.

[0020] Through the above technical solution, the arm rotating motor can drive the fourth feeding axis assembly to rotate through the reducer and the coupling in turn. When the fourth feeding axis assembly rotates, it can drive the linkage pull plate to rotate. When the linkage pull plate rotates, it can drive the first feeding axis assembly, the second feeding axis assembly and the third feeding axis assembly to rotate synchronously, that is, the four feeding axis assemblies can rotate synchronously; when the first feeding axis assembly rotates synchronously with the second feeding axis assembly, it can drive the left suction feeding assembly to rotate, so that the left suction feeding assembly can swing its arm to pick up materials and swing or discharge materials between two adjacent workstations. When the third feeding axis assembly rotates synchronously with the fourth feeding axis assembly, it can drive the right suction feeding assembly to rotate, so that the right suction feeding assembly can swing its arm to pick up materials and swing or discharge materials between two adjacent workstations, that is, the left feeder arm and the right feeder arm can swing their arms synchronously to complete the picking up and swinging of materials.

[0021] Preferably, the left suction and feeding assembly includes a first synchronous connecting rod, the upper and middle parts of the first synchronous connecting rod are respectively clamped and installed on the front end of the synchronous rotating shaft of the first feeding central axis assembly and the second feeding central axis assembly; the lower part of the first synchronous connecting rod is provided with a first suction nozzle adjustment member, the first suction nozzle rod is installed on the first suction nozzle adjustment member, and the lower end of the first suction nozzle rod is provided with a first suction nozzle.

[0022] Through the above-mentioned technical scheme, when the first feeding center axis assembly and the second feeding center axis assembly in the left feeder arm synchronously reciprocate 180 degrees, the synchronous bearings in the first feeding center axis assembly and the second feeding center axis assembly can rotate relative to the synchronous rotating shaft connected and installed therewith under the common gravity of the first synchronous connecting rod and the first picking and releasing assembly, so that the first suction nozzle can reciprocate in a semi-circular trajectory along with the synchronous reciprocating 180-degree rotation of the first feeding center axis assembly and the second feeding center axis assembly, that is, the first suction nozzle can reciprocate in the range of 0 degrees to 180 degrees, so as to make a swing arm movement to pick up and swing materials.

[0023] Preferably, the right suction and feeding assembly includes a second synchronous connecting rod, the upper and middle parts of the second synchronous connecting rod are respectively clamped and installed on the front end of the synchronous rotating shaft of the third feeding central axis assembly and the fourth feeding central axis assembly; the lower part of the second synchronous connecting rod is provided with a second suction nozzle adjustment member, the second suction nozzle rod is installed on the second suction nozzle adjustment member, and the lower end of the second suction nozzle rod is provided with a second suction nozzle.

[0024] Through the above technical scheme, when the arm rotating motor can drive the fourth feeding shaft assembly to reciprocate 180 degrees through the reducer and the coupling in turn, the fourth feeding shaft assembly can drive the linkage pull plate to rotate synchronously when it reciprocates 180 degrees, and the linkage pull plate can drive the other three feeding shaft assemblies (i.e., the first feeding shaft assembly, the second feeding shaft assembly and the third feeding shaft assembly) connected and installed therewith to rotate synchronously when it reciprocates 180 degrees. Since the first feeding shaft assembly and the second feeding shaft assembly can drive the first synchronous connecting rod to rotate accordingly when they reciprocate 180 degrees synchronously, the first suction nozzle can rotate along with the first synchronous connecting rod. The left and right feeder arms can rotate 180 degrees synchronously and transfer the workpiece between the left and right feeder arms, so that the left and right feeder arms can transfer and transfer the workpiece between the left and right feeder arms, so that the left and right feeder arms can transfer and transfer the workpiece between the left and right feeder arms, so that the left and right feeder arms can transfer and transfer the workpiece between the left and right feeder arms, so that the left and right feeder arms can transfer and transfer the workpiece between the left and right feeder arms, so that the left and right feeder arms can transfer and transfer the workpiece between the left and right feeder arms, so that the left and right feeder arms can transfer and transfer the workpiece between the left and right feeder arms, so that the left and right feeder arms can transfer and transfer the workpiece between the left and right feeder arms, so that the left and right feeder arms can transfer and transfer the workpiece between the left and right feeder arms, so that the left and right feeder arms can transfer and transfer the workpiece between the left and right feeder arms, so that the left and right feeder arms can transfer and transfer the workpiece between the left and right feeder arms, so that the left and right feeder arms can transfer and transfer the workpiece

[0025] Preferably, the longitudinal and transverse sliding assembly includes a longitudinal slide rail, a longitudinal slider, a longitudinal and transverse connecting piece, a transverse slide rail and a transverse slider which are sequentially connected from front to back. The longitudinal slide rail is fixedly installed behind the front vertical plate, and the longitudinal slide rail and the transverse slide rail are respectively installed on both sides of the longitudinal and transverse connecting piece, and the longitudinal slide rail and the transverse slide rail are arranged perpendicular to each other. The transverse slider is connected and installed in front of the slider mounting part of the linkage pull plate.

