Three-dimensional manipulator provided with quick change mechanism and stamping production line

Abstract

The utility model discloses a three-dimensional mechanical arm provided with a quick-changing mechanism and a stamping production line, and relates to the technical field of stamping, the three-dimensional mechanical arm provided with the quick-changing mechanism comprises a mounting seat, a moving mechanism, a material taking mechanism and the quick-changing mechanism, the material taking mechanism is movably mounted on the mounting seat, and the quick-changing mechanism is mounted on the mounting seat. A first quick-change structure of the quick-change mechanism is arranged on the side, facing the moving mechanism, of the material taking mechanism, and a second quick-change structure of the quick-change mechanism is arranged on the side, facing the material taking mechanism, of the moving mechanism. When a new material taking mechanism needs to be replaced to clamp to-be-stamped parts of different sizes, the first quick-change structure of the old material taking mechanism can be separated from the second quick-change structure of the moving mechanism, then the first quick-change structure of the new material taking mechanism is replaced to be connected with the second quick-change structure of the moving mechanism, and then the replacement step is completed. The maintenance and replacement efficiency is high, and the subsequent punching efficiency is improved.

Description

TECHNICAL FIELD

[0001] The utility model relates to punch technology field especially relates to a three -dimensional mechanical hand and punch production line of quick change mechanism is installed. BACKGROUND

[0002] The existing punch production line is installed with material taking mechanism and movement mechanism, the material taking mechanism is used for clamping the piece to be punched, and the movement mechanism is used for driving the material taking mechanism to lift or move. But the movement mechanism and the material taking mechanism are generally installed together in the mode of fixed connection, when the new material taking mechanism needs to be replaced to clamp the different size piece to be punched, the whole material taking mechanism is often disassembled for a long time, the maintenance and replacement efficiency is low, and the subsequent punch working efficiency is affected. SUMMARY

[0003] The utility model discloses a three -dimensional mechanical hand and punch production line of quick change mechanism is installed, which aims at solving the problem of low maintenance and replacement efficiency of the existing punch production line, affecting the subsequent punch working efficiency.

[0004] To achieve the above object, the utility model provides a three -dimensional mechanical hand of quick change mechanism is installed, it includes mounting seat, moving mechanism, material taking mechanism and quick change mechanism, the material taking mechanism is movably installed in the mounting seat, the quick change mechanism includes first quick change structure and second quick change structure, the first quick change structure is located in the side of the material taking mechanism facing the moving mechanism, the second quick change structure is located in the side of the moving mechanism facing the material taking mechanism, and the first quick change structure is connected with the second quick change structure to make the material taking mechanism connect with the moving mechanism.

[0005] In some embodiments, the quick change mechanism includes first quick change structure and second quick change structure, the first quick change structure is located in the side of the material taking mechanism facing the moving mechanism, and the second quick change structure is located in the side of the moving mechanism facing the material taking mechanism.

[0006] In some embodiments, the first quick change structure includes first positioning part and first docking part, the first positioning part is fixedly installed on the side of the material taking mechanism, and the first docking part is provided with a first groove;The second quick change structure includes second positioning part and second docking part, the second positioning part is installed on the side of the moving mechanism, and the second docking part is provided with a boss, and the boss is inserted into the first groove.

[0007] In some embodiments, the material taking mechanism includes a cross rod and a plurality of material taking hands, the plurality of material taking hands are arranged on the top of the cross rod or on the side of the cross rod away from the moving mechanism, and the first quick change structure is arranged on the side of the cross rod facing the moving mechanism.

[0008] In some embodiments, a mounting base is installed at the bottom of the crossbar, and the mounting base has a second groove; the top of the mounting base has a positioning protrusion and a plurality of locking blocks, the plurality of locking blocks are arranged around the positioning protrusion and enclose a locking space, the positioning protrusion is inserted into the second groove, and the plurality of locking blocks abut against the outer wall of the mounting base to limit the mounting base to the locking space.

[0009] In some embodiments, the locking block is a block structure with a triangular cross-section, and the inner wall of the locking block abuts against the outer wall of the card holder.

[0010] In some embodiments, the mounting base includes a support column and a pressure-bearing seat, the support column is mounted on the pressure-bearing seat, and the positioning protrusion and a plurality of the locking blocks are located on the side of the support column away from the pressure-bearing seat; the pressure-bearing seat is bent relative to the support column, and the mounting base has an L-shaped shape.

