Scissors suction feeding mechanism and usage method

Abstract

This invention discloses a scissor-feeding mechanism, relating to the field of scissor grinding technology. It includes a machine frame with a servo rotating platform on its upper part and a servo motor mounted on its bottom. The output shaft of the servo motor is connected to the bottom of the servo rotating platform, driving it to rotate. A rotating material tray is fixedly mounted on the upper part of the servo rotating platform. This scissor-feeding mechanism places surgical scissors on the material tray. Positioning pins and stop pins position the scissors, and then magnetic attraction is used to pick them up, facilitating material removal. During material removal, the elasticity of a spring causes a cylindrical pin to engage with a pin hole on the surgical scissors, while the front of the scissors engages with a slot on a scissor fixing plate, ensuring the stability of the scissor fixing plate during the material removal process.

Description

Technical Field

[0001] This invention relates to the field of scissor grinding technology, specifically to a scissor suction and feeding mechanism and its usage method. Background Technology

[0002] Surgical scissors are made of steel. In order to ensure the sharpness of the surgical scissors, they need to be ground during the manufacturing process.

[0003] However, when grinding surgical scissors, it is necessary for a person to first place the surgical scissors on the scissor fixing component, and then the robot will clamp the surgical scissors fixing component to perform the grinding work. The manual feeding method not only reduces work efficiency, but also increases the labor intensity of the workers. In addition, the workers are prone to being accidentally injured by the surgical scissors fixing component, which poses a certain danger. Summary of the Invention

[0004] To address the shortcomings of existing technologies, this invention provides a scissor-feeding mechanism and its usage method, which solves the problem of manual feeding when grinding surgical scissors.

[0005] To achieve the above objectives, the present invention provides the following technical solution: a scissor-operated suction and feeding mechanism, comprising a machine frame, a servo rotating platform mounted on the upper part of the machine frame, and a servo motor mounted on the bottom of the machine frame. The output shaft of the servo motor is connected to the bottom of the servo rotating platform, driving the servo rotating platform to rotate. A rotating material tray is fixedly mounted on the upper part of the servo rotating platform. A gripping device is mounted on one side of the rotating material tray on the upper part of the machine frame. The output shaft of the gripping device is connected to a magnetic suction assembly. A scissor fixing assembly is mounted on the upper part of the machine frame in front of the gripping device. The gripping device can be a four-axis horizontal robot, a six-axis horizontal robot, or a robotic gripper, etc.

[0006] Furthermore, the upper part of the rotating material tray is provided with a number of positioning pins arranged in a ring. The positioning pins match the pin holes on the surgical scissors. The upper part of the rotating material tray is also provided with a ring protrusion. When the pin hole on the surgical scissors is engaged with the positioning pin and placed radially, the front end of the surgical scissors just overlaps the ring protrusion.

[0007] Furthermore, the upper part of the rotating tray is provided with several stop pins arranged in a ring. When the pin hole on the surgical scissors is engaged with the positioning pin and placed radially, the handle of the surgical scissors is in contact with the side of the stop pin.

[0008] Furthermore, the magnetic suction assembly includes a fixed bushing installed on the output shaft of the gripping device. The lower end of the fixed bushing is connected to a tooling fixing plate. An electromagnet is connected to the lower part of one end of the tooling fixing plate. A movable groove is provided at the middle position of the bottom of the electromagnet. A cylindrical pin is slidably embedded in the movable groove. A spring is connected between the upper end of the cylindrical pin and the upper side of the movable groove.

[0009] Furthermore, the lower end of the cylindrical pin protrudes into the interior of the movable groove. When the spring is in a compressed state, the cylindrical pin can retract into the interior of the movable groove. When the rotating material disk rotates, each positioning pin on the rotating material disk can pass directly below the cylindrical pin.

[0010] Furthermore, a scissor fixing plate is vertically connected to the lower part of one end of the tooling fixing plate at a position on one side of the electromagnet. A slot is provided on the lower side of the scissor fixing plate, and the upper side of the inside of the slot is flush with the lower end of the electromagnet, so that the front end of the surgical scissors can be inserted into the slot.