[0026] Through the above technical scheme, since the longitudinal slide rail is fixedly installed behind the front vertical plate, when the arm rotating motor drives the fourth feeding middle shaft assembly to reciprocate through the reducer and the coupling in turn, the fourth feeding middle shaft assembly can pull the linkage pull plate to reciprocate synchronously, and when the linkage pull plate reciprocates, it can move reciprocatingly laterally along the transverse slide rail through the slider mounting part, and the transverse slide rail can move reciprocatingly longitudinally along the longitudinal slide rail through the longitudinal and transverse connecting parts and the longitudinal slider, so that the linkage frame can realize reciprocating motion of a semicircular trajectory on a plane through the longitudinal and transverse sliding assembly, which can play a certain guiding role in the positioning of the linkage pull plate, so that it can not only improve the accuracy of picking and discharging materials of the left and right feeder arms, but also enable the left feeder arm and the right feeder arm to realize synchronously completing the semicircular trajectory motion to ensure the accuracy of the linkage; at the same time, the structural design of the linkage frame can limit the rotational motion of the four rotating middle shafts to prevent the four rotating middle shafts from being misaligned with the linkage frame. When the four feeding central axis assemblies rotate reciprocatingly synchronously, the first suction nozzle and the second suction nozzle can rotate reciprocatingly synchronously; when one of the suction nozzles absorbs the next material at the material picking station, the other suction nozzle can synchronously absorb the previous material that has been repositioned at the transfer station (that is, the two suction nozzles can synchronously absorb at different stations); when the two suction nozzles rotate 180 degrees synchronously, the suction nozzle that absorbs the next material from the material picking station can place the material on the transfer station after rotating 180 degrees, and the transfer positioning table of the transfer station will reposition the material placed on it, and the suction nozzle that absorbs the previous material that has been repositioned from the transfer station can place the material on the next station or the target station after rotating 180 degrees (that is, the two suction nozzles can synchronously discharge or place materials at different stations), and this cycle allows the two suction nozzles to synchronously pick up and discharge materials while achieving the purpose of transfer, handover and transportation of materials.

[0027] Preferably, the front upright plate and the rear upright plate are both functional descriptions of the upright plates, and the arm rotation motor and the longitudinal and transverse connecting parts are functional descriptions of the motor and the connecting parts respectively. The longitudinal slide rail and the transverse slide rail are both functional descriptions of the slide rail. The longitudinal slider and the transverse slider are both functional descriptions of the slider. The linkage bearing, the synchronous bearing and the feed bearing are all functional descriptions of the bearing. The rotating central axis and the synchronous rotating shaft are both functional descriptions of the rotating shaft. The bearing fixing pin is a functional description of the fixing pin. The first synchronous connecting rod and the second synchronous connecting rod are both functional descriptions of the connecting rod. The first nozzle adjustment member and the second nozzle adjustment member are both functional descriptions of the mounting member. The first nozzle rod and the second nozzle rod both refer to mounting rods for mounting the nozzles.

[0028] Preferably, a controller or control system is provided for signal control with the arm rotating motor and the metal sensor respectively, and the controller is a PLC programmable logic controller, which can be a programmable logic controller of model XDS-40T-D produced in Shenzhen, but is not limited thereto. The operator can input various operating parameters into the controller or control system to control the operation of each component according to production needs before production, such as inputting the angle of each rotation of the arm rotating motor to control the angle of synchronous rotation of the left feeder arm and the right feeder arm.

[0029] Compared with the existing technology, the beneficial effects of the present invention are: 1. Its overall structural design realizes the process of using only one arm rotation motor to drive the left feeder arm and the right feeder arm to synchronously pick up, feed, discharge or swing two materials, and complete the transfer of materials. It not only greatly improves the feeding efficiency, but also facilitates the repositioning of materials at the transfer position and transfers the positioned materials to the target workstation. It has the advantages of stable operation, simple structure, small size, small space occupation, low production cost and easy use, and solves the problem that traditional equipment is equipped with two manipulators to transfer materials, which requires more than two motors to control, resulting in high production cost, complex structure, large size and unstable operation.

