High-speed tray placing mechanism compatible with two materials

Abstract

The utility model relates to a kind of high-speed tray placing mechanism compatible with two kinds of materials, relate to PCB automatic production and processing technical field, by setting the first tray placing line and the second tray placing line of same structure on rack, first tray placing line and the second tray placing line between are equipped with material conveying belt for the material loading of tray placing to be waited, by setting support frame on rack, support frame is equipped with Y-axis driving component, Y-axis driving component is sequentially equipped with first manipulator and second manipulator, two manipulators respectively grab material from material conveying belt and place into corresponding tray, realize simultaneously to different two kinds of materials high-speed tray placing operation, improve production efficiency and equipment utilization rate;First tray placing line and the second tray placing line are equipped with lifting component and recovery component, when tray is full, full tray is transferred downward by lifting component, and full material tray is stacked neatly by recovery component, facilitate subsequent manual tray, which is completed tray placing, is handled and discharged.

Description

Technical Field

[0001] This utility model relates to the field of PCB automatic production and processing technology, and in particular to a high-speed tray-swiping mechanism compatible with two types of materials. Background Technology

[0002] In the 3C electronics manufacturing industry, PCBs (Printed Circuit Boards) are typically supplied in panel form. After the surface mount components are installed, a splitting machine is used to precisely divide the panel to facilitate subsequent assembly and processing. After splitting, the individual PCBs are then loaded into dedicated material trays. This step is crucial for ensuring the stability and safety of the PCBs in subsequent processes. Normally, the loading of PCBs into the trays is done by a tray loading machine. However, currently available tray loading machines have limitations; most can only process and load one type of material at a time, and their operating speed is relatively slow, which to some extent restricts the improvement of production efficiency. Utility Model Content

[0003] Therefore, it is necessary to provide a high-speed tray-sinking mechanism that is compatible with two types of materials, so as to solve the problem that the existing tray-sinking machine can only place one type of material at a time and the tray-sinking speed is slow; thus, the tray-sinking efficiency is greatly improved and the production process is significantly optimized.

[0004] The technical solution of this utility model to solve the above-mentioned technical problems is as follows: A high-speed tray-stacking mechanism compatible with two types of materials includes: a frame, a material conveyor belt in the middle of the frame for loading materials to be placed; a first tray-stacking line and a second tray-stacking line are respectively arranged on both sides of the material conveyor belt; the first tray-stacking line includes a tray bin, a placement station, a lifting component, and a recovery component arranged in sequence; the structure of the second tray-stacking line is the same as that of the first tray-stacking line; a support frame is also provided above the frame, the support frame is located above the placement station; Y-axis drive components are provided at both ends of the upper surface of the support frame, and a first manipulator and a second manipulator are provided on the Y-axis drive components; the first manipulator and the second manipulator are each equipped with a handling suction cup and an industrial camera for placing materials on the material conveyor belt onto the tray.

[0005] In one embodiment, the material conveyor belt is provided with a plurality of first switches arranged side by side; the first switches are used to detect the position of the material.

[0006] In one embodiment, the material tray includes two parallel first synchronous belts and a moving component disposed between the first synchronous belts; the moving component includes a first lifting cylinder connected to the upper surface of the machine platform, a first lifting plate fixed above the first lifting cylinder, a first driving member disposed on the first lifting plate, and first lifting components disposed on both sides of the first lifting plate; the first lifting component includes a first lifting cylinder and a first lifting plate perpendicular to the first synchronous belts.

[0007] In one embodiment, the placement station is located at one end of the material tray hopper; the placement station includes two symmetrically arranged sliding mounting components, each sliding mounting component including a second drive member and a slide rail perpendicular to the material tray loading direction, and a sliding block disposed between the second drive member and the slide rail; both ends of the sliding block are slidably connected to the second drive member and the slide rail respectively, and the side wall of the sliding block is provided with a mounting groove for supporting the material tray.

[0008] In one embodiment, a lifting channel is provided below the placement station; the lifting component includes a third drive member vertically arranged in the lifting channel and a lifting platform arranged on the third drive member, the lifting platform sliding up and down along the third drive member.

