CN111515992B

CN111515992B - Automatic change arm and change mechanism

Info

Publication number: CN111515992B
Application number: CN202010376828.2A
Authority: CN
Inventors: 朱育民; 钟卓君; 黄嘉修
Original assignee: E&R ENGINEERING CORP
Current assignee: E&R ENGINEERING CORP
Priority date: 2020-05-07
Filing date: 2020-05-07
Publication date: 2021-07-02
Anticipated expiration: 2040-05-07
Also published as: CN111515992A

Abstract

The invention relates to an automatic arm replacing mechanism, which comprises a placing device and a robot arm device, wherein the placing device comprises a plurality of bearing units for placing clamping jaw units, each bearing unit is provided with a magnetic attraction piece, a displacement movable space and a connection sensing group, the robot arm device is provided with a moving unit and an arm unit controlled by the moving unit, the arm unit can be selectively and automatically connected with the clamping jaw units of the placing device, the arm unit is provided with a locking piece which can be driven by the magnetic attraction piece to move through the magnetic attraction piece, an unlocking state and a locking state are formed through the magnetic attraction of the locking piece, and sensing is carried out through the connection sensing group, and the automatic arm replacing mechanism can enable the arm unit to be automatically combined with a proper clamping jaw unit according to the size of a wafer to be conveyed, so that the automatic arm replacing mechanism is good in convenience and applicability.

Description

Automatic change arm and change mechanism

Technical Field

The invention relates to an automatic arm replacing mechanism, in particular to an automatic arm replacing mechanism which can enable an arm to be automatically combined with a tooth fork.

Background

The wafer is conveyed by a special machine, the special machine adopts a suction device to suck the wafer, and the special machine is respectively configured according to the requirement of the wafer with different sizes, namely, the suction device of a single special machine cannot be suitable for the wafers with different sizes, so the applicability of the existing special machine is poor, and the industrial requirement cannot be met.

Disclosure of Invention

The invention aims to provide an automatic arm replacing mechanism, so that the problem of poor applicability of the conventional special machine is solved.

To achieve the above objects, the present invention provides an automatic arm replacing mechanism comprising:

a placing device, which comprises a placing rack, a plurality of bearing units and a plurality of clamping jaw units, wherein the plurality of bearing units are arranged on the placing rack at intervals, each bearing unit comprises two bearing seats, the plurality of clamping jaw units are respectively arranged on the plurality of bearing units, each clamping jaw unit comprises two clamping jaws, the two clamping jaws are respectively arranged on the two bearing seats of the corresponding bearing unit, wherein each bearing seat is embedded with a magnetic attraction piece, a displacement moving space is formed above the magnetic attraction piece, a connection sensing group is arranged on each bearing seat, one end of each clamping jaw is provided with a fixed rod and two positioning rods, the fixed rod is positioned above the displacement moving space, the outer side surface of the fixed rod forms an annular groove, and the two positioning rods are respectively positioned at two sides of the fixed rod;

a robot arm device located outside the placing device, the robot arm device including a control unit, a motion unit and an arm unit, the motion unit electrically connected to the control unit, the arm unit connected to the motion unit, the motion unit driving the arm unit to automatically connect with the jaw unit of the placing device, and the arm unit including two arms, each arm having a distal end portion provided with a fixing sleeve, two fixing beads, two positioning sleeves, a locking member and at least one reset member, the fixing sleeves having two sides respectively formed with a through hole, the two fixing beads being respectively disposed in the through holes of the fixing sleeves, the two positioning sleeves being located at the two sides of the fixing sleeves, the locking member movably disposed on the arms and abutting against the two fixing beads, and the locking member having two protrusions, wherein the two arms are moved to the placing device by the motion unit, and the two arms are assembled with the two clamping jaws of one clamping jaw unit, when each arm is assembled with the corresponding clamping jaw, the engagement sensing group senses the engagement action of the arm and the clamping jaw, the positioning rod of the clamping jaw extends into the positioning sleeve of the arm, the fixed rod of the clamping jaw extends into the fixing sleeve of the arm, the locking fastener can be magnetically attracted by the magnetic attraction part to move downwards and extend into the displacement movable space so as to form an unlocking state, the arm moves upwards to release the magnetic attraction state of the magnetic attraction part, the locking fastener resets and respectively pushes the two fixed beads to move towards each other through the two convex parts and extend into the annular groove of the fixed rod so as to position the fixed rod and form a locking state.

