Material penetrating rod mechanism, workpiece extracting device, workpiece transferring mechanical arm and workpiece receiving equipment

Abstract

The utility model provides a material penetrating rod mechanism, a workpiece extracting device, a workpiece transferring mechanical arm and workpiece receiving equipment, and relates to the technical field of surface mounting, the material penetrating rod mechanism comprises a first supporting assembly, an expansion shaft driving assembly, an expansion shaft body and an expansion shaft pull rod, the expansion shaft driving assembly, the expansion shaft body and the expansion shaft pull rod are all arranged on the first supporting assembly, the expansion shaft body is arranged outside the expansion shaft pull rod in a sleeving mode, and the expansion shaft driving assembly is in driving connection with the expansion shaft pull rod and used for driving the expansion shaft pull rod to move in the axial direction of the expansion shaft body, so that the expansion shaft body is in an open state or a closed state; when the expansion shaft body is in the opening state, the expansion shaft body can expand and fix a workpiece, and when the expansion shaft body is in the closing state, the expansion shaft body can release the workpiece; according to the utility model, the tray is extracted and transferred in a manner of penetrating and expanding the central hole of the workpiece, so that the transfer effect is obvious, the tray transfer device can be suitable for trays of material belts with different width specifications, the application range is wide, and the compatibility is strong.

Description

TECHNICAL FIELD

[0001] The utility model relates to surface mount technology field, concretely relates to a kind of feed rod mechanism, workpiece extraction device, workpiece transfer mechanical arm and workpiece receiving equipment. BACKGROUND

[0002] SMT is surface mount technology, a kind of component is directly installed to the manufacturing method of printed circuit board surface, tape receiving equipment as one of the equipment in SMT process, indispensable.

[0003] The existing tray receiving equipment its tray transfer equipment usually adopts four-axis or six-axis robot, it can usually only transfer the tray of 7 inch~8 inch width tape, the tray of other width specifications tape cannot be applied, use is more limited. UTILITY MODEL CONTENTS

[0004] The utility model aims at providing a kind of feed rod mechanism, workpiece extraction device, workpiece transfer mechanical arm and workpiece receiving equipment, to solve the technical problem that existing workpiece receiving equipment adopts four-axis or six-axis robot transfer workpiece in prior art only applicable to single width specification tape workpiece, the scope of application is narrow;Many technical effects that preferred technical solution in the many technical solutions provided by the utility model can produce;See the elaboration below.

[0005] To achieve the above object, the utility model provides the following technical scheme:

[0006] The utility model provides a kind of feed rod mechanism, including first support component, expansion shaft drive component, expansion shaft body and expansion shaft pull rod, wherein: the expansion shaft drive component, the expansion shaft body and the expansion shaft pull rod are all set on the first support component, the expansion shaft body is set outside the expansion shaft pull rod, the expansion shaft drive component is driven with the expansion shaft pull rod connection, for driving the expansion shaft pull rod moves along the expansion shaft body axial direction, to make the expansion shaft body be in open state or closed state;In the open state, the expansion shaft body can expand tightly and fix workpiece, in the closed state, the expansion shaft body can release workpiece.

[0007] Preferably, the expansion shaft body includes connecting section and expansion section, the end of the expansion shaft pull rod is provided with pull rod head, wherein: the connecting section is connected with the expansion shaft drive component, the expansion section includes the unit expansion sheet that is evenly distributed along the circumference;When the pull rod head is located outside the expansion section, all the unit expansion sheet is in closed state;The expansion shaft pull rod moves along the expansion shaft body axial direction, can make the pull rod head move to the expansion section, and the unit expansion sheet is pushed to move in the direction away from the axis of the expansion shaft body, to make the expansion shaft body be in the open state.

[0008] Preferably, the material penetrating rod mechanism comprises a material roll assembly, the material roll assembly comprises a material roll driving assembly and a rotating piece, wherein: the material roll driving assembly is connected with the rotating piece and can drive the rotating piece to rotate; the rotating piece is fixedly sleeved outside the expanding shaft body and rotates synchronously with the expanding shaft body.

[0009] Preferably, the material roll assembly comprises a damper, and the rotating piece is connected with the damper.