[0030] 2. It is provided with a synchronous connecting rod in each feeder arm to connect and install the material picking and placing assembly, so that the production enterprise can meet the distance between the transfer station and the material picking station or the next station (target station) by installing the first synchronous connecting rod or the second synchronous connecting rod of different lengths, so as to be suitable for conveying materials to two adjacent stations at different distances, making it have the advantage of strong versatility.

[0031] 3. The structure of the left feeder arm and the right feeder arm are designed respectively, and the arm rotating motor can drive the fourth feed center shaft assembly to synchronously reciprocate 180 degrees through the reducer and the coupling in turn. When the fourth feed center shaft assembly reciprocates, it can drive the linkage pull plate to synchronously reciprocate 180 degrees, so that when the linkage pull plate reciprocates, it can drive the four feed center shaft assemblies to synchronously reciprocate 180 degrees; the linkage pull plate is installed on the rear side of the front vertical plate through the longitudinal and transverse sliding assembly, so that the linkage pull plate passes through the longitudinal and transverse sliding assembly and can drive the linkage frame to move forward and backward on the rear side of the front vertical plate in a semicircular trajectory on the plane under the drive of the arm rotating motor. The reciprocating motion enables the two suction nozzles to synchronously make reciprocating motion in a plane semicircular trajectory, so that the right feeder arm can pick up, feed and swing materials between the material picking station and the transfer station, while the left feeder arm can pick up, feed and swing materials synchronously at the transfer station and the next station or the target station, and the left and right feeder arms can complete the transfer and handover of materials during the process of synchronous picking up, feeding and swinging materials. It solves the problem of low feeding efficiency caused by the traditional equipment being equipped with two robots, because the robot after the material transfer must waste time waiting for the robot before the transfer to complete the discharge before starting work.

[0032] 4. By designing the structure of the linkage frame, when the linkage frame makes reciprocating motion in a plane semicircular trajectory driven by the arm rotating motor, the longitudinal and transverse sliding components can play a certain guiding role in the positioning of the linkage pull plate to prevent the linkage pull plate from moving forward and backward when rotating and reciprocating, thereby avoiding the front and rear positioning difference between the left feeder arm and the right feeder mechanism when working synchronously. It not only improves the accuracy of material picking and discharging of the two feeder arms, but also limits the four rotating central axes to prevent the four rotations from being displaced forward and backward with the arm frame, thereby ensuring the stability and high accuracy of the operation of the left feeder arm and the right feeder arm. BRIEF DESCRIPTION OF THE DRAWINGS

[0033] For ease of explanation, the present invention is described in detail with reference to the following preferred embodiments and the accompanying drawings.

[0034] Figure 1 It is a three-dimensional diagram of the swing arm manipulator of the present invention.

[0035] Figure 2 It is a three-dimensional view of the swing arm manipulator of the present invention from another direction.

[0036] Figure 3 It is a structural stereogram of the linkage frame in the swing arm manipulator of the present invention.

[0037] Figure 4 It is a stereoscopic assembly diagram of the left feeder arm and the linkage pull plate in the swing arm manipulator of the present invention.

[0038] Figure 5 It is a stereoscopic assembly diagram of the right feeder arm and the linkage pull plate in the swing arm manipulator of the present invention.

[0039] Figure 6 It is a stereoscopic view of the assembly of the right feeder arm and the linkage pull plate in the swing arm manipulator of the present invention in another direction.

[0040] Figure 7 It is a structural stereogram of the linkage frame in the swing arm manipulator of the present invention from another direction. Implementation

[0041] In order to facilitate the understanding of the present invention, the present invention will be described more fully below with reference to the relevant drawings. The preferred embodiments of the present invention are given in the drawings. However, the present invention can be implemented in many different forms and is not limited to the embodiments described herein. On the contrary, the purpose of providing these embodiments is to make the disclosure of the present invention more thoroughly understood.

[0042] Unless otherwise defined, all technical and scientific terms used herein have the same meaning as those commonly understood by those skilled in the art of the present invention. The terms used in the specification of the present invention herein are only for the purpose of describing specific embodiments and are not intended to limit the present invention.

