A wire barrel servo transfer machine

Abstract

The application discloses a kind of silk bobbin servo transfer machine, including support guide rail, mobile seat component, lifting seat component, transfer mechanical arm component, transfer mechanical arm rotating component and mechanical arm unloading component, mobile seat component realizes the overall movement of transfer machine by drive component;Lifting seat component is constituted by guide arm, lifting seat and lifting seat drive component, and lifting seat can be lifted along the vertical direction of guide arm;Transfer mechanical arm component includes mechanical arm translation seat, translation drive component and transfer mechanical arm;Transfer mechanical arm rotating component can adjust the direction of transfer mechanical arm;Mechanical arm unloading component realizes automatic unloading by pusher and pusher drive component.The application can realize the accurate mobilization of transfer machine in multiple directions, improve the positioning accuracy in material transfer process, and improve work efficiency through automatic unloading function, meet the high-precision, high-efficiency transfer requirements of silk bobbin.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of transfer equipment, and particularly relates to a bobbin servo transfer machine. BACKGROUND

[0002] With the development of automation technology, many industries also take automation as a future trend, and the transfer machine realizes mutual conveying of workpieces between different workpiece conveying lines. Generally, the transfer machine is a robot, which conveys workpieces on one workpiece conveying line to another workpiece conveying line to realize mutual conveying of workpieces between different workpiece conveying lines.

[0003] In the semiconductor processing industry, a transfer machine is also needed to transfer bobbins. However, the existing bobbin transfer machine has low positioning accuracy and low automation, and cannot meet the high-precision and high-efficiency transfer of bobbins. SUMMARY

[0004] The present application relates to the technical field of transfer equipment, and particularly relates to a bobbin servo transfer machine.

[0005] In order to achieve the above-mentioned purpose, the technical scheme adopted by the present application is as follows:

[0006] The present application provides a bobbin servo transfer machine, which comprises:

[0007] A support rail;

[0008] A moving seat assembly comprising a moving seat and a moving seat driving assembly, the moving seat being movably installed on the support rail, and the moving seat driving assembly being arranged on the moving seat to drive the moving seat to move linearly back and forth along the track direction of the support rail;

[0009] A lifting seat assembly comprising a guide arm, a lifting seat and a lifting seat driving assembly, the guide arm being installed on the bottom of the moving seat, the lifting seat being movably installed on the guide arm, and the lifting seat driving assembly being arranged on the lifting seat to drive the lifting seat to move vertically along the guide arm;

[0010] A transfer robot arm assembly comprising a transfer robot arm, a robot arm translation seat and a robot arm translation driving assembly, the transfer robot arm being installed on one side of the robot arm translation seat, and a spacing being left between the transfer robot arm and the side surface of the robot arm translation seat for sleeving a material on the transfer robot arm, the robot arm translation seat being movably installed on the lifting seat, and the moving direction of the robot arm translation seat being perpendicular to the lifting direction of the lifting seat, and the robot arm translation driving assembly being arranged between the lifting seat and the robot arm translation seat to drive the robot arm translation seat to move in the transverse direction;

[0011] A rotating assembly of the transfer robot arm is arranged between the bottom of the moving seat and the top of the guide arm to drive the guide arm and the lifting seat to rotate and drive the transfer robot arm to rotate and adjust the direction;

[0012] A mechanical arm unloading assembly includes a pushing member and a pushing member driving assembly, the pushing member driving assembly is installed on the transfer robot arm, and the pushing member is connected to the output end of the pushing member driving assembly to realize the pushing movement of the pushing member.

[0013] In a possible implementation, a weighing unit is installed on the transfer robot arm, and the weighing unit includes a weighing module, a top extension cylinder, and a movement driving cylinder;

[0014] The movement driving cylinder is fixedly connected to the bottom of the transfer robot arm, the top extension cylinder is installed on the output end of the movement driving cylinder, the weighing module is installed on the output end of the top extension cylinder, and the top of the weighing module is connected with a support frame, so that the weighing module and the support frame can be driven to move upward by the top extension cylinder to weigh the material.

