Mechanical arm device capable of automatically taking and placing materials

Abstract

The utility model relates to an automatic material taking and placing mechanical arm device which comprises a suction cup mechanism, a first rotating mechanism, a second rotating mechanism, a third rotating mechanism, an up-down moving mechanism and a support structure, and the first rotating mechanism is used for rotating the suction cup mechanism; the second rotating mechanism is used for rotating the first rotating mechanism; the third rotating mechanism is used for rotating the second rotating mechanism; the up-down moving mechanism is used for moving the third rotating mechanism up and down; the up-down moving mechanism is arranged on the support structure. According to the automatic feeding device, automatic feeding is adopted, traditional manual feeding is replaced, the labor intensity of workers is reduced, the stability of the product quality is improved, meanwhile, the safety in the production process is improved, and the risk of industrial injury is reduced.

Description

Technical Field

[0001] The utility model relates to a mechanical arm device for automobile parts production, in particular to a mechanical arm device for automatic material taking and placing of small and medium-sized automobile parts. Background Art

[0002] With the development of science and technology, the progress and innovation of technology, automobile products are changing with each passing day, and higher technical requirements are also put forward for stamping parts and fastener products; in the process of production and processing of automobile parts, the iteration speed of automobile models is fast, the structure of parts is complex and there are many design changes, there are many processing procedures, and manual operation is often used, the production efficiency is low, the production synchronization is poor, the labor cost is high, the output is affected by the proficiency of employees, the volatility is large, the safety of the production process is low, and safety accidents are prone to occur.

[0003] Therefore, it is necessary to develop an automatic material handling and placing robot device for workpieces with relatively large output and different appearance sizes. Utility Model Content

[0004] The utility model aims to provide a mechanical arm device for automatically taking and placing materials with simple and reliable structure and strong applicability, so as to solve the existing technical problems.

[0005] To achieve the above-mentioned purpose, the utility model provides a mechanical arm device for automatically picking up and placing materials, the mechanical arm device includes a suction cup mechanism, a first rotating mechanism, a second rotating mechanism, a third rotating mechanism, an up-and-down moving mechanism and a support structure, the first rotating mechanism is used to rotate the suction cup mechanism; the second rotating mechanism is used to rotate the first rotating mechanism; the third rotating mechanism is used to rotate the second rotating mechanism; the up-and-down moving mechanism is used to move the third rotating mechanism up and down; the up-and-down moving mechanism is arranged on the support structure; wherein, the suction cup mechanism includes a suction cup shaft; the first rotating mechanism includes a secondary shaft arm, a shaft arm cover plate, a suction cup stepping motor, an active synchronous wheel, a driven synchronous wheel, a suction cup shaft support plate and a synchronous belt, the secondary The shaft arm is a long slot body, and the two ends of the secondary shaft arm are respectively provided with a suction cup shaft through hole and a secondary shaft mounting groove, and the shaft arm cover plate is arranged on the secondary shaft arm; the suction cup stepper motor is arranged on the secondary shaft arm, and is located between the suction cup shaft through hole and the secondary shaft mounting groove, and the active synchronous wheel is arranged on the output shaft of the suction cup stepper motor, and the active synchronous wheel is located in the slot body of the secondary shaft arm; one end of the suction cup shaft is inserted into and connected to the suction cup shaft through hole, and is sleeved and connected to the driven synchronous wheel at the end of the suction cup shaft; the suction cup shaft support plate is arranged on the secondary shaft arm, and is used for limiting the suction cup shaft; the synchronous belt is meshed and connected with the active synchronous wheel and the driven synchronous wheel, and the synchronous belt is used to drive the driven synchronous wheel to rotate.

[0006] According to the automatic material picking and placing robotic arm device described in the preferred embodiment of the utility model, the suction cup mechanism also includes a suction cup bracket mounting plate and a plurality of suction cup bracket groups, the other end of the suction cup rotating shaft is connected to the suction cup bracket mounting plate, and the plurality of suction cup bracket groups are arranged on the suction cup bracket mounting plate.

