Three-dimensional manipulator automatic transfer equipment

Abstract

The invention relates to the technical field of stamping automation, and discloses three-dimensional manipulator automatic transfer equipment which comprises two bases, two lifting assemblies are slidably connected to the tops of the two bases, two transverse plates are fixedly connected to the tops of the four lifting assemblies, and connecting pieces are fixedly connected to the outer sides of the transverse plates. Wherein the outer side of one base is fixedly connected with a moving assembly, the top of the moving assembly is slidably connected with a sliding rail, the connecting piece is slidably connected to the outer side of the sliding rail, and the top of the sliding rail is fixedly connected with two sleeve shells. A workpiece can be clamped in the process that the two transverse plates get close to each other through the first rack plate, the use energy consumption of the device is reduced, meanwhile, the cost consumed for transferring the workpiece is reduced, rigid clamping of the workpiece by the pressing plate can be avoided through the reset assembly, and the work efficiency is improved. And meanwhile, the situation that the workpiece moves or falls off in the transferring process can be prevented through the anti-skid pad.

Description

Technical Field

[0001] The invention relates to the technical field of stamping automation, in particular to a three-dimensional manipulator automated transfer device. Background Art

[0002] The three-dimensional manipulator is an automatic operating device that can grab, move objects or operate tools according to a fixed program. It can replace heavy labor to achieve mechanization and automation of production, and can operate in harmful environments to protect personal safety. Therefore, it is widely used in machinery manufacturing, metallurgy, electronics, light industry and atomic energy.

[0003] The existing three-dimensional robot consists of two X-axis displacement components, two Y-axis displacement components, a Z-axis displacement component, two cross plates and multiple clamping components. The X-axis displacement component can make the two cross plates approach or move away from each other. When the two cross plates are close to each other, the workpiece can be clamped and fixed by the clamping mechanism. The Z-axis displacement component can make the two cross plates move forward or backward, and the clamped workpiece can be transported to the next workstation. The two Y-axis displacement components can make the two cross plates move up or down, and the clamped workpiece can be lifted to prevent the workpiece from colliding with objects in the processing area. The workpiece can then be automatically moved to the next processing area without the need for manual operation by employees, and the efficiency of stamping workpieces can be improved.

[0004] Although the existing three-dimensional manipulator can complete the transfer of workpieces, it still has some shortcomings. When in use, since the workpiece needs to be moved to different processing areas, each processing area needs to be equipped with a corresponding clamping mechanism, and the existing clamping mechanism generally adopts a pneumatic clamping mechanism. Since electric energy is required to drive the clamping jaw to work each time the workpiece is transferred, the energy consumption of the device is increased, and the cost of transferring the workpiece is increased. Summary of the invention

[0005] In view of the shortcomings of the prior art, the present invention provides a three-dimensional manipulator automated transfer device, which solves the problem that electric energy needs to be used to drive the clamping jaws to work every time the workpiece is transferred, thereby increasing the energy consumption of the device and increasing the cost of workpiece transfer.

[0006] The top of the two lifting boards is fixedly connected with two cross plates, and the outer sides of the two cross plates are fixedly connected with connecting members, and the outer sides of the two cross plates are fixedly connected with connecting members, and the outer sides of one of the two bases are fixedly connected with a moving assembly, and the top of the moving assembly is slidably connected with a slide rail, and the connecting member is slidably connected with the outer sides of the slide rail, and the top of the slide rail is fixedly connected with two sleeves, and the middle part of the sleeve is slidably connected with a connecting plate, and the inner side of the connecting plate is fixedly connected with a fixed block, and the fixed block is slidably connected with the middle part of the cross plate, and the interior of the fixed block is fixedly connected with a compression spring 1, and the other end of the compression spring 1 is fixedly connected with a rack plate 1, and the interior of the cross plate is rotatably connected with a gear 1, and the rack plate 1 and the gear The worm gear is meshed with the gear of the first gear and the worm gear is meshed with the worm gear of the first gear. The worm gear and the worm gear are meshed with the worm gear. The inner side of the worm gear is fixedly connected with a rotating disk, and the other side of the rotating disk is fixedly connected with two eccentric columns, and the inner side of the rotating disk is slidably connected with two connecting rods, and the two connecting rods are respectively sleeved on the outer circumference of the two eccentric columns. The connecting rod is fixedly connected with a sliding block on the side away from the rotating disk, and the other side of the sliding block is fixedly connected with a shell, and the inner side of the shell is slidably connected with a movable plate, and the outer side of the movable plate is fixedly connected with a limiting assembly, and a displacement assembly is arranged between the movable plate and the shell, and a mounting plate is arranged on the side close to the two movable plates, and a connecting assembly is arranged between the movable plate and the mounting plate, and the other side of the mounting plate is fixedly connected with a pressure plate, and the other side of the pressure plate is fixedly connected with an anti-slip pad.

