CN217397822U - Carrying mechanism and automatic processing equipment - Google Patents

Abstract

The utility model relates to a transport mechanism and automated processing equipment, transport mechanism include rotary drive subassembly, drive assembly, swing piece and manipulator. The transmission assembly comprises two rotating arms connected with the rotation driving assembly, and two output shafts, one ends of the two output shafts are respectively arranged on the two rotating arms and are spaced and parallel to the rotating central lines of the corresponding rotating arms, and the other ends of the output shafts are arranged on the swinging piece; the mechanical arm is connected with the swinging piece; wherein, the two output shafts can rotate relative to the swinging piece and/or the rotating arm; the rotary driving assembly is used for driving the two rotating arms to rotate along the rotating central lines of the two rotating arms respectively so as to drive the two output shafts to do arc motion by taking the rotating central lines of the two rotating arms as central axes respectively, so that the swinging piece and the manipulator do arc motion. The utility model discloses a transport mechanism handling efficiency is high, consequently carries on the transport mechanism of this embodiment and can reduce manufacturing cost effectively.

Description

Carrying mechanism and automatic processing equipment

Technical Field

The utility model relates to a machine-building field, especially a transport mechanism and automated processing equipment.

Background

In order to avoid the friction damage between the bottom of a workpiece and a placing platform when the workpiece is carried, a lifting assembly is additionally arranged on the conventional carrying mechanism, the lifting assembly is firstly utilized to drive the workpiece to rise so as to suspend the workpiece in the air, and then a horizontal moving assembly is utilized to drive the workpiece to horizontally move.

However, since the workpiece needs to be driven to rise by the lifting assembly before the workpiece is driven to move horizontally by the horizontal moving assembly, and the workpiece needs to be driven to fall by the lifting assembly after the workpiece moves horizontally, three strokes are required totally, and therefore, the conveying efficiency is extremely low.

SUMMERY OF THE UTILITY MODEL

The embodiment of the utility model provides a technical problem who solves lies in, provides a transport mechanism and automated processing equipment to solve the problem that transport mechanism's transport efficiency is low among the prior art.

The embodiment of the utility model provides a handling mechanism includes: a rotary drive assembly; the transmission assembly comprises two rotating arms connected with the rotary driving assembly and two output shafts, one ends of the two output shafts are respectively arranged on the two rotating arms and are arranged in parallel with the rotating central lines of the corresponding rotating arms at intervals; the swinging piece is provided with the other ends of the two output shafts; the mechanical arm is connected with the swinging piece and is used for picking and placing the workpiece; the two output shafts can rotate relative to the swinging piece and/or the rotating arm; the rotary driving assembly is used for driving the two rotary arms to rotate along the rotary central lines of the two rotary arms respectively so as to drive the two output shafts to do arc motion by taking the rotary central lines of the two rotary arms as central axes respectively, so that the swinging piece and the manipulator do arc motion.

Further, the transmission assembly further comprises: the driving shaft is connected with the rotary driving component and is arranged on one of the rotating arms along the extending direction of the rotating center line; a driving wheel mounted on the driving shaft; the driven shaft is arranged on the driven shaft, and the driven shaft is arranged on the other rotating arm along the extending direction of the rotating central line; a driven wheel mounted on the driven shaft; the transmission part is connected with the driving wheel and the driven wheel; the rotary driving assembly is used for driving the driving shaft to rotate so as to drive the driving wheel and one of the rotary arms to rotate by taking the central line of the driving shaft as a center, the driving wheel drives the driven wheel and the driving wheel to rotate in the same direction through the transmission part so as to drive the driven shaft to rotate, and the other rotary arm rotates by taking the central line of the driven shaft as a center.

Furthermore, the driving wheel and the driven wheel are both toothed belt wheels, and the transmission part is a toothed transmission belt sleeved on the driving wheel and the driven wheel.

Further, the carrying mechanism further comprises a braking assembly, wherein the braking assembly is used for controlling the rotation driving assembly to stop running so as to limit the stroke of the swinging piece, or the braking assembly is used for abutting against the swinging piece so as to limit the stroke of the swinging piece.

