Swing arm mechanism

Abstract

The invention discloses a swing arm mechanism, which comprises a mounting base, the first driving part is fixed on the mounting base; the swing arm assembly is arranged at the top of the first driving part and is in transmission connection with the first driving part, the swing arm assembly comprises a plurality of swing arm units which are uniformly distributed along the circumference, and material taking heads are arranged at the end parts of the swing arm units; the first driving piece drives the swing arm assembly to rotate and drives the multiple swing arm units to rotate synchronously. And the side jacking assembly is arranged on the mounting base, located on the side edge of the first driving part and used for jacking the swing arm unit rotating to the jacking position. The first driving piece drives the swing arm assembly comprising the multiple swing arm units to rotate, so that all the swing arm units can continuously pass through different stations to carry out material taking and placing operation; and meanwhile, the side jacking assembly is arranged on the side edge of the mounting base, jacking operation can be conducted on the swing arm unit reaching the position, multi-station parallel processing is achieved, the non-productive moving time is shortened, and the material processing efficiency in unit time is improved.

Description

Technical Field

[0001] This invention relates to the field of automated production technology, and in particular to a swing arm mechanism. Background Technology

[0002] In modern automated production, especially in high-tech industries such as electronics manufacturing, semiconductor packaging, and precision assembly, material handling is a key process connecting various production stages, and it has a decisive impact on overall production efficiency and product quality. With the increasing miniaturization and precision of electronic products, and the ever-accelerating production cycle, higher demands are being placed on the speed, accuracy, and reliability of material handling systems.

[0003] Traditional pick-and-place mechanisms often employ single-arm or linear reciprocating designs. Their working principle involves a single actuator sequentially performing pick-up, movement, and placement actions. After completing one full operation cycle, the device must return to its initial position before starting the next cycle. This operating mode results in a significant amount of time being spent on non-productive movements, severely limiting effective output per unit time. Furthermore, when the production process involves multiple workstations, traditional solutions typically require additional complex motion platforms or transfer mechanisms to facilitate switching between workstations. This not only significantly increases the overall size and manufacturing cost of the equipment but also reduces the long-term operational reliability and positioning repeatability due to the increased mechanical complexity, making it difficult to meet the demands of modern high-precision, high-efficiency automated production lines.

[0004] Therefore, the industry urgently needs a new swing arm mechanism design that can effectively solve the above problems. Summary of the Invention

[0005] This invention provides a swing arm mechanism designed to overcome the problems existing in the prior art.

[0006] This invention provides a swing arm mechanism, comprising: Mounting base; The first driving component is fixed on the mounting base; A swing arm assembly is disposed on the top of the first driving member and is connected to the first driving member in a transmission manner. The swing arm assembly includes a plurality of swing arm units evenly distributed along the circumference. The end of each swing arm unit is provided with a material picking head. The first driving member drives the swing arm assembly to rotate and drives the plurality of swing arm units to rotate synchronously. A side-top assembly, disposed on the mounting base and located on the side of the first drive member, is used to lift the swing arm unit when it has been rotated to the lifting position.

[0007] In one embodiment, the side-top assembly includes a second driving member and a rotatably mounted lifting bearing. The second driving member is connected to the lifting bearing for driving the lifting bearing to move in a vertical direction; wherein the axis of the lifting bearing is arranged horizontally. The bottom of the swing arm unit is provided with a lifting protrusion, and the lifting bearing is in rolling contact with the lifting protrusion at the lifting position.

[0008] In one embodiment, the side-top assembly further includes a guide rail mounting plate, a first linear guide rail, and a first slider. The guide rail mounting plate is disposed on the side of the mounting base, the first linear guide rail is disposed vertically on the guide rail mounting plate, the first slider is slidably disposed along the first linear guide rail, and the lifting bearing is rotatably disposed on the first slider.

[0009] In one embodiment, the side-top assembly further includes an eccentric wheel and a connecting rod. The eccentric wheel is coaxially connected to the output shaft of the second drive member, and one end of the connecting rod is hinged to the eccentric wheel, while the other end is hinged to the first slider.

[0010] In one embodiment, the output end of the first driving member is connected to a swing arm mounting plate. The swing arm mounting plate is provided with a plurality of mounting positions for mounting the swing arm unit. The plurality of mounting positions are evenly distributed along the circumferential direction of the swing arm mounting plate. The first driving member drives the swing arm mounting plate to rotate, thereby causing the swing arm unit to swing synchronously.