[0007] Preferably, the displacement assembly includes two fixed plates, a connecting rod is fixedly connected between the two fixed plates, the outer periphery of the connecting rod is slidably connected to two movable seats, the far sides of the two movable seats are fixedly connected to two compression springs, one end of the two compression springs away from the two movable seats is respectively fixedly connected to the close side of the two fixed plates, and two flaps are rotatably connected between the two movable seats and the movable plates.

[0008] Preferably, the interior of the transverse plate is fixedly connected to a motor, the output end of the motor is fixedly connected to a screw rod, the outer periphery of the screw rod is threadedly connected to a nut seat, the inner side of the nut seat is rotatably connected to gear 2, the other side of gear 2 is fixedly connected to a brush roller, the interior of the transverse plate is slidably connected to rack plate 2, the brush roller and rack plate 2 are meshed with each other, and the brush roller is in contact with a side of the anti-slip pad away from the pressure plate.

[0009] Preferably, the connecting component includes a positioning block, the positioning block is fixedly connected to a side of the mounting plate close to the movable plate, the positioning block and the movable plate are plug-fitted, a compression spring three is fixedly connected to the inside of the movable plate, the other end of the compression spring three is fixedly connected to a clamping block, the clamping block is in contact with the positioning block, a clamping slot is provided in the middle of the positioning block, the clamping block and the clamping slot are plug-fitted, and a disassembly component is rotatably connected to the middle of the movable plate.

[0010] Preferably, the disassembly assembly includes a rotating rod, which is rotatably connected to the middle part of the movable plate, and is slidably connected to the middle part of the shell. A pull rope is fixedly connected to the outer side of the rotating rod, and the other end of the pull rope is fixedly connected to a side of the block close to the compression spring three.

[0011] Preferably, a plurality of slide grooves are provided on the inner side of the transverse plate, and the sliding block is slidably connected to the middle of the slide grooves.

[0012] Preferably, a positioning groove is provided on a side of the movable plate close to the mounting plate, and the positioning block is plug-fitted into the positioning groove.

[0013] Preferably, a partition is slidably connected inside the movable plate, and the partition is fixedly connected between the compression spring three and the clamping block.

[0014] Preferably, the limiting assembly comprises a limiting block, the limiting block is fixedly connected to the outer side of the movable plate, a limiting groove is provided inside the movable plate, and the limiting block is slidably connected to the middle part of the limiting groove.

[0015] Working principle: When in use, the two horizontal plates can be moved left and right through the slide rails. When the horizontal plates are close to each other, the gear 1, the worm, the worm wheel and the turntable can be rotated simultaneously through the rack plate 1, so that the two eccentric columns can be moved. At this time, the connecting rod belt can be moved vertically through the slider under the drive of the eccentric column, and then the two pressure plates can drive the two anti-skid pads to approach each other, so as to clamp the workpiece; while clamping, the anti-skid pad will press the pressure plate, and the pressure plate and the mounting plate can flip the flap, and the movable seat can compress the compression spring 2, so as to clamp the workpiece. Flexible clamping, while under the action of the second compression spring, the movable seat can be continuously squeezed, and then the pressure plate can drive the anti-slip pad to squeeze the workpiece, which can improve the stability of clamping; after clamping is completed, the two cross plates and the two connecting plates can be moved up and down by the action of the lifting assembly, the connecting piece and the shell, so as to avoid the collision of the processing platform when the cross plate drives the workpiece to move, and the connecting piece can drive the two cross plates to move forward and backward through the moving assembly, so that the clamped workpiece can be moved to the next processing area, thereby completing the workpiece transfer.

