CN220449056U - Three-connecting-rod workpiece taking machine - Google Patents

Abstract

The utility model relates to a three-link workpiece taking machine which comprises a lifting mechanism, a sliding mechanism and a workpiece taking mechanism, wherein the sliding mechanism is arranged at the upper end of the lifting mechanism, the workpiece taking mechanism is fixedly arranged on the sliding mechanism, and the workpiece taking mechanism comprises a base, a driving shaft, a driven shaft, a driving rod, a driven rod, a connecting rod, a first driving device, a hinge box, a mechanical arm and a clamping head. The utility model reduces the rotation angular acceleration of the clamping jaw, so that the swinging amplitude of the clamping jaw is smaller during operation, the stability is higher, the working efficiency and accuracy are improved, and the service life of the workpiece taking machine is prolonged due to the gentle operation of the mechanical arm. The multi-degree-of-freedom adjustment can be realized through the mutual coordination among the lifting mechanism, the sliding mechanism and the workpiece taking mechanism, so that the mechanical arm has the advantages of large moving range, good flexibility, high precision and high degree of automation, and the workpiece taking and conveying precision can well meet the requirements of modern industrial production on die casting grabbing and conveying.

Description

Three-connecting-rod workpiece taking machine

Technical Field

The utility model relates to the technical field of a part taking machine, in particular to a three-connecting-rod part taking machine.

Background

With the continuous development of economy and the continuous progress of scientific technology, powerful technology and material support are provided for the vigorous development of the manufacturing industry, so that the development pace of the manufacturing industry is accelerated. In the die casting industry, the use of a die casting machine is not required. As is well known, a die casting machine hydraulically injects molten metal into a forming die under the action of pressure to cool and form the molten metal, and then the die casting machine opens the die to obtain a die casting of solid metal. With the continuous progress of scientific technology and industrial production, particularly the rapid development of the industries of automobiles, motorcycles, household appliances and the like, the die casting technology has been developed rapidly, so that the die casting machine is widely popularized. At present, in the process of die casting production, when die casting molding is finished, a die casting product needs to be taken out of a die casting machine, and the die casting product is taken out by manpower, so that along with the development of industry, the application of a workpiece taking machine to replace manpower in the manufacturing industry is increasing. The workpiece taking machine can be used for freeing workers from simple and repeated workpiece taking procedures with high danger coefficients, so that labor cost is reduced, and production efficiency is improved. For example, china patent (application number: 201810329453.7) provides a vertical connecting rod servo pickup mechanical arm, which comprises a platform, wherein a machine body is arranged on the platform, the machine body is connected with the mechanical arm through a driving rod and a driven rod, the mechanical arm is connected with a free end, the free end comprises a rotating mechanism and a pickup mechanism, and the pickup mechanism comprises a fifth driving device and a gripper.

However, the vertical connecting rod servo pickup mechanical arm disclosed in the prior art has the advantages that the mechanical arm is single in structure and low in stability, the gripper of the mechanical arm swings greatly when operated after clamping parts, the stability is low, the working efficiency and accuracy of a pickup machine are affected, particularly when die casting products are large, the movement inertia of the mechanical arm after pickup is larger, the mechanical arm connecting rod is severely vibrated, and the mechanical arm is easily broken for a long time, so that the stability of the machine is affected. Meanwhile, the mechanical arm for taking the part only has two degrees of freedom of sliding and rotating forwards and backwards, and in the process of actual use, the platform is fixed, so that the whole moving range is limited, interference between the mechanical arm and the die casting machine can be caused when the parts are grabbed, the operation is influenced, and the precision for taking the part and conveying the part is difficult to meet the requirements of modern industrial production on grabbing and conveying the die casting.

There is a need for improvements over the prior art.