[0015] In a possible implementation, the lifting seat is slidably installed on the first side of the guide arm through a guide rail sliding block assembly;

[0016] A first connecting plate is arranged on the second side of the guide arm, and the first connecting plate is fixedly connected with the lifting seat;

[0017] The mechanical arm translation seat is slidably installed on the first connecting plate through a guide rail sliding block assembly.

[0018] In a possible implementation, the mechanical arm translation driving assembly includes a gear one, a rack one, and a gear tooth driving motor one;

[0019] The rack one is fixedly connected to the mechanical arm translation seat, the gear one is installed on the output shaft of the gear tooth driving motor one, the gear tooth driving motor one is installed on the lifting seat, and the gear one is engaged with the rack one to drive the mechanical arm translation seat to move.

[0020] In a possible implementation, a second connecting plate is arranged on the third side of the guide arm, and the second connecting plate is fixedly connected with the lifting seat;

[0021] The number of the transfer robot arm assemblies is two, and the two transfer robot arm assemblies are arranged on the first connecting plate and the second connecting plate respectively.

[0022] In a possible implementation, the pushing member is annular and is sleeved to the outside of the transfer robot arm, and the pushing member is slidingly installed on the transfer robot arm through a guide rail sliding block assembly;

[0023] The pushing member driving assembly is a transmission belt assembly, which is installed on one side surface of the transfer robot arm, and the pushing member is fixedly connected to a transmission belt in the transmission belt assembly through a connecting plate;

[0024] When the transmission belt assembly is started, the transmission belt can drive the pushing member to move along the track of the transfer robot arm.

[0025] In a possible implementation, the moving seat is slidingly installed on the support rail through a guide rail pulley assembly;

[0026] The moving seat driving assembly comprises a second gear, a second rack, and a toothed drive motor two;

[0027] The second rack is fixedly connected to the support rail, the second gear is installed on the output shaft of the toothed drive motor two, the toothed drive motor two is installed on the moving seat, and the second gear and the second rack are engaged together to drive the moving seat to move along the track direction of the support rail.

[0028] In a possible implementation, the lifting seat is slidingly installed on the guide arm through a guide rail sliding block assembly;

[0029] The lifting seat driving assembly comprises a third gear, a third rack, and a toothed drive motor three;

[0030] The third rack is fixedly connected to the guide arm, the third gear is installed on the output shaft of the toothed drive motor three, the toothed drive motor three is installed on the lifting seat, and the third gear and the third rack are engaged together to drive the lifting seat to move along the track direction of the guide arm.

[0031] In a possible implementation, the transfer robot arm rotating assembly comprises a gear ring, a fourth gear, and a gear drive motor four;

[0032] The top end of the guide arm is rotatably installed on the bottom end surface of the lifting seat, the gear ring is installed on the top outer circumferential surface of the guide arm, the fourth gear is installed on the output shaft of the gear drive motor four, the gear drive motor four is installed on the moving seat, and the gear ring and the fourth gear are engaged together to drive the guide arm and the lifting seat to rotate and drive the transfer robot arm to rotate and adjust the direction.

[0033] In a possible implementation, a support frame is arranged on the top end of the transfer robot, and the support frame is used to support the material.

[0034] In conclusion, the present application has the following advantages:

[0035] In the present application, the transfer machine can be moved in multiple directions, so that the position positioning accuracy is high during the transfer of the material, and the automatic unloading can be realized through the pushing element, and the automatic positioning and unloading are realized as a whole, which can meet the high-precision and high-efficiency transfer of the silk tube. BRIEF DESCRIPTION OF DRAWINGS

[0036] Figure 1 The figure is a structural schematic diagram of the present application;

[0037] Figure 2 The figure is a schematic diagram of the protective cover and the transfer robot in the present application;

[0038] Figure 3 The figure is a schematic diagram of the transfer robot in the present application;

[0039] Figure 4 The figure is a schematic diagram of the transfer robot in the present application;

[0040] Figure 5 The figure is a schematic diagram of the transfer robot in the present application;

[0041] Figure 6 The figure is a schematic diagram of the transfer robot in the present application;

[0042] Figure 7 The figure is a schematic diagram of the weighing unit and the transfer robot in the present application;

[0043] Figure 8 The figure is a schematic diagram of the moving seat driving assembly in the present application;

[0044] Figure 9 The figure is a schematic diagram of the lifting seat driving assembly in the present application;

[0045] Figure 10 The figure is a schematic diagram of the transfer robot rotating assembly in the present application.