[0016] The screw rod can be rotated by driving the motor, and the nut seat can drive the second gear and the brush roller to move horizontally. When the second gear moves, the second gear can drive the brush roller to rotate with the cooperation of the rack plate 2, so that the brush roller can clean the clamping surface of the anti-slip pad, preventing dust, debris on the workpiece and other impurities from accumulating on the clamping surface of the anti-slip pad, thereby avoiding affecting the clamping effect of the anti-slip pad.

[0017] By inserting the positioning block into the movable plate, the card block is driven to compress the compression spring three when entering. When the card slot moves to the original position of the card block, the card block can be bounced into the card slot through the compression spring three, and the mounting plate can be quickly installed. The mounting plate can be removed by rotating the rotating rod and under the action of the pull rope, and the anti-slip pad can be quickly replaced when the anti-slip pad is severely worn.

[0018] The present invention provides a three-dimensional manipulator automatic transfer device, which has the following beneficial effects:

[0019] 1. The present invention can clamp the workpiece by means of a rack plate when the two horizontal plates are approaching each other, thereby reducing the energy consumption of the device and the cost required for transferring the workpiece.

[0020] 2. The present invention can move the two pressure plates toward the middle of the shell during the clamping process through the reset component to avoid hard clamping of the workpiece. At the same time, the anti-skid pad can prevent the workpiece from moving or falling off during the transfer process, thereby improving the quality of the final product. Under the action of the second compression spring, the pressure plate can drive the anti-skid pad to squeeze the workpiece to be clamped, thereby improving the stability of the workpiece and preventing the workpiece from falling off when being transferred.

[0021] 3. The present invention can drive the motor to clean the dust attached between the two anti-slip pads and impurities such as debris on the surface of the workpiece when the device stops working, thereby avoiding scratches and damage to the surface of the workpiece due to impurities when the workpiece is clamped, and preventing impurities and dust from causing unstable clamping, further improving the effect of clamping the workpiece and further improving the quality of the final product.

[0022] 4. The present invention can quickly remove the mounting plate by means of the connecting assembly and the disassembly assembly, at which time the pressure plate and the anti-skid pad can be replaced, and the shape of the mounting plate can be changed to be close to the shape of the clamped part of the workpiece, thereby further improving the clamping effect and avoiding the problem of the workpiece falling off when the workpiece is transferred. At the same time, the anti-skid pad can be quickly replaced when it is severely worn. BRIEF DESCRIPTION OF THE DRAWINGS

[0023] Figure 1 A perspective view of the present invention;

[0024] Figure 2 It is a structural schematic diagram of the worm of the present invention;

[0025] Figure 3 It is a structural schematic diagram of a compression spring 1 of the present invention;

[0026] Figure 4 It is a structural schematic diagram of the eccentric column of the present invention;

[0027] Figure 5 It is a schematic diagram of the structure of the displacement assembly of the present invention;

[0028] Figure 6 It is a structural schematic diagram of the brush roller of the present invention;

[0029] Figure 7 It is a structural schematic diagram of the card slot of the present invention;

[0030] Figure 8 It is a structural schematic diagram of the card block of the present invention.

[0031] Among them, 1. base; 2. lifting assembly; 3. cross plate; 4. connecting piece; 5. moving assembly; 6. slide rail; 7. casing; 8. connecting plate; 9. fixing block; 10. compression spring 1; 11. rack plate 1; 12. gear 1; 13. worm; 14. worm wheel; 15. turntable; 16. eccentric column; 17. connecting rod belt; 18. slider; 19. casing; 20. movable plate; 21. mounting plate; 22. pressure plate; 23. Anti-slip pad; 24. Fixed plate; 25. Connecting rod; 26. Movable seat; 27. Compression spring 2; 28. Flip plate; 29. ​​Limit block; 30. Limit slot; 31. Positioning block; 32. Compression spring 3; 33. Block; 34. Slot; 35. Turn bar; 36. Pull rope; 37. Motor; 38. Screw rod; 39. Nut seat; 40. Gear 2; 41. Brush roller; 42. Rack plate 2; 43. Slide slot; 44. Positioning slot. DETAILED DESCRIPTION