[0007] According to the automatic material picking and placing robot arm device described in the preferred embodiment of the utility model, the third rotating mechanism includes a main shaft arm, and the first main shaft arm through hole and the second main shaft arm through hole are respectively opened at both ends of the main shaft arm; the second rotating mechanism includes a secondary shaft arm servo motor, a secondary shaft outer gear, a secondary shaft inner gear and a secondary shaft fixing block, the secondary shaft arm servo motor is arranged on the first main shaft arm through hole, and the secondary shaft outer gear is arranged on the output shaft of the secondary shaft arm servo motor; the secondary shaft inner gear is arranged in the secondary shaft mounting groove, and is fixedly connected to the bottom surface of the secondary shaft mounting groove by the secondary shaft fixing block.

[0008] According to the automatic material picking and unloading robotic arm device described in the preferred embodiment of the utility model, the third rotating mechanism also includes a rotating shaft fixing block, a main shaft internal gear, a main shaft external gear, an external gear limiting block and a main shaft arm servo motor, the rotating shaft fixing block includes a fixed surface portion and a fixed platform portion, the fixed platform portion is provided with a stepped gear assembly through hole, the main shaft internal gear is tightly connected to the gear assembly through hole, the main shaft arm servo motor is arranged on the second main shaft arm through hole, and the main shaft external gear is arranged on the output shaft of the main shaft arm servo motor; the main shaft internal gear is meshedly connected to the main shaft external gear; the external gear limiting block is arranged below the main shaft external gear to limit the main shaft external gear.

[0009] According to the automatic material picking and unloading mechanical arm device described in the preferred embodiment of the utility model, the up and down moving mechanism includes a bearing support mounting base, an upper fixed plate, two lifting guide pillars, two upper and lower linear bearings, a plurality of motor mounting pillars, an up and down moving stepping motor, a coupling, a rolled ball screw and a lifting connecting block, the two ends of the two lifting guide pillars are respectively fixedly connected to the bearing support mounting base and the upper fixed plate; the two upper and lower linear bearings are sleeved to connect the two lifting guide pillars, and the two upper and lower linear bearings are connected to the fixed surface of the rotating shaft fixing block through fasteners; the plurality of motor mounting pillars are arranged above the upper fixed plate, and the up and down moving stepping motor is arranged on the plurality of motor mounting pillars; the output shaft of the up and down moving stepping motor is connected to the rolled ball screw through the coupling, and the rolled ball screw passes through the through hole of the upper fixed plate and is connected to the bearing support mounting base; one side of the lifting connecting block is fixedly connected to the mounting nut of the rolled ball screw, and the other side of the lifting connecting block is fixedly connected to the fixed surface of the rotating shaft fixing block.

[0010] According to the automatic material picking and placing robotic arm device described in the preferred embodiment of the utility model, the support structure includes a mounting base plate, two lifting support vertical plates and aluminum profile pillars, the mounting base plate is arranged on the equipment mounting plane, the two lifting support vertical plates are arranged on the mounting base plate, the bearing pillar mounting base is arranged on the two lifting support vertical plates, and the aluminum profile pillar is arranged between the bearing pillar mounting base and the upper fixed plate.

[0011] The design concept of this application is to design a mechanical arm device for picking up and placing materials for workpieces of different appearance sizes, such as various stamping parts, which can be used for different appearance sizes. The three rotation adjustments of the mechanical arm device and one up and down movement to achieve different degrees of freedom in different directions are realized through the pressed ball screw and servo motor, and the automatic picking up, loading and unloading process of the workpiece is realized through the pressed ball screw and suction cup material picking and placing. The mechanical arm device can cooperate with the stamping die and match different dies to realize the precise positioning of the stamping parts and the automatic feeding and stamping production. The mechanical arm device has high loading efficiency, and can realize asynchronous cooperation with other mechanisms or manual labor, which increases the production efficiency to 2 to 3 times that of manual production. One person can operate two to three machines, further reducing production costs and improving the production efficiency of workpieces.

[0012] Compared with the prior art, the utility model has the following advantages:

[0013] First, the overall structure of the device of the present application is stable and reliable, the processing and production efficiency is high, the production capacity quota of the process production is improved, the labor intensity of employees is reduced, the production cost is reduced, and the market competitiveness of the enterprise is increased;

[0014] Second, the device of the present application has high operating stability, the material taking suction cup can be changed according to the product characteristics, and the material can be taken and discharged for the workpieces with different size characteristics, which is highly flexible;

[0015] Third, the present application adopts automatic loading to replace the traditional manual loading, which reduces the labor intensity of employees, improves the stability of product quality, and at the same time increases the safety of the production process and reduces the risk of work-related injuries.

