Material taking mechanism and driving equipment thereof

Abstract

The utility model discloses a material taking mechanism and driving equipment thereof, and a movable connecting part of the material taking mechanism is connected with a mounting plate and is used for driving the mounting plate to move; the at least two adsorption type material taking manipulators are arranged on the mounting plate, and when the movable connecting part drives the mounting plate to move downwards, the adsorption type material taking manipulators can adsorb materials making contact with the adsorption type material taking manipulators and can move upwards in a self-adaptive mode. According to the utility model, the adsorption type material taking manipulator of the material taking mechanism is separated and independently works, so that material taking is not limited on the same plane, the material can be better close to a material grabbing form during material taking, the blind material taking device can better adapt to a blind taking environment, residual materials are reduced, and the suction success rate and the suction efficiency are improved.

Description

Technical Field

[0001] The utility model relates to the technical field of material taking equipment, in particular to a material taking mechanism and a driving device thereof. Background Art

[0002] The common existing material taking equipment has two adsorption and material taking methods: magnetic suction and vacuum suction. In specific applications, there is generally only one suction point, and the material is taken by controlling the current or controlling the vacuum suction force, and the suction action is terminated by power off and stopping or vacuuming to achieve the material discharge operation. When there are multiple suction points, although multiple materials can be sucked at the same time, they are generally limited to the same plane for material taking, and multiple materials at different heights cannot be sucked at one time. Utility Model Content

[0003] The utility model aims to provide a material taking mechanism and a driving device thereof, aiming to solve the technical problem that the material taking device in the related art cannot absorb a plurality of materials located at different heights at one time.

[0004] In order to solve the above problems, according to one aspect of the present application, an embodiment of the present utility model provides a material taking mechanism, the material taking mechanism comprising:

[0005] Mounting plate,

[0006] A movable connection part, connected to the mounting plate, and used to drive the mounting plate to move;

[0007] At least two adsorption-type material-retrieving manipulators are both arranged on the mounting plate;

[0008] When the movable connection part drives the mounting plate to move downward, the adsorption-type material-retrieving manipulator can adsorb the material in contact with it and can move upward adaptively.

[0009] In some embodiments, at least two mounting holes corresponding to at least two of the adsorption-type material-retrieving manipulators are formed on the mounting plate, and each of the adsorption-type material-retrieving manipulators is disposed in the mounting hole corresponding thereto.

[0010] In some embodiments, the adsorption-type material-grabbing robot includes a telescopic drive component and an adsorption component, the telescopic drive component has a telescopic portion that can be extended and retracted up and down, and the adsorption component is arranged at the end below the telescopic portion, so that each adsorption component adsorbs the material at different heights.

[0011] In some embodiments, the telescopic drive assembly includes a pneumatic cylinder or an electric cylinder.

[0012] In some embodiments, the adsorption-type material-grabbing robot further includes a discharge plate, which is connected to the telescopic drive assembly and is located below the mounting plate. The discharge plate has a first through hole, and the telescopic portion is inserted into the first through hole.

[0013] In some embodiments, in the radial direction of the first via hole, the minimum width of the material is greater than the diameter of the first via hole.

[0014] In some embodiments, the adsorption component includes a permanent magnetic suction head or a vacuum suction cup.

[0015] In some embodiments, a flexible steering component is provided between the telescopic portion and the adsorption component.

[0016] In some embodiments, the flexible steering assembly includes a first connection portion connected to the telescopic portion and a second connection portion connected to the adsorption assembly, the first connection portion is provided with a movable ball head at one end away from the telescopic portion, and the second connection portion is provided with a snap-in chamber adapted to the movable ball head at one end away from the adsorption assembly.

[0017] In some embodiments, the first connecting portion includes an upper pressing cover and a lower pressing cover, the upper pressing cover is connected to the telescopic portion, the upper pressing cover and the lower pressing cover are buckled together to form the snap-fit ​​chamber, the maximum cross-section of the snap-fit ​​chamber is located at the connection between the upper pressing cover and the lower pressing cover, the lower pressing cover is provided with a second through hole, and the second connecting portion is passed through the second through hole.