[0011] In one embodiment, the swing arm unit further includes a guide rail seat, a second slider, and a slider seat. The guide rail seat is fixedly disposed vertically on the mounting position. The second slider is slidably disposed on the guide rail seat. The slider seat is fixedly connected to the second slider. The material taking head is disposed on the top of the slider seat, and the lifting protrusion is disposed on the bottom of the slider seat.

[0012] In one embodiment, the swing arm mechanism further includes a first limiting block, which is fixedly disposed on the side of the mounting position and located at the lower limit position of the slider seat's movement path.

[0013] In one embodiment, a first spring pin is provided on the first limiting block, and a second spring pin is provided on the slider seat. The first spring pin and the second spring pin are connected by a return spring.

[0014] In one embodiment, the swing arm unit further includes a first swing arm connecting block and a second swing arm connecting block. One end of the first swing arm connecting block is on the slider seat, and the other end is connected to the second swing arm connecting block through an elastic element. The material taking head is disposed at the end of the second swing arm connecting block away from the elastic element.

[0015] In one embodiment, the second swing arm connecting block includes a connecting part and a material taking part. The connecting part is connected to the first swing arm connecting block through the elastic member. The material taking part extends horizontally and is provided with mounting holes for fixing the material taking head. The connecting part is T-shaped. The first section of the connecting part is connected to the elastic element, and the second section extends to the inner side of the first swing arm connecting block. A second limiting block is provided at the bottom of the first swing arm connecting block. A limiting screw is fixed on the second section of the connecting part. The limiting screw slides through the screw hole on the second limiting block and is fixedly connected to the second section of the connecting part. The first swing arm connecting block is provided with a clearance groove that matches the second section.

[0016] In this embodiment of the invention, a first driving component drives a swing arm assembly containing multiple swing arm units evenly distributed along the circumference to rotate, enabling each swing arm unit to continuously pass through different workstations to perform material handling operations without having to return to the starting position after each operation, unlike traditional single-arm mechanisms. At the same time, the side top component is independently set on the side of the mounting base, which can lift the swing arm unit that has reached that position at a specific location, realizing parallel processing of multiple workstations, significantly reducing non-productive movement time, and greatly improving the material handling efficiency per unit time. Attached Figure Description

[0017] To more clearly illustrate the technical solutions of the embodiments of the present invention, the drawings used in the following description of the embodiments will be briefly introduced. Obviously, the drawings described below are some embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0018] Figure 1 This is a schematic diagram of a swing arm mechanism provided in an embodiment of the present invention; Figure 2 This is a schematic diagram of the side-top assembly in a swing arm mechanism provided by an embodiment of the present invention; Figure 3 This is a schematic diagram of the structure of a swing arm unit in a swing arm mechanism provided in an embodiment of the present invention; Figure 4 This is a schematic diagram of the structure of the first swing arm connecting block in a swing arm mechanism provided in an embodiment of the present invention; Figure 5 This is another structural schematic diagram of the first swing arm connecting block in a swing arm mechanism provided by an embodiment of the present invention; Figure 6 This is a schematic diagram of the elastic element in a swing arm mechanism provided in an embodiment of the present invention.

[0019] The diagram identifies the following components: 10. Mounting base; 11. First driving component; 12. Swing arm mounting plate; 13. Mounting position; 14. First limiting block; 15. Return spring; 20. Swing arm unit; 21. Material handling head; 22. Lifting protrusion; 23. Guide rail seat; 24. Second slider; 25. Slider seat; 26. First swing arm connecting block; 261. Second limiting block; 262. Clearance groove; 263. Compression spring; 27. Second swing arm connecting block; 271. Connecting part; 272. Material handling part; 273. Limiting screw; 28. Elastic component; 30. Side top assembly; 31. Second driving component; 32. Lifting bearing; 33. Guide rail mounting plate; 34. First linear guide rail; 35. First slider; 36. Eccentric wheel; 37. Connecting rod. Detailed Implementation

[0020] 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, not all, of the embodiments of the present invention. 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.

[0021] It should be understood that, when used in this specification and the appended claims, the terms "comprising" and "including" indicate the presence of the described features, integrals, steps, operations, elements and / or components, but do not exclude the presence or addition of one or more other features, integrals, steps, operations, elements, components and / or collections thereof.

[0022] It should also be understood that the terminology used in this specification is for the purpose of describing particular embodiments only and is not intended to limit the invention. As used in this specification and the appended claims, the singular forms “a,” “an,” and “the” are intended to include the plural forms unless the context clearly indicates otherwise.

