A cosmetic material sorting robot

Abstract

The present invention relates to the technical field of robots, and specifically relates to a cosmetic material sorting robot, which includes a robot main body. A lifting seat is installed in the robot main body in a lifting manner. A diffusion seat is annularly arranged on the lifting seat. A movable seat is arranged in the diffusion seat. A sliding rod is slidably installed on the movable seat. The bottom of the sliding rod is installed with a base. The base is installed with a gripper through a suspension rod. A support rod is rotatably installed on the gripper in a fixed direction. A guide wheel is installed on the support rod. The bottom of the robot main body is installed with a multi-directional seat with adjustable height. The multi-directional seat is located above the gripper. The multi-directional seat is provided with at least three arc-shaped surfaces, and the arc-shaped surfaces are arranged facing the suspension rod. A fixed guide plate is arranged on the arc-shaped surface. A bent guide plate is connected to the fixed guide plate. The top of the bent guide plate is connected with an elastic suspension rope. A push rod is movably installed in the multi-directional seat. The sorting robot of the present invention is arranged in a cosmetic production line and can quickly throw out materials to complete efficient sorting.

Description

Technical Field

[0001] The present invention relates to the technical field of robots, and specifically to a cosmetic material sorting robot. Background Art

[0002] Generally, the production process of cosmetics involves various raw materials and ingredients, and processes such as sorting, mixing, and packaging need to be carried out on the production line. Traditional cosmetic production methods have problems such as low efficiency, high cost, and easy errors in manual sorting. Therefore, the introduction of sorting robots has become an important means to improve production efficiency and reduce production costs. A cosmetic sorting robot is a device that realizes automatic classification and sorting of cosmetic materials through advanced sensing, motion technology, and intelligent algorithms. It can accurately sort different types of cosmetic raw materials according to the types, specifications of cosmetics, and the requirements of the target area, greatly improving production efficiency and quality stability.

[0003] Currently, the robots used for cosmetic material sorting are general industrial robots. Usually, they use a manipulator to transfer production materials point to point. The manipulator can move vertically and horizontally to place the materials stably. Therefore, when sorting a material, its travel and required time are very long. At present, most cosmetic materials are well packaged and have a certain anti-drop ability. The slow movement of the sorting robot has become the main factor restricting the material sorting speed. Summary of the Invention

[0004] The purpose of the present invention is to provide a cosmetic material sorting robot to solve the problems raised in the above background art.

[0005] To achieve the above purpose, the present invention provides the following technical solution: A cosmetic material sorting robot, including a robot main body. An elevating seat is installed in the robot main body in a lifting manner, and at least three diffusion seats are annularly arranged on the elevating seat. An activity groove is provided in the diffusion seat, and an activity seat is slidably installed in the activity groove. A transverse spring is fixedly connected to the activity seat, and a sliding rod is slidably installed on the activity seat. A vertical spring is fixedly connected to the sliding rod, and a base is installed at the bottom of the sliding rod. The base installs a gripper through a suspension rod, and the suspension rod is connected between the base and the gripper through a spherical pair. A sponge suction cup is connected to the gripper, and a support rod is rotatably installed on the gripper in a fixed direction, and a guide wheel is installed on the support rod. A multi-directional seat with adjustable height is installed at the bottom of the robot main body, and the multi-directional seat is located above the gripper. The multi-directional seat is provided with at least three arc surfaces, and the arc surfaces are arranged facing the suspension rod. A fixed guide plate is provided on the arc surface, a bent guide plate is connected to the fixed guide plate, and an elastic suspension rope is connected to the top of the bent guide plate. A push rod is movably installed in the multi-directional seat, and the push rod can change the bending angle of the bent guide plate by pushing it. The pushing distance of the push rod is controlled by an adjustment mechanism in the multi-directional seat.

[0006] Preferably, the robot body is fixedly installed in the cosmetic production line through a hanging bracket, and a lifting guide rail is installed in the cavity of the robot body. The lifting seat is driven by the lifting guide rail, and the diffusion seat is connected in the limiting groove of the robot body.