[0010] Preferably, the expanding shaft pull rod is connected with the output end of the expanding shaft driving assembly through a connecting piece, and the material penetrating rod mechanism comprises a deviation preventing limiting piece, and the deviation preventing limiting piece is in sliding fit with the connecting piece along the axial direction of the expanding shaft pull rod.

[0011] Preferably, the material penetrating rod mechanism further comprises a position detecting assembly, and the position detecting assembly is arranged on the first supporting assembly and is used for detecting the position of the expanding shaft pull rod relative to the expanding shaft body.

[0012] The utility model provides a workpiece extracting device, comprising any one of the material penetrating rod mechanism.

[0013] Preferably, the workpiece extracting device comprises a workpiece tray extracting mechanism and a second supporting assembly, the workpiece tray extracting mechanism is arranged on the second supporting assembly and can extract a workpiece tray used for placing a workpiece.

[0014] Preferably, the workpiece extracting device comprises a horizontal guiding assembly, and the horizontal guiding assembly comprises a horizontal guiding piece and a horizontal moving piece, wherein: the horizontal guiding piece is fixedly arranged on the second supporting assembly; the horizontal moving piece is fixedly arranged on the first supporting assembly and is in sliding fit with the horizontal guiding piece.

[0015] Preferably, the workpiece tray extracting mechanism comprises a push-pull claw and a push-pull driving assembly, wherein: the push-pull claw is fixedly arranged on the first supporting assembly; the push-pull driving assembly is fixedly arranged on the second supporting assembly, the push-pull driving assembly is connected with the first supporting assembly and can drive the first supporting assembly and the push-pull claw to move synchronously and reciprocatingly.

[0016] The utility model provides a workpiece transfer mechanical arm, comprising any one of the workpiece extracting device.

[0017] Preferably, the workpiece transferring mechanical arm comprises a lifting device, the lifting device comprising a lifting guide, a lifting moving part and a lifting driving assembly, wherein: the lifting guide is arranged along a vertical direction; the lifting moving part is movably arranged on the lifting guide, and the workpiece extracting device is fixedly arranged on the lifting moving part; and the lifting driving assembly is connected with the lifting moving part and can drive the lifting moving part and the workpiece extracting device to move synchronously along the lifting guide.

[0018] Preferably, the workpiece transferring mechanical arm comprises a rotating device, the rotating device comprising a rotating table assembly and a rotating driving assembly, wherein: the rotating table assembly is connected with the lifting device; and the rotating driving assembly is connected with the rotating table assembly and can drive the rotating table assembly and the lifting device to rotate synchronously.

[0019] The utility model provides a workpiece receiving equipment, comprising any preceding workpiece transferring mechanical arm.

[0020] The utility model discloses workpiece mainly points to the tray in SMT process, also applicable to workpiece.

[0021] The utility model discloses a kind of rod insertion mechanism, workpiece extracting device, workpiece transferring mechanical arm and workpiece receiving equipment at least have the following beneficial effects:

[0022] The rod insertion mechanism includes a first support assembly, the first support assembly is provided with an expansion shaft driving assembly, an expansion shaft body and an expansion shaft pull rod, and the first support assembly is used for mounting and supporting the expansion shaft driving assembly, the expansion shaft body and the expansion shaft pull rod.

[0023] The expansion shaft body is sleeved outside the expansion shaft pull rod, the expansion shaft driving assembly is drivingly connected with the expansion shaft pull rod, and can drive the expansion shaft pull rod to move axially along the expansion shaft body, when transferring the tray, the expansion shaft body is inserted into the center hole of the tray, at this time, the expansion shaft driving assembly is started, drives the expansion shaft pull rod to move axially along the expansion shaft body, so that the expansion shaft body is in an open state, thereby expanding the center hole of the tray, realizing the extraction and transfer of the tray, since the center hole size of the tray of different width tapes is basically the same, the insertion and expansion mode is adopted, which is suitable for the tray of different width specifications.

