Swing arm feeding and discharging structure driven by servo motor

Abstract

The invention discloses a swing arm feeding and discharging structure driven by a servo motor, which belongs to the technical field of mechanical manufacturing and automation and comprises a support, a first manipulator, a second manipulator, a rotating shaft assembly, a speed reducer and the servo motor. The first mechanical arm and the second mechanical arm are controlled through the two independent electric driving systems correspondingly, parallel execution of feeding and discharging operation is achieved, and high-rotating-speed and low-torque output of the servo motor is converted into low-rotating-speed and high-torque output through the speed reducer so as to drive the mechanical arms to swing stably. The control system of the servo motor integrates a real-time inertia recognition algorithm and a torque observer, and is used for estimating the total inertia of the system in real time and monitoring the torque change so as to dynamically optimize the control parameters of the servo motor and improve the response speed and the motion stability of the system. The structure can work in cooperation with grinding equipment, automatic carrying of workpieces among a feeding position, a grinding position and a discharging position is achieved, efficient parallel operation can be achieved, operation is stable and accurate, and the self-adaptive capacity is high.

Description

Technical Field

[0001] This invention relates to the field of mechanical manufacturing and automation technology, specifically to a servo motor driven swing arm loading and unloading structure. Background Technology

[0002] In automated precision machining production lines for disc-shaped parts such as wheel hubs and bearing rings, automatic loading and unloading mechanisms are key equipment for achieving efficient continuous production. Their core function is to precisely transport workpieces between the loading, machining, and unloading positions. While the widely used hydraulic drive system provides significant driving force, it suffers from several inherent drawbacks: complex system structure, reliance on cylinders, hydraulic stations, and numerous valve blocks and pipelines leads to low reliability and frequent failures; hydraulic oil requires regular maintenance, making cleanliness management difficult and prone to leakage, polluting the environment and posing safety hazards, resulting in significant maintenance costs; furthermore, cylinder-driven systems lack positioning accuracy and rigid motion control, failing to meet the requirements of high-precision and high-cycle production, and are energy inefficient with high power consumption. Therefore, there is an urgent need for a simple, precise, stable, energy-efficient, and easy-to-maintain loading and unloading technology to replace the traditional hydraulic drive system. Summary of the Invention

[0003] The purpose of this invention is to provide a servo motor driven swing arm loading and unloading structure. By adopting an optimized combination of servo motor and reducer, and combining real-time inertia identification and torque observation control strategies, high precision, high stability and high efficiency of loading and unloading operations can be achieved.

[0004] To solve the above-mentioned technical problems, the present invention specifically provides the following technical solution: A servo motor-driven swing arm loading / unloading structure includes a support and a servo motor. A rotary shaft assembly is mounted on the support. The output end of the servo motor is connected to the input end of a reducer, and the output end of the reducer drives the rotary shaft assembly. The core function of the reducer is to convert the high-speed, low-torque output of the servo motor into the low-speed, high-torque output required for the manipulator's swing, providing sufficient power for handling heavy objects. Furthermore, the reducer significantly reduces the enormous load inertia quadratically and maps it to the motor shaft, allowing the servo system to easily handle heavy-duty swing arms. This achieves a match between the servo motor rotor inertia and the manipulator load inertia, significantly improving the response speed, stability, and positioning accuracy of the servo control system. This invention, through the optimized combination of the servo motor and reducer, compared to traditional hydraulic drives, not only achieves a cleaner power source but also, through precise inertia matching and torque output, makes the movement of the first and second manipulators smoother and more controllable, greatly reducing the impact during startup, stopping, and reversing, and minimizing equipment wear and operating noise.

[0005] The servo motor is connected to the control system, which integrates a real-time inertia identification algorithm and a torque observer.

