Three-section type mechanical arm and material taking device

Abstract

The utility model provides a three-section type mechanical arm and a material taking device. The mechanical arm comprises a mounting base, a driving motor, a first arm, a second arm and a third arm, wherein the first arm, the second arm and the third arm are horizontally and slidably arranged below the mounting base in sequence from top to bottom; the left side and the right side of the installation base are fixed to the starting ends of a first belt and a second belt respectively, and the tail ends of the first belt and the second belt penetrate through the left end and the right end of the first arm respectively and are fixed to the right end and the left end of the upper surface of the second arm respectively. The left end and the right end of the lower surface of the first arm are fixed to the starting ends of a third belt and a fourth belt respectively, and the tail ends of the third belt and the fourth belt penetrate through the right end and the left end of the second arm respectively and are fixed to the right position and the left position of the middle of the upper surface of the third arm respectively. The output end of the driving motor drives the first arm to drive the second arm and the third arm to slide synchronously. The mechanical arm is short in working stroke and high in efficiency, and the material taking device can adapt to equipment of different production lines.

Description

Technical Field

[0001] The utility model relates to the field of industrial robots, and in particular to a three-section robot arm and a material taking device. Background Art

[0002] In the stamping automation of hardware products, a robotic arm is required to pick up and deliver materials for stamping and forming. The robotic arm can accurately take out raw materials from the silo or rack through a precise positioning system and flexible joint movements, and accurately deliver them to the working area of the stamping machine. The high-precision operation reduces the positional deviation that may occur when manually placing materials, ensuring that each piece of material can enter the stamping die accurately, thereby ensuring the consistency and stable quality of the stamping products.

[0003] The existing robotic arm is in the form of a single arm, and the working path of the single arm is long, resulting in slow material picking and feeding speed, low production efficiency and high production cost. At the same time, the existing material picking device with a robotic arm has a fixed height of the material discharge platform, which is difficult to adapt to equipment on different production lines. Therefore, it is crucial to design a robotic arm with a short working path, fast material picking and feeding speed, and a highly adaptable material picking device. Utility Model Content

[0004] In response to the problems in the existing technology that the robotic arm has slow material picking and feeding speed, low production efficiency, high cost, and the material discharge platform of the material picking device cannot adapt to different production line equipment, the utility model proposes a three-stage robotic arm and material picking device to solve the above problems.

[0005] According to the first aspect of the present application, a three-section robotic arm is proposed, which includes a mounting base, a drive motor, and a first arm, a second arm, and a third arm that are horizontally slidably arranged below the mounting base from top to bottom; the left and right sides of the mounting base are respectively fixed to the starting ends of the first belt and the second belt, and the ends of the first belt and the second belt pass through the left end and the right end of the first arm, and are respectively fixed to the right end and the left end of the upper surface of the second arm; the left end and the right end of the lower surface of the first arm are respectively fixed to the starting ends of the third belt and the fourth belt, and the ends of the third belt and the fourth belt pass through the right end and the left end of the second arm, and are respectively fixed to the right and left ends of the middle of the upper surface of the third arm; the output end of the drive motor drives the first arm to drive the second arm and the third arm to slide parallel and synchronously in turn.

[0006] By adopting the above technical solution, the output end of the drive motor drives the first arm to slide along the left / right side direction of the mounting base. During the sliding process of the first arm, a force is exerted on the first / second belt, causing the ends of the first / second belt to drive the second arm to slide synchronously with the first arm. The second arm further exerts a force on the third / fourth belt, causing the ends of the third / fourth belt to drive the third arm to slide synchronously. Thus, it is realized that the first arm slides left / right by X mm and drives the second arm and the third arm to move in the same direction by X mm, making the overall sliding distance of the robotic arm three times the sliding distance of the first arm.

[0007] Preferably, a first slider group for guiding in the left and right directions is fixed on the lower surface of the mounting base, and a first slide rail slidably engaged with the first slider group is provided on the upper surface of the first arm.

[0008] By adopting the above technical solution, the cooperation of the first slider group and the first slide rail can provide reliable guidance and support, making the first arm more stable during the sliding process, not prone to shaking or deviation, capable of effectively dispersing the stress during sliding, reducing local wear, and improving durability.

[0009] Further preferably, second slide rails and third slide rails in the same direction as the first slide rail are respectively provided on the lower surfaces of the first arm and the second arm, and second slider groups and third slider groups are correspondingly arranged on the upper surfaces of the second arm and the third arm.