[0016] Of course, implementing any specific embodiment of the present application does not necessarily have all of the above technical effects at the same time. BRIEF DESCRIPTION OF THE DRAWINGS

[0017] Figure 1 This is a schematic diagram of the robotic arm device of this application;

[0018] Figure 2 This is a cutaway schematic diagram of the rotating mechanism of this application;

[0019] Figure 3This is a cross-sectional schematic diagram of the suction cup mechanism and the first rotating mechanism of the present application;

[0020] Figure 4 This is a cross-sectional schematic diagram of the second rotating mechanism of the present application;

[0021] Figure 5 This is a cross-sectional schematic diagram of the third rotating mechanism of the present application;

[0022] Figure 6 This is a schematic diagram of the up and down moving mechanism of this application. DETAILED DESCRIPTION

[0023] The present invention is described in detail below with reference to the accompanying drawings.

[0024] Please refer to Figure 1 Schematic diagram of the mechanical arm device of the present application. The mechanical arm device of the present application for automatic material loading and unloading is matched with the mold modification through the mechanism design, and uses a stepper motor or a servo motor to accurately locate the feeding station, which can realize multi-station feeding and movements with different degrees of freedom in different directions. The material feeding of the product stamping station can be realized by clamping and feeding methods such as clamping claws, electromagnets or pneumatic suction cups. At the same time, it improves product production efficiency, ensures product processing quality, reduces labor costs and improves product quality stability.

[0025] Please also refer to Figure 1 and Figure 2 The cross-sectional diagram of the rotating mechanism of the present application shows that the robot arm device includes a suction cup mechanism 10, a first rotating mechanism 20, a second rotating mechanism 30, a third rotating mechanism 40, an up-and-down moving mechanism 50 and a support structure 60, wherein the first rotating mechanism 20 is used to rotate the suction cup mechanism 10; the second rotating mechanism 30 is used to rotate the first rotating mechanism 20; the third rotating mechanism 40 is used to rotate the second rotating mechanism 30; the up-and-down moving mechanism 50 is used to move the third rotating mechanism 40 up and down; the up-and-down moving mechanism 50 is arranged on the support structure 60; Figure 2 As shown, the suction cup mechanism 10, the first rotating mechanism 20, the second rotating mechanism 30, and the third rotating mechanism 40 are connected in sequence, so that the second rotating mechanism 30 can simultaneously affect the moving positions of the suction cup mechanism 10 and the first rotating mechanism 20. Similarly, the third rotating mechanism 40 can simultaneously affect the moving positions of the suction cup mechanism 10, the first rotating mechanism 20, and the second rotating mechanism 30 to complete actions with different degrees of freedom in different directions.

[0026] Please refer to Figure 3, a schematic cross-sectional view of the suction cup mechanism and the first rotating mechanism of the present application, the suction cup mechanism 10 includes a suction cup rotating shaft 11; the first rotating mechanism 20 includes a secondary shaft arm 21, a shaft arm cover plate 22, a suction cup stepping motor 23, an active synchronous wheel 24, a driven synchronous wheel 25, a suction cup rotating shaft support plate 26 and a synchronous belt 28, the secondary shaft arm 21 is a long slot body, specifically a long groove with a hollow top, and the two ends of the secondary shaft arm 21 are respectively provided with a suction cup rotating shaft through hole 211 and a secondary shaft mounting groove 21 2. The shaft arm cover plate 22 is arranged on the secondary shaft arm 21, so that the upper part of the secondary shaft arm 21 is not hollow; the suction cup stepper motor 23 is arranged on the secondary shaft arm 21, and is located between the suction cup shaft through hole 211 and the secondary shaft mounting groove 212; the active synchronous wheel 24 is arranged on the output shaft of the suction cup stepper motor 23; the active synchronous wheel 24 is located in the groove body of the secondary shaft arm 21; and the suction cup stepper motor 23 controls the rotation of the active synchronous wheel 24.