[0006] To ensure that the torque observer can accurately and promptly identify changes in load status (such as successful workpiece gripping, workpiece detachment, and workpiece placement), the control system presets the following time thresholds and judgment criteria: After the gripper of the first or second robotic arm executes the closing command, the torque observer will detect whether the output torque experiences a step increase within 5ms. If the torque increment Δ T Exceeding the preset threshold When the torque is set to 20%–30% of the no-load torque, the system determines that "the workpiece has been gripped" and immediately starts the real-time inertia recognition algorithm. During the handling process, if the torque observer detects that the torque value drops by more than 40% of the current load torque value within 10ms, the system determines that "the workpiece has fallen off," immediately triggering an emergency stop and alarm. When the robot arm moves above the unloading position and begins to decelerate, the torque observer monitors the torque decline trend. If the torque drops to near the no-load torque level within 5ms, the system determines that "the workpiece has been released," and the gripper executes the opening command. The system also sets an upper limit for the torque change rate. If the detected torque change rate exceeds this value, it is considered an abnormal impact or sudden load change, and the system will enter protection mode, reducing the operating speed or pausing the movement.

[0007] During loading, at the instant the gripper closes to grasp the workpiece, the robotic arm's load torque experiences a step-like jump. The torque observer detects this sudden change in torque, immediately confirming to the control system that "the workpiece has been grasped," and providing an initial estimated load torque. This initial estimated load torque is obtained as follows: In the very short time before the step-like jump, the system records the no-load torque value output by the motor; at the stable moment after the step-like jump, the system records the total torque value output by the motor; the initial estimated load torque is the difference between these two values. This difference directly reflects the minimum additional torque required to overcome the workpiece's gravitational torque and inertia, providing an accurate load starting point parameter for the subsequent real-time inertia recognition algorithm, ensuring the speed and accuracy of system recognition and parameter optimization.

[0008] During the initial acceleration phase of the first robotic arm, carrying the workpiece from a stationary position (loading position) towards the grinding position, the real-time inertia recognition algorithm is activated. It collects motor current (torque) and acceleration data, and using algorithms such as recursive least squares, quickly and accurately calculates the total moment of inertia of the new combination of "motor rotor + swing arm + workpiece." The control system immediately and automatically calls upon or calculates a set of optimal control parameters to match this. By integrating the real-time inertia recognition algorithm, based on the new inertia and target speed, it calculates the optimal acceleration and deceleration, ensuring a fast and stable start-up, avoiding sudden acceleration or jerking, and preventing slow system response or oscillations due to increased load. During unloading, as the workpiece swings from the grinding position to the loading position, the torque observer continuously monitors for abnormal load torque. For example, if the workpiece accidentally falls off, the torque will suddenly decrease, and the system can immediately detect this and issue an alarm to stop the machine, preventing the robotic arm from running aimlessly and colliding with the machine. Since this is the second handling in the entire processing cycle, the system already knows the accurate moment of inertia of the workpiece. This allows the control system to brake with extremely precise deceleration. When the second robotic arm moves above the unloading position to release the workpiece, the control system instructs the servo motor to decelerate. A torque observer monitors the load torque on the motor shaft in real time. The moment the gripper places the workpiece at the unloading position, the load torque on the motor shaft drops significantly. Once the torque observer detects this inflection point of torque decrease, it immediately sends a "release" command to the gripper. This torque feedback-based release strategy ensures the workpiece is gently released after contact with the unloading position, rather than being released from a suspended state and falling. This is crucial for precision and fragile workpieces, effectively preventing impact damage and bounce.

[0009] At the servo control level, the reducer is based on the reduction ratio. i The square relationship reduces the load inertia mapped to the motor shaft, i.e. ,in, The load inertia mapped to the motor shaft. This is the actual moment of inertia of the load itself. i The reduction ratio simplifies the control of the motor. Meanwhile, the torque observer, based on the real-time motor current and system model, can identify minute changes in output torque at the millisecond level. It senses strong electrical signals from the motor side rather than weak mechanical signals from the load side, thus achieving extremely fast and highly sensitive responses to torque steps even under high reduction ratio conditions. These two aspects synergistically improve the system's dynamic performance and control accuracy from the perspectives of inertia matching and signal observation, respectively.