[0032] The following will be combined with the drawings in the specification of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0033] Example:

[0034] Please refer to the attached Figure 1 and attached Figure 2The embodiment of the present invention provides a three-dimensional manipulator automatic transfer device, including two bases 1, the tops of the two bases 1 are slidably connected to two lifting components 2, the tops of the four lifting components 2 are fixedly connected to two cross plates 3, the outer sides of the cross plates 3 are fixedly connected with connecting members 4, the outer sides of the cross plates 3 are fixedly connected to a moving component 5, the top of the moving component 5 is slidably connected to a slide rail 6, the connecting member 4 is slidably connected to the outer side of the slide rail 6, the two cross plates 3 can be moved left and right through the slide rail 6, the two cross plates 3 can be moved up and down under the action of the lifting components 2 and the connecting member 4, the two cross plates 3 can be driven by the connecting member 4 to move forward and backward through the moving component 5, the top of the slide rail 6 is fixedly connected to two sleeve shells 7, the middle part of the sleeve shell 7 is slidably connected to a connecting plate 8, and the sleeve shell 7 can make the connecting plate 8 and the cross plate 3 move in the same way.

[0035] Please refer to the attached Figure 2 -Attached Figure 4 A fixing block 9 is fixedly connected to the inner side of the connecting plate 8, and the fixing block 9 is slidably connected to the middle part of the horizontal plate 3. A compression spring 10 is fixedly connected inside the fixing block 9, and the other end of the compression spring 10 is fixedly connected to a rack plate 11. A gear 12 is rotatably connected inside the horizontal plate 3, and the rack plate 11 and the gear 12 are meshed. When the two horizontal plates 3 are close to each other, the rack plate 11 will contact the gear 12. When the rack plate 11 is subjected to a large extrusion, the rack plate 11 will compress the compression spring 10 and receive it in the fixing block 9. When the extrusion on the rack plate 11 disappears, the rack plate 11 can be ejected under the action of the compression spring 10, so that the rack plate 11 and the gear 12 are meshed, thereby avoiding extrusion damage between the rack plate 11 and the gear 12.

[0036] Please refer to the attached Figure 2 -Attached Figure 4 A worm 13 is fixedly connected to one side of the gear 12, and a worm wheel 14 is rotatably connected inside the cross plate 3. The worm 13 and the worm wheel 14 are meshed with each other. A turntable 15 is fixedly connected to the inner side of the worm wheel 14, and two eccentric columns 16 are fixedly connected to the other side of the turntable 15. Two connecting rod belts 17 are slidably connected to the inside of the cross plate 3. The two connecting rod belts 17 are respectively sleeved on the outer circumference of the two eccentric columns 16. A slider 18 is fixedly connected to the side of the connecting rod belt 17 away from the turntable 15, and a shell 19 is fixedly connected to the other side of the slider 18. When the fixed block 9 drives the rack plate 11 to move, the gear 12, the worm 13, the worm wheel 14 and the turntable 15 will be driven to rotate at the same time. At this time, the connecting rod belt 17 and the slider 18 can be driven to move vertically through the two eccentric columns 16, so that the two shells 19 are close to each other.

[0037] Please refer to the attached Figure 2 -Attached Figure 4A plurality of slide grooves 43 are provided on the inner side of the cross plate 3, and the slider 18 is slidably connected to the middle of the slide groove 43. The slider 18 can be limited by the slide groove 43 to prevent the slider 18 from tilting during its movement, so that the connecting rod 17 and the housing 19 can only move vertically to avoid affecting the subsequent clamping work. The interior of the housing 19 is slidably connected to a movable plate 20, and the outer side of the movable plate 20 is fixedly connected to a limiting component. A displacement component is provided between the movable plate 20 and the housing 19, and a mounting plate 21 is provided on the side close to the two movable plates 20. A connecting component is provided between the movable plate 20 and the mounting plate 21. A pressure plate 22 is fixedly connected to the other side of the mounting plate 21. When the shell 19 moves, the movable plate 20 can be restricted by the displacement component, so that the mounting plate 21 drives the pressure plate 22 to flexibly clamp the workpiece, thereby avoiding deformation of the workpiece surface caused by clamping, reducing the energy consumption of the device, and reducing the cost of transferring the workpiece. An anti-slip pad 23 is fixedly connected to the other side of the pressure plate 22. The anti-slip pad 23 can improve the clamping effect and avoid problems such as the workpiece falling off when being clamped.