[0007] Preferably, the movable groove is horizontally arranged along the direction of the diffusion seat, and a transverse spring is connected in the movable groove. The sliding rod is arranged through the movable seat, and the vertical spring is connected to the top end of the sliding rod.

[0008] Preferably, an upper spherical seat is installed on the base, and a lower spherical seat is installed on the gripper. The suspension rod is connected between the upper spherical seat and the lower spherical seat, and the lower spherical seat is annularly arranged on the gripper. An air supply joint is arranged on the sponge suction cup, and the air supply joint is externally connected to a pneumatic control device through an air pipe.

[0009] Preferably, a switching shaft is arranged on the top surface of the gripper, and a switching frame is connected to the switching shaft. The support rod is installed on the switching frame, and a guide wheel is installed at the top end of the support rod. By rotating the switching shaft, the switching frame can be rotated to the side of a certain suspension rod.

[0010] Preferably, a telescopic rod is installed at the bottom of the robot body, and a driving seat is arranged at the end of the telescopic rod. The multi-directional guide seat is installed on the driving seat, and a cavity is arranged in the multi-directional guide seat.

[0011] Preferably, the fixed guide plate is installed on the lower half of the arc surface, and the bent guide plate is located on the upper half of the arc surface. The suspension rope is a telescopic rope, and the suspension rope is connected between the bent guide plate and the multi-directional guide seat.

[0012] Preferably, a guide support is annularly arranged in the cavity of the multi-directional guide seat, and the guide support is arranged towards the arc surface. The push rod is slidably installed in the guide support, and a balance spring is fixedly connected to the push rod.

[0013] Preferably, a pressing head is rotatably installed at the front end of the push rod, and the pressing head is in contact connection with the inner wall of the bent guide plate. A pressure receiving seat with an arc surface is fixedly connected to the end of the push rod.

[0014] Preferably, an adjusting shaft is arranged on the driving seat, and the adjusting shaft is driven by a servo driving device in the driving seat. The adjusting shaft is located in the cavity of the multi-directional guide seat, and a multi-directional cam is connected to the adjusting shaft. The multi-directional cam is in contact connection with the pressure receiving seat.

[0015] Compared with the prior art, the beneficial effects of the present invention are:

[0016] 1. The sorting robot of the present invention is arranged in a cosmetics production line. In the robot body, a lifting seat is installed through a lifting guide rail, so as to generate vertical movement. By relying only on the drive in the vertical direction, the action of throwing the material is achieved, and the material transfer is completed quickly, improving the sorting speed. The materials can enter the sorting conveyor belt more densely.

[0017] 2. A plurality of diffusion seats are arranged through the lifting seat. The boom is installed in multiple directions by using the diffusion seats. Then, a gripper with a sponge suction cup is arranged by using a plurality of booms. The boom is installed through components such as a movable seat and a slide rod. The movable seat can move horizontally in the movable groove, and the slide rod can move vertically on the movable seat. Therefore, for a single boom, it can translate within a certain limit and also lift within a certain limit. At the same time, both ends of the boom are connected through a spherical pair, so the boom has the ability to rotate in multiple directions. The gripper is connected between multiple booms. After being guided to one side, the gripper can swing towards that side. When the gripper lifts the material, the guiding structure drives the gripper to swing to one side, and the guiding structure can be rotated by a switching shaft, thereby controlling the swinging direction of the gripper and throwing the material to that side to achieve the sorting effect.

[0018] 3. The guide plates in the present invention are divided into a fixed guide plate and a bent guide plate. The heights of the fixed guide plate and the bent guide plate can be adjusted by driving a multi-directional guide seat to lift through a telescopic rod. The rising distance of the gripper and the material is fixed. When the height of the multi-directional guide seat is low, the guide wheel can move along the fixed guide plate and the bent guide plate, and the horizontal moving distance of the gripper is longer, so that the material has a greater horizontal initial velocity. On the contrary, when the height of the multi-directional guide seat is high, the guide wheel only contacts a part of the fixed guide plate, and the horizontal moving distance of the gripper is shorter, and the material has a smaller horizontal initial velocity. For materials of different weights, by adjusting the horizontal initial velocity, they can be controlled within the same landing range to ensure that the materials can fall into the corresponding receiving device.