[0043] In this embodiment, refer to Figures 1 to 7As shown, the swing arm manipulator of the present invention comprises a pillar 1, on which an arm frame 2 is arranged, the arm frame 2 comprises a bottom plate 20 arranged on the pillar 1, on which a front vertical plate 21 and a rear vertical plate 22 are arranged opposite to each other, and the front vertical plate 21 is connected and installed with the rear vertical plate 22 through a support rod 23; it also comprises a left feeder arm 3, which is arranged at one end of the arm frame 2 and performs a rotating swinging reciprocating motion in a longitudinal plane to reciprocate between two adjacent workstations to take and discharge materials; a right feeder arm 4, which is arranged at the other end of the arm frame 2 and performs a rotating swinging reciprocating motion in a longitudinal plane to reciprocate between two adjacent workstations to take and discharge materials and discharge; the left feeder arm 3 and the right feeder arm 4 are arranged in left and right order, the left feeder arm 3 includes a first feeding center axis assembly 5, a second feeding center axis assembly 6 and a left suction feeding assembly 7, the first feeding center axis assembly 5 and the second feeding center axis assembly 6 are arranged in upper and lower order, the left suction feeding assembly 7 is clamped and installed at the front end of the first feeding center axis assembly 5 and the second feeding center axis assembly 6; the right feeder arm 4 includes a third feeding center axis assembly 8, a fourth feeding center axis assembly 9 and a right suction feeding assembly 10, the third feeding center axis assembly 8 and the fourth feeding center axis assembly 9 are arranged in upper and lower order, The right suction feeding assembly 10 is clamped and installed at the front end of the third feeding middle shaft assembly 8 and the fourth feeding middle shaft assembly 9; the linkage frame 11 is arranged in the machine arm frame 2, and the linkage frame 11 includes a linkage pull plate 12 and a longitudinal and transverse sliding assembly 13. The right feeder arm 4 is connected and installed with the left feeder arm 3 through the linkage pull plate 12. The left feeder arm 3 and the right feeder arm 4 are linked and synchronized to reciprocate between two adjacent workstations to take and discharge materials; the longitudinal and transverse sliding assembly 13 is used to connect the linkage pull plate 12 and the front vertical plate 21. The linkage pull plate 12 is rotated and swung in a plane at the rear side of the front vertical plate 21 through the longitudinal and transverse sliding assembly 13. The right feeder arm 4 is in reciprocating motion, and the right feeder arm 4 is linked to the left feeder arm 3 through the linkage pull plate 12 and the longitudinal and transverse sliding assembly 13 to reciprocate and discharge materials between two adjacent workstations; the arm rotating motor 14 is arranged on the rear side of the arm frame 2 and is connected and installed with the right feeder arm 4. The arm rotating motor 14 drives the right feeder arm 4 to be linked and synchronized with the left feeder arm 3 to reciprocate and discharge materials between two adjacent workstations; the metal sensor 15 is arranged above the right end of the arm frame 2, and is used to detect whether the left feeder arm 3 and the right feeder arm 4 return to the highest initial static position synchronously when they stop working.

[0044] In one embodiment, feed bearings 24 are respectively provided on the four corners of the front vertical plate 21; feed bearings 24 are also respectively provided on the upper left corner, lower left corner and upper right corner of the rear vertical plate 22, and a mounting hole 25 is provided at the lower right corner of the rear vertical plate 22 for the output shaft of the arm rotating motor 14 to pass through.

[0045] In one embodiment, linkage parts 121 are respectively provided on the four corners of the linkage pull plate 12 , linkage bearings 122 are provided on the linkage parts 121 , bearing fixing pins 123 are installed in the linkage bearings 122 , and a slider installation part 124 is provided in the middle of the linkage pull plate 12 .

[0046] In one of the embodiments, the first feeding central axis assembly 5 includes a rotating central axis 51, a linkage rocker 52 and a feeding rocker 53, one end of the linkage rocker 52 is sleeved on the middle part of the rotating central axis 51, and the other end of the linkage rocker 52 is recessed inward and has a groove for being assembled with the linkage part 121, one end of the feeding rocker 53 is connected and installed with the front end of the rotating central axis 51, and the other end of the feeding rocker 53 is installed with a synchronous bearing 54 and a synchronous rotating shaft 55, and the synchronous rotating shaft 55 is installed in the synchronous bearing 54; the second feeding central axis assembly 6, the third feeding central axis assembly 8 and the fourth feeding central axis assembly 9 adopt the same structural arrangement as the first feeding central axis assembly 5.