[0010] Specifically, the rotary shaft assembly is connected to the output end of the reducer via a coupling. The rotary shaft assembly, reducer, and servo motor are arranged in two independent sets. One set of rotary shaft assemblies is connected to the first robotic arm, and the other set is connected to the second robotic arm, forming two independent electric drive swing systems, one for the left and one for the right. This design of two independent electric drive systems directly achieves completely independent control of the first and second robotic arms, allowing for parallel loading and unloading operations, thereby shortening cycle time and significantly improving production efficiency.

[0011] The axis of the rotary shaft assembly connecting the first robotic arm forms a first rotation center, and the axis of the rotary shaft assembly connecting the second robotic arm forms a second rotation center. The first rotation center and the second rotation center are parallel to each other and fixed to the bracket at a distance.

[0012] The first robotic arm has a first pneumatic gripper at its free end, and the second robotic arm has a second pneumatic gripper at its free end. These grippers are used to perform workpiece gripping and release. By incorporating pneumatic grippers at the free ends of the robotic arms, and utilizing pneumatic actuators, rapid and reliable workpiece gripping and release are achieved. The structure is simple and cost-effective. The first and second robotic arms can complete the gripper action instantly upon reaching the target point, and can even trigger signals in advance during the approach process, resulting in virtually no waiting time for the gripping action. This precise timing control through mechatronics significantly reduces the auxiliary time for single-piece operations, further squeezing out cycle time potential and improving overall efficiency. The time savings it brings far exceed the simple summation of individual gripper or servo drive operations.

[0013] It also includes a feeding channel, the end of which is provided with a feeding position, which is located on the swing trajectory of the first robot arm, so that the first robot arm can move to the position to pick up the workpiece.

[0014] The structure is configured to work in conjunction with a grinding equipment having a grinding position, the movement trajectory of the first manipulator covering the grinding position, for transporting the workpiece to be processed from the loading position to the grinding position.

[0015] It also includes a feeding channel, the beginning of which is provided with a feeding position, which is located on the swing trajectory of the second robot arm, so that the second robot arm can move to the position to place the processed workpiece.

[0016] The structure is configured to work in conjunction with a grinding equipment having a grinding position, the movement trajectory of which covers the grinding position, for transporting the processed workpiece from the grinding position to the unloading position.

[0017] The servo motor control system is configured to execute S-shaped or trigonometric function acceleration and deceleration curves to smoothly drive the first and / or second robotic arms to start and stop, reducing mechanical impact noise. The servo motor, controlled by the control system, can execute preset smooth motion curves, driving the robotic arms to maintain stable movement during acceleration, constant speed, and deceleration phases, thereby significantly reducing the impact on the structure and the operating noise generated during robotic arm startup, reversal, and stopping. The control system has multiple pre-stored sets of motion parameters, including at least acceleration, deceleration, maximum speed, and the time constant of the S-shaped curve. Different parameter sets can be called according to the weight of different workpieces to adaptively optimize motion smoothness. The optimizable S-shaped or trigonometric function acceleration and deceleration curves result in smooth motion, significantly reducing equipment operating noise and impact on the mechanical structure, and extending equipment lifespan.

[0018] The beneficial effects of this invention are as follows: The servo motor-driven swing arm loading and unloading structure provided by this invention, through the optimized combination of the servo motor and the reducer, successfully converts the high-speed, low-torque output of the motor into the low-speed, high-torque required for the swing arm, providing a power foundation for stable handling of heavy objects. The reducer significantly reduces the impact of load inertia on the motor shaft, achieving precise matching between rotor inertia and load inertia. The control system integrates a real-time inertia identification algorithm and a torque observer, which can estimate the total inertia of the system in real time and monitor torque changes, thereby dynamically optimizing the control parameters of the servo motor, significantly improving the dynamic response characteristics, control stability, and positioning accuracy of the servo system. This structure uses two completely independent electric drive systems to control the first and second manipulators respectively, enabling them to perform loading and unloading operations in parallel, thus significantly shortening the production cycle time and significantly improving production efficiency. The pneumatic gripper at the end of the manipulator has a simple structure and moves quickly. Through precise timing coordination with the servo motion, it achieves near-zero waiting time for workpiece gripping and release, further reducing auxiliary operation time. The overall structure operates smoothly, greatly reducing mechanical impact and equipment noise during start-up, stopping, and reversing processes, reducing wear, and extending equipment life. Attached Figure Description

[0019] To more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings in the following description are merely exemplary, and those skilled in the art can derive other embodiments based on the provided drawings without creative effort.