[0018] In some embodiments, a diameter of the second through hole is larger than a diameter of the second connecting portion and smaller than a diameter of the active ball head.

[0019] In some embodiments, the second connecting portion includes a first connecting rod and a second connecting rod that are detachably connected, the diameter of the first connecting rod is smaller than the diameter of the movable ball head, the movable ball head is configured at one end of the first connecting rod away from the second connecting rod, the end of the second connecting rod close to the first connecting rod is configured with an insertion portion for the first connecting rod to be inserted, and the end of the second connecting rod away from the first connecting rod is connected to the adsorption assembly

[0020] According to another aspect of the present application, an embodiment of the utility model further provides a driving device, which includes a moving mechanism and the material picking mechanism as described above, and the moving mechanism is connected to the moving connection part to drive the mounting plate to move.

[0021] Compared with the prior art, the material taking mechanism of the utility model has at least the following beneficial effects:

[0022] The embodiment of the utility model discloses a material picking mechanism, which comprises a mounting plate, a movable connecting part, and at least two adsorption-type material picking manipulators; the movable connecting part is connected to the mounting plate, and is used to drive the mounting plate to move; at least two adsorption-type material picking manipulators are arranged on the mounting plate, and when the material picking mechanism of the utility model is in operation, when the movable connecting part drives the mounting plate to move downward, the adsorption-type material picking manipulator can adsorb the material in contact with it and can move upward adaptively, so that the material picking mechanism still has the function of re-adsorption. The space for downward movement allows the material picking robot to move downward to contact and adsorb the material corresponding to the upper and lower materials when other adsorption-type material picking robots have not yet adsorbed the material corresponding to the upper and lower materials. It can be seen that the material picking mechanism of the utility model can realize the adsorption of multiple materials at different heights at one time. The utility model separates the adsorption-type material picking robot of the material picking mechanism and works independently, so that the material picking is not limited to the same plane. When picking up materials, it can better get close to the material grasping form, can better adapt to the blind picking environment, reduce residual materials, and improve the success rate and efficiency of suction.

[0023] On the other hand, the driving device provided by the utility model is manufactured based on the above-mentioned material taking mechanism, and its beneficial effects refer to the beneficial effects of the above-mentioned material taking mechanism, which will not be described in detail here.

[0024] The above description is only an overview of the technical solution of the utility model. In order to more clearly understand the technical means of the utility model and implement it according to the contents of the specification, the following is a detailed description of the preferred embodiments of the utility model in conjunction with the accompanying drawings. BRIEF DESCRIPTION OF THE DRAWINGS

[0025] In order to more clearly illustrate the technical solutions of the embodiments of the utility model, the drawings required for use in the description of the embodiments will be briefly introduced below. Obviously, the drawings described below are some embodiments of the utility model. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative work.

[0026] Figure 1 A schematic diagram of the assembly structure of the material taking mechanism provided in the embodiment of the utility model;

[0027] Figure 2 A schematic diagram of the assembly structure of the material taking mechanism provided by the embodiment of the utility model from another perspective;

[0028] Figure 3 A schematic diagram of the exploded structure of the material taking mechanism provided in the embodiment of the utility model;

[0029] Figure 4A schematic diagram of the structure of an adsorption-type material-retrieving manipulator of a material-retrieving mechanism provided in an embodiment of the utility model;

[0030] Figure 5 A schematic diagram of the structure of a flexible steering assembly of a material taking mechanism provided in an embodiment of the utility model;

[0031] Figure 6 A cross-sectional view of a flexible steering assembly of a material taking mechanism provided in an embodiment of the utility model;

[0032] Figure 7 An exploded cross-sectional view of a first connecting portion of a flexible steering assembly of a material taking mechanism provided in an embodiment of the utility model;

[0033] Figure 8 An exploded cross-sectional view of the second connecting portion of the diverter assembly of the material taking mechanism provided in an embodiment of the utility model;

[0034] Fig. 9 A schematic diagram of a material taking point of a taking mechanism provided in an embodiment of the utility model;

[0035] Fig.10 This is a schematic diagram of the existing electromagnetic material retrieving robot retrieving materials and the material stacking status.