[0011] In some embodiments, the moving mechanism includes a lifting mechanism, a telescopic arm, and a traversing mechanism. The telescopic arm is mounted on the lifting mechanism, the traversing mechanism is located at the bottom of the telescopic arm, and the second quick-change structure is located on the side of the traversing mechanism facing the material handling mechanism.

[0012] In some embodiments, the traversing mechanism includes a moving beam and a transmission mechanism, the transmission mechanism being movably mounted on the moving beam and movably connected to the telescopic arm, the transmission mechanism moving relative to the telescopic arm to drive the moving beam to traverse; the second quick-change structure is mounted on the side of the moving beam facing the material handling mechanism.

[0013] In some embodiments, the transmission mechanism includes a slide rail, a sliding part, a fixed part, a drive device, a rack, and a gear. The slide rail and the rack are disposed on the moving beam. The rack is parallel to and spaced apart from the slide rail. The fixed part is movably mounted on the slide rail and has a sliding part that is slidably connected to the slide rail. The drive device is fixedly mounted on the side of the fixed part away from the moving beam. The output end of the drive device extends to the inside of the fixed part and is fixedly mounted with a gear. The gear meshes with the rack.

[0014] This utility model also proposes a stamping production line, which includes a three-dimensional robot arm, and the number of the material picking mechanism and the mounting base is at least two. The material picking mechanism is arranged correspondingly to the mounting base, and the two material picking mechanisms are located on both sides of the moving mechanism. The moving mechanism is connected to one of the material picking mechanisms through the quick-change mechanism.

[0015] The technical solution of this utility model adopts a quick-change mechanism, with the first quick-change structure of the quick-change mechanism located on the side of the material handling mechanism facing the moving mechanism, and the second quick-change structure located on the side of the moving mechanism facing the material handling mechanism. When it is necessary to replace the material handling mechanism to handle parts of different sizes, the first quick-change structure of the old material handling mechanism can be separated from the second quick-change structure of the moving mechanism, and then the first quick-change structure of the new material handling mechanism can be connected to the second quick-change structure of the moving mechanism to complete the replacement step. This method has high maintenance and replacement efficiency and improves subsequent stamping efficiency. Attached Figure Description

[0016] To more clearly illustrate the technical solutions in the embodiments of this utility model or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of this utility model. For those skilled in the art, other drawings can be obtained based on the structures shown in these drawings without creative effort.

[0017] Figure 1 A three-dimensional structural schematic diagram of an embodiment of a three-dimensional robotic arm equipped with a quick-change mechanism provided by this utility model;

[0018] Figure 2 for Figure 1 An exploded structural diagram of an embodiment of a three-dimensional robotic arm equipped with a quick-change mechanism provided by this utility model;

[0019] Figure 3 A partially exploded structural diagram of an embodiment of the material handling mechanism, the transverse moving mechanism and the quick-change mechanism provided by this utility model;

[0020] Figure 4 A schematic diagram of an embodiment of the material handling mechanism provided by this utility model, viewed from below;

[0021] Figure 5 A schematic diagram of the structure of an embodiment of the mounting base provided by this utility model;

[0022] Figure 6 A schematic diagram of a structure of an embodiment of the quick-change mechanism provided by this utility model;

[0023] Figure 7 This is a schematic diagram of a stamping production line according to an embodiment of the present invention.

[0024] Explanation of icon numbers:

[0025] 101. Stamping production line;

[0026] 100. Three-dimensional robotic arm; 10. Mounting base; 11. Support column; 110. Positioning protrusion; 111. Locking block; 12. Pressure bearing seat;

[0027] 20. Material handling mechanism; 21. Crossbar; 210. Card holder; 211. Second groove; 22. Material handling hand;

[0028] 30. Moving mechanism; 31. Lifting mechanism; 32. Telescopic arm; 33. Lateral movement mechanism; 34. Transmission mechanism; 3411. Slide rail; 3412. Sliding part; 3413. Fixed part; 3414. Drive device; 3415. Rack; 3416. Gear; 35. Moving beam;

[0029] 40. Quick-change mechanism; 41. First quick-change structure; 410. First positioning part; 411. First docking part; 412. First groove; 42. Second quick-change structure; 420. Second positioning part; 421. Second docking part; 422. Boss.

[0030] The realization of the purpose, functional features and advantages of this utility model will be further explained in conjunction with the embodiments and with reference to the accompanying drawings. Detailed Implementation

[0031] The technical solutions of the present utility model will be clearly and completely described below with reference to the accompanying drawings of the embodiments. Obviously, the described embodiments are only some embodiments of the present utility model, and not all embodiments. Based on the embodiments of the present utility model, all other embodiments obtained by those of ordinary skill in the art without creative effort are within the scope of protection of the present utility model.