[0046] Markings in the figure:

[0047] 1, support rail;

[0048] 2, moving seat; 201, pulley block; 202, pulley rail; 203, guide frame;

[0049] 3, guide arm; 301, first side; 302, second side; 303, third side;

[0050] 4, lifting seat; 401, first connecting plate; 402, second connecting plate;

[0051] 5, transfer robot; 501, protective cover;

[0052] 6, mechanical arm translation seat;

[0053] 7, pushing piece; 701, connecting plate;

[0054] 8, weighing module; 9, top extension cylinder; 10, moving drive cylinder; 11, support frame; 12, gear one; 13, rack one; 14, gear tooth drive motor one;

[0055] 15, transmission belt; 151, pulley; 152, pulley drive motor;

[0056] 16, gear two; 17, rack two; 18, gear tooth drive motor two; 19, gear three; 20, rack three; 21, gear tooth drive motor three; 22, gear ring; 23, gear four; 24, gear drive motor four; 25, support frame table. DETAILED DESCRIPTION

[0057] In order to make the purpose, technical scheme and advantages of the present application more clear, the embodiments of the present application will be further described in detail below with reference to the drawings.

[0058] Firstly, use Figure 1 , the overall structure of the silk tube servo transfer machine is described, Figure 1 is a structural diagram of the present application.

[0059] Referring to Figures 2-4 , the silk tube servo transfer machine comprises a support rail 1, a moving seat assembly, a lifting seat assembly, a transfer robot assembly, a transfer robot rotating assembly and a mechanical arm unloading assembly, wherein:

[0060] The support rail 1 comprises a first support rail and a second support rail, and the first support rail and the second support rail are arranged at intervals. In the installation and use process of the silk tube servo transfer machine, the moving seat assembly is installed between the first support rail and the second support rail.

[0061] The moving seat assembly comprises a moving seat 2 and a moving seat drive assembly. The moving seat 2 is movably installed on the support rail 1. That is, the moving seat 2 can move along the track direction of the support rail 1. The moving seat drive assembly is arranged on the moving seat 2, and the moving seat drive assembly can drive the moving seat 2 to move linearly back and forth along the track direction of the support rail 1. That is, the moving seat 2 can automatically move back and forth along the track direction of the support rail 1.

[0062] The lifting seat assembly comprises a guide arm 3, a lifting seat 4 and a lifting seat driving assembly. The guide arm 3 is installed to the bottom of the moving seat 2. When the moving seat 2 automatically moves back and forth along the track direction of the supporting guide rail 1, the moving seat 2 can drive the guide arm 3, the lifting seat 4 and the lifting seat driving assembly to move as a whole, thereby changing the position. The lifting seat 4 is movably installed to the guide arm 3, and the lifting seat driving assembly is arranged on the lifting seat 4 to drive the lifting seat 4 to move up and down along the vertical direction of the guide arm 3.

[0063] The transfer robot arm assembly comprises a transfer robot arm 5, a robot arm translation seat 6 and a robot arm translation driving assembly. The transfer robot arm 5 is used to sleeve a bobbin, and the transfer robot arm 5 is installed to one side of the robot arm translation seat 6, and there is a spacing between the transfer robot arm 5 and the side of the robot arm translation seat 6, which is used to sleeve the material to the transfer robot arm 5.