[0011] Furthermore, the scissor fixing assembly includes a fixed base plate and a dual-axis cylinder. The upper part of the dual-axis cylinder is fixedly mounted with the main body of the scissor fixing mechanism. The lower front part of the main body of the scissor fixing mechanism overlaps on the fixed base plate. There is no connection between the dual-axis cylinder and the fixed base plate. The main body of the scissor fixing mechanism is provided with a scissor clamping block, and a clamp is fixedly mounted on one side of the front end of the main body of the scissor fixing mechanism. A pressing component is fixedly mounted on the upper part of the fixed base plate at the other side of the front end of the main body of the scissor fixing mechanism. A quick-release module is fixedly mounted on the rear side of the main body of the scissor fixing mechanism. The quick-release module is matched with the robotic arm of the scissor grinding robot, so that the robotic arm of the robot can be engaged with the quick-release module.

[0012] Furthermore, the pressing assembly includes a pressing cylinder fixedly disposed on the upper part of the fixed base plate. The output shaft of the pressing cylinder is connected to a limit block. One end of the limit block is connected to a limit shaft, and the lower end of the limit shaft is connected to a pressure block.

[0013] Furthermore, the main body of the scissor fixing mechanism includes a positioning plate. A side baffle is provided on the upper part of one side of the rear half of the positioning plate. After the scissors are placed on the positioning plate, the handle part of the scissors rests against the back of the side baffle. A support pin and a second positioning pin are respectively provided on the upper side of the front part of the positioning plate. After the scissors are placed on the positioning plate, the pin hole on the scissors is fitted onto the second positioning pin, and the tip part of the scissors overlaps with the support pin. The position of the pressure block corresponds to the position of the support pin.

[0014] Furthermore, a scissor-operated feeding mechanism includes the following steps in its feeding method:

[0015] S1. Place the surgical scissors onto the rotating tray, ensuring the pin holes on the scissors engage with the positioning pin on the tray. This positions the scissors, and the stop pin on the tray prevents displacement. Once positioned, the front end of the scissors rests on the annular protrusion, keeping them horizontal. The servo motor then drives the servo rotating platform, which in turn rotates the tray. Positioning pin one on the tray is positioned directly below the cylindrical pin on the electromagnet. The gripping device then moves the magnetic suction assembly downwards and energizes the electromagnet. As the lower end of the cylindrical pin contacts the positioning pin on the tray, the magnetic suction assembly continues to move downwards. Under the spring's elasticity, the cylindrical pin retracts into the movable slot on the electromagnet until the electromagnet attracts the surgical scissors. After being adsorbed, the gripping device 4 drives the magnetic suction component to move upward. At this time, the spring will reset the cylindrical pin, and the cylindrical pin will pass through the pin hole on the surgical scissors. The front end of the surgical scissors will be locked in the slot on the scissor fixing plate, which will limit the movement of the surgical scissors and prevent them from shifting.

[0016] S2. Finally, the gripping device places the surgical scissors onto the scissor fixing assembly, causing the electromagnet to lose its magnetism. The surgical scissors fall onto the scissor fixing assembly and are attracted to the positioning plate on the main body of the scissor fixing mechanism. The pin hole on the scissors fits into the positioning pin on the positioning plate, and the lower part of the tip of the scissors rests on the support pin, providing support for the scissors. The clamping device limits the movement of the main body of the scissor fixing mechanism. After the scissors are placed, the pressing cylinder drives the limiting block to move downward, causing the pressure block at the lower end of the limiting shaft to clamp the tip of the scissors. The dual-axis cylinder drives the scissor clamping block to move, causing the scissor clamping block to clamp the handle of the scissors. Then, the robot's robotic arm engages with the quick-release module. The pressing cylinder then drives the limiting block to move upward, causing the pressure block to leave the tip of the scissors. The robot then removes the quick-release module, lifting the main body of the scissor fixing mechanism. Finally, the robot performs the grinding operation on the scissors.

[0017] Beneficial effects

[0018] This invention provides a scissor-operated feeding mechanism and its usage method, which, compared with the prior art, have the following advantages:

[0019] Beneficial effects:

[0020] 1. This scissor-feeding mechanism uses a positioning pin and a stop pin to position the surgical scissors on a tray. Then, it uses magnetic attraction to pick up the scissors, making it easy to pick up the material. During the picking process, the cylindrical pin will engage with the pin hole on the surgical scissors due to the elasticity of the spring, and the front part of the surgical scissors will be locked in the slot on the scissor fixing plate, ensuring the stability of the scissor fixing plate during the picking and feeding process.