Further, the brake assembly includes: a mounting platform disposed at a bottom of the swing member; and the braking screw piece is arranged on the mounting platform, and is used for abutting against the swinging piece when viewed from the axial direction of the output shaft so as to limit the stroke of the swinging piece.

Further, the brake assembly includes: the brake induction disc is arranged on the driving shaft or the driven shaft and comprises a shading area and a clearance area; the first sensor is arranged opposite to the brake induction disc and is electrically connected with the rotary driving assembly; when the braking induction disc rotates to the shading area or the clearance area and is opposite to the first inductor, the first inductor can control the rotation driving assembly to stop running.

Further, the carrying mechanism further comprises a first adjusting support, the manipulator is arranged on the first adjusting support, the first adjusting support is sequentially inserted into the first waist-shaped hole and the mounting hole through a mounting screw piece and mounted on the horizontal surface of the swinging piece, and the manipulator can move relative to the first waist-shaped hole.

Further, transport mechanism still includes the second adjustment support, the rotation driving subassembly with the transmission subassembly all with the second adjustment support is connected, the second adjustment support have with the horizontal surface parallel first surface, second waist shape hole has been seted up on the first surface, just the extending direction in second waist shape hole with the extending direction in first waist shape hole is mutually perpendicular.

Furthermore, the second adjusting bracket is also provided with a second surface perpendicular to the first surface, the second surface is provided with a third waist-shaped hole, and the extending direction of the third waist-shaped hole is perpendicular to the extending directions of the first waist-shaped hole and the second waist-shaped hole.

In a second aspect, the embodiment of the present invention further provides an automatic processing device, which includes the carrying mechanism of the first aspect.

Compared with the prior art, the embodiment of the utility model provides a transport mechanism and automated processing equipment's beneficial effect lies in: the carrying mechanism provided by the embodiment of the utility model is provided with two rotating arms, and output shafts are arranged at the positions of the rotating arms far away from the rotating center line of the rotating arms, the manipulator is arranged at the output ends of the two output shafts through a swinging piece, when the rotating driving component drives the two rotating arms to rotate around the rotating center lines of the two rotating arms respectively, the two output shafts can be driven to do arc motion respectively by taking the rotating center lines of the two rotating arms as the central axis, so that the swinging piece and the manipulator are driven to do arc motion to carry workpieces; moreover, two output shafts all can rotate with one in swing piece or the swinging boom relatively at least, and like this, two output shafts can play the restraint effect to swing piece when swing piece is doing the arc motion, make swing piece can not rotate around one of them output shaft to this when the centre of a circle that the motion orbit of swing piece corresponds is all inconsistent with the centre of a circle that the motion orbit of two output shafts corresponds, can avoid swing piece card to die, and can guarantee that the work piece can keep the horizontality always when the manipulator is carrying the work piece. Obviously, compare in prior art's three-section stroke, the transport mechanism of this embodiment only needs one section stroke, just can accomplish reliably carrying the work piece under the prerequisite of avoiding the bottom of the work piece to wear, and handling efficiency is high, consequently carries on the transport mechanism of this embodiment and can reduce manufacturing cost effectively.

Drawings

The following description of the embodiments of the present invention will be made in detail with reference to the accompanying drawings and examples, wherein:

fig. 1 is a schematic perspective view of a carrying mechanism according to an embodiment of the present invention;

fig. 2 is a schematic perspective view of the carrying mechanism provided by the embodiment of the present invention without a tension wheel;

FIG. 3 is an enlarged partial schematic view at A in FIG. 2;

FIG. 4 is a schematic perspective view of the carrying mechanism shown in FIG. 1 at another angle;

fig. 5 is a schematic plan view of a brake sensing disc provided by an embodiment of the present invention;

fig. 6 is a schematic plan structure view of the return-to-zero induction disk according to the embodiment of the present invention.