[0027] One end of the suction cup shaft 11 is inserted into and connected to the suction cup shaft through hole 211, and the driven synchronous wheel 25 is sleeved and connected to the end of the suction cup shaft 11, and the driven synchronous wheel 25 drives the suction cup shaft 11 to rotate; the suction cup shaft support plate 26 is arranged on the secondary shaft arm 21, and is used to limit the suction cup shaft 11. Figure 3 As shown, the suction cup shaft support plate 26 is fixed under the secondary shaft arm 21, and is used to support the suction cup shaft 11 so that it does not fall from the suction cup shaft through hole 211; the synchronous belt 28 meshes and connects the active synchronous wheel 24 and the driven synchronous wheel 25, and the synchronous belt 28 is used to drive the driven synchronous wheel 25 to rotate. After assembly, the active synchronous wheel 24, the synchronous belt 28, and the driven synchronous wheel 25 are all in the groove body of the secondary shaft arm 21, and the shaft arm cover plate 22 covers the groove body of the secondary shaft arm 21 so that the secondary shaft The top of the arm 21 is not hollow, so the synchronous belt 28 and the driven synchronous wheel 25 will not escape from the secondary shaft arm 21; in addition, when the suction cup stepping motor 23 controls the active synchronous wheel 24 to rotate, the driven synchronous wheel 25 is driven by the synchronous belt 28 to rotate synchronously, and the end of the suction cup shaft 11 is sleeved and connected to the driven synchronous wheel 25, so the rotation of the driven synchronous wheel 25 also drives the suction cup shaft 11 to rotate together, thereby achieving the process action of the first rotating mechanism 20 rotating the suction cup mechanism 10.

[0028] like Figure 3 As shown, the suction cup mechanism 10 further includes a suction cup bracket mounting plate 12 and a plurality of suction cup bracket groups 13. The other end of the suction cup rotating shaft 11 is connected to the suction cup bracket mounting plate 12. Figure 3In the embodiment, the upper end of the suction cup shaft 11 is inserted into and connected to the suction cup shaft through hole 211, and the lower end of the suction cup shaft 11 is fixedly connected to the suction cup bracket mounting plate 12, and the multiple suction cup bracket groups 13 are arranged on the suction cup bracket mounting plate 12. In the embodiment of the present application, the number of the suction cup bracket groups 13 is four, but it cannot be used to limit the present application. More or less, as long as the purpose of taking objects can be achieved, should be within the protection scope of the present application; in addition, the suction cup bracket group 13 includes a fastening structure and a pneumatic suction cup, the fastening structure is used to connect the suction cup bracket mounting plate 12, and the pneumatic suction cup is used to suck the workpiece.

[0029] Please refer to Figure 4 The cutaway schematic diagram of the second rotating mechanism of the present application shows that the third rotating mechanism 40 includes a main shaft arm 41, and the two ends of the main shaft arm 41 respectively open a first main shaft arm through hole 411 and a second main shaft arm through hole 412; the second rotating mechanism 30 includes a secondary shaft arm servo motor 31, a secondary shaft outer gear 32, a secondary shaft inner gear 33 and a secondary shaft fixing block 34, and the secondary shaft arm servo motor 31 is arranged on the first main shaft arm through hole 411, and is above the secondary shaft mounting groove 212, Figure 4 In the embodiment, the first main shaft arm through hole 411 is a through hole including a stepped portion, one end of the secondary shaft arm servo motor 31 is inserted into the first main shaft arm through hole 411, and the stepped portion engaged with the first main shaft arm through hole 411 will not fall off from the first main shaft arm through hole 411. After assembly, the secondary shaft outer gear 32 is arranged on the output shaft of the secondary shaft arm servo motor 31, and the outer gear of the secondary shaft outer gear 32 is located in the secondary shaft mounting groove 212; the secondary shaft inner gear 33 is arranged in the secondary shaft mounting groove 212, the outer gear of the secondary shaft outer gear 32 meshes with the inner gear of the secondary shaft inner gear 33, and is fixedly connected to the bottom surface of the secondary shaft mounting groove 212 by the secondary shaft fixing block 34. Figure 4 In the figure, the secondary shaft fixing block 34 is fixedly connected to the secondary shaft internal gear 33, the secondary shaft external gear 32 and the bottom surface of the secondary shaft mounting groove 212 by fasteners, that is, the secondary shaft internal gear 33, the secondary shaft external gear 32 and the secondary shaft arm 21 are fixedly connected, and when the secondary shaft external gear 32 rotates, the secondary shaft arm 21 is driven to rotate, so as to achieve the process action of the second rotating mechanism 30 rotating the suction cup mechanism 10 and the first rotating mechanism 20.