[0024] The utility model discloses an expansion shaft driving assembly, an expansion shaft body and an expansion shaft pull rod cooperate with each other to realize the extraction and transfer of the tray in the mode of inserting and expanding the center hole of the tray, not only the transfer effect is remarkable, but also can adapt to the tray of different width specifications, and the application range is wide. BRIEF DESCRIPTION OF DRAWINGS

[0025] In order to more clearly illustrate the technical solutions of the embodiments of the present application or the prior art, the following will briefly introduce the drawings needed to be used in the embodiments or prior art description. Obviously, the drawings in the following description are only some embodiments of the present application, and for those skilled in the art, other drawings can also be obtained from these drawings without creative labor.

[0026] Figure 1 is a structure schematic view of the wear rod mechanism from another perspective of the present application;

[0027] Figure 2 is a structure schematic view of the wear rod mechanism from another perspective of the present application;

[0028] Figure 3 is a structure schematic view of the wear rod mechanism (not including the material winding assembly) from another perspective of the present application;

[0029] Figure 4 is an enlarged view of A part of the present application;

[0030] Figure 5 is a structure schematic view of the wear rod mechanism (not including the material winding assembly) from another perspective of the present application;

[0031] Figure 6 is an enlarged view of B part of the present application;

[0032] Figure 7 is a structure schematic view of the material belt extraction device from another perspective of the present application;

[0033] Figure 8 is an enlarged view of C part of the present application;

[0034] Figure 9 is a structure schematic view of the material belt extraction device from another perspective of the present application;

[0035] Figure 10 is a structure schematic view of the material belt transfer mechanical arm from another perspective of the present application;

[0036] Figure 11 is a structure schematic view of the material belt transfer mechanical arm from another perspective of the present application.

[0037] Reference signs

[0038] 1, material belt extraction device;11, material rod penetrating mechanism;111, first support assembly;112, expansion shaft driving assembly;113, expansion shaft body;1131, unit expansion sheet;114, expansion shaft pull rod;1141, pull rod head;115, material winding assembly;1151, material winding driving assembly;1152, rotating piece;1153, damper;116, connecting piece;117, anti-offset limiting piece;118, position detection assembly;1181, photoelectric switch;1182, inductor;12, workpiece support extraction mechanism;121, push-pull claw;122, push-pull driving assembly;13, second support assembly;14, horizontal guide assembly;141, horizontal guide;142, horizontal moving piece;2, lifting device;21, lifting driving assembly;22, lifting guide;23, lifting moving piece;3, rotating device;31, rotating driving assembly;32, rotating table assembly. DETAILED DESCRIPTION

[0039] In order to make the purpose, technical scheme and advantages of the present application more clear, the technical scheme of the present application will be described in detail below. Obviously, the described embodiments are only part of the embodiments of the present application, not all. Based on the embodiments in the present application, all other embodiments obtained by those skilled in the art without creative labor belong to the scope of protection of the present application.

[0040] The present application mainly applies to SMT process, and the workpiece specifically refers to a material disc for carrying material belt. The center hole is arranged at the center position of the material disc, and the center hole diameters of material discs with different width specifications are consistent.

[0041] Embodiment 1

[0042] The present application provides a material rod penetrating mechanism 11, as shown in the figure, the material rod penetrating mechanism 11 includes a first support assembly 111, an expansion shaft driving assembly 112, an expansion shaft body 113 and an expansion shaft pull rod 114. Figures 1 to 6

[0043] The expansion shaft driving assembly 112, the expansion shaft body 113 and the expansion shaft pull rod 114 are all arranged on the first support assembly 111, the expansion shaft body 113 is sleeved outside the expansion shaft pull rod 114, the expansion shaft pull rod 114 can move axially along the expansion shaft body 113, the expansion shaft driving assembly 112 is drivingly connected with the expansion shaft pull rod 114, and the expansion shaft body 113 has an opening state and a closed state.

[0044] When not working, the expansion shaft body 113 is in a closed state.

[0045] ​In operation, the expansion shaft body 113 is inserted into the center hole of the tray, and the expansion shaft driving assembly 112 drives the expansion shaft pull rod 114 to move along the expansion shaft body 113 in the positive direction, so that the expansion shaft body 113 is opened, thereby expanding the center hole of the tray, and thus the tray is fixed.