[0010] By adopting the above technical solution, by providing the second slide rail, the third slide rail, the second slider group, and the third slider group, the sliding directions of the second arm and the third arm are kept highly consistent with that of the first arm, and further, the sliding of the first arm, the second arm, and the third arm is more synchronous, improving the displacement accuracy of the overall robotic arm.

[0011] Preferably, a helical gear is provided at the output end of the drive motor, and a helical rack for guiding in the left and right directions is fixed on the upper surface of the first arm, and the helical rack is engaged with the helical gear.

[0012] By adopting the above technical solution, the meshing of the helical gear and the helical rack can provide higher transmission efficiency and reduce energy loss. The design of the helical gear increases the meshing surface between the two, enabling more stable power transmission, and further realizing high-precision positioning control, capable of performing fine motion adjustment to meet high-precision precision tasks.

[0013] Preferably, the starting ends and the ending ends of the first belt, the second belt, the third belt, and the fourth belt are fixed in the form of belt clips.

[0014] By adopting the above technical solutions, the belt clip can provide stronger fixing force to ensure that each belt will not loosen or slip during high-load or high-speed operation. At the same time, the installation and replacement of each belt are made more convenient and fast, reducing the installation complexity and time, which is beneficial to later maintenance.

[0015] Preferably, the first belt and the third belt are in the first vertical plane, and the second belt and the fourth belt are in the second vertical plane. The first vertical plane and the second vertical plane are parallel to each other and are respectively located on the side of the first arm far from and close to the output end.

[0016] By adopting the above technical solutions, there is no interference between the first vertical plane where the first belt and the third belt are located and the second vertical plane where the second belt and the fourth belt are located. When the robotic arm slides left or right, there will be no contact between the belts, which will not affect the synchronous sliding of each arm.

[0017] Preferably, the left and right ends of the first arm and the second arm are respectively provided with a first pulley, a second pulley, a third pulley, and a fourth pulley corresponding to the positions of the first belt, the second belt, the third belt, and the fourth belt. The middle sections of the first belt, the second belt, the third belt, and the fourth belt are respectively wound around the first pulley, the second pulley, the third pulley, and the fourth pulley.

[0018] By adopting the above technical solutions, the paths of the belts are guided by the pulleys to ensure that each belt runs smoothly during transmission, reducing jitter and deviation, preventing slipping, improving the stability of transmission, and being able to optimize the tension distribution of each belt, enabling each arm to be evenly stressed, thereby improving the transmission efficiency and power transmission ability.

[0019] Preferably, the left and right ends of the third arm are also respectively provided with a first suction cup group and a second suction cup group. Both the first suction cup group and the second suction cup group include several suction cups vertically arranged downward.

[0020] By adopting the above technical solutions, the first suction cup group and the second suction cup group can achieve simultaneous material picking and feeding. When the robotic arm moves left, the first suction cup group picks up materials. When the robotic arm moves left, the first suction cup group carries a new batch of materials to the preset station, and the second suction cup group sends out the materials picked up last time from the preset station. In this way, the functions of simultaneous material picking and feeding are realized in a cycle.

[0021] According to the second aspect of the present application, a material taking device is proposed, including the above-mentioned robotic arm. The material taking device further includes a device base. A vertically upward longitudinal mounting plate is provided on the upper surface of the device base. Longitudinal guide rails are symmetrically provided on both sides of the longitudinal mounting plate. The back plate of the mounting seat is slidably arranged on the longitudinal guide rails through corresponding longitudinal slider groups. In the middle of the longitudinal mounting plate, a longitudinal motor and a driven wheel are provided corresponding to the top and bottom ends of the longitudinal guide rails. The longitudinal motor is connected to the driven wheel through a longitudinal belt. A longitudinal belt clip cooperating with the longitudinal belt is provided in the middle of the back plate of the mounting seat. The longitudinal motor drives the back plate to move up and down through the longitudinal belt.

[0022] By adopting the above technical solution, the longitudinal motor drives the robotic arm to move downward to pick up materials. After picking up the materials, it drives the robotic arm to move upward again. After reaching the designated position, the driving motor drives the robotic arm to send out the materials, realizing efficient material picking and feeding work.