[0064] The robot arm translation seat 6 is movably installed to the lifting seat 4, and the moving direction of the robot arm translation seat 6 is perpendicular to the lifting direction of the lifting seat 4. That is, the robot arm translation seat 6 can move transversely relative to the guide arm 3. The robot arm translation driving assembly is arranged between the lifting seat 4 and the robot arm translation seat 6, and is used to drive the robot arm translation seat 6 to automatically move in the transverse direction. That is, the transfer robot arm 5 on the robot arm translation seat 6 moves together with the robot arm translation seat 6 in the transverse direction.

[0065] The transfer robot arm rotation assembly is arranged between the bottom of the moving seat 2 and the top of the guide arm 3, and is used to drive the guide arm 3 and the lifting seat 4 to rotate and drive the transfer robot arm 5 to rotate and adjust the direction. That is, the transfer robot arm 5 can rotate and adjust the position when transferring the material, so as to realize accurate positioning and transfer.

[0066] The robot arm unloading assembly is used to push the material on the transfer robot arm 5 to the outside of the transfer robot arm 5. The robot arm unloading assembly comprises a pushing piece 7 and a pushing piece driving assembly. The pushing piece driving assembly is installed to the transfer robot arm 5, and the pushing piece 7 is connected to the output end of the pushing piece driving assembly, so as to realize the pushing action of the pushing piece 7.

[0067] In the present embodiment, through the cooperation of the moving seat 2 and the moving seat driving assembly, the moving seat 2 can automatically move in the track direction of the support rail 1, so that the position of the moving seat 2 with position jumping can drive the guide arm 3 and the transfer robot arm 5 to move as a whole; through the cooperation of the guide arm 3, the lifting seat 4 and the lifting seat driving assembly, the lifting seat 4 can drive the transfer robot arm 5 to automatically reciprocatingly move along the track direction of the guide arm 3, so that the height position of the transfer robot arm 5 can be adjusted; through the cooperation of the mechanical arm translation seat 6 and the mechanical arm translation driving assembly, the transfer robot arm 5 can be driven to adjust the lateral position relative to the guide arm 3; in addition, through the cooperation of the transfer robot arm rotating assembly and the moving seat 2, the guide arm 3 and the lifting seat 4 can be driven to rotate and drive the transfer robot arm 5 to rotate and adjust the direction, so as to realize accurate positioning and transfer when the transfer robot arm 5 transfers the material; when the direction adjustment of the transfer is completed, the pushing piece 7 can be driven to move by the pushing piece driving assembly, and the pushing piece 7 can unload the material on the transfer robot arm 5; the transfer machine can adjust the position in multiple directions, so that the positioning accuracy is high during the transfer of the material, and automatic unloading can be realized through the pushing piece 7, automatic positioning and unloading are realized as a whole, and the high-precision and high-efficiency transfer of the silk tube can be realized.

[0068] In some embodiments, as shown in Figures 5-7 A weighing unit is installed on the transfer robot arm 5 and can be used for weighing the transferred material.

[0069] The weighing unit comprises a weighing module 8, a top extension cylinder 9 and a moving driving cylinder 10. The transfer robot arm 5 is a hollow arm body, the moving driving cylinder 10 is fixedly connected to the bottom of the transfer robot arm 5, the top extension cylinder 9 is installed on the output end of the moving driving cylinder 10, the weighing module 8 is installed on the output end of the top extension cylinder 9, and the top extension cylinder 9 and the weighing module 8 are located in the hollow structure of the transfer robot arm 5. A support frame 11 is connected to the top of the weighing module 8, and the weighing module 8 and the support frame 11 can be driven upward by the top extension cylinder 9, so as to weigh the material.

[0070] In the present embodiment, the material to be transferred can be sleeved on the outer circumferential surface of the transfer robot arm 5, when it is necessary to weigh the material to be transferred, the moving driving cylinder 10 drives the top extension cylinder 9 and the weighing module 8 to move together, and then the top extension cylinder 9 drives the weighing module 8 and the support frame 11 to rise, the rising weighing module 8 and the support frame 11 can weigh the weight of the material, and according to the different weights of the material, the material can be transferred to different processes.