[0020] Figure 1 This is a front view of the servo motor driven swing arm loading and unloading structure described in Embodiment 1.

[0021] Figure 2This is a rear view of the servo motor driven swing arm loading and unloading structure described in Embodiment 1.

[0022] Figure 3 This is a perspective view of the servo motor driven swing arm loading and unloading structure described in Embodiment 1.

[0023] Figure 4 This is a flowchart of the control system described in Example 2.

[0024] Explanation of reference numerals in the attached drawings: 1-Feeding channel; 11-Feeding position; 2-Discharging channel; 21-Discharging position; 3-First robotic arm; 31-First rotation center; 32-First pneumatic gripper; 4-Second robotic arm; 41-Second rotation center; 42-Second pneumatic gripper; 5-Grinding position; 6-Bracket; 7-Rotation shaft assembly; 71-Coupling; 8-Reducer; 9-Servo motor. Detailed Implementation

[0025] The technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0026] The concepts involved in this application will first be described with reference to the accompanying drawings. It should be noted that the following descriptions of various concepts are only for the purpose of making the content of this application easier to understand and do not constitute a limitation on the scope of protection of this application; furthermore, the embodiments and features in the embodiments of this application can be combined with each other unless otherwise specified. This application will now be described in detail with reference to the accompanying drawings and embodiments.

[0027] Example 1 Figures 1-3The diagram illustrates a servo motor-driven swing arm loading / unloading structure, comprising a support 6 and a servo motor 9. A rotary shaft assembly 7 is mounted on the support 6. The servo motor 9 is sequentially connected to a reducer 8 and the rotary shaft assembly 7. The reducer 8 is connected to the output end of the servo motor 9, converting the high-speed, low-torque output of the servo motor 9 into the low-speed, high-torque output required for the manipulator's swing, providing sufficient power for handling heavy objects. Furthermore, the reducer 8 significantly reduces the enormous load inertia quadratically and maps it to the motor shaft, enabling the servo system to easily handle heavy-duty swing arms. This achieves a match between the rotor inertia of the servo motor 9 and the load inertia of the manipulator, significantly improving the response speed, stability, and positioning accuracy of the servo control system. This invention, through the optimized combination of the servo motor 9 and the reducer 8, compared to traditional hydraulic drives, not only achieves a cleaner power source but also, through precise inertia matching and torque output, makes the movement of the first manipulator 3 and the second manipulator 4 smoother and more controllable, greatly reducing the impact during startup, stopping, and reversing, and minimizing equipment wear and operating noise.

[0028] The rotary shaft assembly 7 is connected to the output end of the reducer 8 via a coupling 71. The rotary shaft assembly 7, reducer 8, and servo motor 9 are arranged in two independent sets. One set of rotary shaft assemblies 7 is connected to the first robotic arm 3, and the other set is connected to the second robotic arm 4, forming two independent electric drive swing systems, one on the left and one on the right. This design of two independent electric drive systems directly achieves completely independent control of the first robotic arm 3 and the second robotic arm 4, allowing for parallel loading and unloading operations, thereby shortening cycle time and significantly improving production efficiency.

[0029] The axis of the rotary shaft assembly 7 connecting the first robotic arm 3 forms a first rotation center 31, and the axis of the rotary shaft assembly 7 connecting the second robotic arm 4 forms a second rotation center 41. The first rotation center 31 and the second rotation center 41 are parallel to each other and fixed to the bracket 6 at intervals.