[0021] 2. When the scissors are placed on the main body of the scissor fixing mechanism, the dual-axis cylinder can effectively position and fix the scissors. Under the operation of the pressing cylinder, the robot can stably pick up the scissors through the quick-release module and then grind them, ensuring the stability of the scissors during the grinding process and thus improving the grinding efficiency of the scissors. Attached Figure Description

[0022] Figure 1 This is a schematic diagram of the structure of the present invention;

[0023] Figure 2 For the present invention Figure 1 A partially enlarged schematic diagram of the structure at point A;

[0024] Figure 3 This is a schematic diagram of the magnetic suction assembly of the present invention;

[0025] Figure 4 This is a schematic diagram of the installation of the cylindrical pin structure of the present invention;

[0026] Figure 5 This is a schematic diagram of the scissor fixing assembly of the present invention;

[0027] Figure 6 This is a schematic diagram of the main structure of the scissor fixing mechanism of the present invention.

[0028] In the diagram: 1. Machine frame; 2. Servo rotary platform; 3. Rotary tray; 31. Positioning pin one; 32. Annular protrusion; 33. Stop pin; 4. Gripping device; 5. Magnetic suction assembly; 51. Fixed bushing; 52. Tooling fixing plate; 53. Electromagnet; 54. Cylindrical pin; 55. Scissors fixing plate; 56. Slot; 57. Movable slot; 58. Spring; 6. Scissors fixing assembly; 61. Fixed base plate; 62. Dual-axis cylinder; 63. Main body of scissors fixing mechanism; 631. Positioning plate; 632. Support pin; 633. Positioning pin two; 634. Side baffle; 64. Scissors clamping block; 65. Clamp; 66. Pressing assembly; 661. Pressing cylinder; 662. Limiting block; 663. Limiting shaft; 664. Pressure block; 67. Quick release module. Detailed Implementation

[0029] The technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0030] Please see Figure 1-4 This invention provides three technical solutions:

[0031] Example 1

[0032] Please see Figure 1 In this embodiment of the invention, the scissor-feeding mechanism includes a machine frame 1, a servo rotating platform 2 is provided on the upper part of the machine frame 1, and a servo motor is installed at the bottom of the machine frame 1. The output shaft of the servo motor is connected to the bottom of the servo rotating platform 2 to drive the servo rotating platform 2 to rotate. A rotating material tray 3 is fixedly provided on the upper part of the servo rotating platform 2. A gripping device 4 is installed on one side of the rotating material tray 3 on the upper part of the machine frame 1. The output shaft of the gripping device 4 is connected to a magnetic suction assembly 5. A scissor fixing assembly 6 is installed on the upper part of the machine frame 1 in front of the gripping device 4.

[0033] Please see Figure 2 In this embodiment of the invention, a plurality of positioning pins 31 are arranged in a ring on the upper part of the rotating material tray 3. The positioning pins 31 match the pin holes on the surgical scissors. The upper part of the rotating material tray 3 is also provided with an annular protrusion 32. When the pin holes on the surgical scissors are engaged with the positioning pins 31 and placed radially, the front end of the surgical scissors just overlaps the annular protrusion 32, ensuring that the surgical scissors are in a horizontal state, which facilitates the suction operation.

[0034] Please see Figure 2 In this embodiment of the invention, the upper part of the rotating material tray 3 is also provided with a plurality of stop pins 33 arranged in a ring. When the pin hole on the surgical scissors is engaged with the positioning pin 31 and placed radially, the handle of the surgical scissors is in contact with the side of the stop pin 33, which plays a limiting role in the surgical scissors.

[0035] Example 2 differs from Example 1 in that:

[0036] Please see Figure 3-4In this embodiment of the invention, the magnetic suction assembly 5 includes a fixed bushing 51 installed on the output shaft of the gripping device 4. The lower end of the fixed bushing 51 is connected to a tooling fixing plate 52. One end of the tooling fixing plate 52 is connected to an electromagnet 53. A movable groove 57 is provided at the middle position of the bottom of the electromagnet 53. A cylindrical pin 54 is slidably embedded in the movable groove 57. A spring 58 is connected between the upper end of the cylindrical pin 54 and the upper side of the movable groove 57.

[0037] Please see Figure 1 and Figure 3 In this embodiment of the invention, the lower end of the cylindrical pin 54 protrudes into the interior of the movable groove 57. When the spring 58 is in a compressed state, the cylindrical pin 54 can be retracted into the interior of the movable groove 57. When the rotating material tray 3 rotates, each positioning pin 31 on the rotating material tray 3 can pass directly below the cylindrical pin 54, so that the electromagnet 53 can pick up the surgical scissors.