The figures are numbered:

1. a carrying mechanism; 11. a rotary drive assembly; 12. a transmission assembly; 121. a rotating arm; 122. an output shaft; 123. a bearing; 124. a drive shaft; 125. a driving wheel; 126. a transmission member; 127. a driven wheel; 128. a driven shaft; 129. a tension wheel; 13. a swinging member; 131. a horizontal surface; 1311. mounting holes; 14. a manipulator; 15. a brake assembly; 151. mounting a platform; 152. a brake screw; 153. braking the induction disc; 1531. a light-shielding area; 1532. a void avoidance area; 154. a first inductor; 16. a zeroing component; 161. a return-to-zero induction disc; 1611. a notch; 162. a second inductor; 17. a first adjustment bracket; 171. a first waist-shaped aperture; 18. a second adjustment bracket; 181. a first surface; 1811. a second waist-shaped hole; 182. a second surface; 1821. a third waist-shaped aperture.

Detailed Description

It should be noted that the embodiments and features of the embodiments in the present application may be combined with each other without conflict. The preferred embodiments of the present invention will now be described in detail with reference to the accompanying drawings.

The embodiment of the utility model provides a handling mechanism 1, as shown in fig. 1-3, handling mechanism 1 includes rotary drive subassembly 11, drive assembly 12, swinging member 13 and manipulator 14. The transmission assembly 12 includes two rotating arms 121 and two output shafts 122, wherein the two rotating arms 121 are both connected to the rotation driving assembly 11, and one ends (specifically, input ends) of the two output shafts 122 are respectively mounted on the two rotating arms 121 and spaced apart from a rotation center line (not shown) of the rotating arms 121. The other ends (specifically, output ends) of the two output shafts 122 are both mounted on the swinging member 13. A robot 14 is connected to the oscillating member 13, the robot 14 being used for picking up and placing workpieces (not shown in the figure). Wherein, both output shafts 122 can rotate relative to the swinging piece 13 and/or the rotating arm 121.

The rotating arm 121 is inevitably rotated along a center line when rotated, and the center line of rotation of the rotating arm 121 mentioned in this embodiment is the center line.

Through the implementation of this embodiment, when the rotation driving assembly 11 drives the two rotation arms 121 to rotate around their rotation center lines, the two output shafts 122 are driven to make arc motion with the rotation center lines of the two rotation arms 121 as the central axes, so as to drive the swinging member 13 and the manipulator 14 to make arc motion, because the circle center corresponding to the motion track of the swinging member 13 is not consistent with the circle center corresponding to the motion track of the two output shafts 122, so as to avoid the swinging member 13 from being jammed, the two output shafts 122 at least need to rotate relative to one of the swinging member 13 or the rotation arms 121, when the swinging member 13 makes arc motion, the two output shafts 122 can play a role in constraining the swinging member 13, so that the swinging member 13 cannot rotate around one of the output shafts 122, and therefore the manipulator 14 can keep a horizontal state when carrying a workpiece.

There are various specific embodiments in which the output shaft 122 and at least one of the swinging member 13 or the rotating arm 121 can rotate relatively, and in this embodiment, in order to reduce the friction force during the relative rotation and improve the service life, the bearing 123 is sleeved on the output shaft 122. Of course, it will be appreciated that other mounting arrangements may be substituted.

In this embodiment, the manipulator 14 only needs to drive the workpiece to perform the arc motion, so as to complete the transportation of the workpiece. Therefore, compared with three strokes in the prior art, the conveying mechanism 1 of the present embodiment only needs one stroke to reliably complete conveying of the workpiece on the premise of avoiding abrasion of the bottom of the workpiece, and the conveying efficiency is extremely high, so that the conveying mechanism 1 of the present embodiment can be carried to effectively reduce the production cost by accelerating the conveying efficiency.

Specifically, the way in which the rotary driving assembly 11 drives the two rotary arms 121 is mainly divided into two ways, and two examples are listed below for reference.

In an embodiment, the rotation driving assembly 11 includes two rotating motors, and the output shafts 122 of the two rotating motors are respectively mounted on the two rotating arms 121 along the extending direction of the rotation center line of the rotating arms 121. When the conveying mechanism 1 is used for conveying a workpiece, only two rotating motors need to be started synchronously to drive the two rotating arms 121 to rotate synchronously. The advantage of this embodiment is that no complicated gearing is required.

