Inserting needle type material taking mechanical arm
By using a pin assembly that is inclined from top to bottom to form a triangular plug structure in the material collection robot, the problem of easy cracking of finished products such as filling and cooked foods during the material collection process is solved, and stable material collection and high-quality output are achieved.
Patent Information
- Application Number
- CN202420904387.2
- Authority / Receiving Office
- CN · China
- Patent Type
- Utility models(China)
- Current Assignee / Owner
- Filing Date
- 2024-04-28
- Publication Date
- 2025-01-10
- Estimated Expiration
- 2034-04-28
AI Technical Summary
On pre-made cooked food production lines such as bread, pastries, dumplings, etc., it is difficult for the material picking robot to accurately control the absorption strength, which can easily cause the skin of cooked food to be packed and affect the quality of the product.
A pin-type material picking robot is designed, using the first pin and the second pin assembly that are inclined from top to bottom to form a triangular plug-in structure to ensure that the pins are stably fixed during the insertion and extraction process. , avoid rupture.
It effectively avoids the cracking of finished cooked food products in the material removal and unloading process, ensures product quality, and improves the stability and accuracy of the material removal process.
Smart Images
Figure CN222328214U_ABST
Abstract
Description
Technical Field
[0001] The utility model relates to a manipulator, in particular to a pin-insertion type material-taking manipulator. Background Art
[0002] On the production lines of pre-made cooked food such as bread, pastries, and dumplings, the finished cooked food needs to be removed from the high-temperature furnace plate and wait for subsequent packaging. In order to avoid burns to production personnel, a material-retrieving robot is arranged on the production line to remove the finished cooked food by suction. However, for stuffed cooked food such as steamed buns and dumplings, the suction force needs to be precisely controlled. If the suction force is too strong, it is easy to break the skin of the stuffed cooked food and produce defective products. The operating accuracy of the material-retrieving robot is very high, which is not conducive to the rapid operation of the production line. Summary of the invention
[0003] The problem to be solved by the utility model is to provide a pin-type material-retrieving manipulator, which can stably retrieve and unload the finished stuffed cooked food products, avoid the finished stuffed cooked food products from being broken during the retrieval and unloading process, and ensure the quality of the finished stuffed cooked food products. The adopted technical solution is as follows:
[0004] A pin-type material-picking robot comprises a moving mechanism, a moving seat and a material-picking mechanism, the moving seat is installed on the power output end of the moving mechanism, and the material-picking mechanism is arranged on the moving seat, characterized in that: the material-picking mechanism comprises an insertion drive device and at least one pin assembly, the pin assembly comprises a first pin seat, a second pin seat, a first pin group and a second pin group; the first pin seat and the second pin seat are installed on the power output end of the insertion drive device, and the insertion drive device is used to drive the first pin seat and the second pin seat of the same pin assembly to move toward each other during the descent process and move away from each other during the ascent process; the first pin group comprises at least two first pins, and the second pin group comprises at least two second pins, the upper end of the first pin is fixedly mounted on the first pin seat, and the upper end of the second pin is fixedly mounted on the second pin seat, and in the same pin assembly, the corresponding first pins and second pins are inclined toward each other from top to bottom.
[0005] The above-mentioned moving mechanism is used to drive the moving seat to lift or translate, so that the moving seat moves to the specified material picking position. Usually, a servo motor can be used to drive the synchronous belt to drive the entire material picking manipulator to move to the specified material picking position, and then a cylinder can be used to drive the material picking manipulator to lift and pull the material.
[0006] The above-mentioned insertion and extraction drive device is used to drive the first pin seat and the second pin seat of the same pin assembly to move toward each other during the descent process and to move away from each other during the ascending process: when the first pin seat and the second pin seat move downward toward each other, the first pin and the second pin are inserted into the finished stuffed cooked food; when the first pin seat and the second pin seat move upward away from each other, the first pin and the second pin are pulled out from the inserted finished stuffed cooked food.
[0007] The first insertion pin and the second insertion pin are used to be inserted obliquely from top to bottom into the finished stuffed cooked food when the insertion and removal driving device drives the first insertion pin seat and the second insertion pin seat to descend, so that the lower ends of the first insertion pin and the second insertion pin are wrapped in the finished stuffed cooked food.