In the automatic assembly process, the lock catch piece can be magnetically attracted by the magnetic attraction piece to move and form an unlocking state, the unlocking state is confirmed through the sensing of the connection sensing group, the fixed rod of the clamping jaw is smoothly inserted into the fixed sleeve, the positioning rod of the clamping jaw is inserted into the corresponding positioning sleeve, whether the insertion group of the clamping jaw and the arm is true is sensed through the connection sensing group, the arm is driven to move upwards through the motion unit, the magnetic attraction piece is removed from the adsorption of the lock catch piece on the lock catch piece, the lock catch piece can reset through the reset piece, in the resetting moving process, the two convex parts of the lock catch piece respectively push the two fixed beads to extend into the annular grooves of the fixed rod, and whether the lock catch piece moves out of the displacement movable space is sensed through the connection sensing group, so that the robot arm device can be automatically assembled with the clamping jaw unit and can convey wafers through the clamping jaw unit.

In the above, the automatic arm replacing mechanism can automatically assemble the appropriate clamping jaw unit to transport the wafer through the robot arm device according to the size of the wafer to be transported, so that the flexibility and the applicability are good.

Drawings

The drawings are only for purposes of illustrating and explaining the present invention and are not to be construed as limiting the scope of the present invention. Wherein:

fig. 1 is an unoperated perspective view of the automatic arm changing mechanism according to the present invention.

FIG. 2 is a schematic perspective view of the automatic arm changing mechanism according to the present invention.

Fig. 3 is a partially exploded perspective view of the automatic arm replacing mechanism according to the present invention.

Fig. 4 is a schematic perspective view of a carrying seat of the automatic arm replacing mechanism of the present invention.

Fig. 5 is a top plan view of fig. 4.

Fig. 6 is a schematic perspective view of the automatic arm changing mechanism of the present invention with the clamping jaws placed on the carrying seat.

Fig. 7 is a partial cross-sectional view of fig. 6.

FIG. 8 is a schematic top view (I) illustrating the operation of assembling the arm and the gripper of the automatic arm changing mechanism according to the present invention.

Fig. 9 is a side view of fig. 8.

FIG. 10 is a schematic top view of the arm and gripper assembly operation of the automated arm changing mechanism of the present invention.

Fig. 11 is a side view of fig. 10.

Fig. 12 is a schematic cross-sectional view illustrating the unlocking of the arm and the clamping jaw assembly of the automatic arm changing mechanism according to the present invention.

FIG. 13 is a schematic side view of the operation of assembling the arm and the gripper of the automatic arm changing mechanism according to the present invention.

Fig. 14 is a cross-sectional view of the arm and the gripper assembly of the automatic arm changing mechanism according to the present invention.

Fig. 15 is a schematic side plan view of the rack of the automatic arm changing mechanism of the present invention.

Fig. 16 is a partial cross-sectional view of fig. 15.

Fig. 17 is a rear plan view of the rack of the automated arm changing mechanism of the present invention.

Detailed Description

In order to clearly understand the technical solution, the purpose and the effect of the present invention, a detailed description of the present invention will be described with reference to the accompanying drawings.

As shown in fig. 1 and 2, the automatic arm replacing mechanism of the present invention includes a placing device 1 and a robotic arm device 2.

As shown in fig. 1 and fig. 2, the placing device 1 includes a placing rack 10, a plurality of carrying units 20 and a plurality of clamping jaw units 30, the plurality of carrying units 20 are disposed on the placing rack 10 at intervals, each carrying unit 20 includes two carrying seats 21, the plurality of clamping jaw units 30 are disposed on the plurality of carrying units 20 respectively, each clamping jaw unit 30 includes two clamping jaws 31, the two clamping jaws 31 are disposed on the two carrying seats 21 of the corresponding carrying unit 20 respectively, as shown in fig. 4 to fig. 7, a magnetic attraction member 22 is embedded in each carrying seat 21, a displacement moving space 23 is formed above the magnetic attraction member 22, a sensing connection set 24 is disposed on the carrying seat 21, a plurality of suction cups 36 are disposed on a front edge of each clamping jaw 31, a fixing rod 32 and two positioning rods 33 are disposed at one end of the clamping jaw 31, the fixing rod 32 is disposed above the displacement moving space 23, and an annular groove 34 is formed on an outer side surface of the fixing rod 32, and a through hole 37 is formed at the center of the fixing rod 32, and the two positioning rods 33 are respectively located at both sides of the fixing rod 32.