[0046] When the tray is transferred, the expansion shaft driving assembly 112 drives the expansion shaft pull rod 114 to move along the expansion shaft body 113 in the reverse direction, at this time, the expansion shaft body 113 is restored from the open state to the closed state, thereby releasing the tray.

[0047] In the above process, the expansion shaft driving assembly 112, the expansion shaft body 113 and the expansion shaft pull rod 114 cooperate with each other to realize the extraction and transfer of the tray in the form of inserting and expanding the center hole of the tray. Not only the transfer effect is remarkable, but also the tray of different width specifications can be adapted, the application range is wide, the compatibility is strong, and the overall material receiving equipment compatibility development is beneficial.

[0048] Embodiment 2:

[0049] Embodiment 2 is based on embodiment 1:

[0050] As shown in Figures 1 to 6 , the expansion shaft body 113 includes a connection section and an expansion section arranged integrally, and the expansion shaft pull rod 114 includes a pull rod body and a pull rod head 1141 arranged integrally at the end of the pull rod body.

[0051] The connection section is drivingly connected with the expansion shaft driving assembly 112, and the expansion section includes unit expansion pieces 1131 uniformly distributed in the circumferential direction, and the unit expansion pieces 1131 have elasticity.

[0052] In the initial state, the pull rod head 1141 is located outside the expansion section, and all the unit expansion pieces 1131 are in the closed state.

[0053] In operation, the expansion shaft pull rod 114 moves along the expansion shaft body 113 in the positive direction under the drive of the expansion shaft driving assembly 112, the pull rod head 1141 moves into the expansion section, and pushes the unit expansion pieces 1131 to move away from the axis of the expansion shaft body 113, so that the expansion shaft body 113 is in the open state.

[0054] When the tray is transferred, the expansion shaft driving assembly 112 drives the expansion shaft pull rod 114 to move in the reverse direction, and the pull rod head 1141 moves to the outside of the expansion section, at this time, the unit expansion pieces 1131 are restored to the initial state under the action of their own elasticity.

[0055] The pull rod head 1141 is provided with a tapered surface, so that even if the hole diameters of the center holes of the trays are inconsistent, the pull rod head 1141 can still expand the trays, and the application range is further improved.

[0056] The expansion shaft driving assembly 112 adopts a pneumatic driving assembly, an electric driving assembly or a hydraulic driving assembly, preferably, the expansion shaft driving assembly 112 adopts a screw motor, in particular, a bidirectional screw motor, and the telescopic end of the screw motor is connected with the expansion shaft pull rod 114.

[0057] As an optional embodiment, the material feeding rod mechanism 11 comprises a material winding assembly 115, and the material winding assembly 115 comprises a material winding driving assembly 1151 and a rotating piece 1152.

[0058] The material winding driving assembly 1151 is connected with the rotating piece 1152 and can drive the rotating piece 1152 to rotate, the rotating piece 1152 is fixedly sleeved outside the expansion shaft body 113 and synchronously rotates with the expansion shaft body 113.

[0059] When winding the material, the material winding driving assembly 1151 drives the rotating piece 1152 to rotate, and the expansion shaft body 113 synchronously rotates, at this time, since the expansion shaft body 113 is expanded to tighten the material disc, the material disc synchronously rotates, thereby realizing the winding function.

[0060] Preferably, the material winding driving assembly 1151 adopts a rotary motor, the output end of the rotary motor is provided with an output gear, the rotating piece 1152 is provided as a rotary gear, the rotary gear is engaged with the output gear, and a gear transmission structure is adopted, so that the structure is simple and the transmission process is stable.

[0061] As an optional embodiment, the material winding assembly 115 comprises a damper 1153, the damper 1153 is connected with a transmission gear, the rotary gear is engaged with the transmission gear, and the damper 1153 adopts a permanent magnet damper, which has no friction and wear and no pollution, has a large damping range, and the damping coefficient is adjustable.

[0062] As an optional embodiment, the expansion shaft pull rod 114 is connected with the output end of the expansion shaft driving assembly 112 through a connecting piece 116, and the material feeding rod mechanism 11 comprises an anti-deviation limiting piece 117, the anti-deviation limiting piece 117 is in sliding fit with the connecting piece 116 along the axial direction of the expansion shaft pull rod 114.