[0008] When taking materials, the moving mechanism first drives the entire material taking mechanism to move above the finished stuffed cooked food (generally, the finished stuffed cooked food will be placed in multiple rows and columns on the stove or baking tray), and then the insertion and removal drive device drives the first pin seat and the second pin seat of the same pin assembly to move downward toward each other at the same time, so that the first pin and the second pin are inserted obliquely toward each other into the finished stuffed cooked food; then the moving mechanism drives the entire material taking mechanism with the finished stuffed cooked food inserted to move to the target position. After reaching the target position, the insertion and removal drive device drives the first pin seat and the second pin seat of the same pin assembly to move upward in the opposite directions at the same time, so that the first pin and the second pin are pulled out from the inserted finished stuffed cooked food, thereby completing the material transfer.
[0009] Since the first pin and the second pin in the same pin group are inclined toward each other from top to bottom, when the first pin seat and the second pin seat simultaneously descend and move toward each other, the corresponding first pin and the second pin are inserted into the stuffed cooked food product toward each other, and form a triangular plug-in structure with the stuffed cooked food product, and the lower ends of the first pin and the second pin will be wrapped by the stuffed cooked food product, so that during the movement of the entire material-picking robot, the first pin and the second pin can stably fix the inserted cooked food product, thereby preventing the stuffed cooked food product from breaking during the material-picking and unloading process, thereby ensuring the quality of the stuffed cooked food product.
[0010] As a preferred solution of the utility model, multiple first pins of the same first pin group are arranged in a row along the length direction of the first pin seat, and multiple second pins of the same second pin group are arranged in a row along the length direction of the second pin seat; each row of first pins and each row of second pins are divided into multiple groups along the corresponding first pin seat and second pin seat, and each group includes 3 to 5 first pins / second pins. The first pins and second pins of each paired group correspond to a single cooked food product.
[0011] As a further preferred solution of the utility model, the first pin seat is provided with two rows of first pins, and the second pin seat is provided with two rows of second pins. The first pin seat and the second pin seat are provided with two rows of first pins and second pins respectively, so as to improve the stability of insertion and removal.
[0012] As a further preferred solution of the utility model, the first insertion pin and the second insertion pin of the same insertion pin assembly are staggered relative to each other. The first insertion pin and the second insertion pin are staggered relative to each other, so that the first insertion pin and the second insertion pin can be continuously inserted into the stuffed cooked food product to form a cross structure, further improving the stability of the stuffed cooked food product during movement.
[0013] As a preferred embodiment of the present invention, the plug-in drive device includes a plug-in lifting drive mechanism, a plug-in lifting seat and an opening and closing linkage mechanism. The plug-in lifting seat is installed on the power output end of the extraction lifting drive mechanism; the opening and closing linkage mechanism is provided with a first linkage end and a second linkage end that are opened and closed in a linkage manner during the lifting and lowering of the plug-in lifting seat, the first pin seat is installed on the first linkage end, and the second pin seat is installed on the second linkage end. The plug-in lifting drive mechanism drives the plug-in lifting seat to lift and lower, and the opening and closing linkage mechanism opens and closes in a linkage manner as the plug-in lifting seat is lifted and lowered; when the plug-in lifting seat descends, the first linkage end and the second linkage end move toward each other, driving the first pin seat and the second pin seat to move toward each other during the descent process; when the plug-in lifting seat ascends, the first linkage end and the second linkage end move in opposite directions, driving the first pin seat and the second pin seat to move in opposite directions during the ascent process.
[0014] As a further preferred embodiment of the present invention, the insertion and removal lifting drive mechanism includes an insertion and removal lifting cylinder, a lifting fixed plate, a lifting guide rail and a lifting guide block; the insertion and removal lifting cylinder and the lifting fixed plate are both arranged on the movable seat, the cylinder body of the insertion and removal lifting cylinder is arranged downward, and the lifting fixed plate is arranged vertically; the lifting guide rail is vertically installed on the lifting fixed plate, and the insertion and removal lifting seat can be moved up and down by the lifting guide block and is installed on the lifting guide rail and is connected to the piston rod of the insertion and removal lifting cylinder.