In another embodiment, as shown in fig. 2-3, the rotation driving assembly 11 only needs to include a rotating motor, and one rotating motor is matched with a specific transmission structure to synchronously drive the two rotating arms 121 to rotate around their rotating center lines, respectively, so as to achieve the purpose of reducing the manufacturing cost of the carrying mechanism 1. To achieve this, the present invention provides an embodiment in which the transmission assembly 12 further includes a driving shaft 124, a driving wheel 125, a transmission member 126, a driven wheel 127 and a driven shaft 128. The driving shaft 124 is connected to the rotation driving assembly 11 and is installed on one of the rotating arms 121 along the extending direction of the rotation center line. The driving wheel 125 is installed on the driving shaft 124 and connected to the transmission member 126, the driven wheel 127 is installed on the driven shaft 128 and connected to the driving wheel 125 through the transmission member 126, and the driven shaft 128 is installed on the other rotating arm 121 along the extending direction of the rotating center line.

Specifically, the rotation driving assembly 11 is configured to drive the driving shaft 124 to rotate, so as to drive the driving wheel 125 and one of the rotation arms 121 to rotate around a central line of the driving shaft 124, and the driving wheel 125 drives the driven wheel 127 and the driving wheel 125 to rotate in the same direction through the transmission member 126, so as to drive the driven shaft 128 to rotate, so that the other rotation arm 121 rotates around a central line of the driven shaft 128. Therefore, the two rotating arms 121 can be synchronously driven to rotate around the rotating center lines of the two rotating arms by only one rotating motor, and the purpose of reducing the manufacturing cost of the conveying mechanism 1 is achieved.

In one embodiment, as shown in fig. 3, the driving wheel 125 and the driven wheel 127 are both belt wheels, and the transmission member 126 is a transmission belt sleeved on the driving wheel 125 and the driven wheel 127. Therefore, the driving wheel 125 can drive the driven wheel 127 to rotate in the same direction through the transmission belt when rotating. The transmission belt has elasticity, can alleviate impact and vibration load, and operates smoothly without noise.

In a particular embodiment, the pulley is a toothed pulley and the drive belt is a toothed belt. Compared with a flat belt, the toothed belt and the toothed belt wheel do not slide relatively, synchronous transmission can be guaranteed, and the transmission ratio is constant, so that the toothed belt and the toothed belt wheel are used for transmission, and the transmission precision can be improved.

In a specific embodiment, as shown in fig. 4, the transmission assembly 12 further includes a tension wheel 129, when the transmission belt is too loose, the transmission belt is prone to slip, and at this time, the transmission belt can be sleeved on the tension wheel 129 to keep the transmission belt tensioned, so as to avoid the slip.

In another embodiment, the driving wheel 125, the transmission member 126 and the driven wheel 127 are all gears, and the transmission member 126 is meshed with the driving wheel 125 and the driven wheel 127. Therefore, the driving wheel 125 can drive the driven wheel 127 to rotate in the same direction through the transmission belt when rotating. The gear transmission has the characteristics of accurate transmission ratio, compact structure and stable transmission without slipping.

Further, as shown in fig. 1, the carrying mechanism 1 further includes a stopper assembly 15, and the stopper assembly 15 is used for limiting the stroke of the swinging member 13, thereby preventing the damage to the workpiece. Specifically, when the swinging member 13 drives the manipulator 14 to move to a position for picking up or placing a workpiece, if the swinging member 13 does not stop moving, the manipulator 14 may easily crush the workpiece, and in order to avoid this phenomenon, the carrying mechanism 1 is provided in the present embodiment, and two specific embodiments of the carrying mechanism 1 are provided below for reference.

In one embodiment, as shown in fig. 1, brake assembly 15 includes a mounting platform 151 and a brake screw 152. The mounting platform 151 is disposed at the bottom of the swinging member 13. The braking screw 152 is mounted on the mounting platform 151, and the braking screw 152 is configured to abut against the swinging member 13 when viewed from the axial direction of the output shaft 122, so as to limit the stroke of the swinging member 13.

Specifically, the movement locus of the oscillating member 13 is an arc, and there are two end points, and as long as the braking screw 152 is disposed at the bottom of the two end points, when the oscillating member 13 moves to any end point, the bottom of the oscillating member 13 will abut against the braking screw 152, so as to effectively limit the oscillating member 13 from continuing to operate, and avoid the manipulator 14 from crushing the workpiece.