[0038] Please see Figure 3 In this embodiment of the invention, a scissor fixing plate 55 is vertically connected to the lower part of one end of the tooling fixing plate 52 at a position on one side of the electromagnet 53. A slot 56 is provided on the lower side of the scissor fixing plate 55. The upper side of the inside of the slot 56 is flush with the lower end of the electromagnet 53. The front end of the surgical scissors can be inserted into the slot 56. When the surgical scissors are picked up, the slot 56 is used to limit the movement of the surgical scissors.

[0039] Example 3 differs from Examples 1 and 2 in that:

[0040] Please see Figure 5 In this embodiment of the invention, the scissor fixing assembly 6 includes a fixing base plate 61 and a dual-axis cylinder 62. A scissor fixing mechanism body 63 is fixedly disposed on the upper part of the dual-axis cylinder 62. The lower front part of the scissor fixing mechanism body 63 overlaps on the fixing base plate 61. There is no connection between the dual-axis cylinder 62 and the fixing base plate 61. A scissor clamping block 64 is disposed on the scissor fixing mechanism body 63. A clamp 65 is fixedly disposed on one side of the front end of the scissor fixing mechanism body 63. A pressing assembly 66 is fixedly disposed on the upper part of the fixing base plate 61 at the other side of the front end of the scissor fixing mechanism body 63. A quick-release module 67 is fixedly disposed on the rear side of the scissor fixing mechanism body 63. The quick-release module 67 is matched with the robotic arm of the scissor grinding robot, so that the robotic arm of the robot can be engaged with the quick-release module 67.

[0041] Please see Figure 5In this embodiment of the invention, the pressing component 66 includes a pressing cylinder 661 fixedly disposed on the upper part of the fixed base plate 61. The output shaft of the pressing cylinder 661 is connected to a limiting block 662. One end of the limiting block 662 is connected to a limiting shaft 663. The lower end of the limiting shaft 663 is connected to a pressing block 664. The pressing cylinder 661 drives the limiting block 662 to move downward, so that the pressing block 664 at the lower end of the limiting shaft 663 clamps the tip of the scissors.

[0042] Please see Figure 6 In this embodiment of the invention, the main body 63 of the scissor fixing mechanism includes a positioning plate 631. A side baffle 634 is provided on the upper part of one side of the rear half of the positioning plate 631. After the scissors are placed on the positioning plate 631, the handle part of the scissors rests against the back of the side baffle 634. A support pin 632 and a second positioning pin 633 are respectively provided on the upper side of the front part of the positioning plate 631. After the scissors are placed on the positioning plate 631, the pin hole on the scissors is fitted onto the second positioning pin 633, and the tip part of the scissors overlaps with the support pin 632. The position of the pressure block 664 corresponds to the position of the support pin 632.

[0043] In this embodiment of the invention, a scissor-feeding mechanism includes the following steps for feeding materials:

[0044] S1. Place the surgical scissors onto the rotating tray 3, ensuring the pin holes on the scissors engage with the positioning pin 31 on the rotating tray 3. This positions the scissors. The stop pin 33 on the rotating tray 3 prevents the scissors from shifting. After placement, the front end of the scissors rests on the annular protrusion 32, keeping them horizontal. Then, the servo motor drives the servo rotating platform 2 to rotate, which in turn rotates the rotating tray 3. This positions the positioning pin 31 on the rotating tray 3 directly below the cylindrical pin 54 on the electromagnet 53. At this point, the gripping device 4 moves the magnetic suction assembly 5 towards... The magnetic suction assembly 5 continues to move downwards, and the electromagnet 53 is energized. When the lower end of the cylindrical pin 54 contacts the positioning pin 31 on the rotating tray 3, the cylindrical pin 54 will retract into the movable groove 57 on the electromagnet 53 under the elasticity of the spring 58, until the electromagnet 53 attracts the surgical scissors. After being attracted, the gripping device 4 drives the magnetic suction assembly 5 to move upwards. At this time, the spring 58 will reset the cylindrical pin 54. The cylindrical pin 54 will pass through the pin hole on the surgical scissors, and the front end of the surgical scissors will be stuck in the slot 56 on the scissor fixing plate 55, which plays a limiting role in the surgical scissors and prevents the surgical scissors from shifting.