Disclosure of Invention

The utility model aims to overcome the defects and shortcomings of the prior art, and provides a three-link workpiece taking machine, which optimizes the shape of a mechanical arm, adjusts the relative positions of a driving shaft and a driven shaft, optimizes the sizes of the driving rod, the driven rod and a connecting rod, and reduces the rotation angular acceleration of a clamping jaw, so that the swinging amplitude of the clamping jaw when the clamping jaw runs after clamping a part is smaller, the stability is higher, and the working efficiency and the accuracy of the workpiece taking machine are improved. The gentle running of the mechanical arm also reduces the impact force generated by inertia among the driving rod, the driven rod and the connecting rod, and prolongs the service life of the pick-up machine. Meanwhile, the multi-degree-of-freedom adjustment can be realized through the mutual coordination among the lifting mechanism, the sliding mechanism and the workpiece taking mechanism, so that the mechanical arm disclosed by the utility model has the advantages of large moving range, good flexibility, high precision and high degree of automation, and the workpiece taking and conveying precision can well meet the requirements of modern industrial production on die casting grabbing and conveying.

In order to achieve the above purpose, the present utility model adopts the following technical scheme:

the utility model provides a three connecting rod get a machine, includes elevating system, slide mechanism, gets a mechanism, slide mechanism sets up in elevating system's upper end, get a mechanism fixedly install in slide mechanism's upper end, get a mechanism and include base, driving shaft, driven shaft, driving lever, driven lever, connecting rod, first drive arrangement, articulated case, arm and clamp head, the driving shaft sets up in the side rear of driven shaft, first drive arrangement installs in the below of base, and the output of first drive arrangement passes the base, driving shaft transmission ground is connected in first drive arrangement's output, the first end of driving lever articulates in the driving shaft, the second end of driving lever with the first end of connecting rod articulates, the second end and the articulated case fixed connection of connecting rod, the first end of driven lever articulates in the driven shaft, the second end of driven lever articulates in the articulated case, the first end transmission of arm is installed in the articulated case, clamp head is installed in the second end of arm.

Further, the picking mechanism further comprises a second driving device, and the second driving device is installed in the hinge box.

Further, the mechanical arm comprises a first mechanical arm and a second mechanical arm which is sleeved at the second end of the first mechanical arm in a telescopic manner, the first end of the first mechanical arm is installed at the output end of the second driving device in a transmission manner, and the other end of the second mechanical arm is provided with a clamping head.

Further, the clamping head comprises clamping jaws and a third driving device for driving the clamping jaws to be matched in an opening and closing mode.

Further, the lifting mechanism is arranged at the upper end of the base mounting mechanism, and the base mounting mechanism comprises a bottom plate and an upright post fixedly arranged at the upper end of the bottom plate.

Further, elevating system include mounting panel, lower mounting panel, rocking wheel, screw rod, first gear, guide pillar, guide pin bushing and retaining block, lower mounting panel is fixedly installed in the upper end of stand, the screw rod is fixedly connected with the upper mounting panel and passes down the mounting panel, rocking wheel with first gear fixed connection, first gear is installed in lower mounting panel below, first gear is connected with the screw rod meshing, the upper end of guide pillar is fixedly installed in the mounting panel, the guide pin bushing has been cup jointed to the lower extreme of guide pillar, the stand is the cavity stand, the guide pin bushing passes down the mounting panel and inserts in the stand, the guide pin bushing locks through the retaining block, the quantity one-to-one of stand, guide pillar, guide pin bushing and retaining block.

Further, the sliding mechanism comprises a mounting seat, a sliding box, a second gear, a toothed bar, a mounting side plate and a fourth driving device, wherein the mounting seat is fixedly arranged at the upper end of the lifting mechanism, the right side of the mounting seat is fixedly provided with the mounting side plate, sliding grooves are respectively arranged at the upper end of the mounting seat and the left side of the mounting side plate, sliding rails matched with the sliding grooves are respectively fixedly arranged at the lower end and the right side of the sliding box, the right side of the mounting side plate is fixedly provided with the fourth driving device, the output end of the fourth driving device penetrates through the mounting side plate, the left side of the mounting side plate is provided with the second gear, the second gear is arranged at the output end of the fourth driving device in a transmission manner, and the left side of the mounting side plate is fixedly provided with the toothed bar meshed with the second gear.