[0030] Please refer to Figure 5The third rotating mechanism of the present application is cut away schematically, the third rotating mechanism 40 further comprises a shaft fixing block 42, a main shaft internal gear 43, a main shaft external gear 44, an external gear limit block 45 and a main shaft arm servo motor 46, the shaft fixing block 42 is connected to the up and down moving mechanism 50 and will only move up and down but will not rotate, the shaft fixing block 42 comprises a fixing surface portion 421 and a fixing platform portion 422, the fixing platform portion 422 is provided with a stepped gear assembly through hole 423, the main shaft internal gear 43 is tightly connected to the gear assembly through hole 423, Figure 5 In the embodiment, the radial outer edge of the spindle internal gear 43 is tightly connected to the inner edge surface of the gear assembly through hole 423, the lower edge surface of the spindle internal gear 43 abuts against the step of the gear assembly through hole 423, and the spindle arm servo motor 46 is arranged on the second spindle arm through hole 412, and is above the gear assembly through hole 423. Figure 5 In the embodiment, the second spindle arm through hole 412 is a through hole including a stepped portion, one end of the spindle arm servo motor 46 is inserted into the second spindle arm through hole 412, and the stepped portion engaged with the second spindle arm through hole 412 will not fall off from the second spindle arm through hole 412. After assembly, the spindle external gear 44 is arranged on the output shaft of the spindle arm servo motor 46, and the external gear of the spindle external gear 44 is located in the gear assembly through hole 423; the spindle internal gear 43 is meshedly connected to the spindle external gear 44; the external gear limit block 45 is arranged below the spindle external gear 44 to limit the spindle external gear 44, and the external gear limit The positioning block 45 is a convex-shaped body. During assembly, the upper end of the external tooth limit block 45 is inserted into the gear assembly through hole 423 and abuts against the lower edge surface of the main shaft external gear 44, and then the external tooth limit block 45 and the main shaft external gear 44 are fixedly connected by fasteners, that is, the external tooth limit block 45, the main shaft external gear 44 and the main shaft arm 41 are fixedly connected. When the main shaft external gear 44 rotates, since the main shaft internal gear 43 does not rotate, the main shaft external gear 44 drives the main shaft arm 41 to rotate, thereby achieving the process action of the third rotating mechanism 40 rotating the suction cup mechanism 10, the first rotating mechanism 20 and the second rotating mechanism 30.

[0031] Please refer to Figure 6Schematic diagram of the up and down moving mechanism of the present application, the up and down moving mechanism 50 includes a bearing support mounting base 51, an upper fixed plate 52, two lifting guide pillars 53, two upper and lower linear bearings 54, a plurality of motor mounting pillars 55, an up and down moving stepping motor 56, a coupling 57, a rolled ball screw 58 and a lifting connecting block 59, the two ends of the two lifting guide pillars 53 are respectively fixedly connected to the bearing support mounting base 51 and the upper fixed plate 52; the two upper and lower linear bearings 54 are sleeved to connect the two lifting guide pillars 53, and the two upper and lower linear bearings 54 are connected to the fixed surface 421 of the rotating shaft fixing block 42 through fasteners. After assembly, when the process is carried out, the rotating shaft fixing block 42 can move up and down synchronously with the two upper and lower linear bearings 54; the plurality of motor mounting pillars 55 are arranged above the upper fixed plate 52, and the up and down moving stepping motor 56 is arranged on the plurality of motor mounting pillars 55; the output shaft of the up and down moving stepping motor 56 is connected to the rolled ball screw 58 through the coupling 57, as shown in FIG. Figure 6 As shown, the plurality of motor mounting pillars 55 are used to form a housing space for the output shaft of the up-and-down moving stepper motor 56 and the coupling 57. In the housing space, the output shaft of the up-and-down moving stepper motor 56 is connected to one end of the coupling 57, and the other end of the coupling 57 is connected to one end of the rolled ball screw 58; the other end of the rolled ball screw 58 passes through the through hole of the upper fixed plate 52 and is connected to the bearing pillar mounting base 51. Figure 6 In order to facilitate the rotation and support of the rolled ball screw 58, we designed a bearing seat on the bearing support mounting base 51 and the upper fixed plate 52, and the rolled ball screw 58 can work smoothly in the bearing seat; one side of the lifting and lowering connecting block 59 is fixedly connected to the mounting nut of the rolled ball screw 58, and the other side of the lifting and lowering connecting block 59 is fixedly connected to the fixed surface 421 of the rotating shaft fixing block 42. After the connection, the lifting and lowering connecting block 59 can move up and down when the rolled ball screw 58 rotates. The lifting connecting block 59 drives the shaft fixing block 42 to move up and down synchronously. Since the shaft fixing block 42 is connected to the two lifting guide columns 53 through the two upper and lower linear bearings 54, the shaft fixing block 42 can move up and down smoothly driven by the lifting connecting block 59. In addition, when the pressed ball screw 58 does not rotate, the pressed ball screw 58 supports the shaft fixing block 42 through the lifting connecting block 59, and the shaft fixing block 42 does not move up and down.