[0047] In one embodiment, the linkage rocker 52 in the first feeding shaft assembly 5 , the second feeding shaft assembly 6 and the third feeding shaft assembly 8 is connected and installed with the corresponding linkage part 121 through the corresponding bearing fixing pin 123 and the linkage bearing 122 .

[0048] In one embodiment, the rotating central axis 51 of the first feeding central axis assembly 5, the second feeding central axis assembly 6 and the third feeding central axis assembly 8 is installed on the arm frame 2 by respectively passing through the feeding bearings 24 corresponding to the front vertical plate 21 and the rear vertical plate 22.

[0049] In one of the embodiments, the linkage rocker 52 in the fourth feeding center shaft assembly 9 is connected and installed with the corresponding linkage part 121 through the corresponding bearing fixing pin 123 and the linkage bearing 122; the output end of the arm rotation motor 14 is provided with a reducer 16, and the reducer 16 is fixedly installed behind the mounting hole 25 on the rear vertical plate 22, and the reducer 16 is connected and installed with the rear end of the rotating center shaft 51 of the fourth feeding center shaft assembly 9 through the coupling 17; the front end of the rotating center shaft 51 of the fourth feeding center shaft assembly 9 is connected to the feeding bearing 24 corresponding to the front vertical plate 21, and the fourth feeding center shaft assembly 9 is installed on the arm frame 2 through the corresponding feeding bearing 24, the coupling 17 and the reducer 16.

[0050] In one of the embodiments, the left suction and feeding assembly 7 includes a first synchronous connecting rod 71, and the upper and middle parts of the first synchronous connecting rod 71 are respectively clamped and installed on the front end of the synchronous rotating shaft 55 of the first feeding middle axis assembly 5 and the second feeding middle axis assembly 6; the lower part of the first synchronous connecting rod 71 is provided with a first suction nozzle adjustment member 72, and the first suction nozzle rod 73 is installed on the first suction nozzle adjustment member 72, and the lower end of the first suction nozzle rod 73 is provided with a first suction nozzle 74.

[0051] In one of the embodiments, the right suction and feeding assembly 10 includes a second synchronous connecting rod 101, and the upper and middle parts of the second synchronous connecting rod 101 are respectively clamped and installed on the front end of the synchronous rotating shaft 55 of the third feeding central axis assembly 8 and the fourth feeding central axis assembly 9; the lower part of the second synchronous connecting rod 101 is provided with a second suction nozzle adjustment member 102, and the second suction nozzle rod 103 is installed on the second suction nozzle adjustment member 102, and the lower end of the second suction nozzle rod 103 is provided with a second suction nozzle 104.

[0052] In one embodiment, the longitudinal and transverse sliding assembly 13 includes a longitudinal slide rail 131, a longitudinal slider 132, a longitudinal and transverse connecting member 133, a transverse slide rail 134 and a transverse slider 135 which are sequentially connected from front to back. The longitudinal slide rail 131 is fixedly installed behind the front vertical plate 21, the longitudinal slide rail 131 and the transverse slide rail 134 are respectively installed on both sides of the longitudinal and transverse connecting member 133, and the longitudinal slide rail 131 and the transverse slide rail 134 are arranged perpendicular to each other, and the transverse slider 135 is connected and installed in front of the slider mounting portion 124 of the linkage pull plate 12.

[0053] In one of the embodiments, the structural design and use method of the swing arm manipulator are as follows: a reducer 16 is provided at the output end of the arm rotating motor 14, and the reducer 16 is connected and installed with the rear end of the rotating central axis 51 of the fourth feeding central axis assembly 9 through a coupling 17. When the arm rotating motor 14 drives the rotating central axis 51 of the fourth feeding central axis assembly 9 to rotate back and forth 180 degrees through the reducer 16 and the coupling 17 in turn, the rotating central axis 51 of the fourth feeding central axis assembly 9 can drive the linkage rocker 52 connected and installed therewith to rotate back and forth 180 degrees. When the linkage rocker 52 of the fourth feeding central axis assembly 9 rotates, it can drive the linkage pull plate 12 to synchronously reciprocate 180 degrees through the corresponding bearing fixing pin 123, the corresponding linkage bearing 122 and the corresponding linkage part 121.