[0071] In some embodiments, as shown in Figures 3-4As shown, in order to enable the lifting base 4 to be lifted and slid on the guide arm 3, the lifting base 4 is slidably mounted on the first side surface 301 of the guide arm 3 via a guide rail and slider assembly. Regarding the specific structure of the guide rail and slider assembly, the guide rail and slider assembly includes a guide rail and a slider. The slider is fixedly mounted on the side surface of the lifting base 4, the guide rail is fixedly mounted on the first side surface 301 of the guide arm 3, and the slider is slidably mounted on the guide rail. In other words, the lifting base 4 can be slidably mounted on the first side surface 301 of the guide arm 3.

[0072] To enable lateral movement of the manipulator translation base 6 and the transfer manipulator 5 relative to the guide arm 3, a first connecting plate 401 is provided on the second side surface 302 of the guide arm 3. The first connecting plate 401 is fixedly connected to the lifting base 4. The manipulator translation base 6 is slidably mounted on the first connecting plate 401 via a guide rail and slider assembly (the operating principle of the guide rail and slider assembly here is exactly the same as that described above and will not be further described here). In other words, the manipulator translation base 6 and the transfer manipulator 5 can slide together on the first connecting plate 401 (laterally relative to the guide arm 3).

[0073] In some embodiments, as Figures 3-4 In order to realize the automatic movement and adjustment of the robot arm translation seat 6 and the transfer robot arm 5, the robot arm translation drive assembly includes a gear 12, a rack 13 and a gear drive motor 14, which is a servo motor.

[0074] Rack 13 is fixedly connected to the robot arm translation seat 6, gear 12 is installed on the output shaft of gear drive motor 14, gear drive motor 14 is installed on the lifting seat 4, and gear 12 and rack 13 are engaged together to drive the robot arm translation seat 6 to move.

[0075] In this embodiment, the output shaft of the gear drive motor 14 can drive the gear 12 to rotate, and the rotating drive gear 12 can engage and transmit the rack 13 located on the robot arm translation seat 6, so that under the driving condition of the gear drive motor 14, the robot arm translation seat 6 and the transfer robot 5 can automatically move and adjust.

[0076] In some embodiments, as Figures 1-4 To improve the efficiency of transferring bobbin materials, two transfer arm assemblies are provided. A second connecting plate 402 is provided on the third side 303 of the guide arm 3, and the second connecting plate 402 is fixedly connected to the lifting base 4. The two transfer arm assemblies have identical structures and operating principles. The two transfer arm assemblies are respectively provided on the first connecting plate 401 and the second connecting plate 402, thereby improving the efficiency of transferring bobbin materials.

[0077] In some embodiments, asFigures 5-7 The pusher 7 is annular and is sleeved to the outside of the transfer robot 5. The pusher 7 is slidingly installed on the transfer robot 5 through a guide rail sliding block assembly. The guide rail sliding block assembly is identical in structure and working principle to the guide rail sliding block assembly described above. The difference is that the guide rail is installed on the transfer robot 5, the sliding block is installed on the pusher 7, and the sliding block is slidingly installed on the guide rail. That is, the pusher 7 can reciprocate along the trajectory of the transfer robot 5.

[0078] The pusher driving assembly is a transmission belt assembly for driving the pusher 7 to move automatically to achieve the discharging of the bobbin. The transmission belt assembly is installed on one side of the transfer robot 5. The transmission belt assembly includes a transmission belt 15, two belt pulleys 151, and a belt pulley driving motor 152. The two belt pulleys 151 are rotatably installed on the side of the transfer robot 5. The transmission belt 15 is drivingly installed between the two belt pulleys 151. The belt pulley driving motor 152 is installed inside the transfer robot 5 and has an output end connected with one of the belt pulleys 151 for driving the belt pulley 151 to rotate, thereby enabling the transmission belt 15 to rotate.

[0079] The pusher 7 is fixed to the transmission belt 15 in the transmission belt assembly through a connecting plate 701. When the transmission belt assembly is started, the belt pulley driving motor 152 drives the belt pulley 151 and the transmission belt 15 to rotate. The transmission belt 15 can drive the pusher 7 to move along the trajectory of the transfer robot 5 to push the material, that is, the pusher 7 can conveniently discharge the bobbin material sleeved to the outside of the transfer robot 5.