As shown in fig. 1 to 3, the robot arm device 2 is located outside the placing device 1 and includes a moving unit 40 and an arm unit 50, the arm unit 50 is disposed and controlled by the moving unit 40 to selectively and automatically assemble the gripper unit 30 of the placing device 1, and the arm unit 50 includes two arms 51, as shown in fig. 3, 12 and 14, a fixing sleeve 52, two fixing beads 54, two positioning sleeves 55, a locking member 56 and at least one resetting member 58 are disposed at a distal end portion of each arm 51, the fixing sleeve 52 extends into the arm 51, a vacuum sealing member 59 is disposed between the fixing sleeve 52 and the arm 51, a through hole 53 is formed at each side of the fixing sleeve 52, the two fixing beads 54 are disposed at each through hole 53 of the fixing sleeve 52, the two positioning sleeves 55 are disposed at each side of the fixing sleeve 52, the locking member 56 is movably disposed at the arm 51 and abuts against the two fixing beads 54, and the locking piece 56 has two protrusions 57.

In the above, the two arms 51 are moved to the placing device 1 through the moving unit 40 and are assembled with the two jaws 31 of one of the jaw units 30, when each arm 51 is assembled with the corresponding jaw 31, the engagement sensing set 24 senses the engagement action between the arm 51 and the jaw 31, the positioning rod 33 of the jaw 31 extends into the positioning sleeve 55 of the arm 51, the fixing rod 32 of the jaw 31 extends into the fixing sleeve 52 of the arm 51, the locking member 56 can be magnetically attracted by the magnetic attraction member 22 to move downwards and extend into the displacement moving space 23 to form an unlocked state, the arm 51 moves upwards to release the magnetic attraction state of the magnetic attraction member 22, the locking member 56 resets and pushes the two fixing beads 54 to move towards each other through the two protrusions 57 and extend into the annular groove 34 of the fixing rod 32 respectively to position the fixing rod 32 and form a locked state, in which the robot arm device 2 has a control unit 60, the moving unit 40 and the placing device 1 are electrically connected to the control unit 60.

As shown in fig. 4 and 5, in each of the supporting bases 21, a first groove 25 and a second groove 26 communicating with the displacement space 23 are formed on the supporting base 21, the connecting sensing set 24 includes a first sensor 241, a second sensor 242 and a third sensor 243, the first sensor 241 is disposed on the supporting base 21 and faces the first groove 25, the second sensor 242 is disposed on the supporting base 21 and faces the second groove 26, and the third sensor 243 is disposed above the second sensor 242.

As shown in fig. 4 to 7, in each of the bearing seats 21, an absorption positioning member 27 and a clamping jaw sensor 28 are disposed on the bearing seat 21, the absorption positioning member 27 is used for absorbing and positioning the corresponding clamping jaw 31, and the clamping jaw sensor 28 is used for detecting whether the corresponding clamping jaw 31 is placed or not, wherein the absorption positioning member 27 can absorb the corresponding clamping jaw 31 in vacuum, and if the corresponding clamping jaw 31 is placed flatly, the absorption positioning member 27 can be vacuumized smoothly; on the contrary, if the corresponding clamping jaw 31 is not placed flatly, the adsorption positioning element 27 cannot be vacuumized, so that whether the clamping jaw 31 is placed flatly can be judged by whether vacuumization is performed or not.

In addition, the carrying seat 21 is provided with a model detection set 29, the model detection set 29 has a first detection piece 291, a second detection piece 292 and a third detection piece 293 which are arranged at intervals on the carrying seat 21, the first detection piece 291, the second detection piece 292 and the third detection piece 293 all face the clamping jaw 31 on the carrying seat 21 for detecting the model of the clamping jaw 31, in addition, in each clamping jaw 31, an identification piece 35 is arranged on the clamping jaw 31, and the code of the identification piece 35 on the clamping jaw 31 can be identified through an image sensor for identifying the model of the clamping jaw 31.

As shown in fig. 1 and 2, the automatic arm changing mechanism defines an X axis, a Y axis and a Z axis perpendicular to each other, and the motion unit 40 can drive the arm unit 50 to move along the Y axis, move along the Z axis and rotate along the Z axis.