[0036] Description of reference numerals:

[0037] 1. Mounting plate; 11. Mounting hole;

[0038] 2. Adsorption-type material-retrieving manipulator; 21. Telescopic drive assembly; 211. Telescopic part; 22. Adsorption assembly; 23. Discharge plate; 231. First through hole; 24. Flexible steering assembly; 241. Active ball head; 242. Card-connecting chamber; 243. Upper pressure cover; 244. Lower pressure cover; 245. First connecting rod; 246. Second connecting rod; 247. Second through hole; 248. Insertion part; 249. Locking member;

[0039] 3. Materials;

[0040] 4. Mobile connection part;

[0041] 5. Electromagnet. DETAILED DESCRIPTION

[0042] In order to further explain the technical means and effects adopted by the utility model to achieve the predetermined utility model purpose, the specific implementation methods, structures, features and effects of the utility model application are described in detail below in conjunction with the accompanying drawings and preferred embodiments. In the following description, different "one embodiment" or "embodiment" does not necessarily refer to the same embodiment. In addition, specific features, structures, or characteristics in one or more embodiments may be combined in any suitable form.

[0043] In the description of the present invention, it should be clarified that the terms "first", "second", etc. in the specification and claims of the present invention and the above-mentioned drawings are used to distinguish similar objects, and are not necessarily used to describe a specific order or sequence; the terms "vertical", "lateral", "longitudinal", "front", "rear", "left", "right", "up", "down", "horizontal", etc. indicate directions or positional relationships based on the directions or positional relationships shown in the drawings, and are only for the convenience of describing the present invention, and do not mean that the referred device or element must have a specific direction or position, and therefore cannot be understood as a limitation on the present invention.

[0044] In the description of the present invention, it should be noted that, unless otherwise clearly specified and limited, the terms "installation", "connection" and "connection" should be understood in a broad sense, for example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be a direct connection or an indirect connection through an intermediate medium. For ordinary technicians in this field, the specific meanings of the above terms in the present invention can be understood according to specific circumstances.

[0045] Example 1

[0046] like Figure 1-10 As shown, the embodiment of the utility model provides a material taking mechanism, and the material taking mechanism comprises:

[0047] Mounting plate 1,

[0048] A movable connecting portion 4, connected to the mounting plate 1, and used to drive the mounting plate 1 to move;

[0049] At least two adsorption-type material-retrieving manipulators 2 are both arranged on the mounting plate 1;

[0050] When the movable connection part 4 drives the mounting plate 1 to move downward, the adsorption-type material-retrieving manipulator 2 can adsorb the material 3 in contact with it and can move upward adaptively.

[0051] In this embodiment, the material-retrieving mechanism includes a mounting plate 1, a movable connecting part 4, and at least two adsorption-type material-retrieving manipulators 2; the movable connecting part 4 is connected to the mounting plate 1 and is used to drive the mounting plate 1 to move; at least two adsorption-type material-retrieving manipulators 2 are arranged on the mounting plate 1. When the material-retrieving mechanism of this embodiment is in operation, when the movable connecting part 4 drives the mounting plate 1 to move downward, the adsorption-type material-retrieving manipulator 2 can adsorb the material 3 in contact with it and can move upward adaptively. Therefore, when an adsorption-type material-retrieving manipulator 2 can adsorb the material 3 in contact with it and can move upward adaptively, the adaptive upward movement is specifically that it can retract upward when pushed by an external force, so that There is still room for the material picking mechanism to move downward, so that when other adsorption-type material picking manipulators have not yet adsorbed the materials 3 corresponding to the upper and lower parts thereof, the adsorption-type material picking manipulator 2 moves downward under the drive of the mobile connection part 4 to contact and adsorb the materials 3 corresponding to the upper and lower parts thereof; it can be seen that the material picking mechanism of this embodiment can realize the adsorption of multiple materials 3 located at different heights at one time. This embodiment separates the adsorption-type material picking manipulator 2 of the material picking mechanism and works independently, so that the material picking is not limited to the same plane. When picking up materials, it can be closer to the material grasping form, can better adapt to the blind picking environment, reduce residual materials, and improve the success rate and efficiency of suction.