[0080] In some embodiments, as Figure 8 The moving seat 2 is slidingly installed on the support rail 1 through a guide rail pulley assembly. The guide rail pulley assembly includes a pulley set 201 and a pulley rail 202. The pulley rail 202 is installed on the support rail 1. The number of the pulley sets 201 is multiple. The moving seat 2 has four guide frames 203 installed on the top. The pulley sets 201 are installed on the four guide frames 203. The pulley rail 202 is located in the space between the pulley sets 201. Thus, the moving seat 2 can reciprocate on the support rail 1 through the cooperation of the pulley sets 201, the four guide frames 203, and the pulley rail 202.

[0081] In order to realize the automatic movement of the moving seat 2. The moving seat driving assembly includes a gear wheel two 16, a rack two 17 and a gear drive motor two 18; the rack two 17 is fixedly connected to the support rail 1, the gear wheel two 16 is installed on the output shaft of the gear drive motor two 18, the gear drive motor two 18 is installed on the moving seat 2, and the gear wheel two 16 is engaged with the rack two 17 to drive the moving seat 2 to move along the track direction of the support rail 1. In this embodiment, the gear drive motor two 18 drives the gear wheel two 16 to rotate, and the rotating gear wheel two 16 drives the rack two 17 to engage and drive, so that the gear drive motor two 18 can drive the moving seat 2 to move automatically.

[0082] In some embodiments, as shown in Figure 9 In order to realize the reciprocating lifting movement of the lifting seat 4 on the guide arm 3. The lifting seat 4 is slidably installed on the guide arm 3 through the guide rail slider assembly, which has the same structure and working principle as the guide rail slider assembly described above, and the difference is that the guide rail is installed on the guide arm 3, and the slider is fixedly installed on the side of the lifting seat 4 and slidably installed on the guide rail.

[0083] In order to realize the automatic lifting movement of the lifting seat 4. The lifting seat driving assembly includes a gear wheel three 19, a rack three 20 and a gear drive motor three 21; the rack three 20 is fixedly connected to the guide arm 3, the gear wheel three 19 is installed on the output shaft of the gear drive motor three 21, the gear drive motor three 21 is installed on the lifting seat 4, and the gear wheel three 19 is engaged with the rack three 20 to drive the lifting seat 4 to move along the track direction of the guide arm 3. In this embodiment, the gear drive motor three 21 drives the gear wheel three 19 to rotate, and the rotating gear wheel three 19 drives the rack three 20 to engage and drive, so that the gear drive motor three 21 can drive the lifting seat 4 to move automatically along the track direction of the guide arm 3.

[0084] In some embodiments, as shown in Figure 10 In order to realize the rotation of the transfer robot arm 5. The transfer robot arm rotating assembly includes a gear ring 22, a gear wheel four 23 and a gear drive motor four 24; the top end of the guide arm 3 is rotatably installed on the bottom end face of the lifting seat 4, the gear ring 22 is installed on the top outer circumferential surface of the guide arm 3, the gear wheel four 23 is installed on the output shaft of the gear drive motor four 24, the gear drive motor four 24 is installed on the moving seat 2, and the gear ring 22 is engaged with the gear wheel four 23.

[0085] In this embodiment, when the transfer robot arm 5 needs to be rotated and positioned, the gear drive motor four 24 drives the gear wheel four 23 to rotate, the rotating gear wheel four 23 drives the gear ring 22 to rotate through engagement and transmission, and the rotating gear ring 22 can drive the guide arm 3 to rotate, and the rotating guide arm 3 can drive the guide arm 3 and the lifting seat 4 to rotate and drive the transfer robot arm 5 to rotate and position.