[0009] In one embodiment, the recycling component includes a second synchronous belt disposed inside the frame; a second lifting cylinder and a second lifting plate are disposed in the middle of the second synchronous belt; second lifting components are disposed on both sides of the second lifting plate; the second lifting component includes a horizontally disposed second lifting cylinder and a second support member; a second switch is disposed at the end of the second synchronous belt away from the lifting component; the second switch is used to detect the position of the recycling tray and stop the tray directly above the second lifting plate.

[0010] In one embodiment, the Y-axis drive component includes a first linear motor disposed on one side of the support frame and a guide rail disposed on the other side of the support frame; the first linear motor is provided with a plurality of first sliding seats.

[0011] In one embodiment, the first robotic arm includes an X1-axis moving component and a Z1-axis moving component; the X1-axis moving component includes a mounting bracket with both ends fixed to a first sliding seat and a guide rail, respectively, and a second linear motor is provided on the side wall of the mounting bracket, with a plurality of second sliding seats provided on the second linear motor; the Z1-axis moving component includes a fourth driving member disposed on the second sliding seat and a fixed plate disposed on the fourth driving member, the fourth driving member driving the fixed plate to move up and down; a rotary motor is provided on the fixed plate; and a plurality of transport suction cups are provided at the bottom of the rotary motor.

[0012] In one embodiment, a connecting seat is provided on the side wall of the fixing plate, and an industrial camera and a ring light source are provided on the connecting seat.

[0013] In one embodiment, the structure of the second robotic arm is the same as that of the first robotic arm, and the first and second robotic arms are arranged symmetrically.

[0014] The beneficial effects of this utility model are as follows: This utility model provides a high-speed tray-stacking mechanism compatible with two types of materials. By setting up a first tray-stacking line and a second tray-stacking line with identical structures on the frame, and a material conveyor belt between the first and second tray-stacking lines for feeding materials to be trayed, a support frame is set up on the frame. The support frame is equipped with a Y-axis drive component, and a first manipulator and a second manipulator are sequentially mounted on the Y-axis drive component. The two manipulators respectively grab materials from the material conveyor belt and place them into the corresponding trays, realizing high-speed tray-stacking operations for two different materials simultaneously, improving production efficiency and equipment utilization. Both the first and second tray-stacking lines are equipped with lifting components and recovery components. When the trays are full, the lifting components move the full trays downwards, and the recovery components stack the full trays neatly, making it convenient for manual handling and unloading of the trays after tray-stacking. Attached Figure Description

[0015] To more clearly illustrate the technical solutions of the embodiments of this application, the accompanying drawings used in the embodiments will be briefly introduced below. It should be understood that the following drawings only show some embodiments of this application and should not be regarded as a limitation of the scope. For those skilled in the art, other related drawings can be obtained based on these drawings without creative effort.

[0016] Figure 1 This is a schematic diagram of a high-speed swivel mechanism compatible with two materials, as shown in one embodiment.

[0017] Figure 2 This is a schematic diagram of the structure of a material tray hopper according to one embodiment;

[0018] Figure 3 This is a schematic diagram of the placement station in one embodiment;

[0019] Figure 4 This is a schematic diagram of the structure of a lifting component according to one embodiment;

[0020] Figure 5 This is a schematic diagram of the structure of a recycling component according to one embodiment;

[0021] Figure 6 This is a schematic diagram of the support frame in one embodiment.

[0022] In the attached diagram, 10 is a high-speed tray-loading mechanism compatible with two materials; 100 is a frame; 110 is a material conveyor belt; 120 is a first switch; 200 is a tray bin; 210 is a first synchronous belt; 220 is a moving component; 221 is a first drive component; 222 is a first lifting component; 2221 is a first lifting cylinder; 2222 is a first lifting plate; 300 is a placement station; 310 is a sliding mounting component; 311 is a second drive component; 312 is a slide rail; 313 is a sliding block; and 314 is a mounting bracket. 400. Loading slot; 410. Lifting component; 420. Lifting platform; 500. Recycling component; 510. Second synchronous belt; 520. Second lifting plate; 530. Second lifting component; 540. Second switch; 600. Support frame; 610. Y-axis drive component; 700. First robotic arm; 710. X1-axis moving component; 720. Z1-axis moving component; 721. Fourth drive component; 722. Fixing plate; 723. Connecting seat; 800. Second robotic arm. Detailed Implementation

[0023] It should be noted that, unless otherwise specified, the embodiments and features described in these embodiments of the present invention can be combined with each other. The technical solutions of the present invention will be further described below with reference to the accompanying drawings of the embodiments. The present invention is not limited to the specific embodiments described below.