[0030] The first robotic arm 3 has a first pneumatic gripper 32 at its free end, and the second robotic arm 4 has a second pneumatic gripper 42 at its free end. The first and second pneumatic grippers 32 are used to perform workpiece gripping and release. By using pneumatic grippers at the free ends of the robotic arms, rapid and reliable workpiece gripping and release are achieved using pneumatic actuators. The structure is simple and cost-effective. The first and second robotic arms 3 and 4 can complete the gripping action instantly upon reaching the target point, and can even trigger signals in advance during the approach process, making the gripping action almost instantaneous. This precise timing control through mechatronics greatly shortens the auxiliary time for single-piece operations, further squeezing out cycle time potential and improving overall efficiency. The time savings it brings far exceed the simple summation of individual pneumatic gripper or servo drive operation.

[0031] It also includes a feeding channel 1, at the end of which a feeding position 11 is provided. The feeding position 11 is located on the swing trajectory of the first robotic arm 3, so that the first robotic arm 3 can move to the position to pick up the workpiece.

[0032] The structure is configured to work in conjunction with a grinding equipment having a grinding position 5, the movement trajectory of the first manipulator 3 covering the grinding position 5, for transporting the workpiece to be processed from the loading position 11 to the grinding position 5.

[0033] It also includes a feeding channel 2, the beginning of which is provided with a feeding position 21, which is located on the swing trajectory of the second robot 4, so that the second robot 4 can move to this position to place the processed workpiece.

[0034] The structure is configured to work in conjunction with a grinding equipment having a grinding position 5, the movement trajectory of the second manipulator 4 covering the grinding position 5, for transporting the processed workpiece from the grinding position 5 to the unloading position 21.

[0035] The control system of the servo motor 9 is configured to execute S-shaped or trigonometric function acceleration and deceleration curves to smoothly drive the first robotic arm 3 and / or the second robotic arm 4 to start and stop, reducing mechanical impact noise. The servo motor 9, controlled by the control system, can execute preset smooth motion curves, driving the robotic arm to maintain stable movement during acceleration, constant speed, and deceleration phases, thereby significantly reducing the impact on the structure and the operating noise generated during the robotic arm's start-up, reversal, and stopping.

[0036] Example 2 See Figure 4 Based on Example 1, in order to further improve the dynamic response performance of the loading and unloading structure, this example has deeply integrated and optimized the servo drive system and the pneumatic gripper control strategy, and proposed a swing arm loading and unloading structure based on load adaptation and pneumatic gripper pre-trigger coordinated control. This achieves accurate, stable and low-impact operation under high-speed and high-load conditions, and is especially suitable for precision grinding production lines with large workpiece weight differences and high cycle time requirements.

[0037] A servo motor driven swing arm loading and unloading structure includes a control system configured to: calculate in real time the relative position and speed of the first gripper 32 / second gripper 42 and the target point during the swinging process of the first manipulator 3 / second manipulator 4 towards the target point, wherein the target point includes at least one of loading position 11, grinding position 5 and unloading position 21.

[0038] The control system of the servo motor 9 integrates a real-time inertia recognition algorithm and a torque observer to estimate the total load inertia after the robotic arm grasps the workpiece and automatically match it with a preset S-shaped or trigonometric function acceleration / deceleration curve parameter set. The system model includes the rotational inertia of the motor itself. Reducer inertia and the total inertia mapped to the motor shaft. = + + , This refers to the load inertia mapped to the motor shaft. The specific process of real-time inertia identification is as follows: During the dynamic process of the servo motor driving the robot to accelerate or decelerate, the real-time current (output torque) of the motor is synchronously collected at a fixed sampling period. ) and the resulting real-time angular acceleration α Data flow; subsequently, the algorithm applies Newton's second law (T = J α ) is considered as a system model (where T is torque, J is moment of inertia, α (For angular acceleration), and the time-series data is processed using a recursive least squares method; by minimizing the torque measurement value Compared with model predictions α The overall error between the two values ​​is recursively calculated to find the optimal inertia estimate that minimizes this error. This estimated value is the total moment of inertia of the system identified in real time by the algorithm. The torque observer monitors torque changes in real time: based on Newton's second law for rotational motion... = + ,in, It is the angular acceleration of the motor. It is the disturbance torque, and the torque observer uses the formula = To calculate disturbance torque in real time.