In another embodiment, as shown in fig. 1, 3-5, the brake assembly 15 includes a brake sensing disc 153 and a first inductor 154. The brake sensing disc 153 is mounted on the driving shaft 124 or the driven shaft 128, and the brake sensing disc 153 includes a light shielding region 1531 and a clearance region 1532. The first sensor 154 is disposed opposite to the brake sensing disc 153 and electrically connected to the rotation driving assembly 11; the brake sensing disc 153 is driven by the driving shaft 124 or the driven shaft 128 to rotate, and when the brake sensing disc 153 rotates to the light shielding region 1531 or the clearance region 1532 and is aligned with the first sensor 154, the first sensor 154 can control the rotation driving assembly 11 to stop operating. After the rotation driving assembly 11 stops operating, the swinging member 13 stops moving due to lack of power source, which effectively limits the swinging member 13 from continuing to operate and prevents the manipulator 14 from crushing the workpiece.

It will be appreciated, of course, that both embodiments can be provided simultaneously to provide dual protection to the workpiece, and that in the event of failure of either embodiment, the other embodiment will still be able to limit the travel of the oscillating member 13, thereby avoiding crushing of the workpiece by the robot 14.

In the embodiment, as shown in fig. 3, 4 and 6, the carrying mechanism 1 further includes a zeroing assembly 16, and the zeroing assembly 16 includes a zeroing induction plate 161 and a second inductor 162. The return-to-zero induction disc 161 is installed on the driven shaft 128, a notch 1611 extending towards the middle of the return-to-zero induction disc 161 is formed in the edge of the return-to-zero induction disc 161, and the first inductor 154 is disposed opposite to the return-to-zero induction disc 161 and electrically connected to the rotation driving assembly 11. The driven shaft 128 drives the return-to-zero induction disc 161 to rotate, and when the driven shaft rotates to the notch 1611 and the second inductor 162 are aligned, the second inductor 162 controls the rotary driving assembly 11 to return to zero.

Specifically, since the rotation driving assembly 11 may have a rotation error when used, the error may accumulate as the use time becomes longer, and if the adjustment is not performed for a long time, the error may be eliminated, which may eventually lead to the failure of the carrying mechanism 1. In order to solve the technical problem, the zeroing unit 16 is provided in this embodiment, and when the driven shaft 128 drives the zeroing induction plate 161 in the zeroing unit 16 to rotate until the notch 1611 in the zeroing induction plate 161 is aligned with the second inductor 162, the second inductor 162 sends a zeroing signal to zero the rotary driving unit 11.

In an embodiment, as shown in fig. 2 and 3, the carrying mechanism 1 further includes a first adjusting bracket 17 mounted on the swinging member 13, the manipulator 14 is mounted on the first adjusting bracket 17, the first adjusting bracket 17 is sequentially inserted into the first kidney-shaped hole 171 and the horizontal surface 131 of the swinging member 13 mounted in the mounting hole 1311 through a mounting screw (not shown), and the manipulator 14 can move relatively along the first kidney-shaped hole 171.

The horizontal surface 131 mentioned in this embodiment is a surface parallel to the horizontal direction, and when the robot carries a workpiece, the bottom surface of the workpiece is always parallel to the horizontal surface 131 to maintain a horizontal state.

Specifically, the horizontal surface 131 is provided with one of the first waist-shaped hole 171 or the mounting hole 1311, and the first adjusting bracket 17 is provided with the other of the first waist-shaped hole 171 or the mounting hole 1311, which is not particularly limited in this embodiment and can be adjusted adaptively by those skilled in the art.

Specifically, in the assembly process of the carrying mechanism 1, there may be a certain error in the extending direction (X direction in fig. 4) of the first kidney-shaped hole 171, which may cause an error in the actual position of the robot 14 from the expected position, and at this time, the actual position of the robot 14 may be adjusted by loosening the mounting screw mounted on the first kidney-shaped hole 171 and moving the first adjusting bracket 17, so as to reduce the assembly error.

Similarly, when the conveying distance of the workpiece or the size of the conveyed workpiece changes, the actual position of the robot 14 can be adjusted by loosening the mounting screw mounted on the first kidney-shaped hole 171 and moving the first adjusting bracket 17, so as to increase the versatility of the conveying mechanism 1.