[0023] Preferably, a horizontal workbench is provided below the third arm at the top of the device base. The bottom surface of the horizontal workbench is connected to a servo cylinder, and the servo cylinder drives the horizontal workbench to perform lifting movement.

[0024] By adopting the above technical solution, the first suction cup group places the picked materials on the horizontal workbench. When the first suction cup group picks up materials next time, the second suction cup group takes out the placed materials and transports them outside the horizontal workbench. At the same time, the setting of the servo cylinder enables the horizontal workbench to adapt to the heights of different production line equipment, greatly improving the working adaptability of the material taking device.

[0025] The present application mainly solves the problems in the prior art such as slow material picking and feeding speed of the robotic arm, low production efficiency, high cost, and the discharging platform of the material taking device being unable to adapt to different production line equipment. The present application proposes a three-section robotic arm and a material taking device. Through the cooperation between the first arm, the second arm, and the third arm, the overall working path of the robotic arm is greatly shortened, improving the working efficiency and stability. Cooperating with the material taking device can realize rapid synchronous material picking and feeding, reducing production costs. The liftable horizontal workbench of the material taking device enables the material taking device to adapt to different production lines, with strong adaptability and no need to develop new structures specifically for a particular production line. BRIEF DESCRIPTION OF THE DRAWINGS

[0026] The drawings are included to provide a further understanding of the embodiments and are incorporated into and constitute a part of this specification. The drawings illustrate the embodiments and are used in conjunction with the description to explain the principles of the present invention. Other embodiments and many of the intended advantages of the embodiments will be readily apparent as they become better understood by reference to the following detailed description. The elements of the drawings are not necessarily to scale with each other. The same reference numerals refer to corresponding like parts.

[0027] Figure 1 It is a schematic diagram of the cooperation of a robotic arm according to an embodiment of the present application;

[0028] Figure 2 It is a schematic exploded view of the robotic arm according to an embodiment of the present application;

[0029] Figure 3 It is a schematic diagram of the structure of a material taking device according to an embodiment of the present application.

[0030] The meanings of the numbers in the figure:

[0031] Mounting base 01, driving motor 02, first arm 03, second arm 04, third arm 05, first belt 06, second belt 07, third belt 08, fourth belt 09, first slider group 10, second slider group 11, third slider group 12, first slide rail 13, second slide rail 14, third slide rail 15, helical gear 16, helical rack 17, first pulley 18, second pulley 19, third pulley 20, fourth pulley 21, first suction cup group 22, second suction cup group 23, device base 24, longitudinal mounting plate 25, longitudinal guide rail 26, driven wheel 27, driving wheel 28, longitudinal belt 29, horizontal workbench 30, servo electric cylinder 31. Detailed implementation manners

[0032] In the following detailed description, reference is made to the accompanying drawings, which form a part of the detailed description and illustrate illustrative specific embodiments in which the present utility model can be practiced. In this regard, directional terms such as "top", "bottom", "left", "right", "upper", "lower", etc. are used with reference to the orientation of the described figures. Since the components of the embodiments can be positioned in several different orientations, directional terms are used for the purpose of illustration and the directional terms are in no way limiting. It should be understood that other embodiments can be utilized or logical changes can be made without departing from the scope of the present utility model. Therefore, the following detailed description should not be taken in a limiting sense, and the scope of the present utility model is defined by the appended claims.

[0033] According to a first aspect of the present application, a three-section robotic arm is proposed, Figure 1 A schematic diagram of the cooperation of a robotic arm according to an embodiment of the present application is shown, as Figure 1As shown, the robotic arm includes a mounting base 01, a drive motor 02, and a first arm 03, a second arm 04, and a third arm 05 which are horizontally slidably arranged below the mounting base 01 from top to bottom; the left and right sides of the mounting base 01 are fixed to the starting ends of the first belt 06 and the second belt 07 respectively, and the ends of the first belt 06 and the second belt 07 pass through the left end and the right end of the first arm 03 respectively, and are fixed to the right end and the left end of the upper surface of the second arm 04 respectively; the left end and the right end of the lower surface of the first arm 03 are fixed to the starting ends of the third belt 08 and the fourth belt 09 respectively, and the ends of the third belt 08 and the fourth belt 09 pass through the right end and the left end of the second arm 04 respectively, and are fixed to the middle right and middle left positions of the upper surface of the third arm 05 respectively; the output end of the drive motor 02 passes vertically downward through the mounting base 01 and drives the first arm 03 to drive the second arm 04 and the third arm 05 to slide parallel and synchronously in turn.