Further, the first driving device, the second driving device and the fourth driving device are all motors.

Further, the third driving device is an air cylinder.

Further, the automatic detection device also comprises an induction mechanism, wherein the induction mechanism is fixedly arranged on one side of the lifting mechanism, the induction mechanism comprises a vertical rod fixedly arranged on one side of the lifting mechanism, a cross rod is fixedly arranged at the top end of the vertical rod, and an induction probe is arranged at one end, far away from the vertical rod, of the cross rod.

After the structure is adopted, the utility model has the beneficial effects that:

1. the three-connecting-rod picking machine optimizes the shape of the mechanical arm, sets the driving shaft at the side rear of the driven shaft, and optimizes the size of each connecting rod. The optimized three-link workpiece taking machine has the advantages that one side of the mechanical arm is provided with the driving mechanism consisting of the driving rod, the driven rod and the connecting rod, the driving rod rotates under the drive of the motor output shaft, the driving rod drives the connecting rod to rotate, the connecting rod is fixedly connected with the mechanical arm, the mechanical arm follows to rotate, and meanwhile, under the connection limiting effect of the driven rod, the mechanical arm moves back and forth according to a designed track to carry out clamping and releasing operation.

2. The three-connecting-rod workpiece taking machine can realize the height adjustment of the workpiece taking mechanism through the lifting mechanism, can realize the front and rear adjustment of the workpiece taking mechanism through the sliding mechanism, can realize the rotation of the mechanical arm in the horizontal direction through the driving shaft, the driven shaft, the driving rod, the driven rod and the connecting rod of the workpiece taking mechanism, and can realize the rotation in the circumferential direction under the driving of the second driving device.

Drawings

In order to more clearly illustrate the embodiments of the present utility model, the drawings that are required to be used in the description of the embodiments will be briefly described below, and it will be apparent that the drawings in the description below are some embodiments of the present utility model and that other drawings may be obtained from these drawings without inventive effort for a person of ordinary skill in the art.

FIG. 1 is a schematic view of the overall structure of the present utility model;

FIG. 2 is a top view of the overall structure of the present utility model;

FIG. 3 is an exploded schematic view of the base mounting mechanism and lift mechanism of the present utility model;

FIG. 4 is a schematic view of a portion of the slide mechanism of the present utility model;

FIG. 5 is a schematic perspective view of a picking mechanism of the present utility model;

FIG. 6 is a front view of a portion of the take-up mechanism of the present utility model;

FIG. 7 is a cross-sectional view at FF of FIG. 6 of the present utility model;

FIG. 8 is a schematic perspective view of a gripping head of the present utility model;

FIG. 9 is a diagram of the jaw travel path of the present utility model;

fig. 10 is a diagram of the moving track of the clamping jaw of the straight rod mechanical arm picking machine in the prior art.

The reference numerals in fig. 1 to 10 are:

1-a lifting mechanism; 11-an upper mounting plate; 12-a lower mounting plate; 13-shaking wheels; 14-a screw; 15-guide posts; 16-guide sleeve; 17-locking blocks;

2-a sliding mechanism; 21-a mounting base; 22-slide box; 23-sliding grooves; 24-sliding rails; 25-a second gear; 26-tooth bar; 27-mounting side plates;

3-a piece taking mechanism; 31-a base; 32-a driving shaft; 33-driven shaft; 34-an active lever; 35-a driven rod; 36-connecting rod; 37-hinge box; 38-a mechanical arm; 381-a first robotic arm; 382-a second mechanical arm; 383-vias; 384-kidney-shaped aperture; 385-a second drive means; 39-clamping head; 391-clamping jaw; 392-a third drive means;

4-a base mounting mechanism; 41-a bottom plate; 42-stand columns;

5-a sensing mechanism; 51-a vertical rod; 52-a cross bar; 53-inductive probe.