[0019] 4. The bent guide plate in the present invention can also be pushed from the inside to deform and change the bending degree, so as to adjust the horizontal moving distance of the gripper and change the landing point of the material. In addition to using its own toughness, the bent guide plate is restricted by an elastic suspension rope to prevent it from deforming excessively. Description of the Drawings

[0020] Figure 1 It is the first three-dimensional schematic diagram of the structure of the present invention.

[0021] Figure 2 It is the second three-dimensional schematic diagram of the structure of the present invention.

[0022] Figure 3 It is the third three-dimensional schematic diagram of the structure of the present invention.

[0023] Figure 4 This is the first schematic diagram of the boom structure of the present invention.

[0024] Figure 5 This is the schematic diagram of the movable seat structure of the present invention.

[0025] Figure 6 This is the second schematic diagram of the boom structure of the present invention.

[0026] Figure 7 This is the schematic diagram of the sponge suction cup structure of the present invention.

[0027] Figure 8 This is the schematic diagram of the switching frame and guide rod structure of the present invention.

[0028] Figure 9 This is the schematic diagram of the multi-directional seat structure of the present invention.

[0029] Figure 10 This is the internal schematic diagram of the multi-directional seat structure of the present invention.

[0030] Figure 11 This is the schematic diagram of the fixed guide plate and bent guide plate structure in the present invention.

[0031] In the figure: 1, robot main body; 2, hanging frame; 3, lifting guide rail; 4, lifting seat; 5, diffusion seat; 6, movable slot; 7, movable seat; 8, horizontal spring; 9, sliding rod; 10, vertical spring; 11, base; 12, upper spherical seat; 13, boom; 14, lower spherical seat; 15, gripper; 16, sponge suction cup; 17, air supply joint; 18, air pipe; 19, switching shaft; 20, switching frame; 21, support rod; 22, guide wheel; 23, telescopic rod; 24, driving seat; 25, multi-directional seat; 26, fixed guide plate; 27, bent guide plate; 28, suspension rope; 29, guide support; 30, push rod; 31, pressing head; 32, pressed seat; 33, balance spring; 34, adjusting shaft; 35, multi-directional cam. Detailed implementation manners

[0032] Next, the technical solutions in the embodiments of the present invention will be clearly and completely described in conjunction with the accompanying drawings in the embodiments of the present invention. Obviously, the described embodiments are only a part of the embodiments of the present invention, rather than all the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those of ordinary skill in the art without creative efforts shall fall within the protection scope of the present invention.

[0033] Please refer to Figures 1 to 11, the present invention provides a technical solution: a cosmetic material sorting robot, including a robot main body 1, in which a lifting seat 4 is installed in a lifting manner, and at least three diffusion seats 5 are annularly arranged on the lifting seat 4. An activity groove 6 is arranged in the diffusion seat 5, and an activity seat 7 is slidably installed in the activity groove 6. A transverse spring 8 is fixedly connected to the activity seat 7, and a sliding rod 9 is slidably installed on the activity seat 7. A vertical spring 10 is fixedly connected to the sliding rod 9, and a base 11 is installed at the bottom of the sliding rod 9. The base 11 installs a gripper 15 through a suspension rod 13, and the suspension rod 13 is connected between the base 11 and the gripper 15 through a spherical pair. A sponge suction cup 16 is connected to the gripper 15, and a support rod 21 is rotatably installed on the gripper 15 in a directional manner, and a guide wheel 22 is installed on the support rod 21. The bottom of the robot main body 1 is installed with a multi-directional seat 25 with adjustable height, and the multi-directional seat 25 is located above the gripper 15. The multi-directional seat 25 is provided with at least three arc surfaces, and the arc surfaces are arranged facing the suspension rod 13. A fixed guide plate 26 is arranged on the arc surface, a bent guide plate 27 is connected to the fixed guide plate 26, and an elastic suspension rope 28 is connected to the top of the bent guide plate 27. A push rod 30 is movably installed in the multi-directional seat 25, and the push rod 30 can change the bending angle by pushing the bent guide plate 27. The pushing distance of the push rod 30 is controlled by an adjustment mechanism in the multi-directional seat 25.