[0054] The linkage pull plate 12 is installed on the rear side of the front vertical plate 21 through the longitudinal and transverse sliding assembly 13. The longitudinal slide rail 131 and the transverse slide rail 134 in the longitudinal and transverse sliding assembly 13 are arranged perpendicular to each other, and the transverse slider 135 is connected and installed in front of the slider installation part 124 of the linkage pull plate 12; when the linkage pull plate 12 reciprocates 180 degrees, it can reciprocate along the transverse slide rail 134 through the slider installation part 124. Since the transverse slide rail 134 can reciprocate along the longitudinal slide rail 131 through the longitudinal and transverse connecting piece 133 and the longitudinal slider 132 in turn, the linkage pull plate 12 passes through the longitudinal and transverse sliding assembly 13 and is driven by the arm rotation motor 14. The movement can drive the linkage frame 11 to synchronously perform reciprocating motion in a semicircular trajectory on a plane, which can play a certain guiding role in the positioning of the linkage pull plate 12. It can not only improve the accuracy of the left feeder arm 3 and the right feeder arm 4 in picking up and discharging materials, but also enable the left feeder arm 3 and the right feeder arm 4 to synchronously complete the reciprocating motion in a semicircular trajectory to ensure the accuracy of the linkage between the left feeder arm 3 and the right feeder arm 4; in addition, the structural design of the linkage frame 11 can also limit the rotational movement of the four rotating central axes 51 to prevent the four rotating central axes 51 from being misaligned with the linkage frame 11.

[0055] It also connects and installs the linkage rocker 52 in the first feeding shaft assembly 5, the second feeding shaft assembly 6 and the third feeding shaft assembly 8 with the linkage part 121 corresponding to the linkage pull plate 12 through the corresponding bearing fixing pins 123 and the linkage bearings 122, so that when the linkage pull plate 12 reciprocates 180 degrees, it can drive the first feeding shaft assembly 5, the second feeding shaft assembly 6 and the third feeding shaft assembly 8 to reciprocate 180 degrees synchronously, that is, the first feeding shaft assembly 5, the second feeding shaft assembly 6, the third feeding shaft assembly 8 and the fourth feeding shaft assembly 9 can reciprocate 180 degrees synchronously under the drive of the arm rotating motor 14.

[0056] When the first feeding center shaft assembly 5 and the second feeding center shaft assembly 6 rotate 180 degrees synchronously and reciprocally, the first synchronous connecting rod 71 can be driven to rotate 180 degrees reciprocally, and then the first synchronous connecting rod 71 can drive the first suction nozzle 74 to rotate 180 degrees reciprocally through the first suction nozzle adjustment member 72 and the first suction nozzle rod 73. Similarly, when the third feeding center shaft assembly 8 and the fourth feeding center shaft assembly 9 rotate 180 degrees synchronously and reciprocally, the second synchronous connecting rod 101 can be driven to rotate 180 degrees reciprocally, and then the second synchronous connecting rod 101 can drive the second suction nozzle 104 to rotate 180 degrees reciprocally through the second suction nozzle adjustment member 102 and the second suction nozzle rod 103. That is, when the four feeding center shaft assemblies rotate 180 degrees synchronously and reciprocally, the left feeder arm 3 and the right feeder arm 4 can be driven to rotate 180 degrees synchronously and reciprocally.

[0057] When the left feeder arm 3 and the right feeder arm 4 are used together, one of the materials can be synchronously transferred between the material picking station and the transfer station, and the other material can be transferred between the transfer station and the next station or the target station; when the second suction nozzle 104 in the right feeder arm 4 sucks the next material in the material picking station, the first suction nozzle 74 in the left feeder arm 3 can synchronously suck the previous material that has been repositioned in the transfer station, that is, the first suction nozzle 74 and the second suction nozzle 104 It is possible to synchronously pick up materials at different workstations; when the second suction nozzle 104 in the right feeder arm 4 can place the sucked materials on the transfer positioning table of the transfer workstation after rotating 180 degrees from the material picking workstation, the first suction nozzle 74 in the left feeder arm 3 can synchronously rotate 180 degrees from the transfer workstation and place the sucked materials on the next workstation or the target workstation, that is, the first suction nozzle 74 and the second suction nozzle 104 can synchronously rotate 180 degrees and can synchronously discharge or place materials in different workstations. ; Then, the first suction nozzle 74 and the second suction nozzle 104 are synchronously reset and rotated 180 degrees in the opposite direction, so that the second suction nozzle 104 returns to the material picking station after rotating 180 degrees in the opposite direction and takes out the next material in the aforementioned manner. At the same time, the first suction nozzle 74 returns to the transfer station after rotating 180 degrees in the opposite direction and takes out the next repositioned material in the aforementioned manner. Such a cycle is carried out, thereby achieving the purpose of transferring and handing over materials, and each suction nozzle can automatically complete the operations of picking up, feeding and swinging materials during the swinging process within the range of 0 to 180 degrees, that is, the two suction nozzles can synchronously pick up, feed, discharge or swing materials for two materials in two adjacent different stations and complete the transfer of materials, so that the feeding efficiency can be greatly improved, which avoids the problem of low feeding efficiency caused by the use of two manipulators in traditional equipment, in which the manipulator after the material transfer must waste time waiting for the manipulator before the transfer to complete the discharge before starting work.