[0024] It should be understood that the same or similar reference numerals in the accompanying drawings of the embodiments correspond to the same or similar components. In the description of this utility model, it should be understood that if terms such as "upper," "lower," "front," "rear," "left," "right," "top," and "bottom" indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings, they are only for the convenience of describing this utility model and simplifying the description, and do not indicate or imply that the device or component referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, the terms describing positional relationships in the accompanying drawings are for illustrative purposes only and should not be construed as limiting this patent. Those skilled in the art can understand the specific meaning of the above terms according to the specific circumstances.

[0025] In one embodiment, such as Figures 1 to 6As shown, a high-speed tray-loading mechanism 10 compatible with two types of materials includes: a frame 100, a material conveyor belt 110 in the middle of the frame 100 for loading materials to be placed; a first tray-loading line and a second tray-loading line are respectively provided on both sides of the material conveyor belt 110; the first tray-loading line includes a tray bin 200, a placement station 300, a lifting component 400 and a recovery component 500 arranged sequentially; the structure of the second tray-loading line is the same as that of the first tray-loading line; a support frame 600 is also provided above the frame 100, the support frame 600 is located above the placement station 300; Y-axis drive components 610 are provided at both ends of the upper surface of the support frame 600, and a first robot arm 700 and a second robot arm 800 are provided on the Y-axis drive components 610; the first robot arm 700 and the second robot arm 800 are each provided with a handling suction cup and an industrial camera for placing materials on the material conveyor belt 110 onto the tray.

[0026] In this embodiment, by symmetrically arranging a first tray-sinking line and a second tray-sinking line on the frame 100, and providing a material conveyor belt 110 between the first and second tray-sinking lines, parallel operation of two lines is achieved, simultaneously tray-sinking two different materials. The first and second tray-sinking lines have identical structures, each including a tray hopper 200, a placement station 300, a lifting component 400, and a recovery component 500. The tray hopper 200 is located at one end of the upper surface of the frame 100 and is used to store empty trays and transport them to the placement station 300. A support frame 600 is also provided on the upper surface of the frame 100. Y-axis drive components 610 are installed on opposite sides of the upper surface of the support frame 600. Between 10, there is a first robotic arm 700 and a second robotic arm 800, which can move back and forth along the Y-axis. Both the first robotic arm 700 and the second robotic arm 800 are equipped with a handling suction cup and an industrial camera. When the material tray is transported to the placement station 300, the first robotic arm 700 and the second robotic arm 800 place different materials on the material conveyor belt 110 into the corresponding material trays, realizing efficient and accurate synchronous placement of dual materials. The lifting component 400 lowers the fully loaded material tray to the recycling component 500 for automatic recycling. The material trays are automatically stacked in the recycling component 500. When the material trays in the recycling component 500 reach a certain number, the entire material tray in the recycling component 500 is manually removed, completing one round of placement operation.

[0027] Specifically, the material conveyor belt 110 is located in the middle of its upper surface, and multiple first switches 120 are provided at the end of the material conveyor belt 110 near the material tray 200. These first switches are arranged side-by-side, and the length of the combined length of the switches is equal to the width of the material conveyor belt 110. Each first switch 120 is an inductive proximity switch used to detect the position of the material on the material conveyor belt 110. When the material approaches a first switch 120, the first switch 120 transmits a signal to the control system, stopping the conveyor belt and triggering an industrial camera to take a picture of the material. After acquiring the image, the industrial camera quickly identifies the type, state, and location of the material. To improve the clarity of the captured image, multiple light sources are provided above the material conveyor belt 110, forming a rectangular area that evenly illuminates the material surface, improving the clarity and contrast of the captured image.