[0015] As a further preferred embodiment of the present invention, the opening and closing linkage mechanism includes a first lifting plate, a second lifting plate, a first upper guide rolling block, a first lower guide rolling block, a second upper guide rolling block, and a first upper lifting guide groove, a first lower lifting guide groove, a second upper lifting guide groove, and a second lower lifting guide groove arranged on the lifting fixed plate; the first upper lifting guide groove is parallel to the first lower lifting guide groove, the second upper lifting guide groove is parallel to the second lower lifting guide groove, the first upper lifting guide groove and the second upper lifting guide groove are inclined from top to bottom, and the first lower lifting guide groove and the second lower lifting guide groove are inclined from top to bottom; the first upper lifting guide groove matches the first upper guide rolling block, the first lower lifting guide groove matches the first lower guide rolling block, the second upper lifting guide groove matches the second upper guide rolling block, and the second lower lifting guide groove matches the second lower guide rolling block ; The first upper guide rolling block and the first lower guide rolling block are relatively rotatably mounted on the first lifting plate, and the first upper guide rolling block is in the first upper lifting guide groove, and the first lower guide rolling block is in the first lower lifting guide groove, the second upper guide rolling block and the second lower guide rolling block are relatively rotatably mounted on the second lifting plate, and the second upper guide rolling block is in the second upper lifting guide groove, and the second lower guide rolling block is in the second lower lifting guide groove; the first upper guide rolling block and the second upper guide rolling block are in rolling contact with the upper edge of the insertion and removal lifting seat, and the first lower guide rolling block and the second lower guide rolling block are in rolling contact with the lower edge of the insertion and removal lifting seat; the first pin seat is mounted on the lower end of the first lifting plate, and the lower end of the first lifting plate serves as the first linkage end; the second pin seat is mounted on the lower end of the second lifting plate, and the lower end of the second lifting plate serves as the second linkage end.
[0016] The number of the first upper lifting guide groove, the first lower lifting guide groove, the second upper lifting guide groove and the second lower lifting guide groove provided on the lifting fixing plate matches the number of the pin assemblies.
[0017] When inserting and taking materials, the insertion and taking lifting cylinder drives the insertion and taking lifting seat to descend. Since the first lower guide rolling block and the second lower guide rolling block are in rolling contact with the lower edge of the insertion and taking lifting seat, the lower edge of the insertion and taking lifting seat presses down the first lower guide rolling block and the second lower guide rolling block, so that the first lower guide rolling block moves downward and inward along the first lower lifting guide groove and the second lower guide rolling block moves downward and inward along the second lower lifting guide groove, driving the first lifting plate and the second lifting plate to descend toward each other, so that the first insertion pin and the second insertion pin are inserted obliquely toward each other into the finished product of stuffed cooked food; at the same time When unloading, the insertion and lifting cylinder drives the insertion and lifting seat to rise. Since the first upper guide rolling block and the second upper guide rolling block are in rolling contact with the upper edge of the insertion and lifting seat, the upper edge of the insertion and lifting seat presses the first upper guide rolling block and the second upper guide rolling block, so that the first upper guide rolling block moves upward and outward along the first upper lifting guide groove and the second upper guide rolling block moves upward and outward along the second upper lifting guide groove, driving the first lifting plate and the second lifting plate to rise in the back direction, so that the first insertion pin and the second insertion pin are pulled out from the inserted stuffed cooked food product.
[0018] The first upper guide rolling block, the first lower guide rolling block, the second upper guide rolling block and the second lower guide rolling block may adopt deep groove ball bearings.