[0034] Specifically, the mounting base 01 is used to mount the robotic arm on the material-retrieving equipment. When the robotic arm is working, the drive motor 02 drives the first arm 03 to slide horizontally along the left or right direction of the mounting base 01. Taking sliding to the left as an example, when sliding to the left by Xmm, the middle section of the first belt 06 is tightened by the left end of the first arm 03. Since the mounting base 01 is in a fixed state after installation, the end of the first belt 06 pulls the right end of the second arm 04 to the left to slide synchronously by Xmm. At this time, the overall stroke of the robotic arm is 2Xmm. When the second arm 04 slides to the left, the second arm 04 slides to the left. The middle section of the fourth belt 09 is subjected to the tensioning force of the left end of the second arm 04, so that the end of the fourth belt 09 pulls the third arm 05 to slide to the left by Xmm. At this time, the overall stroke of the robotic arm is 3Xmm. Therefore, the drive motor 02 only needs to drive the first arm 03 to move Xmm to enable the robotic arm to complete 3 times the stroke as a whole, greatly improving work efficiency. When the first arm 03 moves to the right, the second belt 07 and the third belt 08 respectively drive the second arm 04 and the third arm 05 to move to the right. The principle is the same as when the overall stroke slides to the left.

[0035] Figure 2 FIG. 1 shows a schematic diagram of the explosion structure of a robotic arm according to an embodiment of the present application, as shown in FIG. Figure 1-2 As shown, a first slider group 10 for left and right guides is fixed to the lower surface of the mounting seat 01 , and a first slide rail 13 for sliding cooperation with the first slider group 10 is provided on the upper surface of the first arm 03 .

[0036] The cooperation between the first slider group 10 and the first slide rail 13 can provide reliable guidance and support, so that the first arm 03 is more stable during the sliding process and is less likely to shake or deflect. It can effectively disperse the stress during sliding, reduce local wear, and improve durability.

[0037] Further preferably, the lower surfaces of the first arm 03 and the second arm 04 are respectively provided with a second slide rail 14 and a third slide rail 15 in the same direction as the first slide rail 13, and the upper surfaces of the second arm 04 and the third arm 05 are correspondingly provided with a second slider group 11 and a third slider group 12.

[0038] Preferably, an output end of the driving motor 02 is provided with a helical gear 16, a helical rack 17 with left-right guidance is fixed on the upper surface of the first arm 03, the output end of the driving motor 02 passes through the mounting seat 01 and is engaged with the helical gear 16, and the helical rack 17 is engaged with the helical gear 16 to realize the driving of the first arm 03 by the driving motor 02.

[0039] By adopting the above technical solution, the engagement of the helical gear 16 and the helical rack 17 can provide higher transmission efficiency and reduce energy loss. The design of the helical gear 16 increases the engagement surface between the two, enabling more stable power transmission, and further realizing high-precision positioning control, capable of performing fine motion adjustment to meet high-demand precision tasks.

[0040] Preferably, the starting ends and the ending ends of the first belt 06, the second belt 07, the third belt 08, and the fourth belt 09 are fixed in the form of belt clips.

[0041] By adopting the above technical solution, the belt clips can provide stronger fixing force, ensuring that each belt will not loosen or slip off during high-load or high-speed operation, and at the same time making the installation and replacement of each belt more convenient and fast, reducing the installation complexity and time, which is beneficial to later maintenance.

[0042] Preferably, the first belt 06 and the third belt 08 are in the first vertical plane, the second belt 07 and the fourth belt 09 are in the second vertical plane, the first vertical plane and the second vertical plane are parallel to each other, and are respectively located on the side of the first arm 03 far from and close to the output end.

[0043] By adopting the above technical solution, there is no interference between the first vertical plane where the first belt 06 and the third belt 08 are located and the second vertical plane where the second belt 07 and the fourth belt 09 are located, so that when the robotic arm slides left or right, the belts will not come into contact with each other and affect the synchronous sliding of each arm.

[0044] Preferably, the left and right ends of the first arm 03 and the second arm 04 are respectively provided with a first pulley 18, a second pulley 19, a third pulley 20, and a fourth pulley 21 corresponding to the positions of the first belt 06, the second belt 07, the third belt 08, and the fourth belt 09, and the middle sections of the first belt 06, the second belt 07, the third belt 08, and the fourth belt 09 are respectively wound around the first pulley 18, the second pulley 19, the third pulley 20, and the fourth pulley 21.