[0038] Please refer to the attached Figure 5 The displacement assembly includes two fixed plates 24, a connecting rod 25 is fixedly connected between the two fixed plates 24, and the outer periphery of the connecting rod 25 is slidably connected to two movable seats 26. The two movable seats 26 are fixedly connected to the far side with a compression spring 27, and the two compression springs 27 are fixedly connected to the near side of the two fixed plates 24 at one end away from the two movable seats 26. Two flaps 28 are rotatably connected between the two movable seats 26 and the movable plate 20, and the mounting plate 20 is pressed by the anti-slip pad 23 and the pressure plate 22. 21 is squeezed, at this time, the mounting plate 21 can drive the movable plate 20 to squeeze the flap 28 and turn one side of the flap 28 over, at this time, the movable seat 26 can compress the compression spring 27, so that the mounting plate 21 can enter the shell 19, and at the same time, after the cross plate 3 moves to the specified position, the elastic force of the compression spring 27 can squeeze the movable seat 26, so that the pressure plate 22 and the anti-slip pad 23 can clamp the workpiece, and the workpiece can be flexibly clamped to avoid damage to the surface of the workpiece and prevent the workpiece from falling off during transfer.

[0039] Please refer to the attached Figure 2 , Attachment Figure 4 and attached Figure 6The inside of the horizontal plate 3 is fixedly connected to a motor 37, and the output end of the motor 37 is fixedly connected to a screw rod 38. The outer periphery of the screw rod 38 is threadedly connected to a nut seat 39, and the inner side of the nut seat 39 is rotatably connected to a gear 2 40. The other side of the gear 2 40 is fixedly connected to a brush roller 41. The inside of the horizontal plate 3 is slidably connected to a rack plate 2 42, and the brush roller 41 and the rack plate 2 42 are meshed. The brush roller 41 and the side of the anti-slip pad 23 away from the pressure plate 22 are in contact. By driving the motor 37, the screw rod 38 can drive the nut seat 39, the gear 2 40 and the brush roller 41 to move. At the same time, with the cooperation of the rack plate 2 42, the gear 2 40 can rotate while the gear 2 40 moves, so that the brush roller 41 can clean the clamping surface of the anti-slip pad 23 to avoid the problem of impurities accumulating on the outside of the anti-slip pad 23 and reducing the clamping effect.

[0040] Please refer to the attached Figure 7 and attached Figure 8 The connection assembly includes a positioning block 31, which is fixedly connected to the side of the mounting plate 21 close to the movable plate 20. The positioning block 31 and the movable plate 20 are plugged together. A positioning groove 44 is provided on the side of the movable plate 20 close to the mounting plate 21. The positioning block 31 and the positioning groove 44 are plugged together. The positioning block 31 can be guided by the positioning groove 44, so that the movable plate 20 and the mounting plate 21 can be quickly aligned and connected, which can improve the installation speed of the pressing plate 22 and the anti-slip pad 23. The interior of the movable plate 20 is fixedly connected with a compression spring 32, and the other end of the compression spring 32 is fixedly connected with a clamping block 33. The clamping block 3 3 and the positioning block 31 are in contact, and a slot 34 is provided in the middle of the positioning block 31. The blocking block 33 and the slot 34 are plugged and matched. When the positioning block 31 enters the movable plate 20, it will contact the blocking block 33. At this time, the blocking block 33 can be squeezed and moved. When the blocking block 33 moves, the compression spring three 32 will be compressed and collected into the movable plate 20. When the positioning block 31 completely enters the middle of the movable plate 20, the blocking block 33 and the slot 34 are parallel and the blocking block 33 is not squeezed by external force. At this time, the blocking block 33 can be bounced into the slot 34 by the compression spring three 32, and then the pressure plate 22 can be conveniently installed.