[0039] The first pneumatic gripper 32 and the second pneumatic gripper 42 are connected to a pneumatic pressure regulating module and a force sensor. The control system is connected to the pneumatic pressure regulating module and the force sensor to form a force closed-loop control, which is used to adaptively adjust and control the clamping force of the first pneumatic gripper 32 and the second pneumatic gripper 42 according to the workpiece material and weight.

[0040] The control system has multiple pre-stored motion parameters, including at least acceleration, deceleration, maximum speed, and the time constant of the S-curve. It can call different parameter sets according to the weight of different workpieces to adaptively optimize motion smoothness.

[0041] By employing a real-time inertia recognition algorithm and torque observer settings, the system can dynamically adjust acceleration, deceleration, and maximum operating speed according to the load size, ensuring consistent start-stop stability of the first robotic arm 3 and the second robotic arm 4 under different workpiece weights, and avoiding impacts or vibrations caused by load changes. The first and second pneumatic grippers 32 and 42 are equipped with pneumatic pressure regulation modules and force sensors, which can adaptively adjust the clamping force according to the workpiece material and weight, preventing workpiece damage and avoiding long-term overload operation caused by the grippers always using maximum clamping force to grasp heavy workpieces. This significantly reduces mechanical stress fatigue and wear on the pneumatic gripper transmission mechanism. When the workpiece weight changes abruptly, the system can complete adaptive adjustments within a very short time after a gripping action, ensuring the smoothness of subsequent handling movements without machine downtime or manual intervention, thereby achieving flexible production. In this embodiment, while maintaining or even shortening the processing cycle time, the system's adaptability to workpieces of different weights is significantly improved. It achieves suppression of the starting, stopping, and reversing impact vibrations of the first robot arm 3 and the second robot arm 4 throughout the entire range from near-no-load to rated full load. Its operational stability is far superior to that of conventional servo systems controlled by a single parameter, greatly reducing fatigue damage to key mechanical components of the equipment and extending the service life of the equipment under high-speed, high-load, and high-frequency variable operating conditions.

[0042] When the distance between the first gripper 32 / second gripper 42 and the target point reaches the preset trigger distance, before the first robotic arm 3 / second robotic arm 4 moves into position, an action command is issued to the first gripper 32 / second gripper 42 in advance, so that the closing or opening action of the first gripper 32 / second gripper 42 is coordinated with the positioning movement of the first gripper 32 / second gripper 42, realizing "gripping / releasing upon positioning".

[0043] Specifically, the control system is further configured to: at the instant the first gripper 32 / second gripper 42 grasps the workpiece, control the air pressure regulation module to cause the air pressure output to the first gripper 32 / second gripper 42 to rise from zero to the air pressure value corresponding to the target clamping force according to a preset smooth ramp curve; when the first robotic arm 3 / second robotic arm 4 moves the workpiece above the unloading position 21 and is ready to place the workpiece, control the servo motor 9 to decelerate the first robotic arm 3 / second robotic arm 4, and simultaneously, based on the feedback from the force sensor, control the first gripper 32 / second gripper 42 to maintain the gripping of the workpiece with a lower clamping force until the workpiece contacts the unloading position 21 and is gently released. To achieve smooth and precise control of the gripper clamping force, the control system pre-stores multiple sets of clamping force ramp curve parameters. These parameters include slope, rise time, time constant, etc., and are determined based on the workpiece material, weight, surface characteristics, and mechanical response characteristics of the gripper. Specifically, for fragile or precision workpieces, a curve with a smaller slope and a longer rise time is used to avoid impact and damage; for heavier workpieces, although a higher target clamping force is required, the initial rise segment is still kept gentle to ensure clamping stability. These parameters can be automatically selected by the system according to the workpiece type or finely adjusted in real time through force sensor feedback, achieving adaptive optimization of the clamping process.

[0044] Specifically, the control system has multiple sets of motion parameters and clamping force parameters corresponding to different workpiece types; the control system can automatically call up the corresponding parameter sets according to the current production instructions or through sensor identification to adapt to the handling requirements of different workpieces.