[0034] As Figure 1 , Figure 2 shown, the robot main body 1 is fixedly installed in the cosmetic production line through a suspension frame 2, and a lifting guide rail 3 is installed in the cavity of the robot main body 1. The lifting seat 4 is driven by the lifting guide rail 3, and the diffusion seat 5 is connected in the limit groove of the robot main body 1.

[0035] The sorting robot of the present invention is arranged in the cosmetic production line. The robot main body 1 is different from the traditional sorting robot. It is fixedly installed by using the suspension frame 2 instead of a structure that can move horizontally. Among them, the lifting seat 4 is installed through the lifting guide rail 3, so as to generate a vertical movement. Only relying on the vertical drive to complete the action of throwing the material, quickly complete the material transfer, improve the sorting speed, and the materials can enter the sorting conveyor belt more densely.

[0036] As Figures 3 to 6 shown, the activity groove 6 is horizontally arranged along the direction of the diffusion seat 5, and the transverse spring 8 is connected in the activity groove 6. The sliding rod 9 penetrates through the activity seat 7, and the vertical spring 10 is connected to the top end of the sliding rod 9. An upper spherical seat 12 is installed on the base 11, and a lower spherical seat 14 is installed on the gripper 15. The suspension rod 13 is connected between the upper spherical seat 12 and the lower spherical seat 14, and the lower spherical seat 14 is annularly arranged on the gripper 15. An air supply joint 17 is arranged on the sponge suction cup 16, and the air supply joint 17 is externally connected to a pneumatic control device through an air pipe 18.

[0037] On the lifting seat 4 of the present invention, a plurality of diffusion seats 5 are provided. The boom 13 is installed in multiple directions by using the diffusion seats 5. Thus, the gripper 15 with the sponge suction cup 16 is arranged by using a plurality of booms 13. And the boom 13 is installed through components such as the movable seat 7 and the slide bar 9. The movable seat 7 can move horizontally in the movable groove 6, while the slide bar 9 can move vertically on the movable seat 7. Therefore, for a single boom 13, it can translate within a certain limit and also lift within a certain limit. At the same time, both ends of the boom 13 are connected by a spherical pair. Therefore, the boom 13 has the ability of multi-directional rotation. The gripper 15 is connected between a plurality of booms 13. Under normal circumstances, the gripper 15 is balanced and suspended at the bottom of a plurality of booms 13, located at the center below the robot body 1. After being guided to one side, the gripper 15 can swing towards that side. When grabbing materials, first, the lifting seat 4 descends. After the sponge suction cup 16 on the gripper 15 contacts the materials, a negative pressure is formed at the sponge suction cup 16 through the air pipe 18 and the air supply joint 17, and the materials are adsorbed on the sponge suction cup 16. Subsequently, the lifting seat 4 rises again to lift the materials up.

[0038] As Figure 7 , Figure 8 As shown, a switching shaft 19 is arranged on the top surface of the gripper 15, and a switching frame 20 is connected to the switching shaft 19. The support rod 21 is installed on the switching frame 20, and the guide wheel 22 is installed at the top end of the support rod 21. By rotating the switching shaft 19, the switching frame 20 can be rotated to the side of a certain boom 13.

[0039] A guiding structure is arranged on the gripper 15. Thus, when the gripper 15 drives the materials to move upward, the guiding structure drives the gripper 15 to swing to one side. And the guiding structure can be rotated by the switching shaft 19, thereby controlling the swinging direction of the gripper 15. The switching shaft 19 can drive the switching frame 20 to rotate, so that the support rod 21 rotates to a certain boom 13. The guide wheel 22 on the support rod 21 is used to contact the guide plate to guide the gripper 15 towards the direction of that boom 13. When the gripper 15 drives the materials to rise, the materials can have a vertical speed. After being guided by the arc-shaped guide plate, the materials can increase the horizontal speed. After the materials are separated from the sponge suction cup 16, they can be thrown out in a parabolic shape and fall into the receiving device to complete the rapid sorting work.