[0023] It should also be further understood that the term "and / or" as used in this specification and the appended claims refers to any combination of one or more of the associated listed items and all possible combinations, and includes such combinations.

[0024] Please see below. Figures 1-6 The present invention provides a swing arm mechanism, specifically comprising: Mounting base 10; The first driving component 11 is fixed on the mounting base 10; A swing arm assembly is disposed on the top of the first drive member 11 and is connected to the first drive member 11 in a transmission manner. The swing arm assembly includes multiple swing arm units 20 evenly distributed along the circumference. The end of the swing arm unit 20 is provided with a material picking head 21. The first drive member 11 drives the swing arm assembly to rotate and drives the multiple swing arm units 20 to rotate synchronously. The side-top assembly 30 is disposed on the mounting base 10 and located on the side of the first drive member 11, and is used to lift the swing arm unit 20 which has been rotated to the lifting position.

[0025] In this embodiment, the first driving component 11 drives the swing arm assembly, which includes multiple swing arm units 20 evenly distributed along the circumference, to rotate. This allows each swing arm unit 20 to continuously pass through different workstations to perform material handling operations, eliminating the need to return to the starting position after each operation, unlike traditional single-arm mechanisms. At the same time, the side top component 30 is independently set on the side of the mounting base 10, which can lift the swing arm unit 20 that has reached a specific position. This enables parallel processing at multiple workstations, significantly reduces non-productive movement time, and greatly improves the material handling efficiency per unit time.

[0026] In specific application scenarios, the number of swing arm units 20 and side top components 30 are determined according to the actual production line cycle time and load requirements. For example, four sets of swing arm units 20 can be set up in conjunction with two sets of side top components 30. The two sets of side top components 30 are symmetrically distributed on both sides of the first drive component 11, corresponding to two lifting stations respectively, so that the swing arm units 20 can be accurately lifted when rotating to the corresponding station, realizing the synchronous operation of picking up and unloading materials. The four sets of swing arm units 20 alternately enter the picking up station and the unloading station to form a continuous operation cycle.

[0027] In one embodiment, the side-top assembly 30 includes a second drive member 31 and a rotatably disposed lifting bearing 32. The second drive member 31 is connected to the lifting bearing 32 for driving the lifting bearing 32 to move in the vertical direction; wherein the axis of the lifting bearing 32 is arranged horizontally. The bottom of the swing arm unit 20 is provided with a lifting protrusion 22, and the lifting bearing 32 makes rolling contact with the lifting protrusion 22 at the lifting position.

[0028] In this embodiment, by setting the lifting bearing 32 to move up and down in the vertical direction, the lifting bearing 32 and the lifting protrusion 22 at the bottom of the swing arm unit 20 are made to roll into contact, which greatly reduces frictional resistance and wear.

[0029] Specifically, when the swing arm unit 20 rotates to the lifting position, it first contacts the side surface of the lifting bearing 32. Then, the swing arm unit 20 continues to move, and under the action of friction, the lifting bearing 32 rotates accordingly, causing the lifting protrusion 22 to smoothly move upwards along the bearing surface until it slides directly above the bearing. This reduces the impact during the contact process. Subsequently, the second drive member 31 drives the lifting bearing 32 to rise vertically, smoothly lifting the lifting protrusion 22 and completing the lifting action of the swing arm unit 20. After the lifting is completed, the second drive member 31 moves in the opposite direction, causing the lifting bearing 32 to fall back, and the swing arm unit 20 continues to rotate away from the work position under the driving force. In a specific embodiment, the lifting bearing 32 can adopt a deep groove ball bearing structure, and the lifting protrusion 22 can be set as a U-shaped structure, forming a stable rolling fit with the outer ring of the bearing through the protrusion of the U-shaped structure.

[0030] In one embodiment, the side-top assembly 30 further includes a guide rail mounting plate 33, a first linear guide rail 34, and a first slider 35. The guide rail mounting plate 33 is disposed on the side of the mounting base 10. The first linear guide rail 34 is disposed on the guide rail mounting plate 33 in a vertical direction. The first slider 35 is slidably disposed along the first linear guide rail 34. The lifting bearing 32 is rotatably disposed on the first slider 35.

[0031] In this embodiment, a vertical guide mechanism is formed by setting the first linear guide rail 34 and the first slider 35, thereby cooperating with the second drive component 31 to realize the vertical displacement control of the lifting bearing 32 and ensure that the lifting action is accurate and stable.