[0045] During the swinging process of the first robotic arm 3 / second robotic arm 4, the control system calculates the relative position and speed of the first gripper 32 / second gripper 42 with the target points (loading position 11, grinding position 5, unloading position 21) in real time. When the robotic arm approaches the target point to a certain preset distance, the system sends a gripper action signal in advance, so that the gripper begins to close or open before the robotic arm reaches its position. Through precise timing control, "gripping / releasing upon arrival" is achieved, almost eliminating waiting time and further compressing the cycle time. At the moment of gripping, the control system commands the gripping force to rise from zero to the target value along a smooth ramp curve, rather than reaching the peak value instantaneously, achieving "soft start" and eliminating the internal impact of the gripping action itself to protect the seals and mechanical structure inside the gripper. When placing the workpiece, the system slightly decelerates when approaching the unloading position and gently places the workpiece with low force to prevent collision or bouncing, achieving "soft landing," which is especially suitable for precision workpieces or vulnerable parts. The system can automatically identify load changes and adjust motion parameters without manual intervention, maintaining consistent stability and positioning accuracy for both light and heavy workpieces, greatly improving the equipment's versatility and production efficiency.

[0046] This invention achieves high precision and stability in high-speed loading and unloading operations by integrating a collaborative mechanism of real-time inertia recognition, torque observation, and gripper pre-trigger control. The system dynamically identifies load changes and adaptively adjusts servo motion parameters. Combined with a torque feedback-based gripping and releasing strategy and optimized gripper movement timing, it eliminates waiting delays and mechanical shocks inherent in traditional control methods. This significantly improves cycle time efficiency while ensuring precise and reliable workpiece handling. Specifically, inertia recognition ensures rapid adaptation to varying loads, providing a stable foundation for employing an aggressive high-speed smooth curve. Torque observation enables millisecond-level confirmation and force control of gripping and releasing events, eliminating the safety delay reserved for waiting for signal confirmation. Gripper pre-triggering changes the gripping and releasing actions and the swing arm movement from serial to parallel, eliminating auxiliary time for gripper actions. Real-time inertia identification, torque observation, and pre-trigger control of the gripper work in deep coordination. The timing of the gripper's pre-trigger is dynamically adjusted based on the optimized motion curve after inertia identification. The soft landing of the gripping force is provided by torque observation feedback. This collaborative mechanism not only significantly shortens the cycle time for loading and unloading a single piece, but also greatly improves the positioning accuracy, achieving improvements in both efficiency and precision.

[0047] It should be noted that the terminology used in this application is for the purpose of describing specific embodiments only and is not intended to limit the scope of this application. As shown in this specification, unless the context clearly indicates otherwise, words such as "a," "an," "an," and / or "the" do not specifically refer to the singular and may include the plural. The terms "comprising," "including," or any other variations thereof are intended to cover non-exclusive inclusion, such that a process, method, or apparatus that includes a list of elements includes not only those elements but also other elements not expressly listed, or elements inherent to such a process, method, or apparatus. Without further limitations, an element defined by the phrase "comprising one..." does not exclude the presence of other identical elements in the process, method, or apparatus that includes said element.

[0048] It should also be noted that the terms "center," "upper," "lower," "left," "right," "vertical," "horizontal," "inner," and "outer," etc., indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings, and are only for the convenience of describing this application and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation, and therefore should not be construed as a limitation on this application. Unless otherwise expressly specified and limited, the terms "installed," "connected," "linked," etc., should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral connection; they can refer to a mechanical connection or an electrical connection; they can refer to a direct connection or an indirect connection through an intermediate medium; they can refer to the internal communication between two elements. For those skilled in the art, the specific meaning of the above terms in this application can be understood according to the specific circumstances.