[0063] In this way, the connecting piece 116 has a transmission connection function on the one hand, which can effectively transmit the telescopic action of the expansion shaft driving assembly 112 to the expansion shaft pull rod 114, and has a limiting function on the other hand in cooperation with the anti-deviation limiting piece 117, which can effectively limit the movement track of the expansion shaft pull rod 114 to avoid deviation during movement.

[0064] Specifically, the anti-deviation limiting piece 117 is provided as a limiting rod, and the connecting piece 116 is provided with a limiting hole in a penetrating manner, the limiting rod passes through the limiting hole and is in sliding fit with the limiting hole.

[0065] As an optional embodiment, the material penetrating rod mechanism 11 further comprises a position detection assembly 118, which is arranged on the first support assembly 111 and used for detecting the position of the expansion shaft pull rod 114 relative to the expansion shaft body 113.

[0066] The position detection assembly 118 comprises a photoelectric switch 1181 and a sensing sheet 1182, the photoelectric switch 1181 is fixedly arranged on the first support assembly 111, the sensing sheet 1182 is fixedly arranged on the connecting piece 116 and moves synchronously with the connecting piece 116, and the photoelectric switch 1181 can detect the position of the sensing sheet 1182, thereby realizing the position detection of the connecting piece 116 and the position detection of the expansion shaft body 113.

[0067] Embodiment 3

[0068] Embodiment 3 is established on the basis of embodiment 2:

[0069] The utility model provides a workpiece extraction device, such as Figures 1 to 9 As shown in the figure, the workpiece extraction device comprises a material penetrating rod mechanism 11.

[0070] The workpiece extraction device further comprises a workpiece tray extraction mechanism 12 and a second support assembly 13, and the workpiece tray extraction mechanism 12 is arranged on the second support assembly 13.

[0071] During operation, the workpiece tray extraction mechanism 12 first extracts the workpiece tray for placing the tray, and then the material penetrating rod mechanism 11 extracts the tray.

[0072] As an optional embodiment, the workpiece extraction device comprises a horizontal guide assembly 14, the horizontal guide assembly 14 comprises a horizontal guide piece 141 and a horizontal moving piece 142, the horizontal guide piece 141 is arranged as a guide rail, the horizontal moving piece 142 is arranged as a sliding block, and the horizontal guide piece 141 is fixedly arranged on the second support assembly 13; the horizontal moving piece 142 is fixedly arranged on the first support assembly 111 and is in sliding cooperation with the horizontal guide piece 141.

[0073] The horizontal guide piece 141 and the horizontal moving piece 142 cooperate with each other to effectively limit the movement track of the first support assembly 111 relative to the second support assembly 13.

[0074] As an optional embodiment, the workpiece tray extraction mechanism 12 comprises a push-pull claw 121 and a push-pull driving assembly 122, and the push-pull driving assembly 122 preferably adopts a lead screw motor, a lead screw nut of which is fixedly arranged on the first support assembly 111, and when the lead screw of the push-pull driving assembly 122 rotates, the lead screw nut and the first support assembly 111 move along the axial direction of the lead screw.

[0075] The push-pull claw 121 is fixedly arranged on the first supporting assembly 111, and the push-pull driving assembly 122 is fixedly arranged on the second supporting assembly 13.

[0076] When the workpiece holder is extracted, the push-pull driving assembly 122 drives the first supporting assembly 111 to move, and the push-pull claw 121 moves synchronously.

[0077] The workpiece holder extraction mechanism 12 and the feeding rod mechanism 11 are matched with each other, and the tray extraction effect is remarkable.

[0078] Further, the workpiece extraction device further comprises a pushing detection device for detecting the moving position of the push-pull claw 121, and the pushing detection device comprises a photoelectric switch fixedly arranged on the second supporting assembly 13 and a sensing sheet fixedly arranged on the first supporting assembly 111.

[0079] Embodiment 4

[0080] Embodiment 4 is established on the basis of embodiment 3:

[0081] The utility model provides a workpiece transfer mechanical arm, such as Figures 1 to 11 The workpiece transfer mechanical arm comprises the workpiece extraction device.