Detailed Description

In order that those skilled in the art will better understand the present utility model, a technical solution in the embodiments of the present utility model will be clearly and completely described below with reference to the accompanying drawings in which it is apparent that the described embodiments are only some embodiments of the present utility model, not all embodiments. All other embodiments, which can be made by those skilled in the art based on the embodiments of the present utility model without making any inventive effort, shall fall within the scope of the present utility model.

In the present utility model, the terms "upper", "lower", "left", "right", "front", "rear", "top", "bottom", "inner", "outer", "middle", "vertical", "horizontal", "lateral", "longitudinal", and the like refer to the directions or positional relationships based on the directions or positional relationships shown in the drawings. These terms are only used to better describe the present utility model and its embodiments and are not intended to limit the scope of the indicated devices, elements or components to the particular orientations or to configure and operate in the particular orientations.

It should be noted that, without conflict, the embodiments of the present utility model and features of the embodiments may be combined with each other. The utility model will be described in detail below with reference to the drawings in connection with embodiments.

As shown in fig. 1-10, a three-link workpiece taking machine comprises a lifting mechanism 1, a sliding mechanism 2 and a workpiece taking mechanism 3, wherein the sliding mechanism 2 is arranged at the upper end of the lifting mechanism 1, the workpiece taking mechanism 3 is fixedly arranged at the upper end of the sliding mechanism 2, the workpiece taking mechanism 3 comprises a base 31, a driving shaft 32, a driven shaft 33, a driving rod 34, a driven rod 35, a connecting rod 36, a first driving device, a hinge box 37, a mechanical arm 38 and a clamping head 39, the driving shaft 32 is arranged at the rear side of the driven shaft 33, the first driving device is arranged below the base 31, the output end of the first driving device penetrates through the base 31, the driving shaft 32 is in transmission connection with the output end of the first driving device, the first end of the driving rod 34 is hinged to the driving shaft 32, the second end of the driving rod 34 is hinged with the first end of the connecting rod 36, the second end of the connecting rod 36 is fixedly connected with the hinge box 37, the first end of the driven rod 35 is hinged to the driven shaft 33, the second end of the driven rod 35 is hinged to the hinge box 35 is hinged to the first end of the mechanical arm 37, the second end of the driven rod 35 is hinged to the first end of the mechanical arm 37, and the output end of the mechanical arm 37 is arranged at the first end of the mechanical arm 37 is arranged at the clamping head 39. The first driving device (not shown in the figure) is a motor. In this embodiment, the shape of the mechanical arm 38 is optimized, the mechanical arm of the conventional pick-up machine is a straight rod, the connecting rod 36 is fixedly connected with the mechanical arm 38, so that the shape of the mechanical arm is optimized to be an L shape, and the driving shaft 32 is arranged at the rear side of the driven shaft 33, as shown in fig. 5, and meanwhile, the sizes of the driving rod 34, the driven rod 35 and the connecting rod 36 are optimized, and the optimal size ratio is 1:1.95:1.12. After optimization, one side of the mechanical arm 38 is provided with a driving mechanism consisting of a driving rod 34, a driven rod 35 and a connecting rod 36, a first driving device (not shown in the figure) drives the driving shaft 32 to rotate, the driving shaft 32 drives the driving rod 34 to rotate, the driving rod 34 drives the connecting rod 36 to rotate, the connecting rod 36 is fixedly connected with the mechanical arm 38, the mechanical arm 38 follows rotation, and simultaneously, under the connection limiting effect of the driven rod 35, the mechanical arm 38 moves back and forth according to a designed track to carry out clamping work. The reason why the angular acceleration of rotation of the jaw 391 is reduced according to the present utility model will now be described in detail, wherein the torque value T is calculated by the formula t=f×s, where T is the torque value, F is the force acting on the stressed object, and S is the distance from the point of action of the force to the rotation center of the object. As is clear from the calculation formula (t=f×s) of the torque value T, the driving force F decreases as the distance S increases when the torque value T is the same. As can be seen from fig. 9 and 10, the distance S1 of the present utility model is greater than the distance S2 of the prior art, that is, the driving force F1 of the present utility model is smaller than the driving force F2 of the prior art in the case where the torque value T is the same, and the angular acceleration of the object is proportional to the force to which the object is subjected, that is, the smaller the driving force F is, the smaller the angular acceleration of the object is. The driving force F1 of the present utility model is smaller than the driving force F2 of the prior art, so that the rotational angular acceleration of the clamping jaw 391 of the present utility model is smaller. The moving track of the clamping jaw 391 is shown in fig. 9, the moving track of the clamping jaw of the straight rod mechanical arm picking machine in the prior art is shown in fig. 10, and the comparison of the two figures shows that the moving track of the clamping jaw 391 is more gentle, the stability is higher, and the working efficiency and the accuracy of the picking machine are improved. Meanwhile, the smooth running of the mechanical arm 38 reduces the impact force generated by inertia among the driving rod 34, the driven rod 35 and the connecting rod 36, and prolongs the service life of the workpiece taking machine.