[0032] In one embodiment, the side-top assembly 30 further includes an eccentric wheel 36 and a connecting rod 37. The eccentric wheel 36 is coaxially connected to the output shaft of the second drive member 31, and one end of the connecting rod 37 is hinged to the eccentric wheel 36, while the other end is hinged to the first slider 35.

[0033] In this embodiment, the rotational motion of the second drive member 31 is converted into the reciprocating linear motion of the first slider 35 through the mechanical linkage of the eccentric wheel 36 and the connecting rod 37, thereby regularly driving the lifting bearing 32 to complete the lifting action. This, combined with the rotational rhythm of the swing arm unit 20, achieves synchronous lifting action and improves production efficiency.

[0034] In specific application scenarios, the lifting action and the rotation rhythm of the swing arm unit 20 can be precisely matched by adjusting parameters such as the output speed of the second drive component 31, the eccentricity of the eccentric wheel 36, and the length of the connecting rod 37. Specifically, the second drive component 31 can be a servo motor, which is fixed on the guide rail mounting plate 33.

[0035] In one embodiment, the output end of the first driving member 11 is connected to a swing arm mounting plate 12. The swing arm mounting plate 12 is provided with a plurality of mounting positions 13 for mounting the swing arm unit 20. The plurality of mounting positions 13 are evenly distributed along the circumferential direction of the swing arm mounting plate 12. The first driving member 11 drives the swing arm mounting plate 12 to rotate, thereby causing the swing arm unit 20 to swing synchronously.

[0036] In this embodiment, the first driving member 11 drives the swing arm mounting plate 12 to rotate, thereby synchronously driving the swing arm units 20 on each mounting position 13 to complete the indexing rotation according to the set rhythm. After each swing arm unit 20 enters the work station in sequence to complete the material picking or unloading, it rotates with the swing arm mounting plate 12 to the next work station, realizing multi-work station continuous operation.

[0037] In a specific embodiment, the first driving component 11 can use a torque motor to drive the swing arm mounting plate 12 for precise indexing, and a slip ring can provide continuous rotational air supply to the torque motor.

[0038] In one embodiment, the swing arm unit 20 further includes a guide rail seat 23, a second slider 24, and a slider seat 25. The guide rail seat 23 is fixedly disposed on the mounting position 13 in the vertical direction. The second slider 24 is slidably disposed on the guide rail seat 23. The slider seat 25 is fixedly connected to the second slider 24. The material taking head 21 is disposed on the top of the slider seat 25, and the lifting protrusion 22 is disposed on the bottom of the slider seat 25.

[0039] In this embodiment, a vertical guide structure is formed by the guide rail seat 23 and the second slider 24, and the material picking head 21 and the lifting protrusion 22 are respectively set at the top and bottom of the slider seat 25. Based on this, when the lifting protrusion 22 is lifted by the lifting bearing 32, it drives the slider seat 25 to move upward synchronously along the guide rail seat 23, thereby driving the material picking head 21 to rise; after the material picking head 21 completes the picking and discharging of materials, the lifting bearing 32 falls back, and the slider seat 25 moves down along the guide rail seat 23 to reset, so as to realize the lifting and lowering cycle of the material picking head 21.

[0040] In one embodiment, the swing arm mechanism provided by the present invention further includes a first limiting block 14, which is fixedly disposed on the side of the mounting position 13 and located at the lower limit position of the movement path of the slider seat 25.

[0041] In this embodiment, by setting a first limiting block 14 at the lower limit position of the slider seat 25's movement path, the downward stroke limit of the slider seat 25 can be limited, avoiding excessive downward movement. At the same time, it provides a reliable support reference for the slider seat 25. When the lifting bearing 32 falls back to the lowest point, the bottom of the slider seat 25 contacts the first limiting block 14 and is supported by it, ensuring that the reset position is consistent each time and improving the material picking and placing accuracy.

[0042] Furthermore, in one embodiment, a first spring pin is provided on the first limiting block 14, and a second spring pin is provided on the slider seat 25. The first spring pin and the second spring pin are connected by a reset spring 15.

[0043] In this embodiment, a spring pin and a second spring pin are respectively provided on the first limiting block 14 and the slider seat 25 to cooperate with each other, and a return spring 15 is connected between the first spring pin and the second spring pin to form an elastic return structure. Specifically, when the lifting bearing 32 lifts the slider seat 25 upward, the slider seat 25 moves away from the first limiting block 14, and the return spring 15 is stretched and stores energy; when the lifting bearing 32 falls back, the return spring 15 releases elastic potential energy and actively pulls the slider seat 25 back to the contact surface of the first limiting block 14, thereby realizing the return of the swing arm unit 20 for the next round of material handling operation.