As shown in fig. 15 to 17, the placing frame 10 includes a base 11, a movable base 12 and an X-axis movement adjusting assembly 13, the movable seat 12 is movably disposed on the base 11, the X-axis movement adjusting component 13 is disposed on the base 11 and connected to the movable seat 12, the X-axis movement adjusting component 13 is used to drive the movable seat 12 to move along the X-axis, wherein the X-axis movement adjusting assembly 13 comprises a positioning block 131, a moving block 132, a screw 133, the positioning block 131 is disposed on the base 11, the moving block 132 is disposed on the movable base 12, the screw 133 is rotatably disposed on the positioning block 131 and screwed to the moving block 132, and during adjustment, the screw 133 can be rotated to move the moving block 132 along the X-axis relative to the screw 133, and the movable seat 12 moves together with the moving block 132, i.e. the movable seat 12 moves along the X-axis relative to the base 11.

As shown in fig. 15 to 17, the movable seat 12 includes a first seat 14, a second seat 15 and a Y-axis rotation adjusting assembly 16, the first seat 14 is movably disposed on the base 11, and a universal bearing 17 is disposed on the first seat 14, the second seat 15 is rotatably disposed on the first seat 14, a rotating shaft 18 is disposed on the second seat 15, the rotating shaft 18 is inserted into the universal bearing 17 of the first seat 14, the plurality of bearing units 20 are disposed on the second seat 15, the Y-axis rotation adjusting assembly 16 is disposed between the first seat 14 and the second seat 15, the Y-axis rotation adjusting assembly 16 is configured to adjust the rotation of the second seat 15 along the Y-axis direction, wherein the Y-axis rotation adjusting assembly 16 includes an upper adjusting member 161 and two lower adjusting members 162, the upper adjusting member 161 is disposed above the rotating shaft 18, the two lower adjusting members 162 are disposed below the rotating shaft 18 and spaced apart from each other, the upper adjusting member 161 and the two lower adjusting members 162 form a triangular region, the upper adjusting member 161 and the two lower adjusting members 162 have a screw 163, a nut 164 and a spring 165, the screw 163 is disposed on the second seat 15 and protrudes out of the first seat 14, the nut 164 is disposed on the screw 163 and abuts against the first seat 14, the spring 165 is sleeved on the screw 163 and is located between the first seat 14 and the second seat 15, during adjustment, the upper adjusting member 161 is rotated to allow the upper adjusting member 161 to move along the X axis, thereby driving the second seat 15 to rotate along the Y axis.

As shown in fig. 15 to 17, the movable seat 12 includes an X-axis rotation adjusting component 19, the X-axis rotation adjusting component 19 is disposed between the first seat 14 and the second seat 15, the X-axis rotation adjusting component 19 is used for adjusting the second seat 15 to rotate along the X-axis, wherein the X-axis rotation adjusting component 19 includes a sliding slot 191, a protruding block 192 and an adjusting rod 193, the sliding slot 191 is formed in the first seat 14, the protruding block 192 is disposed on the second seat 15 and protrudes out of the sliding slot 191, the adjusting rod 193 is disposed on the protruding block 192 and is screwed to the first seat 14, when adjusting, the adjusting rod 193 can be rotated to allow the adjusting rod 193 to move along the Y-axis relative to the first seat 14, and the adjusting rod 193 further drives the protruding block 192 to move in the sliding slot 191, so that the second seat 15 can rotate along the X-axis.

In the above description, the arm unit 50 can perform Y-axis movement, Z-axis movement, and Z-axis rotation, the movable seat 12 performs X-axis movement through the X-axis movement adjusting assembly 13, the second seat 15 of the movable seat 12 performs X-axis rotation through the X-axis rotation adjusting assembly 19, and the second seat 15 of the movable seat 12 performs Y-axis rotation through the Y-axis rotation adjusting assembly 16, so as to adjust the alignment between the arm 51 and the clamping jaw 31.

In the above description, the plurality of gripper units 30 of the placement device 1 of the automatic arm replacing mechanism may be of different models, and the model of the gripper 31 may be identified by the model detecting set 29 and the identifier 35 on the gripper 31, and the automatic arm replacing mechanism may allow the arm unit 50 to be assembled with the appropriate gripper unit 30 according to the size of the wafer to be transported.

As shown in fig. 8 to 14, when the arm 51 is assembled with the clamping jaw 31, the moving unit 40 drives the arm 51 to move toward the clamping jaw 31 placed on the carrying seat 21, the positioning rod 33 of the clamping jaw 31 is inserted into the positioning sleeve 55 of the arm 51, when the locking element 56 of the arm 51 moves to above the magnetic attraction element 22 of the carrying seat 21, the locking element 56 is attracted by the magnetic attraction element 22 to move downward and extend into the displacement moving space 23, the end surface of the protrusion 57 of the locking element 56 moves to below the two fixing beads 54 and provides a space for the two fixing beads 54 to move laterally outward, and meanwhile, the first sensor 241 of the linking sensing set 24 can smoothly sense whether the locking element 56 extends into the displacement moving space 23 through the first groove 25 and forms an unlocking state.