[0040] As Figures 9 to 11As shown, a telescopic rod 23 is installed at the bottom of the robot body 1, and a driving seat 24 is provided at the end of the telescopic rod 23. A multi-directional guide seat 25 is installed on the driving seat 24, and a cavity is provided in the multi-directional guide seat 25. A fixed guide plate 26 is installed on the lower half of the arc surface, and a bent guide plate 27 is located on the upper half of the arc surface. The suspension rope 28 is a telescopic rope, and the suspension rope 28 is connected between the bent guide plate 27 and the multi-directional guide seat 25.

[0041] The guide plates are divided into a fixed guide plate 26 and a bent guide plate 27, and the heights of the fixed guide plate 26 and the bent guide plate 27 can be adjusted by driving the multi-directional guide seat 25 to rise and fall through the telescopic rod 23. The rising distance of the gripper 15 and the material is fixed. When the height of the multi-directional guide seat 25 is low, the guide wheel 22 can move along the fixed guide plate 26 and the bent guide plate 27, and the horizontal moving distance of the gripper 15 is longer, so that the material has a greater horizontal initial velocity. On the contrary, when the height of the multi-directional guide seat 25 is high, the guide wheel 22 only contacts part of the fixed guide plate 26, the horizontal moving distance of the gripper 15 is shorter, and the material has a smaller horizontal initial velocity. For materials of different weights, by adjusting the horizontal initial velocity, they can be controlled within the same landing range.

[0042] As Figures 9 to 11 shown, a guide support 29 is annularly arranged in the cavity of the multi-directional guide seat 25, and the guide support 29 is arranged towards the arc surface. A push rod 30 is slidably installed in the guide support 29, and a balance spring 33 is fixedly connected to the push rod 30. The front end of the push rod 30 is rotatably installed with a pressure head 31, and the pressure head 31 is in contact connection with the inner wall of the bent guide plate 27. The end of the push rod 30 is fixedly connected with a pressure receiving seat 32 with an arc surface. An adjusting shaft 34 is provided on the driving seat 24, and the adjusting shaft 34 is driven by a servo driving device in the driving seat 24. The adjusting shaft 34 is located in the cavity of the multi-directional guide seat 25, and a multi-directional cam 35 is connected to the adjusting shaft 34. The multi-directional cam 35 is in contact connection with the pressure receiving seat 32.

[0043] Furthermore, the bent guide plate 27 can also be pushed from the inside to deform and change its bending degree, so as to adjust the horizontal moving distance of the gripper 15 and change the landing point of the material. In addition to using its own toughness, the bent guide plate 27 is restricted by the elastic suspension rope 28. When adjustment is required, the multi-directional cam 35 is driven to rotate by the adjusting shaft 34. The multi-directional cam can push the pressure receiving seat 32, so that the push rod 30 moves against the balance spring 33. The inner wall of the bent guide plate 27 is pressed by the pressure head 31 at the end of the push rod 30 to change its guiding inclination angle.