[0049] The embodiments and / or implementation methods described above are merely preferred embodiments and / or implementation methods for implementing the technology of the present invention, and are not intended to limit the implementation methods of the technology of the present invention in any way. Any person skilled in the art may make some modifications to other equivalent embodiments without departing from the scope of the technical means disclosed in the content of the present invention, but these should still be regarded as the technology or embodiments that are substantially the same as the present invention. This document uses specific examples to illustrate the principles and implementation methods of this application. The descriptions of the above embodiments are only for the purpose of helping to understand the methods and core ideas of this application. The above descriptions are only preferred embodiments of this application. It should be noted that due to the limitations of written expression, while there are objectively infinite specific structures, those skilled in the art can make several improvements, modifications, or changes without departing from the principles of this application, and can also combine the above technical features in an appropriate manner. These improvements, modifications, changes, or combinations, or the direct application of the inventive concept and technical solution to other situations without modification, should all be considered within the scope of protection of this application.

Claims

1. A servo motor-driven swing arm loading and unloading structure, comprising a bracket (6), characterized in that, The bracket (6) is provided with a rotary shaft assembly (7), which is connected in sequence to a reducer (8) and a servo motor (9). The reducer (8) is connected to the output end of the servo motor (9) and is used to convert the high speed and low torque output of the servo motor into a low speed and high torque output. The servo motor (9) is connected to the control system. The control system integrates a real-time inertia identification algorithm and a torque observer to estimate the total inertia of the system and monitor torque changes in order to dynamically optimize the control parameters of the servo motor (9).

2. The servo motor-driven swing arm loading and unloading structure according to claim 1, characterized in that, The rotary shaft assembly (7) is connected to the output end of the reducer (8) via a coupling (71).

3. The servo motor-driven swing arm loading and unloading structure according to claim 1, characterized in that, The rotary shaft assembly (7), reducer (8), and servo motor (9) are two sets and set independently. One set of rotary shaft assembly (7) is connected to the first manipulator (3), and the other set of rotary shaft assembly (7) is connected to the second manipulator (4), forming two independent electric drive swing systems on the left and right respectively.

4. The servo motor driven swing arm loading and unloading structure according to claim 3, characterized in that, The axis of the rotary shaft assembly (7) connecting the first robotic arm (3) forms the first rotary center (31), and the axis of the rotary shaft assembly (7) connecting the second robotic arm (4) forms the second rotary center (41). The first rotary center (31) and the second rotary center (41) are parallel to each other and fixed at intervals on the bracket (6).

5. The servo motor driven swing arm loading and unloading structure according to claim 1, characterized in that, The free end of the first manipulator (3) is provided with a first pneumatic gripper (32), and the free end of the second manipulator (4) is provided with a second pneumatic gripper (42). The first pneumatic gripper (32) and the second pneumatic gripper (42) are connected to a pneumatic pressure regulating module and a force sensor. The first pneumatic gripper (32) and the second pneumatic gripper (42) are used to perform the gripping and releasing of the workpiece. The clamping force is adjusted according to the material and weight of the workpiece.

6. The servo motor driven swing arm loading and unloading structure according to claim 1, characterized in that, It also includes a feeding channel (1), at the end of which is a feeding position (11), which is located on the swing trajectory of the first robot (3), so that the first robot (3) can move to that position to pick up the workpiece.

7. The servo motor-driven swing arm loading and unloading structure according to claim 6, characterized in that, The structure is configured to work in conjunction with a grinding equipment having a grinding position (5), the movement trajectory of the first manipulator (3) covering the grinding position (5) for transporting the workpiece to be processed from the loading position (11) to the grinding position (5).

8. The servo motor-driven swing arm loading and unloading structure according to claim 1, characterized in that, It also includes a feeding channel (2), the beginning of which is provided with a feeding position (21), the feeding position (21) is located on the swing trajectory of the second robot (4), so that the second robot (4) can move to the position to place the processed workpiece.

9. The servo motor-driven swing arm loading and unloading structure according to claim 8, characterized in that, The structure is configured to work in conjunction with a grinding equipment having a grinding position (5), the movement trajectory of which covers the grinding position (5) for transporting the processed workpiece from the grinding position (5) to the unloading position (21).

10. The servo motor-driven swing arm loading and unloading structure according to claim 1, characterized in that, The control system of the servo motor (9) is configured to execute an S-shaped or trigonometric function acceleration and deceleration curve to smoothly drive the first manipulator (3) and / or the second manipulator (4) to start and stop, thereby reducing mechanical impact noise.

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