[0041] Please refer to the attached Figure 8 The movable plate 20 is internally slidably connected with a partition, which is fixedly connected between the compression spring three 32 and the block 33. The partition can limit the block 33 and prevent the block 33 from tilting during movement, thereby avoiding the problem of deformation and damage caused by the compression spring three 32 being tilted and squeezed, and the service life of the compression spring three 32 can be improved. The middle part of the movable plate 20 is rotatably connected with a disassembly component.

[0042] Please refer to the attached Figure 8The disassembly assembly includes a rotating rod 35, which is rotatably connected to the middle part of the movable plate 20, and the rotating rod 35 is slidably connected to the middle part of the shell 19. A pull rope 36 is fixedly connected to the outer side of the rotating rod 35, and the other end of the pull rope 36 is fixedly connected to the side of the card block 33 close to the compression spring three 32. The pull rope 36 can be reeled in by rotating the rotating rod 35. At the same time, when the pull rope 36 is reeled in, the other end of the pull rope 36 will pull the card block 33. At this time, the card block 33 can be pulled out from the middle part of the card slot 34, and the mounting plate 21 can be quickly removed. At this time, the shape of the mounting plate 21 can be changed to be close to the shape of the clamped part of the workpiece, effectively improving the clamping effect. At the same time, the anti-skid pad 23 can be replaced when the anti-skid pad 23 is severely worn, and during the process of replacing the pressure plate 22 or the anti-skid pad 23, the device can also be installed with another pressure plate 22 and anti-skid pad 23 to avoid affecting the use of the device.

[0043] Please refer to the attached Figure 5 The limit assembly includes a limit block 29, which is fixedly connected to the outer side of the movable plate 20. A limit slot 30 is provided inside the movable plate 20. The limit block 29 is slidably connected to the middle part of the limit slot 30. Through the cooperation of the limit block 29 and the limit slot 30, the movable plate 20 can only move vertically, which can facilitate the movable plate 20 to slide more smoothly in the middle part of the shell 19, and avoid the movable plate 20 from tilting during movement and becoming unable to move.

[0044] Although embodiments of the present invention have been shown and described, it will be appreciated by those skilled in the art that various changes, modifications, substitutions and variations may be made to the embodiments without departing from the principles and spirit of the present invention, and that the scope of the present invention is defined by the appended claims and their equivalents.

Claims

1. A three-dimensional manipulator automated transfer device, comprising two bases (1), characterized in that: The tops of the two bases (1) are slidably connected to two lifting assemblies (2), the tops of the four lifting assemblies (2) are fixedly connected to two transverse plates (3), the outer sides of the transverse plates (3) are fixedly connected to connecting members (4), the outer sides of one of the bases (1) are fixedly connected to a moving assembly (5), the top of the moving assembly (5) is slidably connected to a slide rail (6), the connecting member (4) is slidably connected to the outer sides of the slide rail (6), the top of the slide rail (6) is fixedly connected to two sleeves (7), the middle part of the sleeves (7) is slidably connected to A connecting plate (8) is provided, the inner side of the connecting plate (8) is fixedly connected to a fixing block (9), the fixing block (9) is slidably connected to the middle part of the transverse plate (3), the interior of the fixing block (9) is fixedly connected to a compression spring (10), the other end of the compression spring (10) is fixedly connected to a rack plate (11), the interior of the transverse plate (3) is rotatably connected to a gear (12), the rack plate (11) and the gear (12) are meshed, one side of the gear (12) is fixedly connected to a worm (13), the interior of the transverse plate (3) is rotatably connected to a gear (12), the rack plate (11) and the gear (12) are meshed, a worm (13) is fixedly connected to one side of the gear (12), and the interior of the transverse plate (3) is rotatably connected to a gear (12). A worm wheel (14) is connected, the worm (13) and the worm wheel (14) are meshed, a rotating disk (15) is fixedly connected to the inner side of the worm wheel (14), and two eccentric columns (16) are fixedly connected to the other side of the rotating disk (15), and two connecting rods (17) are slidably connected to the inside of the cross plate (3), and the two connecting rods (17) are respectively sleeved on the outer peripheries of the two eccentric columns (16), and a slider (18) is fixedly connected to the side of the connecting rod (17) away from the rotating disk (15), and the other side of the slider (18) is fixedly connected to A shell (19), wherein a movable plate (20) is slidably connected inside the shell (19), a limit assembly is fixedly connected to the outer side of the movable plate (20), a displacement assembly is arranged between the movable plate (20) and the shell (19), a mounting plate (21) is arranged on one side of the two movable plates (20), a connecting assembly is arranged between the movable plate (20) and the mounting plate (21), a pressure plate (22) is fixedly connected to the other side of the mounting plate (21), and an anti-slip pad (23) is fixedly connected to the other side of the pressure plate (22).