[0019] Compared with the prior art, the utility model has the following advantages:
[0020] The utility model adopts a pin-type material picking robot that inserts and picks the finished stuffed cooked food by means of a first pin and a second pin that are inclined toward each other from top to bottom. A triangular plug-in structure is formed between the first pin, the second pin and the finished stuffed cooked food, and the lower ends of the first pin and the second pin will be wrapped by the finished stuffed cooked food, so that during the movement of the entire material picking robot, the first pin and the second pin can stably fix the inserted finished cooked food, thereby preventing the finished stuffed cooked food from breaking during the material picking and unloading process, thereby ensuring the quality of the finished stuffed cooked food. BRIEF DESCRIPTION OF THE DRAWINGS
[0021] Figure 1 It is a structural schematic diagram of a preferred embodiment of the utility model;
[0022] Figure 2 for Figure 1 Left view of
[0023] Figure 3 for Figure 1 Front view of
[0024] Figure 4 for Figures 1 to 3 Structural diagram of the middle material taking mechanism;
[0025] Figure 5 for Figure 4 Left view of
[0026] Figure 6 for Figure 5 Sectional view along AA;
[0027] Among them, each mark is: 1-moving mechanism, 11-translation drive motor, 12-translation synchronous belt, 13-translation guide rail, 14-translation seat, 15-lifting cylinder, 2-moving seat; 3-feeding mechanism, 3A-insertion drive device, 31-insertion lifting drive mechanism, 311-insertion lifting cylinder, 312-lifting fixed plate, 313-lifting guide rail, 314-lifting guide block, 32-insertion lifting seat, 33-opening and closing linkage mechanism, 331-first lifting plate, 332-second lifting plate, 333a-first upper guide rolling block, 333b-first lower guide rolling block, 333c-second upper guide rolling block, 333d-second lower guide rolling block, 334a-first upper lifting guide groove, 334b-first lower lifting guide groove, 334c-second upper lifting guide groove, 334d-second lower lifting guide groove, 3B-pin assembly, 34-first pin seat, 35-second pin seat, 36-first pin, 37-second pin. DETAILED DESCRIPTION
[0028] The following is a further description of the preferred embodiments of the present invention in conjunction with the accompanying drawings.
[0029] like Figures 1 to 3 As shown, a pin-type material-picking robot comprises a moving mechanism 1, a moving seat 2 and a material-picking mechanism 3; the moving mechanism 1 is used to drive the moving seat 2 to lift or translate, so that the moving seat 2 moves to a designated material-picking position. In this embodiment, the moving mechanism 1 comprises a translation drive motor 11, a translation synchronous belt 12, a translation guide rail 13, a translation seat 14 and a lifting cylinder 15. The translation seat 14 is movably mounted on the translation guide rail 13 and connected to the translation synchronous belt 12. The translation drive motor 11 drives the translation synchronous belt 12 to move, thereby driving the translation seat 14 to translate along the translation guide rail 13. This is a conventional technical means in this field and will not be described in detail herein; the lifting cylinder 15 is mounted on the translation seat 14, and the cylinder body of the lifting cylinder 15 is vertically downward. The moving seat 2 is mounted on the piston cylinder of the lifting cylinder 15, and is lifted and lowered by the lifting cylinder 15.
[0030] like Figures 3 to 6As shown, the material taking mechanism 3 includes an insertion driving device 3A and at least one pin assembly 3B (two pin assemblies 3B in this embodiment). In order to improve the stability of the lifting process, in this embodiment, two sets of insertion driving devices 3A are used to drive the lifting at the same time, and the two sets of insertion driving devices 3A are arranged on both sides of the lifting cylinder 15; the insertion driving device 3A includes an insertion lifting driving mechanism 31, an insertion lifting seat 32 and an opening and closing linkage mechanism 33, and the insertion lifting driving mechanism 31 includes an insertion lifting cylinder 311, a lifting fixing plate 312, a lifting guide rail 313 and a lifting guide Block 314, the insertion and removal lifting cylinder 311 and the lifting fixed plate 312 are all arranged on the movable seat 2, the cylinder body of the insertion and removal lifting cylinder 311 is arranged downward, and the lifting fixed plate 312 is arranged vertically; in this embodiment, two lifting guide rails 313 are used, and two lifting guide blocks 314 are also used accordingly. The two lifting guide rails 313 are both vertically installed on the lifting fixed plate 312, and both ends of the insertion and removal lifting seat 32 are installed on the corresponding lifting guide rails 313 through the lifting guide blocks 314 and can be moved up and down, and the middle part of the insertion and removal lifting seat 32 is connected to the piston rod of the insertion and removal lifting cylinder 311.