If the unlocked state is formed, the arm 51 is further moved toward the clamping jaw 31, so that the fixing rod 32 of the clamping jaw 31 extends into the fixing sleeve 52 of the arm 51, and the fixing rod 32 passes between the two fixing beads 54 and pushes the two fixing beads 54 outwards, and the second sensor 242 of the engagement sensing set 24 senses the locking piece 56 through the second groove 26, so that the fixing rod 32 is known to actually extend into the fixing sleeve 52.

The moving unit 40 further drives the arm 51 to move upward, the latch member 56 moves out of the displacement space 23, so as to reduce the attraction of the magnetic attraction member 22 to the latch member 56, and the latch member 56 is restored by the restoring force of the restoring member 58, the two protrusions 57 of the latch member 56 move upward and push the two fixing beads 54 to move toward each other and extend into the annular groove 34 of the fixing rod 32, and the end surfaces of the two protrusions 57 abut against the two fixing beads 54 to form a locked state, so as to position the fixing rod 32 in the fixing sleeve 52, i.e., the clamping jaw 31 and the arm 51 are firmly assembled, and meanwhile, the third sensor 243 of the sensing connection group 24 senses whether the latch member 56 is really restored.

After the arm 51 of the automatic arm replacing mechanism is automatically connected to the chuck 31, the robot arm device 2 can drive the chuck 31 to transport the wafer, and the chuck 31 with a proper type can be replaced according to the size of the wafer.

In the above, the moving unit 40 has a vacuum sucking member, which is connected to the through hole 37 of the fixing rod 32 and connected to the plurality of suckers 36 through the through hole 37 to suck the wafer, so that the wafer is not dropped or damaged during transportation.

In summary, in the automatic arm replacing mechanism, the magnetic absorbing member 22 of the carrying seat 21 and the movable displacement space 23 are arranged to allow the locking member 56 to be automatically unlocked and locked, and the unlocking and locking states of the locking member 56 are determined by the sensing of the engaging sensing group 24, so that the different types of the clamping jaws 31 can be configured for the arm unit 50 to be selectively assembled, and therefore, when wafers with different sizes are conveyed, only the proper clamping jaw 31 needs to be replaced, so that the flexibility and the applicability of the automatic arm replacing mechanism are good, and the automatic assembly of unlocking and locking is achieved by adopting the adjustment of the magnetic absorption, and the assembly convenience can be improved.

The above description is only an exemplary embodiment of the present invention, and is not intended to limit the scope of the present invention. Any equivalent changes and modifications that can be made by one skilled in the art without departing from the spirit and principles of the invention should fall within the protection scope of the invention.

Claims

1. The utility model provides an automatic change arm mechanism, its characterized in that, automatic change arm mechanism contains:

a placing device which comprises a placing frame, a plurality of bearing units and a plurality of clamping jaw units, wherein the bearing units are arranged on the placing frame at intervals, each bearing unit comprises two bearing seats, each clamping jaw unit is arranged on one bearing unit, each clamping jaw unit comprises two clamping jaws, the two clamping jaws are respectively placed on the two bearing seats of the corresponding bearing unit, wherein each bearing seat is embedded with a magnetic part and forms a displacement space above the magnetic part, and the bearing seat is provided with a joint sensing group, one end of each clamping jaw is provided with a fixed rod and two positioning rods, the fixed rod is positioned above the displacement activity space, an annular groove is formed on the outer side surface of the fixed rod, and the two positioning rods are respectively positioned on two sides of the fixed rod;