[0028] like Figure 2 As shown, to facilitate the transport of material trays to the placement station 300, the material tray hopper 200 includes two parallel first synchronous belts 210, forming a channel for placing material trays between the two first synchronous belts 210. A moving component 220 is provided between the two first synchronous belts 210. The moving component 220 includes a first lifting cylinder fixed to the upper surface of the frame 100. A first lifting plate is provided at the upper end of the first lifting cylinder. Multiple guide posts are provided below the first lifting plate. A first driving component 221 is provided above the first lifting plate. The first driving component 221 includes a driving screw parallel to the first lifting plate, guide rods on both sides of the driving screw, and a driving motor connected to the driving screw. Both the driving screw and the driving motor have transmission gears at their ends. The two transmission gears mesh, and the driving motor drives the driving screw to rotate. A tray for placing material trays is threaded onto the driving screw. The tray moves horizontally as the driving screw rotates. The components 220 are also provided with first lifting components 222 on both sides. The first lifting components 222 include a first lifting cylinder 2221 set above the synchronous belt and a first lifting plate 2222 fixed to the end of the first lifting cylinder 2221. In addition, an adjusting cylinder and an adjusting plate are provided at the end of the first lifting plate 2222. The adjusting plate has an L-shaped cross section and is used to make the material trays stack neatly. By placing multiple material trays on the pallet, the first driving member 221 drives the pallet to move to the position of the first lifting component 222. The adjusting cylinder drives the adjusting plate to adjust the position of the material trays so that the edges of the material trays are aligned. Then, the first lifting cylinder lifts the first lifting plate, which drives the material trays to rise. The first lifting cylinder 2221 drives the first lifting plate 2222 to insert into the gap between the first material tray and the second material tray from bottom to top. The first material tray descends with the first lifting plate and moves along the first synchronous belt 210 to the placement station 300, thereby realizing the release and conveying of the material trays one by one.

[0029] like Figure 3As shown, to ensure the stability of the material tray at the placement station 300, two symmetrical sliding mounting components 310 are provided at the placement station 300. Each sliding mounting component 310 includes a second driving member 311 perpendicular to the material tray feeding direction, a slide rail 312, and a sliding block 313 disposed between the slide rail 312 and the second driving member 311. The second driving member 311 has the same structure as the first driving member 221. The two ends of the sliding block 313 are respectively connected to the lead screw nut on the second driving member 311 and the slide rail 312, and the sliding block 313... The side wall of component 3 is provided with a mounting groove 314 for supporting the material tray. The second driving component 311 drives the sliding block 313 to move along the slide rail 312, so that the sliding blocks 313 on the two sliding mounting components 310 move towards each other or away from each other, thereby adjusting the distance between the mounting grooves 314 to accommodate material trays of different sizes. When the material tray reaches the placement station 300, the sliding blocks 313 on both sides move towards each other under the drive of the second driving component 311, so that the mounting groove 314 abuts against the side of the material tray to achieve positioning and clamping, preventing it from shifting during placement or subsequent operations.

[0030] like Figure 1 and Figure 4 As shown, to facilitate the removal of the placed material trays from the placement station 300, a lifting channel is provided below the placement station 300, which connects to the interior of the frame 100. A lifting component 400 is provided within the lifting channel. The lifting component 400 includes a third drive member 410 vertically mounted on the side wall of the lifting channel and a lifting platform 420 mounted on the third drive member 410. The structure of the third drive member 410 is the same as that of the first drive member 221. The third drive member 410 drives the lifting platform 420 to move vertically. When the lifting platform 420 is at its highest point, it is on the same horizontal plane as the sliding block 313, allowing the material tray to move from the material tray bin 200 to the lifting platform 420, where it is then clamped and fixed by the movable mounting component. After the material tray is filled with material, the third drive member 410 drives the lifting platform 420 and the material tray to descend, and the material tray enters the recycling component 500 from the second synchronous belt 510.

[0031] Furthermore, such as Figure 5As shown, a recovery channel communicating with the lifting channel is provided inside the frame 100, and a recovery component 500 is provided inside the recovery channel; the recovery component 500 includes a second synchronous belt 510, a second lifting cylinder is provided at the middle of the end of the second synchronous belt 510 away from the lifting component 400, a second lifting plate 520 is provided at the upper end of the second lifting cylinder, and a plurality of guide columns are also provided below the second lifting plate 520; second lifting components 530 are symmetrically arranged on both sides of the second lifting plate 520; the structure of the second lifting component 530 is the same as the structure of the first lifting component 222; the second lifting components 530 are arranged on both sides of the second synchronous belt 510, and the height of the second lifting components 530 is... The height is greater than the upper surface of the second synchronous belt 510; a second switch 540 is also provided at the end of the second synchronous belt 510. The second switch 540 is a photoelectric switch. When the tray moves above the second lifting plate 520 along the second synchronous belt 510, the second switch 540 senses the tray's arrival signal, the second synchronous belt 510 stops moving, the second lifting cylinder starts, and pushes the second lifting plate 520 to move upward along the guide column, raising the tray to be level with the second lifting components 530 on both sides. Then, the second lifting plate in the second lifting component 530 smoothly lifts the tray, stacking multiple trays in sequence. When the trays carried by the second lifting component 530 reach a certain number, the trays are manually unloaded, completing the tray placement process. To prevent the material tray from shifting when moving on the second synchronous belt 510, guide baffles are provided on both sides of the second synchronous belt 510. The guide baffles maintain a small gap with the side of the material tray, which does not hinder the movement of the material tray, but effectively limits the movement and ensures that the material tray is smoothly transported to the top of the second lifting plate 520 along the predetermined path.