[0032] It should be noted that if the embodiments of this utility model involve directional indicators (such as up, down, left, right, front, back, etc.), the directional indicators are only used to explain the relative positional relationship and movement of the components in a specific posture. If the specific posture changes, the directional indicators will also change accordingly.

[0033] Furthermore, if the embodiments of this utility model involve descriptions such as "first" or "second," these descriptions are for descriptive purposes only and should not be construed as indicating or implying their relative importance or implicitly specifying the number of technical features indicated. Therefore, a feature defined with "first" or "second" may explicitly or implicitly include at least one of those features. Additionally, the use of "and / or" or "and / or" throughout the text includes three parallel solutions. For example, "A and / or B" includes solution A, solution B, or a solution where both A and B are satisfied simultaneously. Furthermore, the technical solutions of the various embodiments can be combined with each other, but this must be based on the ability of those skilled in the art to implement them. When the combination of technical solutions is contradictory or impossible to implement, it should be considered that such a combination of technical solutions does not exist and is not within the scope of protection claimed by this utility model.

[0034] Existing stamping production lines are equipped with a material handling mechanism and a motion mechanism. The material handling mechanism is used to clamp the parts to be stamped, and the motion mechanism is used to drive the material handling mechanism to lift or move. However, the motion mechanism and the material handling mechanism are usually installed together in a fixed connection. When it is necessary to replace the material handling mechanism to clamp parts of different sizes, it often takes a lot of time to disassemble the entire material handling mechanism, resulting in low maintenance and replacement efficiency and affecting the efficiency of subsequent stamping operations.

[0035] This utility model proposes a three-dimensional robotic arm 100 equipped with a quick-change mechanism 40. Please refer to [link / reference needed]. Figure 1 , Figure 2 and Figure 6 In one embodiment of this utility model, the three-dimensional robot 100 with a quick-change mechanism 40 includes a mounting base 10, a moving mechanism 30, a material picking mechanism 20, and a quick-change mechanism 40. The material picking mechanism 20 is movably mounted on the mounting base 10. The quick-change mechanism 40 includes a first quick-change structure 41 and a second quick-change structure 42. The first quick-change structure 41 is located on the side of the material picking mechanism 20 facing the moving mechanism 30, and the second quick-change structure 42 is located on the side of the moving mechanism 30 facing the material picking mechanism 20. The first quick-change structure 41 and the second quick-change structure 42 are connected to connect the material picking mechanism 20 and the moving mechanism 30.

[0036] In one embodiment, the material handling mechanism 20 is placed on the mounting base 10, and the moving mechanism 30 moves to the material handling mechanism 20. The moving mechanism 30 is connected to the first quick-change structure 41 of the material handling mechanism 20 through the second quick-change structure 42, so that the moving mechanism 30 is connected to the material handling mechanism 20, thereby causing the moving mechanism 30 to move up and down or laterally, which can drive the material handling mechanism 20 to move up and down or laterally. Furthermore, the material handling mechanism 20 can lift the workpiece to be stamped on the worktable and move it to the stamping position for stamping.

[0037] Both the first fast-switch structure 41 and the second fast-switch structure 42 can be magnetic, so that they can be attracted and connected to each other.

[0038] Please see Figure 1 The mounting base 10 is used to support the material picking mechanism 20 so that there is a height difference between the material picking mechanism 20 and the ground, thereby facilitating the mutual adsorption and connection between the moving mechanism 30 and the material picking mechanism 20.

[0039] The technical solution of this utility model adopts a quick-change mechanism 40, with the first quick-change structure 41 of the quick-change mechanism 40 located on the side of the material-picking mechanism 20 facing the moving mechanism 30, and the second quick-change structure 42 of the quick-change mechanism 40 located on the side of the moving mechanism 30 facing the material-picking mechanism 20. When it is necessary to replace the material-picking mechanism 20 with a new one to pick up parts of different sizes to be stamped, the first quick-change structure 41 of the old material-picking mechanism 20 can be separated from the second quick-change structure 42 of the moving mechanism 30, and then the first quick-change structure 41 of the new material-picking mechanism 20 can be connected to the second quick-change structure 42 of the moving mechanism 30, thereby completing the replacement step. This method has high maintenance and replacement efficiency and improves subsequent stamping efficiency.