[0032] like Figure 1As shown, the support structure 60 includes a mounting base plate 61, two lifting support vertical plates 62 and aluminum profile pillars 63. The mounting base plate 61 is arranged on the equipment mounting plane, the two lifting support vertical plates 62 are arranged on the mounting base plate 61, the bearing pillar mounting base 51 is arranged on the two lifting support vertical plates 62, and the aluminum profile pillar 63 is arranged between the bearing pillar mounting base 51 and the upper fixed plate 52. The aluminum profile pillar 63 and the two lifting guide pillars 53 form a triangular force to provide stronger support for the upper fixed plate 52.

[0033] It should be noted that the use of terms such as "first" and "second" to limit components is only to facilitate the distinction between corresponding components. Unless otherwise stated, the above terms have no special meaning and therefore cannot be understood as limiting the scope of protection of this application.

[0034] In the description of the present application, it should be understood that the directions or positional relationships indicated by directional words such as "front, back, up, down, left, right", "lateral, vertical, perpendicular, horizontal" and "top, bottom" are usually based on the directions or positional relationships shown in the drawings, and are only for the convenience of describing the present application and simplifying the description. Unless otherwise specified, these directional words do not indicate or imply that the device or element referred to must have a specific direction or be constructed and operated in a specific direction, and therefore cannot be understood as limiting the scope of protection of the present application; the directional words "inside and outside" refer to the inside and outside relative to the contours of each component itself.

[0035] At the same time, it should be understood that for the convenience of description, the sizes of the various parts shown in the drawings are not drawn according to the actual proportional relationship.

[0036] Compared with the prior art, the utility model has the following advantages:

[0037] First, the overall structure of the device of the present application is stable and reliable, the processing and production efficiency is high, the production capacity quota of the process production is improved, the labor intensity of employees is reduced, the production cost is reduced, and the market competitiveness of the enterprise is increased;

[0038] Second, the device of the present application has high operating stability, the material taking suction cup can be changed according to the product characteristics, and the material can be taken and discharged for the workpieces with different size characteristics, which is highly flexible;

[0039] Third, the present application adopts automatic loading to replace the traditional manual loading, which reduces the labor intensity of employees, improves the stability of product quality, and at the same time increases the safety of the production process and reduces the risk of work-related injuries.

[0040] The above disclosures are only several specific embodiments of the present invention, but the present invention is not limited thereto, and any changes that can be conceived by those skilled in the art should fall within the protection scope of the present invention.

Claims

1. A mechanical arm device for automatically picking up and placing materials, characterized in that: The mechanical arm device includes a suction cup mechanism, a first rotating mechanism, a second rotating mechanism, a third rotating mechanism, an up-and-down moving mechanism and a support structure, wherein the first rotating mechanism is used to rotate the suction cup mechanism; the second rotating mechanism is used to rotate the first rotating mechanism; the third rotating mechanism is used to rotate the second rotating mechanism; the up-and-down moving mechanism is used to move the third rotating mechanism up and down; the up-and-down moving mechanism is arranged on the support structure; wherein, The suction cup mechanism comprises a suction cup rotating shaft; The first rotating mechanism comprises a secondary shaft arm, a shaft arm cover, a suction cup stepping motor, an active synchronous wheel, a driven synchronous wheel, a suction cup rotating shaft supporting plate and a synchronous belt, wherein the secondary shaft arm is a long slot body, and a suction cup rotating shaft through hole and a secondary shaft mounting slot are respectively provided at two ends of the secondary shaft arm, and the shaft arm cover plate is arranged on the secondary shaft arm; the suction cup stepping motor is arranged on the secondary shaft arm, and is located between the suction cup rotating shaft through hole and the secondary shaft mounting slot, and the active synchronous wheel is arranged on the output shaft of the suction cup stepping motor, and the active synchronous wheel is located in the slot body of the secondary shaft arm; One end of the suction cup shaft is inserted into and connected to the suction cup shaft through hole, and the end of the suction cup shaft is sleeved and connected to the driven synchronous wheel; the suction cup shaft support plate is arranged on the secondary shaft arm, and is used to limit the suction cup shaft; the synchronous belt is meshed and connected to the active synchronous wheel and the driven synchronous wheel, and the synchronous belt is used to drive the driven synchronous wheel to rotate.