[0031] like Figures 3 to 6As shown, the opening and closing linkage mechanism 33 includes a first lifting plate 331, a second lifting plate 332, a first upper guide rolling block 333a, a first lower guide rolling block 333b, a second upper guide rolling block 333c, a second lower guide rolling block 333d, and a first upper lifting guide groove 334a, a first lower lifting guide groove 334b, a second upper lifting guide groove 334c, and a second lower lifting guide groove 334d provided on the lifting fixed plate 312; the first upper lifting guide groove 334a and the first lower lifting guide groove 334 b corresponds to being parallel up and down, the second upper lifting guide groove 334c corresponds to being parallel up and down, the first upper lifting guide groove 334a and the second upper lifting guide groove 334c are inclined toward each other from top to bottom, and the first lower lifting guide groove 334b and the second lower lifting guide groove 334d are inclined toward each other from top to bottom; the first upper lifting guide groove 334a matches the first upper guide rolling block 333a, the first lower lifting guide groove 334b matches the first lower guide rolling block 333b, and the second upper lifting guide groove 334c matches the first lower guide rolling block 333b. The second upper guide rolling block 333c matches the second lower lifting guide groove 334d matches the second lower guide rolling block 333d; the first upper guide rolling block 333a and the first lower guide rolling block 333b are relatively rotatably installed on the first lifting plate 331, and the first upper guide rolling block 333a is in the first upper lifting guide groove 334a, the first lower guide rolling block 333b is in the first lower lifting guide groove 334b, the second upper guide rolling block 333c and the second lower guide rolling block 333d is rotatably mounted on the second lifting plate 332 relatively to the upper and lower sides, and the second upper guide rolling block 333c is in the second upper lifting guide groove 334c, and the second lower guide rolling block 333d is in the second lower lifting guide groove 334d; the first upper guide rolling block 333a and the second upper guide rolling block 333c are in rolling contact with the upper edge of the insertion and removal lifting seat 32, and the first lower guide rolling block 333b and the second lower guide rolling block 333d are in rolling contact with the lower edge of the insertion and removal lifting seat 32.
[0032] In this embodiment, since two pin assemblies 3B are used, the number of the first upper lifting guide groove 334a, the first lower lifting guide groove 334b, the second upper lifting guide groove 334c and the second lower lifting guide groove 334d provided on the lifting fixing plate 312 are all two.
[0033] In this embodiment, the first upper guide rolling block 333a, the first lower guide rolling block 333b, the second upper guide rolling block 333c and the second lower guide rolling block 333d are formed of deep groove ball bearings.
[0034] like Figures 3 to 6As shown, the pin assembly 3B includes a first pin seat 34, a second pin seat 35, a first pin group and a second pin group. The first pin seat 34 is installed at the lower end of the first lifting plate 331, and the second pin seat 35 is installed at the lower end of the second lifting plate 332. In this embodiment, a plurality of first pins 36 of the same first pin group are arranged in a row along the length direction of the first pin seat 34, and a plurality of second pins 37 of the same second pin group are arranged in a row along the length direction of the second pin seat 35. The first pin seat 34 is provided with two rows of first pins 36, and the second pin seat 35 is provided with two rows of second pins 37; each row of first pins 36 and each row of second pins 37 are divided into a plurality of groups (in the present embodiment, divided into 5 groups) along the corresponding first pin seat 34 and second pin seat 35, each group includes 3 to 5 first pins 36 / second pins 37 (in the present embodiment, each group includes 5 first pins 36 / second pins 37), and the first pins 36 and the second pins 37 of each paired group correspond to a single cooked food product respectively; the first pins 36 and the second pins 37 of the same pin assembly 3B are staggered relative to each other.