[0045] S2. Finally, the gripping device 4 places the surgical scissors onto the scissor fixing assembly 6, causing the electromagnet 53 to lose its magnetism. The surgical scissors will fall onto the scissor fixing assembly 6, attracting them to the positioning plate 631 on the main body 63 of the scissor fixing mechanism. This allows the pin holes on the scissors to fit into the positioning pins 633 on the positioning plate 631, while the lower part of the tip of the scissors rests on the support pin 632, providing support for the scissors. The clamp 65 limits the position of the main body 63 of the scissor fixing mechanism. After the scissors are placed, the pressing cylinder 661 drives the limiting block 662 downward, causing the pressure block 664 at the lower end of the limiting shaft 663 to move downward. The tip of the scissors is clamped, and the dual-axis cylinder 62 drives the scissor clamping block 64 to move, so that the scissor clamping block 64 clamps the handle of the scissors. Then, the robot's mechanical arm is attached to the quick-release module 67. Then, the pressing cylinder 661 drives the limiting block 662 to move upward, so that the clamping block 664 is removed from the tip of the scissors. Then, the robot removes the quick-release module 67 to lift the main body 63 of the scissor fixing mechanism. Finally, the robot performs grinding work on the scissors.

[0046] Furthermore, any content not described in detail in this specification is existing technology known to those skilled in the art.

Claims

1. A shear-operated feeding mechanism, comprising a machine frame (1), characterized in that: The upper part of the machine frame (1) is provided with a servo rotating platform (2), and the bottom of the machine frame (1) is equipped with a servo motor. The output shaft of the servo motor is connected to the bottom of the servo rotating platform (2) to drive the servo rotating platform (2) to rotate. The upper part of the servo rotating platform (2) is fixedly provided with a rotating material tray (3). The upper part of the machine frame (1) is equipped with a gripping device (4) located on one side of the rotating material tray (3). The output shaft of the gripping device (4) is connected to a magnetic suction assembly (5). The upper part of the machine frame (1) is equipped with a scissor fixing assembly (6) located in front of the gripping device (4). The upper part of the rotating material tray (3) is provided with a number of positioning pins (31) arranged in a ring. The positioning pins (31) match the pin holes on the surgical scissors. The upper part of the rotating material tray (3) is also provided with a ring protrusion (32). When the pin hole on the surgical scissors is engaged with the positioning pin (31) and placed radially, the front end of the surgical scissors just overlaps the ring protrusion (32). The upper part of the rotating tray (3) is also provided with several stop pins (33) arranged in a ring. When the pin hole on the surgical scissors is engaged with the positioning pin (31) and placed radially, the handle of the surgical scissors is in contact with the side of the stop pin (33). The magnetic suction assembly (5) includes a fixed bushing (51) installed on the output shaft of the gripping device (4). The lower end of the fixed bushing (51) is connected to a tooling fixing plate (52). One end of the tooling fixing plate (52) is connected to an electromagnet (53). A movable groove (57) is provided at the middle position of the bottom of the electromagnet (53). A cylindrical pin (54) is slidably embedded in the movable groove (57). A spring (58) is connected between the upper end of the cylindrical pin (54) and the upper side of the inside of the movable groove (57). The lower end of the cylindrical pin (54) protrudes into the interior of the movable groove (57). When the spring (58) is in a compressed state, the cylindrical pin (54) can be retracted into the interior of the movable groove (57). When the rotating material plate (3) rotates, each positioning pin (31) on the rotating material plate (3) can pass directly below the cylindrical pin (54). The lower part of one end of the tooling fixing plate (52) is vertically connected to the scissor fixing plate (55) at one side of the electromagnet (53). The lower side of the scissor fixing plate (55) is provided with a slot (56). The upper side of the inside of the slot (56) is flush with the lower end of the electromagnet (53), and the front end of the surgical scissors can be inserted into the slot (56).