[0082] The workpiece transfer mechanical arm comprises a lifting device 2, and the lifting device 2 comprises a lifting guide 22, a lifting moving part 23 and a lifting driving assembly 21.

[0083] The lifting guide 22 is arranged along the vertical direction; the lifting moving part 23 is movably arranged on the lifting guide 22, and the workpiece extraction device is fixedly arranged on the lifting moving part 23; the lifting driving assembly 21 is connected with the lifting moving part 23 and can drive the lifting moving part 23 and the workpiece extraction device to move synchronously along the lifting guide 22.

[0084] The lifting device 2 can adopt a ball screw linear module, a gear and rack linear module, a linear motor module or a synchronous belt linear module, and preferably adopts a synchronous belt linear module.

[0085] Further, the lifting device 2 further comprises a lifting detection device for detecting the moving position of the lifting moving part 23, and the lifting detection device comprises a photoelectric switch fixedly arranged on the lifting guide 22 and a sensing sheet fixedly arranged on the lifting moving part 23.

[0086] As an optional embodiment, the workpiece transfer mechanical arm comprises a rotating device 3, and the rotating device 3 comprises a rotating table assembly 32 and a rotating driving assembly 31.

[0087] The rotating table assembly 32 is fixedly connected with the lifting guide 22 of the lifting device 2; the rotating driving assembly 31 is connected with the rotating table assembly 32 and can drive the rotating table assembly 32 and the lifting device 2 to rotate synchronously.

[0088] The rotating device 3 adopts an electric rotating device, which is a prior art and will not be described herein.

[0089] The working process of the workpiece transfer mechanical arm is as follows:

[0090] Firstly, the rotating driving assembly 31 drives the rotating table assembly 32 to rotate, the lifting device 2 is adjusted to a specified angle, the lifting driving assembly 21 drives the lifting moving part 23 to move to the position of the workpiece holder along the lifting guide 22, at this time, the push-pull driving assembly 122 drives the first supporting assembly 111 and the push-pull claw 121 to act, the workpiece holder is hooked, and the expansion shaft body 113 is inserted into the center hole of the tray, then the expansion shaft driving assembly 112 drives the expansion shaft pull rod 114 to move axially along the expansion shaft body 113, so that the expansion shaft body 113 is expanded and fixed to the tray, after that, the material winding driving assembly 1151 drives the rotating part 1152 and the expansion shaft body 113 to rotate synchronously, and the material winding is realized.

[0091] Example 5

[0092] Example 5 is established on the basis of example 4:

[0093] The utility model provides a workpiece material receiving equipment, the workpiece material receiving equipment includes the workpiece transfer mechanical arm.

[0094] In the description of the present application, it should be understood that the terms "upper", "lower", "inner", "outer", "top", "bottom" and the like indicate the orientation or positional relationship shown in the drawings, and are only for the convenience of describing the present application and simplifying the description, and do not indicate or imply that the indicated device or element must have a particular orientation, be constructed and operated in a particular orientation, and therefore cannot be understood as a limitation on the present application.

[0095] In addition, the terms "first", "second" are only for the purpose of description, and cannot be understood as indicating or implying relative importance or implicitly indicating the number of the indicated technical features. Therefore, the features limited by "first", "second" can explicitly or implicitly include at least one of the features. In the description of the present application, the meaning of "a plurality of", "several" is at least two, for example, two, three, etc., unless otherwise specifically limited.

[0096] In this application, unless otherwise clearly specified and limited, the terms "mounting", "connection", "connecting", "fixing" and the like should be understood in a broad sense, for example, can be fixed connection, can also be detachable connection, or integral; can be directly connected, or indirectly connected through an intermediate medium; can be the internal communication of two elements or the interaction relationship of two elements, unless otherwise clearly limited. For those skilled in the art, the specific meaning of the above terms in this application can be understood according to the specific circumstances.

[0097] The above is only a specific implementation of the present application, but the protection scope of the present application is not limited to this. Any person skilled in the art can easily think of changes or replacements within the technical range disclosed by the present application, which should be covered within the protection scope of the present application. Therefore, the protection scope of the present application should be subject to the protection scope of the claims.