As another preferred structure of the present utility model, the picking mechanism 3 further includes a second driving device 385, and the second driving device 385 is installed in the hinge box 37. The second driving device 385 is a motor. The mechanical arm 38 includes a first mechanical arm 381 and a second mechanical arm 382 telescopically coupled to a second end of the first mechanical arm 381, the first end of the first mechanical arm 381 is drivingly mounted to an output end of the second driving device 385, and a gripping head 39 is disposed at the other end of the second mechanical arm 382. As shown in fig. 7, an output end of the second driving device 385 is fixedly connected with a first end of the mechanical arm 38, and the second driving device 385 provides power for circumferential rotation of the mechanical arm 38, so that the mechanical arm 38 can rotate along the circumferential direction, and the clamping head 39 can clamp the die-cast part more flexibly. The first end of the second mechanical arm 382 is provided with a through hole 383, and the second end of the first mechanical arm 381 is provided with a kidney-shaped hole 384 matched with the through hole 383. As shown in fig. 6, the extension and retraction of the mechanical arm 38 can be realized through the through hole 383 of the first mechanical arm 381 and the kidney-shaped hole 384 of the second mechanical arm 382, so that the length of the mechanical arm 38 is changed, and the adjustment space of the movable range of the mechanical arm 38 is larger.

As another preferable structure of the present utility model, the gripping head 39 includes a clamping jaw 391 and a third driving device 392 for driving the clamping jaw 391 to be in a closing and opening fit, and the third driving device 392 is an air cylinder. As shown in fig. 6, the cylinder drives the clamping jaw 391 to clamp and release the die-casting part by compressed air, and compared with other driving modes, the technical scheme of the embodiment has simple structure and low use cost.