a robot arm device, which is located outside the placing device and comprises a control unit, a motion unit and an arm unit, wherein the motion unit is electrically connected with the control unit, the arm unit is connected with the motion unit, the motion unit drives the arm unit to automatically assemble with the clamping jaw unit of the placing device, the arm unit comprises two arms, a fixing sleeve, two fixing beads, two positioning sleeves, a locking piece and at least one resetting piece are arranged at the tail end of each arm, a through hole is respectively formed at two sides of the fixing sleeve, the two fixing beads are respectively arranged in the through holes of the fixing sleeve, the two positioning sleeves are located at two sides of the fixing sleeve, and the locking piece can be movably arranged on the arm, the locking piece is abutted against the two fixing beads and is provided with two convex parts, wherein the two arms move to the placing device through the moving unit, the two arms are assembled with the two clamping jaws of one clamping jaw unit, when each arm is assembled with the corresponding clamping jaw, the engagement sensing group senses the engagement action of the arm and the clamping jaw, the positioning rod of the clamping jaw extends into the positioning sleeve of the arm, the fixing rod of the clamping jaw extends into the fixing sleeve of the arm, the locking piece can be magnetically attracted by the magnetic attraction piece to move downwards and extend into the displacement movable space so as to form an unlocking state, the arm moves upwards to release the magnetic attraction state of the magnetic attraction piece, and the locking piece resets and pushes the two fixing beads to move towards each other through the two convex parts and extend into the annular groove of the fixing rod respectively, so as to position the fixing rod and form a locking state.

2. The automatic arm replacing mechanism according to claim 1, wherein a first groove and a second groove communicating with the space for moving are formed on each of the supporting seats, the engagement sensing set comprises a first sensor, a second sensor and a third sensor, the first sensor is disposed on the supporting seat and faces the first groove, the second sensor is disposed on the supporting seat and faces the second groove, and the third sensor is disposed above the second sensor.

3. The automatic arm replacing mechanism as claimed in claim 1, wherein each of the carrying seats is provided with an absorption positioning member and a clamping jaw sensor, the absorption positioning member is used for absorbing and positioning the corresponding clamping jaw, and the clamping jaw sensor is used for detecting whether the corresponding clamping jaw is placed or not.

4. The automatic arm replacing mechanism as claimed in claim 2, wherein each of the carrying seats is provided with an absorption positioning member and a clamping jaw sensor, the absorption positioning member is used for absorbing and positioning the corresponding clamping jaw, and the clamping jaw sensor is used for detecting whether the corresponding clamping jaw is placed or not.

5. The automatic arm replacing mechanism according to any one of claims 1 to 4, wherein a model detecting set is disposed on each of the carrying seats, and the model detecting set has a first detecting member, a second detecting member and a third detecting member disposed at intervals on the carrying seat.

6. The automated arm changing mechanism of any one of claims 1 to 4, wherein an identifier is provided on each of the jaws.

7. The automated arm changing mechanism of claim 5, wherein an identifier is provided on each of said jaws.

8. The automatic arm replacing mechanism according to any one of claims 1 to 4, wherein the automatic arm replacing mechanism defines an X axis, a Y axis and a Z axis perpendicular to each other, the rack comprises a base, a movable seat and an X axial movement adjusting assembly, the movable seat is movably disposed on the base, the X axial movement adjusting assembly is disposed on the base, and the X axial movement adjusting assembly is connected to the movable seat, and the X axial movement adjusting assembly is configured to drive the movable seat to move along the X axial direction.

9. The automatic arm replacing mechanism according to claim 8, wherein the X-axis movement adjusting assembly includes a positioning block, a moving block, and a screw, the positioning block is disposed on the base, the moving block is disposed on the movable seat, the screw is rotatably disposed on the positioning block, and the screw is screwed to the moving block.

10. The automatic arm replacing mechanism according to claim 8, wherein the movable seat comprises a first seat, a second seat and a Y-axis rotation adjusting assembly, the first seat is movably disposed on the base, the second seat is rotatably disposed on the first seat, the plurality of bearing units are disposed on the second seat, the Y-axis rotation adjusting assembly is disposed between the first seat and the second seat, and the Y-axis rotation adjusting assembly is configured to adjust the rotation of the second seat along the Y-axis direction.

11. The automated arm changing mechanism of claim 10, wherein the Y-axis rotation adjustment assembly comprises an upper adjustment member and two lower adjustment members, the two lower adjustment members are located below the upper adjustment member, each of the upper adjustment member and the two lower adjustment members has a screw, a nut, and a spring, the screw is disposed on the second seat, the screw protrudes out of the first seat, the nut is screwed on the screw, the nut abuts against the first seat, the spring is sleeved on the screw, and the spring is located between the first seat and the second seat.

12. The automatic arm changing mechanism of claim 10, wherein the movable seat comprises an X-axis rotation adjusting component, the X-axis rotation adjusting component is disposed between the first seat and the second seat, and the X-axis rotation adjusting component is configured to adjust the second seat to rotate along the X-axis.

13. The automatic arm changing mechanism of claim 12, wherein the X-axis rotation adjustment assembly comprises a sliding slot formed on the first seat, a protrusion protruding from the second seat, and an adjustment rod screwed to the first seat.