[0052] In some embodiments, at least two mounting holes 11 corresponding to at least two of the suction-type material-retrieving manipulators 2 are formed on the mounting plate 1 , and each of the suction-type material-retrieving manipulators 2 is disposed in the mounting hole 11 corresponding thereto.

[0053] In this embodiment, at least two mounting holes 11 corresponding to at least two of the suction-type material-grabbing robots 2 are opened on the mounting plate 1, and at least two suction-type material-grabbing robots 2 are installed in the at least two mounting holes 11 corresponding to each other. The suction-type material-grabbing robots 2 are fixed through the mounting holes 11 of the mounting plate 1. This structure facilitates the assembly of the material-grabbing mechanism.

[0054] In some embodiments, the adsorption-type material-grabbing robot 2 includes a telescopic drive component 21 and an adsorption component 22, the telescopic drive component 21 has a telescopic portion 211 that can be extended up and down, and the adsorption component 22 is arranged at the end below the telescopic portion 211, so that each adsorption component 22 adsorbs the material 3 at different heights.

[0055] In this embodiment, the adsorption-type material-retrieving manipulator 2 includes a telescopic drive component 21 and an adsorption component 22. The telescopic drive component 21 has a telescopic portion 211 that can be telescoped up and down. Specifically, the telescopic drive component 21 is arranged at the mounting hole 11 and extends toward both sides along the thickness direction of the mounting plate 1. The upper end of the telescopic portion 211 is telescopically connected to the telescopic drive component 21, and the lower part of the telescopic portion 211 is the output end. The adsorption component 22 is arranged at the end below the telescopic portion 211, so that each adsorption component 22 adsorbs the material 3 at different heights. When in use, the material-retrieving mechanism can extend the telescopic portion 211 of each adsorption component 22 downward to the maximum distance, and then make the telescopic portion 211 in a free retracted state, that is, when it is subjected to the force of the telescopic drive component 21, the adsorption component 22 can be retracted. When an external force is applied to the mounting plate 1, it will retract and move upward; the mounting plate 1 is driven to move by the mobile connecting part 4, and all the adsorption-type material-grabbing manipulators 2 are driven to move downward together. After the adsorption component 22 of the telescopic drive component 21 of the first adsorption-type material-grabbing manipulator 2 contacts the highest material 3, the adsorption component 22 of the telescopic drive component 21 of the first adsorption-type material-grabbing manipulator 2 is adsorbed to the highest material 3, and the mobile connecting part 4 continues to drive the mounting plate 1 to move downward. When the telescopic part 211 of the telescopic drive component 21 of the first adsorption-type material-grabbing manipulator 2 is subjected to an upward external force, it will retract and move upward, and the same applies while the mobile connecting part 4 continues to drive the mounting plate 1 to move downward, so as to achieve adsorption of materials 3 at multiple different heights.

[0056] Of course, the upward retracting stroke of the telescopic part 211 of the telescopic drive assembly 21 of the first adsorption-type material-grabbing manipulator 2 when subjected to an upward external force is limited. When the adsorption assembly 22 of the first adsorption-type material-grabbing manipulator 2 is the first to adsorb the material 3, the moving connection part 4 drives the mounting plate 1 to continue to move downward. When the telescopic part 211 of the telescopic drive assembly 21 is subjected to an upward external force, the telescopic drive assembly 21 will be damaged. Therefore, a corresponding sensing device can be provided on the adsorption assembly 22. When the adsorption assembly 22 of any adsorption-type material-grabbing manipulator 2 is the first to adsorb the material 3, the moving connection part 4 is controlled to drive the mounting plate 1 to continue to move downward. The stroke is not greater than the upward retracting stroke of the telescopic part 211 of the telescopic drive assembly 21 when subjected to an upward external force. When the moving connection part 4 drives the mounting plate 1 to move to the bottom, all the telescopic parts 211 are locked, and then the moving connection part 4 drives the mounting plate 1 to move upward. After moving to a preset height, the moving connection part 4 drives the mounting plate 1 to move horizontally to the unloading area, and then the unloading process is carried out.