[0058] In another embodiment, it should be noted that the structures of the left feeder arm 3 and the right feeder arm 4 can be interchanged, so that the left feeder arm 3 can be set according to production needs to absorb materials from the material picking station and place them on the transfer station after rotating 180 degrees. At the same time, the left feeder arm 3 can synchronously absorb the repositioned materials from the transfer station and place them on the next station or the target station after rotating 180 degrees; then, the left feeder arm 3 and the right feeder arm 4 are synchronously reset and rotated 180 degrees in the opposite direction under the drive of the arm rotation motor 14, and the above-mentioned material picking and discharging operations are repeated. This design also enables the left feeder arm 3 and the right feeder arm 4 to complete material picking, feeding and swinging or discharging between two adjacent different stations, respectively, and they can also complete the transfer and handover of materials to facilitate the repositioning of the transferred materials.

[0059] Its overall structural design realizes that only one arm rotating motor 14 is used to drive the left feeder arm 3 and the right feeder arm 4 to synchronously complete the process of material picking, material transmission and material swinging, and can transfer the material, so as to facilitate the repositioning of the material at the transfer station, and transfer the repositioned material to the next station or the target station. The left feeder arm 3 and the right feeder arm 4 are driven by the same arm rotating motor 14 to operate synchronously. It has the advantages of stable operation, high feeding efficiency, simple structure, small size, small space occupation, low production cost and easy use. It not only effectively solves the problem that traditional equipment is unable to transfer and position materials when equipped with one manipulator, but also solves the problem that traditional equipment needs to use more than two motors to control when equipped with two manipulators to transfer materials, resulting in high production cost, complex structure, large size and unstable operation.

[0060] The above embodiment is only an example of the present invention and is not intended to limit the implementation and scope of rights of the present invention. Any technical solution that is identical or equivalent to the content described in the claims of the present invention should be included in the protection scope of the present invention.

Claims

1. A swing arm manipulator, comprising a support, an arm frame is arranged on the support, the arm frame comprises a bottom plate arranged on the support, a front vertical plate and a rear vertical plate are arranged on the bottom plate, the front vertical plate is connected and installed with the rear vertical plate through a support rod, and is characterized in that: It also includes a left feeder arm, which is arranged at one end of the arm frame and performs a rotating swing reciprocating motion in a longitudinal plane to reciprocate between two adjacent workstations to pick up and discharge materials; The right feeder arm is arranged at the other end of the arm frame, and performs a rotating swing reciprocating motion in the longitudinal plane to reciprocate between two adjacent workstations to pick up and discharge materials; The left feeder arm and the right feeder arm are sequentially arranged in a left-right layout, the left feeder arm comprises a first feeding center axis assembly, a second feeding center axis assembly and a left suction feeding assembly, the first feeding center axis assembly and the second feeding center axis assembly are sequentially arranged in an up-down layout, and the left suction feeding assembly is clamped and installed at the front ends of the first feeding center axis assembly and the second feeding center axis assembly; The right feeder arm includes a third feeding center axis assembly, a fourth feeding center axis assembly and a right suction feeding assembly. The third feeding center axis assembly and the fourth feeding center axis assembly are sequentially arranged in an upper and lower layout. The right suction feeding assembly is clamped and installed at the front ends of the third feeding center axis assembly and the fourth feeding center axis assembly. The linkage frame is arranged in the machine arm frame. The linkage frame includes a linkage pull plate and a longitudinal and transverse sliding assembly. The right feeder arm is connected and installed with the left feeder arm through the linkage pull plate. The left feeder arm and the right feeder arm are linked and synchronously reciprocated between two adjacent workstations to take and put materials. The longitudinal and transverse sliding assembly is used to connect the linkage pull plate and the front vertical plate. The linkage pull plate performs a plane rotation, swinging and reciprocating motion at the rear side of the front vertical plate through the longitudinal and transverse sliding assembly. The right feeder arm is linked to the left feeder arm through the linkage pull plate and the longitudinal and transverse sliding assembly to synchronously reciprocate between two adjacent workstations to pick up and put down materials; The arm rotation motor is arranged at the rear side of the arm frame and connected to the right feeder arm. The arm rotation motor drives the right feeder arm and the left feeder arm to synchronously and reciprocately pick up and discharge materials between two adjacent workstations. The metal sensor is located above the right end of the arm frame and is used to detect whether the left feeder arm and the right feeder arm return to the highest initial static position synchronously when they stop working; Feed bearings are provided at the four corners of the front vertical plate; feed bearings are also provided at the upper left corner, lower left corner and upper right corner of the rear vertical plate, and a mounting hole is provided at the lower right corner of the rear vertical plate for the output shaft of the machine arm rotation motor to pass through; Linkage parts are respectively arranged on the four corners of the linkage pull plate, linkage bearings are arranged on the linkage parts, and a slider installation part is arranged at the middle position of the linkage pull plate.