2. The scissor-feeding mechanism according to claim 1, characterized in that: The scissor fixing assembly (6) includes a fixed base plate (61) and a dual-axis cylinder (62). The upper part of the dual-axis cylinder (62) is fixedly provided with a scissor fixing mechanism body (63). The lower front part of the scissor fixing mechanism body (63) overlaps on the fixed base plate (61). There is no connection between the dual-axis cylinder (62) and the fixed base plate (61). A scissor clamping block (64) is provided on the scissor fixing mechanism body (63). A clamp (65) is fixedly provided on one side of the front end of the scissor fixing mechanism body (63). A pressing assembly (66) is fixedly provided on the upper part of the fixed base plate (61) at the other side of the front end of the scissor fixing mechanism body (63). A quick-release module (67) is fixedly provided on the rear side of the scissor fixing mechanism body (63). The quick-release module (67) is matched with the manipulator of the scissor grinding robot so that the manipulator of the robot can be snapped onto the quick-release module (67).

3. The scissor-feeding mechanism according to claim 2, characterized in that: The pressing assembly (66) includes a pressing cylinder (661) fixedly disposed on the upper part of the fixed base plate (61). The output shaft of the pressing cylinder (661) is connected to a limit block (662). One end of the limit block (662) is connected to a limit shaft (663). The lower end of the limit shaft (663) is connected to a pressure block (664).

4. The scissor-feeding mechanism according to claim 3, characterized in that: The main body (63) of the scissor fixing mechanism includes a positioning plate (631). A side baffle (634) is provided on the upper part of one side of the rear half of the positioning plate (631). After the scissors are placed on the positioning plate (631), the handle part of the scissors rests against the back of the side baffle (634). A support pin (632) and a second positioning pin (633) are respectively provided on the upper side of the front part of the positioning plate (631). After the scissors are placed on the positioning plate (631), the pin hole on the scissors is fitted onto the second positioning pin (633), and the tip part of the scissors overlaps on the support pin (632). The position of the pressure block (664) corresponds to the position of the support pin (632).

5. A method of using the scissor-feeding mechanism according to any one of claims 1 to 4, characterized in that, Includes the following steps: S1. Place the surgical scissors onto the rotating tray (3) and engage the pin hole on the surgical scissors with the positioning pin (31) on the rotating tray (3), thus positioning the surgical scissors. The stop pin (33) on the rotating tray (3) blocks the surgical scissors, preventing them from shifting. After the surgical scissors are placed, the front end of the surgical scissors will overlap the annular protrusion (32), keeping the surgical scissors horizontal. Then, the servo motor drives the servo rotating platform (2) to rotate, which in turn drives the rotating tray (3) to rotate, so that the positioning pin (31) on the rotating tray (3) is directly below the cylindrical pin (54) on the electromagnet (53). At this time, the gripping device (4) moves the magnetic suction assembly (5) downward. The movement is activated and the electromagnet (53) is energized. When the lower end of the cylindrical pin (54) contacts the positioning pin (31) on the rotating tray (3), as the magnetic suction assembly (5) continues to move downward, under the elasticity of the spring (58), the cylindrical pin (54) will retract into the movable groove (57) on the electromagnet (53) until the electromagnet (53) attracts the surgical scissors. After being attracted, the gripping device 4 drives the magnetic suction assembly (5) to move upward. At this time, the spring (58) will reset the cylindrical pin (54). The cylindrical pin (54) will pass through the pin hole on the surgical scissors, and the front end of the surgical scissors will be stuck in the slot (56) on the scissor fixing plate (55), which plays a limiting role for the surgical scissors and prevents the surgical scissors from shifting. S2. Finally, the gripping device (4) places the surgical scissors onto the scissor fixing assembly (6), causing the electromagnet (53) to lose its magnetism. The surgical scissors will fall onto the scissor fixing assembly (6), attracting them to the positioning plate (631) on the main body (63) of the scissor fixing mechanism. This causes the pin holes on the scissors to fit into the positioning pins (633) on the positioning plate (631), while the lower part of the tip of the scissors rests on the support pin (632), providing support for the scissors. The clamp (65) limits the movement of the main body (63) of the scissor fixing mechanism. After the scissors are placed, the pressing cylinder (661) drives the limiting mechanism. The block (662) moves downward, causing the pressure block (664) at the lower end of the limiting shaft (663) to clamp the tip of the scissors. The dual-axis cylinder (62) drives the scissor clamping block (64) to move, causing the scissor clamping block (64) to clamp the handle of the scissors. Then, the robot's manipulator is attached to the quick-release module (67). Then, the pressing cylinder (661) drives the limiting block (662) to move upward, causing the pressure block (664) to leave the tip of the scissors. Then, the robot removes the quick-release module (67) to lift the main body (63) of the scissor fixing mechanism. Finally, the robot grinds the scissors.

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