[0057] In some embodiments, the telescopic drive assembly 21 includes a pneumatic cylinder or an electric cylinder.

[0058] The telescopic driving component 21 of this embodiment can be a pneumatic cylinder or an electric cylinder, etc., which can drive multiple adsorption components 22 to move up and down to achieve adsorption of materials 3 at multiple different heights.

[0059] In some embodiments, the suction-type material-grabbing robot 2 also includes a discharge plate 23 , which is connected to the telescopic drive assembly 21 and is located below the mounting plate 1 , and the discharge plate 23 has a first through hole 231 , and the telescopic portion 211 is inserted into the first through hole 231 .

[0060] In this embodiment, the unloading plate 23 is connected to the telescopic driving component 21, and the unloading plate 23 is located below the mounting plate 1. The unloading plate 23 has a first through hole 231, and the telescopic portion 211 is inserted into the first through hole 231. In the radial direction of the first through hole 231, after the movable connecting portion 4 drives the mounting plate 1 to move horizontally to the unloading area, the telescopic portion 211 of the telescopic driving component 21 can be controlled to drive the adsorption component 22 thereon to move upward, so that the adsorption component 22 moves to the top of the unloading plate 23, and the material 3 is separated from the adsorption component 22 through the unloading plate 23 to realize unloading.

[0061] In some embodiments, in the radial direction of the first through hole 231 , the minimum width of the material 3 is greater than the diameter of the first through hole 231 .

[0062] In this embodiment, the minimum width of the material 3 is greater than the diameter of the first through hole 231 , ensuring that the material 3 can be blocked by the discharge plate 23 .

[0063] In some embodiments, the adsorption component 22 includes a permanent magnetic suction head or a vacuum suction cup, and the material 3 can be adsorbed by the permanent magnetic suction head or the vacuum suction cup.

[0064] The permanent magnetic suction head is detachably connected to the telescopic part 211, which is convenient for replacement of the permanent magnetic suction head. Multiple permanent magnetic suction heads with different adsorption forces can be manufactured, and suitable permanent magnetic suction heads are matched according to the size and weight of the material 3 to ensure that only one material 3 is adsorbed on one permanent magnetic suction head, and material 3 cannot be adsorbed again through material 3, resulting in stacking of material 3.

[0065] In some embodiments, a flexible steering component 24 is provided between the telescopic portion 211 and the adsorption component 22 .

[0066] In this embodiment, a flexible steering component 24 is provided between the telescopic portion 211 and the adsorption component 22, so that the adsorption component 22 can rotate flexibly, can adapt to different angles of contact with the material 3, avoid hard impact with the material 3, adapt to multi-angle adsorption contact, can better adapt to the blind picking environment, improve the success rate of adsorption, improve the adsorption efficiency, and improve production efficiency.

[0067] In some embodiments, the flexible steering assembly 24 includes a first connection portion connected to the telescopic portion 211 and a second connection portion connected to the adsorption assembly 22, the first connection portion is provided with a movable ball head 241 at one end away from the telescopic portion 211, and the second connection portion is provided with a snap-on chamber 242 for accommodating the movable ball head 241 at one end away from the adsorption assembly 22.

[0068] In this embodiment, the flexible steering component 24 includes a first connection part connected to the telescopic part 211 and a second connection part connected to the adsorption component 22. The end of the first connection part away from the telescopic part 211 is constructed with a movable ball head 241, and the end of the second connection part away from the adsorption component 22 has a clamping chamber 242 for accommodating the movable ball head 241. The clamping chamber 242 and the movable ball head 241 rotate to adapt to contact with the material 3 at different angles, avoid hard impact with the material 3, adapt to multi-angle adsorption contact, better adapt to the blind picking environment, improve the success rate of absorption, improve the absorption efficiency, and improve production efficiency.