2. The automatic material taking and placing robot arm device according to claim 1, characterized in that: The suction cup mechanism also includes a suction cup bracket mounting plate and a plurality of suction cup bracket groups. The other end of the suction cup rotating shaft is connected to the suction cup bracket mounting plate, and the plurality of suction cup bracket groups are arranged on the suction cup bracket mounting plate.

3. The automatic material taking and placing robot arm device as claimed in claim 2, characterized in that: The third rotating mechanism includes a main shaft arm, and a first main shaft arm through hole and a second main shaft arm through hole are respectively opened at two ends of the main shaft arm; the second rotating mechanism includes a secondary shaft arm servo motor, a secondary shaft external gear, a secondary shaft internal gear and a secondary shaft fixing block, the secondary shaft arm servo motor is arranged on the first main shaft arm through hole, and the secondary shaft external gear is arranged on the output shaft of the secondary shaft arm servo motor; the secondary shaft internal gear is arranged in the secondary shaft mounting groove, and is fixedly connected to the bottom surface of the secondary shaft mounting groove by the secondary shaft fixing block.

4. The automatic material taking and placing robot arm device as claimed in claim 3, characterized in that: The third rotating mechanism also includes a shaft fixing block, a main shaft internal gear, a main shaft external gear, an external gear limiting block and a main shaft arm servo motor, the shaft fixing block includes a fixing surface portion and a fixing platform portion, the fixing platform portion is provided with a stepped gear assembly through hole, the main shaft internal gear is tightly connected to the gear assembly through hole, the main shaft arm servo motor is arranged on the second main shaft arm through hole, the main shaft external gear is arranged on the output shaft of the main shaft arm servo motor; the main shaft internal gear is meshedly connected to the main shaft external gear; the external gear limiting block is arranged below the main shaft external gear to limit the main shaft external gear.

5. The automatic material taking and placing robot arm device as claimed in claim 4, characterized in that: The up and down moving mechanism comprises a bearing support mounting base, an upper fixed plate, two lifting guide columns, two upper and lower linear bearings, multiple motor mounting columns, an up and down moving stepping motor, a coupling, a rolled ball screw and a lifting connecting block, wherein the two ends of the two lifting guide columns are respectively fixedly connected to the bearing support mounting base and the upper fixed plate; the two upper and lower linear bearings are sleeved and connected to the two lifting guide columns, and the two upper and lower linear bearings are connected to the fixed surface portion of the rotating shaft fixing block through fasteners; the multiple motor mounting columns are arranged above the upper fixed plate, and the up and down moving stepping motor is arranged on the multiple motor mounting columns; the output shaft of the up and down moving stepping motor is connected to the rolled ball screw through the coupling, and the rolled ball screw passes through the through hole of the upper fixed plate and is connected to the bearing support mounting base; one side of the lifting connecting block is fixedly connected to the mounting nut of the rolled ball screw, and the other side of the lifting connecting block is fixedly connected to the fixed surface portion of the rotating shaft fixing block.

6. The automatic material taking and placing robot arm device as claimed in claim 5, characterized in that: The support structure includes a mounting base, two lifting support vertical plates and an aluminum profile pillar. The mounting base is arranged on the equipment mounting plane, the two lifting support vertical plates are arranged on the mounting base, the bearing pillar mounting base is arranged on the two lifting support vertical plates, and the aluminum profile pillar is arranged between the bearing pillar mounting base and the upper fixed plate.

Images