[0040] Please see Figure 7 The moving mechanism 30 can be connected to the left-side picking mechanism 20 or the right-side picking mechanism 20 via the quick-change mechanism 40. Optionally, the picking hand 22 of the left-side picking mechanism 20 can be an adsorption suction cup structure, and the right-side picking mechanism 20 can be a gripper structure, thus enabling the moving mechanism 30 to be connected to different types of picking mechanisms 20.

[0041] Please see Figure 1 , Figure 2 and Figure 6 The quick-change mechanism 40 includes a first quick-change structure 41 and a second quick-change structure 42. The first quick-change structure 41 is located on the side of the material picking mechanism 20 facing the moving mechanism 30 to prevent the material picking hand 22 of the material picking mechanism 20 from obstructing the first quick-change structure 41. The second quick-change structure 42 is located on the side of the moving mechanism 30 facing the material picking mechanism 20 to facilitate the docking and adsorption connection between the second quick-change structure 42 and the first quick-change structure 41.

[0042] Specifically, please refer to Figure 6 The first quick-change structure 41 includes a first positioning part 410 and a first docking part 411. The first positioning part 410 is fixedly installed on the side of the material picking mechanism 20, and the first docking part 411 is provided with a first groove 412. The second quick-change structure 42 includes a second positioning part 420 and a second docking part 421. The second positioning part 420 is installed on the side of the moving mechanism 30, and the second docking part 421 is provided with a boss 422 protruding from it. The boss 422 is inserted into the first groove 412.

[0043] The first quick-change structure 41 is mounted to the side of the material handling mechanism 20 via the first positioning part 410, and the second quick-change structure 42 is mounted to the side of the moving mechanism 30 via the second positioning part 420. The first docking part 411 and the second docking part 421 may be magnetic. The boss 422 is inserted into the first groove 412, and the second docking part 421 is attracted to the first docking part 411, thereby connecting the moving mechanism 30 and the material handling mechanism 20.

[0044] In one embodiment, the material handling mechanism 20 includes a crossbar 21 and a plurality of material handling hands 22. The plurality of material handling hands 22 are located at the top of the crossbar 21 or on the side of the crossbar 21 facing away from the moving mechanism 30, so as to pick up the part to be stamped. The first quick-change structure 41 is located on the side of the crossbar 21 facing the moving mechanism 30, so as to make reasonable use of the space of the crossbar 21 and avoid the plurality of material handling hands 22 from obstructing the connection between the second quick-change structure 42 and the second quick-change structure 42.

[0045] Please see Figure 4 and Figure 5 A mounting base 210 is installed at the bottom of the crossbar 21, and a second groove 211 is provided inside the mounting base 21. The top of the mounting base 10 is provided with a positioning protrusion 110 and multiple locking blocks 111. The multiple locking blocks 111 are arranged around the positioning protrusion 110 and enclose a locking space. The positioning protrusion 110 is inserted into the second groove 211, and the multiple locking blocks 111 abut against the outer wall of the mounting base 210 to limit the mounting base 210 to the locking space. The material handling mechanism 20 is connected to the mounting base 10 through the mounting base 210, allowing the material handling mechanism 20 to be placed on the mounting base 10. The moving mechanism 30 moves to the side of the material handling mechanism 20, and then the moving mechanism 30 is mutually attracted and connected to the first quick-change structure 41 of the material handling mechanism 20 through the second quick-change structure 42, allowing the moving mechanism 30 to connect with the material handling mechanism 20. Subsequently, the moving mechanism 30 continues to move to remove the material handling mechanism 20 from the mounting base 10, thereby facilitating the material handling mechanism 20 to move and clamp the workpiece to be stamped on the worktable.

[0046] In one embodiment, the locking block 111 is a block structure, and the cross-section of the locking block 111 is triangular. The inner sidewall of the locking block 111 abuts against the outer wall of the card seat 210.

[0047] The card holder 210 is square in shape. (See attached image.) Figure 5 There are three card slot blocks 111. The three card slot blocks 111 enclose a card slot space so that the card holder 210 is limited within the card slot space.

[0048] Please see Figure 5The mounting base 10 includes a support column 11 and a pressure seat 12. The support column 11 is mounted on the pressure seat 12. A positioning protrusion 110 and multiple locking blocks 111 are located on the side of the support column 11 away from the pressure seat 12. The pressure seat 12 is bent relative to the support column 11, and the mounting base 10 has an L-shaped shape. The top of the support column 11 is equipped with a positioning protrusion 110 and multiple locking blocks 111, so that the material picking mechanism 20 can be connected to the support column 11 through the locking seat 210, thereby facilitating the support column 11 to support the material picking mechanism 20. The support column 11 is used to support the material picking mechanism 20 so that the material picking mechanism 20 has a height difference with the ground. The moving mechanism 30 can be connected to the material picking mechanism 20 through the quick-change mechanism 40.