[0069] In some embodiments, the first connecting portion includes an upper pressing cover 243 and a lower pressing cover 244, the upper pressing cover 243 is connected to the telescopic portion 211, the upper pressing cover 243 and the lower pressing cover 244 are buckled together to form the snap-in chamber 242, the maximum cross-section of the snap-in chamber 242 is located at the connection between the upper pressing cover 243 and the lower pressing cover 244, the lower pressing cover 244 is provided with a second through hole 247, the second connecting portion is passed through the second through hole 247.

[0070] In this embodiment, the upper pressure cover 243 and the lower pressure cover 244 are buckled together to form the clamping chamber 242. The split design of the upper pressure cover 243 and the lower pressure cover 244 facilitates the installation of the movable ball head 241. In addition, during installation, the second connecting portion can extend from the inside of the clamping chamber 242 through the second through hole 247 to the outside of the clamping chamber 242, which is convenient for installation.

[0071] In some embodiments, a diameter of the second through hole 247 is larger than a diameter of the second connecting portion and smaller than a diameter of the movable ball head 241 .

[0072] In this embodiment, the diameter of the second through hole 247 is smaller than the diameter of the movable ball head 241, preventing the movable ball head 241 from detaching from the clamping chamber 242 through the second through hole 247; the diameter of the second through hole 247 is larger than the diameter of the second connecting portion, ensuring that the adsorption component 22 can rotate flexibly, can adapt to contact with the material 3 at different angles, avoid hard impact with the material 3, adapt to multi-angle adsorption contact, can better adapt to the blind picking environment, improve the success rate of adsorption, improve the adsorption efficiency, and improve production efficiency.

[0073] In some embodiments, the second connecting portion includes a first connecting rod 245 and a second connecting rod 246 that are detachably connected, the diameter of the first connecting rod 245 is smaller than the diameter of the movable ball head 241, the movable ball head 241 is constructed at one end of the first connecting rod 245 away from the second connecting rod 246, and the end of the second connecting rod 246 close to the first connecting rod 245 is constructed with an insertion portion 248 for inserting the first connecting rod 245, and the end of the second connecting rod 246 away from the first connecting rod 245 is connected to the adsorption assembly 22.

[0074] In this embodiment, the diameter of the first connecting rod 245 is smaller than the diameter of the movable ball head 241, ensuring that the adsorption component 22 can rotate flexibly, can adapt to contact with the material 3 at different angles, avoid hard impact with the material 3, adapt to multi-angle adsorption contact, can better adapt to the blind picking environment, improve the success rate of adsorption, improve the adsorption efficiency, and improve production efficiency; the end of the second connecting rod 246 close to the first connecting rod 245 is constructed with an insertion portion 248 for the first connecting rod 245 to be inserted, which is convenient for assembly and disassembly. After the first connecting rod 245 is inserted into the insertion portion 248, the two can be locked by a locking member 249. The end of the second connecting rod 246 away from the first connecting rod 245 is connected to the adsorption component 22. An external thread can be set at the end of the second connecting rod 246 away from the first connecting rod 245, and an insertion hole with an internal thread is set on the end face of the adsorption component 22 close to the second connecting rod 246, which is convenient for assembly and disassembly of the adsorption component 22 and the second connecting rod 246.

[0075] Example 2

[0076] The embodiment of the utility model further provides a driving device, which includes a moving mechanism and the material taking mechanism of embodiment 1, wherein the moving mechanism is connected to the moving connecting part 4 to drive the mounting plate 1 to move.

[0077] The moving mechanism may be a three-axis or more-axis moving device to drive the moving connection part 4 to move in up-down, left-right, front-back and other directions.