[0086] In some embodiments, as shown in Figure 7 The top end of the transfer robot arm 5 is provided with a support frame 25 for supporting the bobbin material. During loading, the annular bobbin material can be sleeved and loaded along the length direction of the support frame 25. During unloading, the pushing member 7 can push the annular bobbin material along the track direction of the support frame 25 for unloading.

[0087] In some embodiments, as shown in Figure 1 The outer part of the two transfer robot arms 5 is provided with a protective cover 501, which can protect the bobbin material.

[0088] In the description of the present application, it should be noted that the terms "comprising", "including", or any other variant thereof are intended to cover non-exclusive inclusion, so that the process, method, article or device including a series of elements not only includes those elements, but also includes other elements not explicitly listed, or further includes elements inherent to such process, method, article or device. Without more limitations, the element defined by the statement "comprising a" does not exclude the presence of additional identical elements in the process, method, article or device including the element.

[0089] In addition, in the description of the present application, the terms "upper", "lower", "front", "back", "left", "right", "top", "bottom", "inner", "outer" and the like indicate the orientation or positional relationship shown in the drawings, and are only for the convenience of describing the present application and simplifying the description, and do not indicate or imply that the device or element referred to must have a particular orientation, be constructed and operated in a particular orientation, and therefore cannot be understood as a limitation on the present application.

[0090] On the other hand, it should be noted that unless otherwise explicitly specified and limited, the terms "provided", "mounted", "connected", "linked" should be understood broadly, for example, it can be fixedly connected, or detachably connected, or integrally connected; it can be mechanically connected, or electrically connected; it can be directly connected, or indirectly connected through an intermediate medium; it can be the communication between two elements inside. For those skilled in the art, the specific meaning of the above terms in the present application can be understood according to the specific circumstances.

Claims

1. A bobbin servo transfer machine characterized by, The utility model relates to a kind of material moving and loading device, including: Support rail (1); Mobile seat assembly, including mobile seat (2) and mobile seat drive assembly, the mobile seat (2) is movably mounted to the support rail (1), and the mobile seat drive assembly is arranged on the mobile seat (2), to drive the mobile seat (2) reciprocating linearly moves along the track direction of support rail (1); Lifting seat assembly, including guide arm (3), lifting seat (4) and lifting seat drive assembly, the guide arm (3) is mounted to the bottom of the mobile seat (2), the lifting seat (4) is movably mounted to the guide arm (3), and the lifting seat drive assembly is arranged on the lifting seat (4), to drive the lifting seat (4) vertically moves along guide arm (3); Material moving and loading device, including moving and loading mechanical arm assembly, mechanical arm translation seat (6) and mechanical arm translation drive assembly, the moving and loading mechanical arm (5) is mounted to the side of the mechanical arm translation seat (6), and the moving and loading mechanical arm (5) and the side of the mechanical arm translation seat (6) are spaced, to be used for setting material sleeve to the moving and loading mechanical arm (5), the mechanical arm translation seat (6) is movably mounted to the lifting seat (4), and the moving direction of the mechanical arm translation seat (6) is vertically arranged with the lifting direction of the lifting seat (4), and the mechanical arm translation drive assembly is arranged between the lifting seat (4) and the mechanical arm translation seat (6), for driving the mechanical arm translation seat (6) moves along transverse direction; Moving and loading mechanical arm rotating assembly is arranged between the bottom of the mobile seat (2) and the top of the guide arm (3), to drive the guide arm (3) and lifting seat (4) rotate and drive the moving and loading mechanical arm (5) rotate and direct; Mechanical arm unloading assembly, including pushing piece (7) and pushing piece drive assembly, the pushing piece drive assembly is mounted to the moving and loading mechanical arm (5), and the pushing piece (7) is connected to the output end of the pushing piece drive assembly, to realize pushing piece (7) moving and pushing action; Wherein, the moving and loading mechanical arm (5) is installed with weighing unit, and the weighing unit includes weighing module (8), top extension air cylinder (9) and movement drive air cylinder (10);The movement drive air cylinder (10) is fixedly connected to the bottom of the moving and loading mechanical arm (5), the top extension air cylinder (9) is installed on the output end of the movement drive air cylinder (10), the weighing module (8) is installed on the output end of the top extension air cylinder (9), and the top of the weighing module (8) is connected with support frame (11), when the top extension air cylinder (9) drives weighing module (8) and support frame (11) to move up, material can be weighed. The pushing piece (7) is annular and is sleeved to the outside of the transfer mechanical arm (5), is slidably installed on the transfer mechanical arm (5) through a guide rail sliding block assembly; the pushing piece driving assembly is a transmission belt assembly, which is installed on one side of the transfer mechanical arm (5), and the pushing piece (7) is fixedly connected to a transmission belt (15) in the transmission belt assembly through a connecting plate (701); when the transmission belt assembly is started, the transmission belt (15) can drive the pushing piece (7) to move along the track of the transfer mechanical arm (5).