[0035] The moving mechanism 1 first drives the entire material taking mechanism 3 to translate and lift, so that the material taking mechanism 3 moves to above the finished stuffed cooked food (generally, the finished stuffed cooked food will be placed in multiple rows and columns on the stove or baking tray), and then the insertion drive device 3A drives the first pin seat 34 and the second pin seat 35 of the same pin assembly 3B to move downward toward each other at the same time. When taking materials or inserting materials, the insertion and taking lifting cylinder 311 drives the insertion and taking lifting seat 32 to descend. Since the first lower guide rolling block 333b and the second lower guide rolling block 333d are in rolling contact with the lower edge of the insertion and taking lifting seat 32, the lower edge of the insertion and taking lifting seat 32 presses down the first lower guide rolling block 333b and the second lower guide rolling block 333d, so that the first lower guide rolling block 333b moves downward and inward along the first lower lifting guide groove 334b and the second lower guide rolling block 333d moves downward and inward along the second lower lifting guide groove 334d, driving the first lifting plate 331 and the second lifting plate 332 to descend toward each other, so that the first insertion pin 36 and the second insertion pin 37 are inserted obliquely toward each other into the finished product of stuffed cooked food.
[0036] Then, the moving mechanism 1 drives the material taking mechanism 3 inserted with the stuffed cooked food to move to the target position, and unloads the material after reaching the target position. Similarly, when unloading, the insertion and lifting cylinder 311 drives the insertion and lifting seat 32 to rise. Since the first upper guide rolling block 333a and the second upper guide rolling block 333c are in rolling contact with the upper edge of the insertion and lifting seat 32, the upper edge of the insertion and lifting seat 32 presses the first upper guide rolling block 333a and the second upper guide rolling block 333c, so that the first upper guide rolling block 333a moves upward and outward along the first upper lifting guide groove 334a, and the second upper guide rolling block 333c moves upward and outward along the second upper lifting guide groove 334c, driving the first lifting plate 331 and the second lifting plate 332 to rise in the back direction, so that the first insertion pin 36 and the second insertion pin 37 are withdrawn from the inserted stuffed cooked food, and the material transfer is completed.
[0037] Since the first pin 36 and the second pin 37 in the same pin group are inclined toward each other from top to bottom, when the first pin seat 34 and the second pin seat 35 simultaneously descend and move toward each other, the corresponding first pin 36 and the second pin 37 are inserted into the stuffed cooked food product toward each other, and form a triangular plug-in structure with the stuffed cooked food product, and the lower ends of the first pin 36 and the second pin 37 will be wrapped by the stuffed cooked food product, so that during the movement of the entire material-picking robot, the first pin 36 and the second pin 37 can stably fix the inserted cooked food product, thereby preventing the stuffed cooked food product from breaking during the material-picking and unloading process, thereby ensuring the quality of the stuffed cooked food product.
[0038] Furthermore, two rows of first pins 36 and second pins 37 are respectively provided on the first pin seat 34 and the second pin seat 35 to improve the stability of insertion; and the first pins 36 and the second pins 37 are relatively staggered, so that the first pins 36 and the second pins 37 can be continuously inserted into the stuffed cooked food product to form a cross structure, further improving the stability of the stuffed cooked food product during movement.
[0039] In addition, it should be noted that the names of the various parts of the specific embodiments described in this specification may be different, and any equivalent or simple changes made based on the structure, features and principles described in the utility model patent concept are included in the protection scope of the utility model patent. The technical personnel of the technical field to which the utility model belongs can make various modifications or supplements to the specific embodiments described or replace them in a similar manner, as long as they do not deviate from the structure of the utility model or exceed the scope defined by the claims, they should all fall within the protection scope of the utility model.
Claims
1. A pin-type material-retrieving manipulator, comprising a moving mechanism, a moving seat and a material-retrieving mechanism, wherein the moving seat is mounted on the power output end of the moving mechanism, and the material-retrieving mechanism is arranged on the moving seat, and is characterized in that: The material picking mechanism includes an insertion drive device and at least one pin assembly, the pin assembly includes a first pin seat, a second pin seat, a first pin group and a second pin group; the first pin seat and the second pin seat are installed on the power output end of the insertion drive device, and the insertion drive device is used to drive the first pin seat and the second pin seat of the same pin assembly to move toward each other during the descent process and move away from each other during the ascent process; the first pin group includes at least two first pins, and the second pin group includes at least two second pins, the upper end of the first pin is fixedly mounted on the first pin seat, and the upper end of the second pin is fixedly mounted on the second pin seat, and in the same pin assembly, the corresponding first pins and second pins are inclined toward each other from top to bottom.