[0032] To facilitate the placement of materials from the material conveyor belt 110 onto the tray, a rectangular support frame 600 is provided on the upper surface of the frame 100. One end of the material conveyor belt 110 and the placement station 300 are both located within the support frame 600. A first linear motor is installed on one side of the top of the support frame 600. The first linear motor is a double-moving linear motor with two first sliding seats, each fixed to the moving part of the first linear motor. A guide rail parallel to the first linear motor is provided on the other side of the bottom of the support frame 600. The first robot 700 and the second robot 800 are both positioned between the first linear motor and the guide rail.

[0033] Specifically, the first robotic arm 700 includes an X1-axis moving component 710 and a Z1-axis moving component 720. The X1-axis moving component 710 includes a mounting bracket and a second linear motor. One end of the mounting bracket is fixed to a first sliding seat, and the other end is slidably connected to a guide rail. The second linear motor is fixed to the mounting bracket and is also a dual-moving linear motor, with a second sliding seat on each of its two moving parts. The Z1-axis moving component 720 includes a fourth driving member 721 fixed to the second sliding seat and a fixing plate 722. The structure of the fourth driving member 721 is the same as that of the first driving member 221. The fourth driving member 721 is vertically arranged. The fixing plate 722... The fourth driving component 721 is mounted on the fixed plate 722, which drives the fixed plate 722 to move up and down. The fixed plate 722 is equipped with a rotating motor, the output end of which faces the surface of the frame. A suction cup mounting frame is installed at the output end of the rotating motor. The suction cup mounting frame is equipped with multiple transfer suction cups, which sequentially adsorb and transfer the material on the material conveyor belt 110 to the material tray at the placement station 300. A connecting seat 723 is also provided on the side wall of the fixed plate 722. The connecting seat 723 is equipped with an industrial camera and a ring light source. With the assistance of the ring light source, the industrial camera takes pictures of the material on the material conveyor belt 110, locates it, and determines the type of material, so that the transfer suction cups can accurately grasp it.

[0034] Furthermore, the structure of the second robotic arm 800 is the same as that of the first robotic arm 700. The second robotic arm 800 is fixed on another first sliding seat, and the second robotic arm 800 and the first robotic arm 700 are symmetrically arranged. Different types of materials are placed by the first robotic arm 700 and the second robotic arm 800 respectively, so as to achieve parallel operation and improve the tray placement efficiency.

[0035] The general workflow of this utility model is as follows: Multiple stacked trays are placed into the tray bins 200 of the first and second tilting lines, respectively. The trays are moved to the position of the first lifting component 222 by the first driving component 221. The first lifting component 222 lifts the trays above the first tray, and the lowest tray is conveyed along the first synchronous belt 210 to the lifting platform 420, where it is clamped and fixed by a sliding mounting component. The materials are then sorted by industrial cameras attached to the first and second robotic arms 700 and 800. Two different materials are placed onto the trays of the first and second tray-laying lines respectively. When a tray is full, the third drive unit 410 drives the lifting platform 420 to descend, and the tray descends to the second synchronous belt 510. The second synchronous belt 510 transports the full tray to the top of the second lifting plate 520. The second lifting cylinder lifts the full tray, separating it from the second synchronous belt 510. The second lifting component 530 stacks and supports the trays in sequence. When a certain number of trays have accumulated, the full trays are unloaded, completing the tray-laying process. This utility model achieves synchronous tray-laying at two workstations through the coordinated operation of two tray-laying lines and two robotic arms, significantly improving production efficiency and tray-laying efficiency.