In the embodiment, as shown in fig. 2 to 4, the carrying mechanism 1 further includes a second adjusting bracket 18, and the rotary driving assembly 11 and the transmission assembly 12 are connected to the second adjusting bracket 18. The second adjusting bracket 18 has a first surface 181 parallel to the horizontal surface 131, the first surface 181 is provided with a second waist-shaped hole 1811, and the extending direction (Y direction in fig. 4) of the second waist-shaped hole 1811 is perpendicular to the extending direction of the first waist-shaped hole 171.

Specifically, the carrying mechanism 1 is fixed to an external machine (not shown in the figures) through the second adjusting bracket 18, and since the horizontal surface 131 of the swinging member 13 is parallel to the first surface 181 of the second adjusting bracket 18, and the first waist-shaped hole 171 is perpendicular to the extending direction of the second waist-shaped hole 1811, the first waist-shaped hole 171 can be matched with the second waist-shaped hole 1811 to adjust the position of the manipulator 14 in the horizontal direction, thereby achieving the technical effects of reducing the assembly error and increasing the universality of the carrying mechanism 1.

In an embodiment, as shown in fig. 2-4, the second adjusting bracket 18 has a second surface 182 perpendicular to the first surface 181, the second surface 182 has a third waist-shaped hole 1821, and an extending direction (a Z direction in fig. 4) of the third waist-shaped hole 1821 is perpendicular to the extending directions of the first waist-shaped hole 171 and the second waist-shaped hole 1811.

Specifically, since the second surface 182 is perpendicular to the first surface 181, and the extending direction of the third waist-shaped hole 1821 is perpendicular to the extending direction of the first waist-shaped hole 171 and the second waist-shaped hole 1811. The third slotted hole 1821 can be used to adjust the position of the robot 14 in the vertical direction, thereby achieving the technical effects of reducing assembly errors and increasing the versatility of the carrying mechanism 1.

In one embodiment, as shown in FIG. 1, the robot 14 is a vacuum chuck that can hold the workpiece stably without causing any damage to the workpiece.

In another embodiment, the robot 14 is a mechanical gripper that is stable and reliable and can operate in harsh environments for long periods of time.

The embodiment of the present invention shows a carrying mechanism 1, as shown in fig. 1-3, the carrying mechanism 1 is provided with two rotating arms 121, and the position of the rotating arm 121 far from the rotating center line is provided with an output shaft 122, a manipulator 14 is installed on the output ends of the two output shafts 122 through a swinging member 13, when the rotary driving assembly 11 drives the two rotating arms 121 to rotate around the rotating center line respectively, the two output shafts 122 are driven to do arc motion respectively with the rotating center lines of the two rotating arms 121 as the central axis, so as to drive the swinging member 13 and the manipulator 14 to do arc motion, so as to carry a workpiece, since the circle center corresponding to the motion track of the swinging member 13 is different from the circle center corresponding to the motion track of the two output shafts 122, so as to avoid the swinging member 13 from being jammed, the output shaft 122 at least needs to rotate relative to one of the swinging member 13 or the rotating arm 121, two output shafts 122 can play the constraint effect to swing piece 13 when swing piece 13 is doing the arc motion, make swing piece 13 can not rotate around one of them output shaft 122, therefore manipulator 14 can keep the horizontality all the time when carrying the work piece, compare with prior art's three-section stroke, the transport mechanism 1 of this embodiment only needs one section stroke, just can accomplish reliably carrying the work piece under the prerequisite of avoiding the bottom of the work piece to abrade, and handling efficiency is high, therefore carries the transport mechanism 1 of this embodiment and can reduce manufacturing cost effectively.

The utility model also provides an automatic change processing equipment (not shown in the figure), automatic change processing equipment includes the transport mechanism that above-mentioned embodiment demonstrates.

By implementing the present embodiment, the work can be reliably conveyed while avoiding the bottom of the work from being worn, and the conveying efficiency is extremely high, so that the production cost can be effectively reduced by mounting the conveying mechanism 1 of the present embodiment.