[0078] In summary, those skilled in the art can clearly understand that, for the convenience and brevity of description, the specific working processes of the above-described equipment, devices and units can refer to the corresponding processes in the aforementioned method embodiments and will not be repeated here.

[0079] The above is only a specific implementation of the utility model, but the protection scope of the utility model is not limited thereto. Any technician familiar with the technical field can easily think of various equivalent modifications or replacements within the technical scope disclosed by the utility model, and these modifications or replacements should be included in the protection scope of the utility model. Therefore, the protection scope of the utility model should be based on the protection scope of the claims.

Claims

1. A material taking mechanism, It is characterized in that The material taking mechanism comprises: Mounting plate, A movable connection part, connected to the mounting plate, and used to drive the mounting plate to move; At least two adsorption-type material-retrieving manipulators are both arranged on the mounting plate; When the movable connection part drives the mounting plate to move downward, the adsorption-type material-retrieving manipulator can adsorb the material in contact with it and can move upward adaptively.

2. The material taking mechanism according to claim 1, It is characterized in that At least two mounting holes corresponding to at least two adsorption-type material-retrieving manipulators are formed on the mounting plate, and each adsorption-type material-retrieving manipulator is arranged in the mounting hole corresponding thereto.

3. The material taking mechanism according to claim 1, It is characterized in that The adsorption-type material-retrieving robot comprises a telescopic drive assembly and an adsorption assembly. The telescopic drive assembly has a telescopic portion that can be telescoped up and down. The adsorption assembly is arranged at the end below the telescopic portion, so that each adsorption assembly adsorbs materials at different heights.

4. The material taking mechanism according to claim 3, It is characterized in that The telescopic drive assembly includes a pneumatic cylinder or an electric cylinder.

5. The material taking mechanism according to claim 3, It is characterized in that The adsorption-type material-retrieving robot also includes a discharge plate, which is connected to the telescopic drive assembly and is located below the mounting plate. The discharge plate has a first through hole, and the telescopic portion is inserted into the first through hole.

6. The material taking mechanism according to claim 5, It is characterized in that In the radial direction of the first via hole, the minimum width of the material is greater than the diameter of the first via hole.

7. The material taking mechanism according to claim 3, It is characterized in that The adsorption component includes a permanent magnetic suction head or a vacuum suction cup.

8. The material taking mechanism according to claim 3, It is characterized in that A flexible steering component is arranged between the telescopic portion and the adsorption component.

9. The material taking mechanism according to claim 8, It is characterized in that The flexible steering assembly includes a first connection part connected to the telescopic part and a second connection part connected to the adsorption assembly. The first connection part is provided with a movable ball head at one end away from the telescopic part, and the second connection part is provided with a clamping chamber for accommodating the movable ball head at one end away from the adsorption assembly.

10. The material taking mechanism according to claim 9, It is characterized in that The first connecting portion includes an upper pressing cover and a lower pressing cover, the upper pressing cover is connected to the telescopic portion, the upper pressing cover and the lower pressing cover are buckled together to form the card-connecting chamber, the maximum cross-section of the card-connecting chamber is located at the connection between the upper pressing cover and the lower pressing cover, the lower pressing cover is provided with a second through hole, and the second connecting portion is penetrated through the second through hole.

11. The material taking mechanism according to claim 10, It is characterized in that The diameter of the second through hole is larger than the diameter of the second connecting portion and smaller than the diameter of the movable ball head.

12. The material taking mechanism according to claim 9, It is characterized in that The second connecting part includes a first connecting rod and a second connecting rod that are detachably connected. The diameter of the first connecting rod is smaller than the diameter of the movable ball head. The movable ball head is constructed at an end of the first connecting rod away from the second connecting rod. The end of the second connecting rod close to the first connecting rod is constructed with an insertion part for inserting the first connecting rod. The end of the second connecting rod away from the first connecting rod is connected to the adsorption assembly.

13. A driving device, It is characterized in that The driving device includes a moving mechanism and the material picking mechanism according to any one of claims 1 to 12, and the moving mechanism is connected to the moving connecting part to drive the mounting plate to move.

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