[0049] In some embodiments, the moving mechanism 30 includes a lifting mechanism 31, a telescopic arm 32, and a lateral moving mechanism 33. The telescopic arm 32 is mounted on the lifting mechanism 31, the lateral moving mechanism 33 is located at the bottom of the telescopic arm 32, and the first quick-change structure 41 is located on the side of the lateral moving mechanism 33 facing the material picking mechanism 20.

[0050] The lifting mechanism 31 and the telescopic boom 32 can be existing lifting mechanisms 31 and telescopic boom 32.

[0051] This utility model will not be described in detail here.

[0052] In some embodiments, the lateral movement mechanism 33 includes a moving beam 35 and a transmission mechanism 34. The transmission mechanism 34 is movably mounted on the moving beam 35 and movably connected to the telescopic arm 32. The transmission mechanism 34 moves relative to the telescopic arm 32 to drive the moving beam 35 to move laterally. The second quick-change structure 42 is mounted on the side of the moving beam 35 facing the material handling mechanism 20.

[0053] The transmission mechanism 34 drives the moving beam 35 to move laterally, so that the material handling mechanism 20 can move laterally to pick up or unload materials. The moving beam 35 is used to mount the second quick-change structure 42.

[0054] In some embodiments, the transmission mechanism 34 includes a slide rail 3411, a sliding part 3412, a fixed part 3413, a drive device 3414, a rack 3415, and a gear 3416. The slide rail 3411 and the rack 3415 are disposed on the moving beam 35. The rack 3415 is parallel to and spaced apart from the slide rail 3411. The fixed part 3413 is movably mounted on the slide rail 3411. The fixed part 3413 is provided with a sliding part 3412 that is slidably connected to the slide rail 3411. The drive device 3414 is fixedly mounted on the side of the fixed part 3413 away from the moving beam 35. The output end of the drive device 3414 extends to the inside of the fixed part 3413 and is fixedly mounted with a gear 3416. The gear 3416 is meshed with the rack 3415.

[0055] The transverse mechanism 33 operates as follows: the drive motor drives the gear 3416 to rotate, and the gear 3416 meshes with the rack 3415, causing the rack 3415 to move left and right. The rack 3415 is fixed on the moving beam 35, which enables the moving beam 35 to move left and right. The sliding part 3412 cooperates with the slide rail 3411, allowing the moving beam 35 to slide. Since the moving beam 35 is connected to the material picking mechanism 20 through the quick-change mechanism 40, the left and right movement of the material picking mechanism 20 can be controlled by controlling the left and right movement of the moving beam 35, so that the material picking mechanism 20 can move and pick up the parts to be stamped.

[0056] This utility model also proposes a stamping production line 101, which includes a three-dimensional robot 100, a material picking mechanism 20 and a mounting base 10, and at least two material picking mechanisms 20 and mounting bases 10. The two material picking mechanisms 20 are arranged correspondingly to the mounting bases 10, and the two material picking mechanisms 20 are located on both sides of a moving mechanism 30. The moving mechanism 30 is connected to one of the material picking mechanisms 20 through a quick-change mechanism 40.

[0057] This utility model also proposes a stamping production line 101, which includes a three-dimensional robot 100. The specific structure of the three-dimensional robot 100 equipped with a quick-change mechanism 40 is as described in the above embodiments. Since this stamping production line 101 adopts all the technical solutions of all the above embodiments, it has at least all the beneficial effects brought about by the technical solutions of the above embodiments, which will not be described in detail here.

[0058] Please see Figure 7 The moving mechanism 30 can be connected to the left-side picking mechanism 20 or the right-side picking mechanism 20 via the quick-change mechanism 40. Optionally, the picking hand 22 of the left-side picking mechanism 20 can be an adsorption suction cup structure, and the right-side picking mechanism 20 can be a gripper structure, thus enabling the moving mechanism 30 to be connected to different types of picking mechanisms 20.

[0059] The above are merely exemplary embodiments of this utility model and do not limit the patent scope of this utility model. Any equivalent structural transformations made based on the technical concept of this utility model and the contents of the specification and drawings of this utility model, or direct / indirect applications in other related technical fields, are included within the patent protection scope of this utility model.