2. The three-dimensional manipulator automatic transfer device according to claim 1 is characterized in that: The displacement assembly comprises two fixed plates (24), a connecting rod (25) is fixedly connected between the two fixed plates (24), the outer periphery of the connecting rod (25) is slidably connected to two movable seats (26), the two movable seats (26) are fixedly connected to the far side with two compression springs (27), one end of the two compression springs (27) away from the two movable seats (26) is respectively fixedly connected to the near side of the two fixed plates (24), and two flaps (28) are rotatably connected between the two movable seats (26) and the movable plate (20).

3. The three-dimensional manipulator automatic transfer device according to claim 1 is characterized in that: The interior of the transverse plate (3) is fixedly connected to a motor (37), the output end of the motor (37) is fixedly connected to a screw rod (38), the outer periphery of the screw rod (38) is threadedly connected to a nut seat (39), the inner side of the nut seat (39) is rotatably connected to a gear 2 (40), the other side of the gear 2 (40) is fixedly connected to a brush roller (41), the interior of the transverse plate (3) is slidably connected to a rack plate 2 (42), the brush roller (41) and the rack plate 2 (42) are meshed, and the brush roller (41) and the anti-slip pad (23) are in contact with a side away from the pressure plate (22).

4. The three-dimensional manipulator automatic transfer device according to claim 1 is characterized in that: The connecting assembly comprises a positioning block (31), wherein the positioning block (31) is fixedly connected to a side of the mounting plate (21) close to the movable plate (20), the positioning block (31) and the movable plate (20) are plugged in and matched, a compression spring three (32) is fixedly connected inside the movable plate (20), the other end of the compression spring three (32) is fixedly connected to a clamping block (33), the clamping block (33) and the positioning block (31) are in contact, a clamping groove (34) is provided in the middle of the positioning block (31), the clamping block (33) and the clamping groove (34) are plugged in and matched, and a disassembly assembly is rotatably connected to the middle of the movable plate (20).

5. The three-dimensional manipulator automatic transfer device according to claim 4 is characterized in that: The disassembly assembly includes a rotating rod (35), the rotating rod (35) is rotatably connected to the middle part of the movable plate (20), the rotating rod (35) is slidably connected to the middle part of the shell (19), a pull rope (36) is fixedly connected to the outer side of the rotating rod (35), and the other end of the pull rope (36) is fixedly connected to the side of the block (33) close to the compression spring three (32).

6. The three-dimensional manipulator automatic transfer device according to claim 1, characterized in that: A plurality of slide grooves (43) are provided on the inner side of the transverse plate (3), and the sliding block (18) is slidably connected to the middle of the slide grooves (43).

7. The three-dimensional manipulator automatic transfer device according to claim 4 is characterized in that: A positioning groove (44) is provided on one side of the movable plate (20) close to the mounting plate (21), and the positioning block (31) and the positioning groove (44) are plug-fitted.

8. The three-dimensional manipulator automatic transfer device according to claim 4 is characterized in that: A partition is slidably connected inside the movable plate (20), and the partition is fixedly connected between the compression spring three (32) and the clamping block (33).

9. The three-dimensional manipulator automatic transfer device according to claim 1, characterized in that: The limiting assembly comprises a limiting block (29), wherein the limiting block (29) is fixedly connected to the outer side of the movable plate (20), a limiting groove (30) is provided inside the movable plate (20), and the limiting block (29) is slidably connected to the middle part of the limiting groove (30).

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