[0044] In one embodiment, the swing arm unit 20 further includes a first swing arm connecting block 26 and a second swing arm connecting block 27. One end of the first swing arm connecting block 26 is connected to the slider seat 25, and the other end is connected to the second swing arm connecting block 27 through an elastic member 28. The material taking head 21 is disposed at the end of the second swing arm connecting block 27 away from the elastic member 28.

[0045] In this embodiment, by setting the material taking head 21 on the second swing arm connecting block 27 and configuring an elastic element 28 between the first swing arm connecting block 26 and the second swing arm connecting block 27, the material taking head 21 obtains flexible buffer when contacting the workpiece, avoiding rigid collision damage to the material surface.

[0046] Understandably, when the swing arm unit 20 is driven to rise to the point where the picking head 21 comes into contact with the material or workpiece, the second swing arm connecting block 27 will be subjected to a reaction force transmitted from the material. At this time, the elastic element 28 between the first swing arm connecting block 26 and the second swing arm connecting block 27 will be stretched to generate controllable deformation and absorb the impact energy. After the picking head 21 completes the picking or unloading action, the swing arm unit 20 moves down under the action of the driving force, the picking head 21 is separated from the workpiece surface, and the elastic element 28 rebounds and resets, driving the second swing arm connecting block 27 to return to its position.

[0047] In one embodiment, the second swing arm connecting block 27 includes a connecting part 271 and a material taking part 272. The connecting part 271 is connected to the first swing arm connecting block 26 through an elastic member 28. The material taking part 272 extends in the horizontal direction and is provided with mounting holes for fixing the material taking head 21. The connecting part 271 is T-shaped. The first section of the connecting part 271 is connected to the elastic member 28, and the second section extends to the inner side of the first swing arm connecting block 26. The bottom of the first swing arm connecting block 26 is provided with a second limiting block 261. A limiting screw 273 is fixed on the second section of the connecting part 271. The limiting screw 273 slides through the guide hole on the second limiting block 261 and is fixedly connected to the second section of the connecting part 271. The first swing arm connecting block 26 is provided with a clearance groove 262 for the second section to pass through.

[0048] In this embodiment, when the picking head 21 on the picking part 272 of the second swing arm connecting block 27 contacts the workpiece, it will be subjected to a downward reaction force, causing one end of the picking part 272 to displace downward; correspondingly, one end of the connecting part 271 of the second swing arm connecting block 27 will displace upward, and the limiting screw 273 will slide upward in the guide hole until the head of the limiting screw 273 abuts against the lower surface of the second limiting block 261, thereby limiting the upward displacement of the connecting part 271 and preventing excessive displacement from damaging the elastic element 28 or other components. In addition, by providing an clearance groove 262 on the first swing arm connecting block 26, installation space and movement space are provided for the connecting part 271 of the second swing arm connecting block 27.

[0049] In specific application scenarios, a compression spring 263 is also provided at the second limit block 261. When one end of the connecting part 271 of the second swing arm connecting block 27 moves upward, the compression spring 263 is compressed synchronously, further buffering the impact force and providing a reset driving force, ensuring that the swing arm can return to its position smoothly after the material take-up head 21 is separated from the workpiece, and improving the repeatability positioning accuracy.

[0050] The various embodiments in this specification are described in a progressive manner, with each embodiment focusing on its differences from other embodiments. Similar or identical parts between embodiments can be referred to interchangeably. For the systems disclosed in the embodiments, since they correspond to the methods disclosed in the embodiments, the descriptions are relatively simple; relevant parts can be referred to in the method section. It should be noted that those skilled in the art can make various improvements and modifications to this application without departing from the principles of this application, and these improvements and modifications also fall within the protection scope of the claims of this application.

[0051] It should also be noted that, in this specification, relational terms such as "first" and "second" are used only to distinguish one entity or operation from another, and do not necessarily require or imply any such actual relationship or order between these entities or operations. Furthermore, the terms "comprising," "including," or any other variations thereof are intended to cover non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements includes not only those elements but also other elements not expressly listed, or elements inherent to such a process, method, article, 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, article, or apparatus that includes said element.