Claims

1. A three-dimensional robotic arm equipped with a quick-change mechanism, characterized in that, The device includes a mounting base, a moving mechanism, a material picking mechanism, and a quick-change mechanism. The material picking mechanism is movably mounted on the mounting base. The quick-change mechanism includes a first quick-change structure and a second quick-change structure. The first quick-change structure is located on the side of the material picking mechanism facing the moving mechanism, and the second quick-change structure is located on the side of the moving mechanism facing the material picking mechanism. The first quick-change structure and the second quick-change structure are connected to enable the material picking mechanism to connect with the moving mechanism.

2. The three-dimensional robotic arm equipped with a quick-change mechanism as described in claim 1, characterized in that, The first quick-change structure includes a first positioning part and a first docking part. The first positioning part is fixedly installed on the side of the material picking mechanism, and the first docking part is provided with a first groove. The second quick-change structure includes a second positioning part and a second docking part. The second positioning part is installed on the side of the moving mechanism, and the second docking part has a protruding boss that is inserted into the first groove.

3. The three-dimensional robotic arm equipped with a quick-change mechanism as described in claim 1 or 2, characterized in that, The material handling mechanism includes a crossbar and multiple material handling hands. The multiple material handling hands are located at the top of the crossbar or on the side of the crossbar away from the moving mechanism. The first quick-change structure is located on the side of the crossbar facing the moving mechanism.

4. The three-dimensional robotic arm equipped with a quick-change mechanism as described in claim 3, characterized in that, The bottom of the crossbar is equipped with a card holder, and the card holder has a second groove; the top of the mounting base is provided with a positioning protrusion and a plurality of carding blocks, the plurality of carding blocks are arranged around the positioning protrusion and enclose a carding space, the positioning protrusion is inserted into the second groove, and the plurality of carding blocks abut against the outer wall of the card holder to limit the card holder to the carding space.

5. The three-dimensional robotic arm equipped with a quick-change mechanism as described in claim 4, characterized in that, The locking block has a block-shaped structure and a triangular cross-section. The inner wall of the locking block abuts against the outer wall of the card holder.

6. The three-dimensional robotic arm equipped with a quick-change mechanism as described in claim 4, characterized in that, The mounting base includes a support column and a pressure-bearing seat. The support column is mounted on the pressure-bearing seat. The positioning protrusion and a plurality of the locking blocks are located on the side of the support column away from the pressure-bearing seat. The pressure-bearing seat is bent relative to the support column, and the mounting base has an L-shaped shape.

7. The three-dimensional robotic arm equipped with a quick-change mechanism as described in claim 1 or 2, characterized in that, The moving mechanism includes a lifting mechanism, a telescopic arm, and a lateral movement mechanism. The telescopic arm is mounted on the lifting mechanism, the lateral movement mechanism is located at the bottom of the telescopic arm, and the second quick-change structure is located on the side of the lateral movement mechanism facing the material handling mechanism.

8. The three-dimensional robotic arm equipped with a quick-change mechanism as described in claim 7, characterized in that, The lateral movement mechanism includes a moving beam and a transmission mechanism. The transmission mechanism is movably mounted on the moving beam and movably connected to the telescopic arm. The transmission mechanism moves relative to the telescopic arm to drive the moving beam to move laterally. The second quick-change structure is installed on the side of the moving beam facing the material handling mechanism.

9. The three-dimensional robotic arm equipped with a quick-change mechanism as described in claim 8, characterized in that, The transmission mechanism includes a slide rail, a sliding part, a fixed part, a driving device, a rack, and a gear. The slide rail and the rack are disposed on the moving beam. The rack is parallel to and spaced apart from the slide rail. The fixed part is movably mounted on the slide rail. The fixed part has a sliding part that is slidably connected to the slide rail. The driving device is fixedly mounted on the side of the fixed part away from the moving beam. The output end of the driving device extends to the inside of the fixed part and is fixedly mounted with a gear. The gear meshes with the rack.

10. A stamping production line, characterized in that, The invention includes a three-dimensional robotic arm equipped with a quick-change mechanism as described in any one of claims 1 to 9, wherein the number of the material picking mechanism and the mounting base is at least two, the material picking mechanism is correspondingly arranged with the mounting base, the two material picking mechanisms are located on both sides of the moving mechanism, and the moving mechanism is connected to one of the material picking mechanisms through the quick-change mechanism.

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