[0044] When the present invention is in use: First, the sorting robot of the present invention is arranged in a cosmetics production line. The robot body 1 is different from traditional sorting robots. It is fixedly installed by using a hanging bracket 2 instead of a structure that can move horizontally. Among them, a lifting seat 4 is installed through a lifting guide rail 3, so as to generate vertical movement. Only relying on the drive in the vertical direction to complete the action of throwing the material, quickly complete the material transfer, improve the sorting speed, and the material can enter the sorting conveyor belt more densely. A plurality of diffusion seats 5 are arranged on the lifting seat 4. The boom 13 is installed in multiple directions by using the diffusion seat 5. Thus, the gripper 15 with a sponge suction cup 16 is arranged by using a plurality of booms 13. And the boom 13 is installed through components such as a movable seat 7 and a sliding rod 9. The movable seat 7 can move horizontally in the movable groove 6, and the sliding rod 9 can move vertically on the movable seat 7. Therefore, for a single boom 13, it can translate within a certain limit and also lift within a certain limit. At the same time, both ends of the boom 13 are connected by a spherical pair. Therefore, the boom 13 has the ability to rotate in multiple directions. The gripper 15 is connected between a plurality of booms 13. Under normal circumstances, the gripper 15 is balanced and suspended at the bottom of a plurality of booms 13, located at the center below the robot body 1. After being guided to one side, the gripper 15 can swing towards that side. When grabbing the material, first, the lifting seat 4 descends. After the sponge suction cup 16 on the gripper 15 contacts the material, a negative pressure is formed at the sponge suction cup 16 through the air pipe 18 and the air supply joint 17 to adsorb the material on the sponge suction cup 16. Subsequently, the lifting seat 4 rises again to lift the material. The gripper 15 is provided with a guiding structure. Thus, when the gripper 15 drives the material to move upward, the guiding structure drives the gripper 15 to swing to one side. And the guiding structure can be driven to rotate by the switching shaft 19, thereby controlling the swinging direction of the gripper 15. The switching shaft 19 can drive the switching frame 20 to rotate, so that the support rod 21 rotates to a certain boom 13. The guiding wheel 22 on the support rod 21 contacts the guide plate to guide the gripper 15 towards the direction of that boom 13. When the gripper 15 drives the material to rise, the material can have a vertical velocity. After being guided by the arc-shaped guide plate, the material can increase its horizontal velocity. After the material is separated from the sponge suction cup 16, it can be thrown out in a parabolic shape and fall into the receiving device to complete the rapid sorting work. The guide plate is divided into a fixed guide plate 26 and a bent guide plate 27. And the heights of the fixed guide plate 26 and the bent guide plate 27 can be adjusted by driving the multi-directional guide seat 25 to lift through the telescopic rod 23. The rising distance of the gripper 15 and the material is fixed. When the height of the multi-directional guide seat 25 is low, the guiding wheel 22 can follow the fixed guide plate 26 and the bent guide plate 27 to the end, and the horizontal moving distance of the gripper 15 is longer, making the material have a greater horizontal initial velocity. On the contrary, when the height of the multi-directional guide seat 25 is high, the guiding wheel 22 only contacts a part of the fixed guide plate 26, and the horizontal moving distance of the gripper 15 is shorter.The material has a smaller horizontal initial velocity. For materials of different weights, by adjusting the horizontal initial velocity, they can be controlled within the same landing range. Further, the bending guide plate 27 can also be pushed from the inside to deform and change the bending degree, achieving the effect of adjusting the horizontal moving distance of the gripper 15 and changing the landing point of the material. The bending guide plate 27 is restricted not only by its own toughness but also by an elastic suspension rope 28. When adjustment is required, the multi-directional cam 35 is rotated by the adjustment shaft 34. The multi-directional cam can push the pressure-receiving seat 32, causing the push rod 30 to move against the balance spring 33. The inner wall of the bending guide plate 27 is pressed by the pressing head 31 at the end of the push rod 30, changing its guiding inclination angle.

[0045] Although embodiments of the present invention have been shown and described, it will be understood by those of ordinary skill in the art that various changes, modifications, substitutions, and variations can be made to these embodiments without departing from the principles and spirit of the present invention. The scope of the present invention is defined by the appended claims and their equivalents.