Claims

1. A swing arm mechanism, characterized in that, include: Mounting base (10); The first driving component (11) is fixed on the mounting base (10); A swing arm assembly is disposed on the top of the first drive member (11) and is connected to the first drive member (11) in a transmission manner. The swing arm assembly includes a plurality of swing arm units (20) evenly distributed along the circumference. The end of the swing arm unit (20) is provided with a material picking head (21). The first drive member (11) drives the swing arm assembly to rotate and drives the plurality of swing arm units (20) to rotate synchronously. The side-top assembly (30) is disposed on the mounting base (10) and located on the side of the first drive member (11) for lifting the swing arm unit (20) which has been rotated to the lifting position.

2. The swing arm mechanism according to claim 1, characterized in that, The side-top assembly (30) includes a second drive member (31) and a rotatably mounted lifting bearing (32). The second drive member (31) is connected to the lifting bearing (32) for driving the lifting bearing (32) to move in the vertical direction. The axis of the lifting bearing (32) is arranged horizontally. The bottom of the swing arm unit (20) is provided with a lifting protrusion (22), and the lifting bearing (32) is in rolling contact with the lifting protrusion (22) at the lifting position.

3. The swing arm mechanism according to claim 2, characterized in that, The side-top assembly (30) further includes a guide rail mounting plate (33), a first linear guide rail (34), and a first slider (35). The guide rail mounting plate (33) is disposed on the side of the mounting base (10). The first linear guide rail (34) is disposed on the guide rail mounting plate (33) in a vertical direction. The first slider (35) is slidably disposed along the first linear guide rail (34). The lifting bearing (32) is rotatably disposed on the first slider (35).

4. The swing arm mechanism according to claim 3, characterized in that, The side-top assembly (30) also includes an eccentric wheel (36) and a connecting rod (37). The eccentric wheel (36) is coaxially connected to the output shaft of the second drive member (31). One end of the connecting rod (37) is hinged to the eccentric wheel (36), and the other end is hinged to the first slider (35).

5. The swing arm mechanism according to claim 2, characterized in that, The output end of the first driving member (11) is connected to a swing arm mounting plate (12). The swing arm mounting plate (12) is provided with a plurality of mounting positions (13) for mounting the swing arm unit (20). The plurality of mounting positions (13) are evenly distributed along the circumferential direction of the swing arm mounting plate (12). The first driving member (11) drives the swing arm mounting plate (12) to rotate and drive the swing arm unit (20) to swing synchronously.

6. The swing arm mechanism according to claim 5, characterized in that, The swing arm unit (20) further includes a guide rail seat (23), a second slider (24) and a slider seat (25). The guide rail seat (23) is fixedly mounted on the mounting position (13) in the vertical direction. The second slider (24) is slidably mounted on the guide rail seat (23). The slider seat (25) is fixedly connected to the second slider (24). The material taking head (21) is located on the top of the slider seat (25). The lifting protrusion (22) is located at the bottom of the slider seat (25).

7. The swing arm mechanism according to claim 6, characterized in that, It also includes a first limiting block (14), which is fixedly disposed on the side of the mounting position (13) and located at the lower limit position of the movement path of the slider seat (25).

8. The swing arm mechanism according to claim 7, characterized in that, The first limiting block (14) is provided with a first spring pin, and the slider seat (25) is provided with a second spring pin. The first spring pin and the second spring pin are connected by a reset spring (15).

9. The swing arm mechanism according to claim 6, characterized in that, The swing arm unit (20) further includes a first swing arm connecting block (26) and a second swing arm connecting block (27). One end of the first swing arm connecting block (26) is on the slider seat (25), and the other end is connected to the second swing arm connecting block (27) through an elastic element (28). The material taking head (21) is located at the end of the second swing arm connecting block (27) away from the elastic element (28).

10. The swing arm mechanism according to claim 9, characterized in that, The second swing arm connecting block (27) includes a connecting part (271) and a material taking part (272). The connecting part (271) is connected to the first swing arm connecting block (26) through the elastic member (28). The material taking part (272) extends in the horizontal direction and is provided with mounting holes for fixing the material taking head (21). The connecting part (271) is T-shaped. The first section of the connecting part (271) is connected to the elastic member (28), and the second section extends to the inner side of the first swing arm connecting block (26). The bottom of the first swing arm connecting block (26) is provided with a second limiting block (261). A limiting screw (273) is fixed on the second section of the connecting part (271). The limiting screw (273) slides through the screw hole on the second limiting block (261) and is fixedly connected to the second section of the connecting part (271). The first swing arm connecting block (26) is provided with a clearance groove (262) that matches the second section.

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