2. The swing arm manipulator according to claim 1, characterized in that: The first feeding center shaft assembly includes a rotating center shaft, a linkage rocker and a feeding rocker, one end of the linkage rocker is sleeved on the middle part of the rotating center shaft, the other end of the linkage rocker is inwardly recessed and provided with a groove for assembling with the linkage part, one end of the feeding rocker is connected and installed with the front end of the rotating center shaft, and the other end of the feeding rocker is internally provided with a synchronous bearing and a synchronous rotating shaft, and the synchronous rotating shaft is installed in the synchronous bearing; The second feeding shaft assembly, the third feeding shaft assembly and the fourth feeding shaft assembly adopt the same structural arrangement as the first feeding shaft assembly; The linkage rockers in the first feeding shaft assembly, the second feeding shaft assembly and the third feeding shaft assembly are connected and installed with the corresponding linkage parts through corresponding bearing fixing pins and linkage bearings; The rotating central axes of the first feeding central axis assembly, the second feeding central axis assembly and the third feeding central axis assembly are installed on the machine arm frame by penetrating the feeding bearings corresponding to the front vertical plate and the rear vertical plate.

3. The swing arm manipulator according to claim 2, characterized in that: The linkage rocker in the fourth feeding center shaft assembly is connected and installed with the corresponding linkage part through the corresponding bearing fixing pin and the linkage bearing; a reducer is provided at the output end of the arm rotation motor, and the reducer is fixedly installed behind the mounting hole position on the rear vertical plate, and the reducer is connected and installed with the rear end of the rotating center shaft of the fourth feeding center shaft assembly through a coupling; the front end of the rotating center shaft of the fourth feeding center shaft assembly is connected to the feeding bearing corresponding to the front vertical plate, and the fourth feeding center shaft assembly is installed on the arm frame through the corresponding feeding bearing, coupling and reducer.

4. The swing arm manipulator according to any one of claims 1 or 2, characterized in that: The left suction and feeding assembly includes a first synchronous connecting rod, the upper and middle parts of the first synchronous connecting rod respectively clamp and install the front end of the synchronous rotating shaft of the first feeding central axis assembly and the second feeding central axis assembly; the lower part of the first synchronous connecting rod is provided with a first suction nozzle adjustment member, the first suction nozzle rod is installed on the first suction nozzle adjustment member, and the lower end of the first suction nozzle rod is provided with a first suction nozzle.

5. The swing arm manipulator according to any one of claims 1 or 2, characterized in that: The right suction and feeding assembly includes a second synchronous connecting rod, the upper and middle parts of which respectively clamp and install the front ends of the synchronous rotating shafts of the third feeding central axis assembly and the fourth feeding central axis assembly; a second suction nozzle adjusting member is provided at the lower part of the second synchronous connecting rod, a second suction nozzle rod is installed on the second suction nozzle adjusting member, and a second suction nozzle is provided at the lower end of the second suction nozzle rod.

6. The swing arm manipulator according to claim 1, characterized in that: The longitudinal and transverse sliding components include a longitudinal slide rail, a longitudinal slider, a longitudinal and transverse connecting piece, a transverse slide rail and a transverse slider which are sequentially connected from front to back. The longitudinal slide rail is fixedly installed behind the front vertical plate, and the longitudinal slide rail and the transverse slide rail are respectively installed on both sides of the longitudinal and transverse connecting piece, and the longitudinal slide rail and the transverse slide rail are arranged perpendicular to each other. The transverse slider is connected and installed in front of the slider mounting part of the linkage pull plate.

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