2. The bobbin servo transfer machine according to claim 1, wherein The lifting seat (4) is slidably installed on the first side (301) of the guide arm (3) through a guide rail sliding block assembly; A first connecting plate (401) is arranged on the second side (302) of the guide arm (3), and the first connecting plate (401) is fixedly connected with the lifting seat (4); The mechanical arm translation seat (6) is slidably installed on the first connecting plate (401) through a guide rail sliding block assembly.

3. The bobbin servo transfer machine according to claim 2, wherein The mechanical arm translation driving assembly comprises a gear one (12), a rack one (13) and a gear drive motor one (14); The rack one (13) is fixedly connected to the mechanical arm translation seat (6), the gear one (12) is installed on the output shaft of the gear drive motor one (14), the gear drive motor one (14) is installed on the lifting seat (4), and the gear one (12) is meshed with the rack one (13) to drive the mechanical arm translation seat (6) to move.

4. The bobbin servo transfer machine according to claim 3, wherein A second connecting plate (402) is arranged on the third side (303) of the guide arm (3), and the second connecting plate (402) is fixedly connected with the lifting seat (4); The number of the transfer mechanical arm assemblies is two, and the two transfer mechanical arm assemblies are arranged on the first connecting plate (401) and the second connecting plate (402) respectively.

5. The bobbin servo transfer machine according to claim 1, wherein The moving seat (2) is slidably installed on the support rail (1) through a guide rail pulley assembly; The moving seat driving assembly comprises a gear two (16), a rack two (17) and a gear drive motor two (18); The rack two (17) is fixedly connected to the support rail (1), the gear two (16) is installed on the output shaft of the gear drive motor two (18), the gear drive motor two (18) is installed on the moving seat (2), and the gear two (16) is meshed with the rack two (17) to drive the moving seat (2) to move along the track direction of the support rail (1).

6. The bobbin servo transfer machine according to claim 1, wherein The lifting seat (4) is slidably installed on the guide arm (3) through a guide rail sliding block assembly; The lifting seat driving assembly comprises a gear three (19), a rack three (20) and a gear drive motor three (21); The rack three (20) is fixed to the guide arm (3), the gear three (19) is installed on the output shaft of the gear drive motor three (21), the gear drive motor three (21) is installed on the lifting seat (4), and the gear three (19) is engaged with the rack three (20) to drive the lifting seat (4) to move along the track direction of the guide arm (3).

7. The bobbin servo transfer machine according to claim 1, wherein The rotating assembly of the transfer mechanical arm comprises a gear ring (22), a gear four (23) and a gear drive motor four (24). The top end of the guide arm (3) is rotatably installed on the bottom end surface of the lifting seat (4), the gear ring (22) is installed on the top outer circumferential surface of the guide arm (3), the gear four (23) is installed on the output shaft of the gear drive motor four (24), the gear drive motor four (24) is installed on the moving seat (2), and the gear ring (22) is engaged with the gear four (23) to drive the guide arm (3) and the lifting seat (4) to rotate and drive the transfer mechanical arm (5) to rotate and adjust the direction.

8. The bobbin servo transfer machine according to claim 1, wherein The top end of the transfer mechanical arm (5) is provided with a support frame (25), and the support frame (25) is used for supporting materials.

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