2. The pin-type material-retrieving manipulator according to claim 1 is characterized in that: Multiple first pins of the same first pin group are arranged in a row along the length direction of the first pin seat, and multiple second pins of the same second pin group are arranged in a row along the length direction of the second pin seat; each row of first pins and each row of second pins are divided into multiple groups along the corresponding first pin seat and second pin seat, and each group includes 3 to 5 first pins / second pins.
3. The pin-type material-retrieving manipulator according to claim 2 is characterized in that: The first pin seat is provided with two rows of first pins, and the second pin seat is provided with two rows of second pins.
4. The pin-type material-retrieving manipulator according to claim 2 is characterized in that: The first plug pin and the second plug pin of the same plug pin assembly are staggered relative to each other.
5. The pin-type material-retrieving manipulator according to any one of claims 1 to 4, characterized in that: The plug-in and extraction drive device includes a plug-in and extraction lifting drive mechanism, a plug-in and extraction lifting seat and an opening and closing linkage mechanism. The plug-in and extraction lifting seat is installed on the power output end of the extraction lifting drive mechanism; the opening and closing linkage mechanism is provided with a first linkage end and a second linkage end which are opened and closed in linkage during the lifting and lowering process of the plug-in and extraction lifting seat. The first pin seat is installed on the first linkage end, and the second pin seat is installed on the second linkage end.
6. The pin-type material-retrieving manipulator according to claim 5 is characterized in that: The plug-in lifting drive mechanism includes an plug-in lifting cylinder, a lifting fixed plate, a lifting guide rail and a lifting guide block; the plug-in lifting cylinder and the lifting fixed plate are both arranged on the movable seat, the cylinder body of the plug-in lifting cylinder is arranged downward, and the lifting fixed plate is arranged vertically; the lifting guide rail is vertically installed on the lifting fixed plate, and the plug-in lifting seat can be moved up and down by the lifting guide block, is installed on the lifting guide rail and is connected to the piston rod of the plug-in lifting cylinder.
7. The pin-type material-retrieving manipulator according to claim 6 is characterized in that: The opening and closing linkage mechanism includes a first lifting plate, a second lifting plate, a first upper guide rolling block, a first lower guide rolling block, a second upper guide rolling block, a second lower guide rolling block, and a first upper lifting guide slot, a first lower lifting guide slot, a second upper lifting guide slot, and a second lower lifting guide slot arranged on the lifting fixed plate; the first upper lifting guide slot is parallel to the first lower lifting guide slot, the second upper lifting guide slot is parallel to the second lower lifting guide slot, the first upper lifting guide slot and the second upper lifting guide slot are inclined from top to bottom, and the first lower lifting guide slot and the second lower lifting guide slot are inclined from top to bottom; the first upper lifting guide slot matches the first upper guide rolling block, the first lower lifting guide slot matches the first lower guide rolling block, the second upper lifting guide slot matches the second upper guide rolling block, and the second lower lifting guide slot matches the second lower guide rolling block; the first upper guide rolling block , the first lower guide rolling block is rotatably mounted on the first lifting plate in an up-and-down direction, and the first upper guide rolling block is in the first upper lifting guide groove, and the first lower guide rolling block is in the first lower lifting guide groove; the second upper guide rolling block and the second lower guide rolling block are rotatably mounted on the second lifting plate in an up-and-down direction, and the second upper guide rolling block is in the second upper lifting guide groove, and the second lower guide rolling block is in the second lower lifting guide groove; the first upper guide rolling block and the second upper guide rolling block are in rolling contact with the upper edge of the insertion and removal lifting seat, and the first lower guide rolling block and the second lower guide rolling block are in rolling contact with the lower edge of the insertion and removal lifting seat; the first pin seat is mounted on the lower end of the first lifting plate, and the lower end of the first lifting plate serves as the first linkage end; the second pin seat is mounted on the lower end of the second lifting plate, and the lower end of the second lifting plate serves as the second linkage end.