Claims

1. A lead rod mechanism, characterized by, The expansion shaft driving assembly, the expansion shaft body and the expansion shaft pull rod are all arranged on the first support assembly, the expansion shaft body is sleeved outside the expansion shaft pull rod, the expansion shaft driving assembly is drivingly connected with the expansion shaft pull rod, and is used for driving the expansion shaft pull rod to move along the expansion shaft body in the axial direction, so that the expansion shaft body is in an open state or a closed state. When in the open state, the expansion shaft body can be expanded and fixed on a workpiece, and when in the closed state, the expansion shaft body can release the workpiece. The expansion shaft body comprises a connecting section and an expansion section, an end of the expansion shaft pull rod is provided with a pull rod head, the connecting section is connected with the expansion shaft driving assembly, and the expansion section comprises unit expansion pieces which are uniformly distributed in the circumferential direction; when the pull rod head is located outside the expansion section, all the unit expansion pieces are in the closed state; the expansion shaft pull rod moves along the expansion shaft body in the axial direction, so that the pull rod head moves into the expansion section and pushes the unit expansion pieces to move away from the axis of the expansion shaft body, so that the expansion shaft body is in the open state.

2. The feed pole mechanism of claim 1, wherein, The material feeding rod mechanism further comprises a position detection assembly arranged on the first support assembly and used for detecting the position of the expansion shaft pull rod relative to the expansion shaft body. The material feeding rod mechanism comprises a material winding assembly, the material winding assembly comprises a material winding driving assembly and a rotating piece, the material winding driving assembly is connected with the rotating piece and can drive the rotating piece to rotate; the rotating piece is fixedly sleeved outside the expansion shaft body and synchronously rotates with the expansion shaft body.

3. The feed pole mechanism of claim 1, wherein, The material winding assembly comprises a damper, and the rotating piece is connected with the damper. The expansion shaft pull rod is connected with the output end of the expansion shaft driving assembly through a connecting piece, and the material feeding rod mechanism comprises an anti-deviation limiting piece which is in sliding fit with the connecting piece in the axial direction of the expansion shaft pull rod.

4. The feed pole mechanism of claim 1, wherein, The material feeding rod mechanism comprises the first support assembly.

5. A workpiece extraction apparatus, characterized by, The workpiece extracting device comprises a workpiece support extracting mechanism and a second support assembly, the workpiece support extracting mechanism is arranged on the second support assembly and can extract a workpiece support used for placing a workpiece.

6. The workpiece extraction apparatus of claim 5, wherein, The workpiece extracting device comprises a horizontal guide assembly, the horizontal guide assembly comprises a horizontal guide piece and a horizontal moving piece, the horizontal guide piece is fixedly arranged on the second support assembly; the horizontal moving piece is fixedly arranged on the first support assembly and is in sliding fit with the horizontal guide piece; 7. The workpiece extraction apparatus of claim 6, wherein The workpiece support extracting mechanism comprises a push-pull claw and a push-pull driving assembly, and the push-pull claw is fixedly arranged on the first support assembly. The push-pull driving assembly is fixedly arranged on the second support assembly, the push-pull driving assembly is connected with the first support assembly and can drive the first support assembly and the push-pull claw to synchronously move back and forth. The workpiece extracting device comprises the first support assembly.

8. A workpiece transfer robot characterized by, ​ 9. The workpiece transfer robot of claim 8, wherein, The workpiece transfer mechanical arm comprises a lifting device, the lifting device comprises a lifting guide, a lifting moving part and a lifting drive assembly, the lifting guide is arranged in the vertical direction; the lifting moving part is movably arranged on the lifting guide, and the workpiece extraction device is fixedly arranged on the lifting moving part; the lifting drive assembly is connected with the lifting moving part, and can drive the lifting moving part and the workpiece extraction device to move synchronously along the lifting guide; The workpiece transfer mechanical arm comprises a rotating device, the rotating device comprises a rotating table assembly and a rotating drive assembly, the rotating table assembly is connected with the lifting device; the rotating drive assembly is connected with the rotating table assembly, and can drive the rotating table assembly and the lifting device to rotate synchronously.

10. A workpiece receiving apparatus, characterized by, The workpiece transfer mechanical arm comprises the workpiece transfer mechanical arm according to any one of claims 8-9.

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