It should be understood that the above embodiments are only used for illustrating the technical solutions of the present invention, and not for limiting the same, and those skilled in the art can modify the technical solutions described in the above embodiments, or make equivalent substitutions for some technical features; and all such modifications and alterations should fall within the scope of the appended claims.

Claims (10)

1. A handling mechanism, comprising:

a rotary drive assembly;

the transmission assembly comprises two rotating arms connected with the rotary driving assembly and two output shafts, and one ends of the two output shafts are respectively arranged on the two rotating arms and are arranged in parallel with the rotating central lines of the corresponding rotating arms at intervals;

the swinging piece is provided with the other ends of the two output shafts;

the mechanical arm is connected with the swinging piece and is used for picking and placing the workpiece;

the two output shafts can rotate relative to the swinging piece and/or the rotating arm; the rotary driving assembly is used for driving the two rotary arms to rotate along the rotary central lines of the two rotary arms respectively so as to drive the two output shafts to do arc motion by taking the rotary central lines of the two rotary arms as central axes respectively, so that the swinging piece and the manipulator do arc motion.

2. The handling mechanism of claim 1, wherein the drive assembly further comprises:

the driving shaft is connected with the rotary driving component and is arranged on one of the rotating arms along the extending direction of the rotating center line;

a driving wheel mounted on the driving shaft;

the driven shaft is arranged on the driven shaft, and the driven shaft is arranged on the other rotating arm along the extending direction of the rotating central line;

a driven wheel mounted on the driven shaft;

the transmission part is connected with the driving wheel and the driven wheel;

the rotary driving assembly is used for driving the driving shaft to rotate so as to drive the driving wheel and one of the rotary arms to rotate by taking the central line of the driving shaft as a center, the driving wheel drives the driven wheel and the driving wheel to rotate in the same direction through the transmission part so as to drive the driven shaft to rotate, and the other rotary arm rotates by taking the central line of the driven shaft as a center.

3. The carrying mechanism as claimed in claim 2, wherein the driving wheel and the driven wheel are both toothed belt wheels, and the transmission member is a toothed transmission belt sleeved on the driving wheel and the driven wheel.

4. The handling mechanism according to any one of claims 2 to 3, further comprising a brake assembly for controlling the rotation drive assembly to stop to limit the travel of the oscillating member or for abutting against the oscillating member to limit the travel of the oscillating member.

5. The handling mechanism of claim 4, wherein the brake assembly comprises:

a mounting platform disposed at a bottom of the oscillating member;

and the braking screw piece is arranged on the mounting platform, and is used for abutting against the swinging piece when viewed from the axial direction of the output shaft so as to limit the stroke of the swinging piece.

6. The handling mechanism of claim 4, wherein the brake assembly comprises:

the brake induction disc is arranged on the driving shaft or the driven shaft and comprises a shading area and a clearance area;

the first sensor is arranged opposite to the brake induction disc and is electrically connected with the rotary driving component;

when the braking induction disc rotates to the shading area or the clearance area and is opposite to the first inductor, the first inductor can control the rotation driving assembly to stop running.

7. The carrying mechanism according to any one of claims 1 to 3, further comprising a first adjusting bracket, wherein the manipulator is mounted on the first adjusting bracket, and the first adjusting bracket is mounted on the horizontal surface of the swinging member by sequentially inserting a mounting screw into the first kidney-shaped hole and the mounting hole, and the manipulator is enabled to move relatively along the first kidney-shaped hole.

8. The carrying mechanism as claimed in claim 7, wherein the carrying mechanism further comprises a second adjusting bracket, the rotary driving component and the transmission component are both connected with the second adjusting bracket, the second adjusting bracket has a first surface parallel to the horizontal surface, the first surface is provided with a second waist-shaped hole, and the extending direction of the second waist-shaped hole is perpendicular to the extending direction of the first waist-shaped hole.

9. The carrying mechanism as claimed in claim 8, wherein the second adjusting bracket further has a second surface perpendicular to the first surface, the second surface is provided with a third waist-shaped hole, and the extending direction of the third waist-shaped hole is perpendicular to the extending direction of the first waist-shaped hole and the second waist-shaped hole.

10. An automated processing apparatus, comprising the handling mechanism of any one of claims 1 to 9.

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