Claims

1. A cosmetic material sorting robot, comprising a robot body (1), characterized in that: A lifting seat (4) is installed in the robot body (1) for lifting, and at least three diffusion seats (5) are arranged in an annular manner on the lifting seat (4); a movable groove (6) is arranged in the diffusion seat (5), and a movable seat (7) is slidably installed in the movable groove (6); a transverse spring (8) is fixedly connected to the movable seat (7), and a slide rod (9) is slidably installed on the movable seat (7); a vertical spring (10) is fixedly connected to the slide rod (9), and a base (11) is installed at the bottom of the slide rod (9); a gripper (15) is installed on the base (11) through a suspension rod (13), and the suspension rod (13) is connected between the base (11) and the gripper (15) through a spherical pair; a sponge suction cup (16) is connected to the gripper (15), and a support rod is installed on the gripper (15) for directional rotation. (21), and a guide wheel (22) is installed on the support rod (21), a height-adjustable multi-directional guide seat (25) is installed at the bottom of the robot body (1), and the multi-directional guide seat (25) is located above the gripper (15), and the multi-directional guide seat (25) is provided with at least three arc-shaped surfaces, and the arc-shaped surfaces are arranged toward the suspension rod (13), and a fixed guide plate (26) is provided on the arc-shaped surface, and a bending guide plate (27) is connected to the fixed guide plate (26), and an elastic suspension rope (28) is connected to the top of the bending guide plate (27), a push rod (30) is movably installed in the multi-directional guide seat (25), and the push rod (30) can change the bending angle of the bending guide plate (27) by pushing it, and the pushing distance of the push rod (30) is controlled by an adjustment mechanism in the multi-directional guide seat (25); The fixed guide plate (26) is installed on the lower half of the arc surface, and the bending guide plate (27) is located on the upper half of the arc surface. The hanging rope (28) is a telescopic rope, and the hanging rope (28) is connected between the bending guide plate (27) and the multi-direction guide seat (25); A guide support (29) is provided in an annular manner in the cavity of the multi-directional guide seat (25), and the guide support (29) is arranged toward the arc-shaped surface. The push rod (30) is slidably mounted in the guide support (29), and a balance spring (33) is fixedly connected to the push rod (30); A pressure head (31) is rotatably mounted on the front end of the push rod (30), and the pressure head (31) is in contact with the inner wall of the bending guide plate (27), and a pressure seat (32) with an arc surface is fixedly connected to the end of the push rod (30); a telescopic rod (23) is mounted on the bottom of the robot body (1), and a driving seat (24) is arranged at the end of the telescopic rod (23), and the multi-directional guide seat (25) is mounted on the driving seat (24), and a cavity is arranged in the multi-directional guide seat (25); An adjusting shaft (34) is provided on the driving seat (24), and the adjusting shaft (34) is driven by a servo driving device in the driving seat (24); the adjusting shaft (34) is located in a cavity of the multi-directional guide seat (25), and a multi-directional cam (35) is connected to the adjusting shaft (34); the multi-directional cam (35) is in contact with the pressure seat (32).

2. A cosmetic material sorting robot according to claim 1, characterized in that: The robot body (1) is fixedly installed in a cosmetic production line via a hanger (2), and a lifting guide rail (3) is installed in the cavity of the robot body (1), the lifting seat (4) is driven by the lifting guide rail (3), and the diffusion seat (5) is connected to a limiting groove of the robot body (1).

3. A cosmetic material sorting robot according to claim 1, characterized in that: The movable groove (6) is arranged horizontally along the direction of the diffusion seat (5), and the transverse spring (8) is connected to the movable groove (6). The sliding rod (9) is arranged to penetrate the movable seat (7), and the vertical spring (10) is connected to the top end of the sliding rod (9).

4. The cosmetic material sorting robot according to claim 1, characterized in that: An upper spherical seat (12) is mounted on the base (11), and a lower spherical seat (14) is mounted on the gripper (15); the suspension rod (13) is connected between the upper spherical seat (12) and the lower spherical seat (14), and the lower spherical seat (14) is arranged in an annular shape on the gripper (15); an air supply connector (17) is arranged on the sponge suction cup (16), and the air supply connector (17) is externally connected to an air pressure control device through an air pipe (18).

5. The cosmetic material sorting robot according to claim 1, characterized in that: A switching shaft (19) is provided on the top surface of the gripper (15), and a switching frame (20) is connected to the switching shaft (19), the support rod (21) is mounted on the switching frame (20), and a guide wheel (22) is mounted on the top of the support rod (21), and the switching frame (20) can be rotated to the side of a certain suspension rod (13) by rotating the switching shaft (19).

Images