[0045] Specifically, the first pulley 18 and the second pulley 19 are respectively arranged at two diagonals of the first arm 03, and the third pulley 20 and the fourth pulley 21 are respectively arranged at two diagonals of the second arm 04. In this way, the first belt 06, the second belt 07, the third belt 08, and the fourth belt 09 are arranged in an interleaved manner.

[0046] By adopting the above technical solution, the paths of the belts are guided by the pulleys, ensuring that the belts run smoothly during transmission, reducing jitter and deviation, preventing slipping, improving the stability of transmission, and being able to optimize the tension distribution of the belts, enabling the arms to be evenly stressed, thereby improving the transmission efficiency and power transmission capacity.

[0047] Preferably, the left and right ends of the third arm 05 are respectively provided with a first suction cup group 22 and a second suction cup group 23. Both the first suction cup group 22 and the second suction cup group 23 include a number of suction cups arranged vertically downward.

[0048] By adopting the above technical solution, the first suction cup group 22 and the second suction cup group 23 can achieve simultaneous material picking and feeding. When the robotic arm moves to the left, the first suction cup group 22 picks up the material. When the robotic arm moves to the left, the first suction cup group 22 carries a new batch of materials to the preset station, and the second suction cup group 23 sends out the material picked up last time from the preset station. In this way, the functions of simultaneous material picking and feeding are realized in a cycle.

[0049] According to the second aspect of the present application, a material picking device is proposed. Figure 3 The schematic structural diagram of the material picking device according to the embodiment of the present application is shown. As Figure 1-3 shown, the material picking device includes the above-mentioned robotic arm, and further includes a device base 24. A vertically upward longitudinal mounting plate 25 is provided on the upper surface of the device base 24. Longitudinal guide rails 26 are symmetrically arranged on both sides of the longitudinal mounting plate 25. The back plate of the mounting seat 01 is slidably arranged on the longitudinal guide rails 26 through corresponding longitudinal slider groups (not shown in the figure); a longitudinal motor (not shown in the figure) and a driven wheel 27 are provided corresponding to the top and bottom ends of the longitudinal guide rails 26 in the middle of the mounting plate. The longitudinal motor is placed on the back of the longitudinal mounting plate 25. Its output end passes through the longitudinal mounting plate 25 and is provided with a driving wheel 28, and is connected to the driven wheel 27 through a longitudinal belt 29. A longitudinal belt clip (not shown in the figure) cooperating with the longitudinal belt 29 is provided in the middle of the back plate of the mounting seat 01. The longitudinal motor drives the mounting seat 01 to move up and down through the longitudinal belt 29.

[0050] By adopting the above technical solution, the longitudinal motor drives the robotic arm to move downward to pick up the material. After picking up the material, it drives the robotic arm to move upward. After reaching the designated position, the driving motor 02 drives the robotic arm to send out the material, realizing efficient material picking and feeding operations.

[0051] Specifically, the vertical lifting method is not limited to the form of belt drive, and other ways to achieve linear drive (such as the cooperation of gears and racks) are also included.

[0052] Preferably, a horizontal workbench 30 is provided below the third arm 05 at the top of the device base 24. The bottom surface of the horizontal workbench 30 is connected to a servo electric cylinder 31, and the servo electric cylinder 31 drives the horizontal workbench 30 to perform lifting motion.

[0053] By adopting the above technical solution, the first suction cup group 22 places the taken material on the horizontal workbench 30. When the first suction cup group 22 takes the next material, the second suction cup group 23 takes out the placed material and transports it outside the horizontal workbench 30. At the same time, the setting of the servo electric cylinder 31 enables the horizontal workbench 30 to adapt to the heights of different production line equipment, greatly improving the working adaptability of the material taking device.

[0054] This application mainly solves the problems in the prior art such as slow material taking and feeding speed of the robotic arm, low production efficiency, high cost, and the feeding platform of the material taking device being unable to adapt to different production line equipment. This application proposes a three-section robotic arm and a material taking device. Through the cooperation between the first arm 03, the second arm 04, and the third arm 05, the overall working path of the robotic arm is greatly shortened, improving the working efficiency and stability. The material taking device can realize fast and synchronous material taking and feeding, reducing production costs. The liftable horizontal workbench 30 of the material taking device enables the material taking device to adapt to different production lines, with strong adaptability and no need to develop new structures specifically for a particular production line.