[0036] Obviously, the above embodiments of this utility model are merely examples for clearly illustrating this utility model, and are not intended to limit the implementation of this utility model. Those skilled in the art can make other variations or modifications based on the above description. It is neither necessary nor possible to exhaustively describe all embodiments here. Any modifications, equivalent substitutions, and improvements made within the spirit and principles of this utility model should be included within the protection scope of the claims of this utility model.

Claims

1. A high-speed tray-swing mechanism compatible with two materials, characterized in that, include: The machine frame has a material conveyor belt in the middle for loading materials to be placed. A first tray loading line and a second tray loading line are respectively located on both sides of the material conveyor belt. The first tray loading line includes a tray bin, a placement station, a lifting component, and a recovery component arranged sequentially. The structure of the second tray loading line is the same as that of the first tray loading line. A support frame is also provided above the frame, located above the placement station. Y-axis drive components are provided at both ends of the upper surface of the support frame, and a first robotic arm and a second robotic arm are mounted on the Y-axis drive components. Both the first and second robotic arms are equipped with a suction cup and an industrial camera for placing materials from the material conveyor belt onto the trays.

2. The high-speed tilting mechanism compatible with two materials according to claim 1, characterized in that, The material conveyor belt is equipped with multiple first switches arranged side by side; the first switches are used to detect the position of the material.

3. The high-speed swivel mechanism compatible with two materials according to claim 1, characterized in that, The material tray includes two parallel first synchronous belts and a moving component disposed between the first synchronous belts; the moving component includes a first lifting cylinder connected to the upper surface of the machine platform, a first lifting plate fixed above the first lifting cylinder, a first driving component disposed on the first lifting plate, and first lifting components disposed on both sides of the first lifting plate; the first lifting component includes a first lifting cylinder and a first lifting plate perpendicular to the first synchronous belts.

4. The high-speed swivel mechanism compatible with two materials according to claim 1, characterized in that, The placement station is located at one end of the material tray hopper; the placement station includes two symmetrically arranged sliding mounting components, each of which includes a second drive component and a slide rail perpendicular to the material tray loading direction, and a sliding block disposed between the second drive component and the slide rail; both ends of the sliding block are slidably connected to the second drive component and the slide rail, respectively, and the side wall of the sliding block is provided with a mounting groove for supporting the material tray.

5. A high-speed tray-swing mechanism compatible with two materials according to claim 1, characterized in that, A lifting channel is provided below the placement station; the lifting component includes a third drive component vertically arranged in the lifting channel and a lifting platform arranged on the third drive component, the lifting platform sliding up and down along the third drive component.

6. A high-speed tilting mechanism compatible with two materials according to claim 1, characterized in that, The recycling component includes a second synchronous belt disposed inside the frame; a second lifting cylinder and a second lifting plate are disposed in the middle of the second synchronous belt; a second lifting component is disposed on both sides of the second lifting plate; the second lifting component includes a horizontally disposed second lifting cylinder and a second support member; a second switch is disposed at the end of the second synchronous belt away from the lifting component; the second switch is used to detect the position of the recycling tray and stop the tray directly above the second lifting plate.

7. A high-speed tilting mechanism compatible with two materials according to claim 1, characterized in that, The Y-axis drive component includes a first linear motor disposed on one side of the support frame and a guide rail disposed on the other side of the support frame; the first linear motor is provided with a plurality of first sliding seats.

8. A high-speed tilting mechanism compatible with two materials according to claim 1, characterized in that, The first robotic arm includes an X1-axis moving component and a Z1-axis moving component; the X1-axis moving component includes a mounting bracket with both ends fixed to a first sliding seat and a guide rail, respectively, and a second linear motor is provided on the side wall of the mounting bracket, and multiple second sliding seats are provided on the second linear motor; the Z1-axis moving component includes a fourth driving member provided on the second sliding seat and a fixed plate provided on the fourth driving member, the fourth driving member driving the fixed plate to move up and down; a rotary motor is provided on the fixed plate; and multiple transport suction cups are provided at the bottom of the rotary motor.

9. A high-speed swivel mechanism compatible with two materials according to claim 8, characterized in that, The side wall of the fixed plate is provided with a connecting seat, and the connecting seat is provided with an industrial camera and a ring light source.

10. A high-speed swivel mechanism compatible with two materials according to claim 9, characterized in that, The structure of the second robotic arm is the same as that of the first robotic arm, and the first and second robotic arms are arranged symmetrically.

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