[0055] Obviously, those skilled in the art can make various modifications and changes to the embodiments of the present invention without departing from the spirit and scope of the present invention. In this way, if these modifications and changes are within the scope of the claims of the present invention and their equivalent forms, the present invention also aims to cover these modifications and changes. The word "comprising" does not exclude the presence of other elements or steps not listed in the claims. The simple fact that certain measures are recited in mutually different dependent claims does not indicate that a combination of these measures cannot be used to advantage. Any reference signs in the claims should not be regarded as limiting the scope.

Claims

1. A three-stage robotic arm, characterized in that, It includes a mounting base, a driving motor, and a first arm, a second arm, and a third arm which are horizontally slidably arranged below the mounting base from top to bottom; the left and right sides of the mounting base are respectively fixed to the starting ends of the first belt and the second belt, and the ends of the first belt and the second belt pass through the left end and the right end of the first arm, and are respectively fixed to the right end and the left end of the upper surface of the second arm; the left end and the right end of the lower surface of the first arm are respectively fixed to the starting ends of the third belt and the fourth belt, and the ends of the third belt and the fourth belt pass through the right end and the left end of the second arm, and are respectively fixed to the right and left positions of the middle of the upper surface of the third arm; the output end of the driving motor drives the first arm to drive the second arm and the third arm to slide parallel and synchronously in turn.

2. The robotic arm according to claim 1, characterized in that, A first sliding block group for left and right guides is fixed on the lower surface of the mounting seat, and a first sliding rail for slidingly cooperating with the first sliding block group is provided on the upper surface of the first arm.

3. The robotic arm according to claim 2, characterized in that, The lower surfaces of the first arm and the second arm are respectively provided with a second slide rail and a third slide rail in the same direction as the first slide rail, and the upper surfaces of the second arm and the third arm are correspondingly provided with a second slider group and a third slider group.

4. The robotic arm according to claim 1, wherein The output end of the driving motor is provided with a helical gear, and the upper surface of the first arm is fixed with a left and right guided helical rack, and the helical rack is meshed with the helical gear.

5. The robotic arm according to claim 1, wherein The starting ends and the ending ends of the first belt, the second belt, the third belt and the fourth belt are all fixed in the form of belt clips.

6. The robotic arm according to claim 1, characterized in that, The first belt and the third belt are in a first vertical plane, the second belt and the fourth belt are in a second vertical plane, the first vertical plane and the second vertical plane are parallel to each other and are respectively located on the side of the first arm away from and close to the output end.

7. The robotic arm according to claim 1, characterized in that, The left and right ends of the first arm and the second arm are respectively provided with a first pulley, a second pulley, a third pulley, and a fourth pulley at positions corresponding to the first belt, the second belt, the third belt, and the fourth belt, and the middle sections of the first belt, the second belt, the third belt, and the fourth belt are respectively wound around the first pulley, the second pulley, the third pulley, and the fourth pulley.

8. The robotic arm according to claim 1, wherein The left and right ends of the third arm are respectively provided with a first suction cup group and a second suction cup group, and the first suction cup group and the second suction cup group both include a plurality of suction cups arranged vertically downward.

9. A material taking device, comprising a robotic arm as described in any one of claims 1-8, characterized in that, It also includes a device base, the upper surface of which is provided with a vertically upward longitudinal mounting plate, longitudinal guide rails are symmetrically provided on both sides of the longitudinal mounting plate, and the back plate of the mounting seat is slidably set on the longitudinal guide rails through corresponding longitudinal slider groups; a longitudinal motor and a driven wheel are provided in the middle part of the longitudinal mounting plate corresponding to the top and end of the longitudinal guide rails, the longitudinal motor is connected to the driven wheel through a longitudinal belt, and a longitudinal belt clamp that cooperates with the longitudinal belt is provided in the middle part of the back plate of the mounting seat, and the longitudinal motor drives the back plate to move up and down through the longitudinal belt.

10. The material taking device according to claim 9, characterized in that, A horizontal workbench is provided on the top of the device base below the third arm. The bottom surface of the horizontal workbench is connected to a servo electric cylinder, and the servo electric cylinder drives the horizontal workbench to perform lifting movements.

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