As another preferable structure of the present utility model, the present utility model further comprises a base mounting mechanism 4, wherein the lifting mechanism 1 is disposed at an upper end of the base mounting mechanism 4, and the base mounting mechanism 4 includes a bottom plate 41 and a column 42 fixedly mounted at an upper end of the bottom plate 41. The lifting mechanism 1 comprises an upper mounting plate 11, a lower mounting plate 12, a rocking wheel 13, a screw 14, a first gear (not shown in the figure), a guide post 15, a guide sleeve 16 and a locking block 17, wherein the lower mounting plate 12 is fixedly arranged at the upper end of a stand column 42, the screw 14 is fixedly connected with the upper mounting plate 11 and penetrates through the lower mounting plate 12, the rocking wheel 13 is fixedly connected with the first gear (not shown in the figure), the first gear (not shown in the figure) is arranged below the lower mounting plate 12, the first gear (not shown in the figure) is in meshed connection with the screw 14, the upper end of the guide post 15 is fixedly arranged on the upper mounting plate 11, the lower end of the guide post 15 is sleeved with the guide sleeve 16, the stand column 42 is a hollow stand column, the guide sleeve 16 penetrates through the lower mounting plate 12 and is inserted into the stand column 42, the guide sleeve 16 is locked through the locking block 17, and the number of the stand column 42, the guide posts 15, the guide sleeve 16 and the locking block 17 are in one-to-one correspondence. In this embodiment, as shown in fig. 3, the lifting mechanism 1 is disposed at the upper end of the base mounting mechanism 4, and lifting of the lifting mechanism 1 is mainly achieved by adjusting the position of the guide post 15 in the guide sleeve 16, and the hollow space of the upright post 42 provides a lifting space for lifting the guide post 15. When the position of the picking mechanism 3 needs to be lifted, the screw of the locking block 17 is unscrewed, the guide pillar 15 is lifted upwards, and the screw of the locking block 17 is locked for fixing after the preset height is mentioned. When the height of the picking mechanism 3 needs to be lowered, the opposite operation is performed. The lifting mechanism 1 can flexibly adjust the height of the fetching mechanism 3, so that the installation and the use are simpler and more convenient.

As another preferred structure of the present utility model, the sliding mechanism 2 includes a mounting base 21, a sliding box 22, a second gear 25, a toothed bar 26, a mounting side plate 27 and a fourth driving device (not shown in the drawing), the mounting base 21 is fixedly mounted at an upper end of the lifting mechanism 1, the mounting side plate 27 is fixedly mounted at a right side of the mounting base 21, a sliding groove 23 is mounted at an upper end of the mounting base 21 and at a left side of the mounting side plate 27, sliding rails 24 matched with the sliding groove 23 are fixedly mounted at a lower end and a right side of the sliding box 22, a fourth driving device (not shown in the drawing) is fixedly mounted at a right side of the mounting side plate 27, an output end of the fourth driving device (not shown in the drawing) passes through the mounting side plate 27, the second gear 25 is mounted at a left side of the mounting side plate 27, and the second gear 25 is drivingly mounted at an output end of the fourth driving device (not shown in the drawing), and the toothed bar 26 mounted at a left side of the mounting side plate 27 is fixedly mounted with the toothed bar 25. The fourth driving device (not shown in the figure) is a motor. In this embodiment, as shown in fig. 4, the motor rotates to drive the second gear 25 mounted at the output end of the motor to rotate, and the second gear 25 drives the toothed bar 26 to advance or retract, and the toothed bar 26 is fixedly mounted with the mounting side plate 27, so as to drive the sliding mechanism 2 to integrally advance or retract. The sliding grooves 23 are respectively arranged at the upper end of the mounting seat 21 and the left side of the mounting side plate 27, the sliding rails 24 matched with the sliding grooves 23 are fixedly arranged at the lower end and the right side of the sliding box 22 respectively, and the sliding of the sliding mechanism 2 is smoother due to the matching of the sliding rails 24 and the sliding grooves 23 and the sliding of the sliding mechanism 2 is enabled to follow a preset track.

As another preferable structure of the utility model, the utility model further comprises a sensing mechanism 5, the sensing mechanism 5 is fixedly arranged on one side of the lifting mechanism 1, the sensing mechanism 5 comprises a vertical rod 51 fixedly arranged on one side of the lifting mechanism, a cross rod 52 is fixedly arranged at the top end of the vertical rod 51, and an inductive probe 53 is arranged at one end of the cross rod 52 away from the vertical rod 51. In this embodiment, as shown in fig. 1 and 2, the sensing probe 53 can sense whether the gripping head 39 successfully grips the die-casting part, and when the gripping is unsuccessful, the sensing mechanism 5 sends out an alarm bell and stops the operation of the die-casting machine, the alarm bell can prompt a worker to check, and stopping the operation of the die-casting machine can prevent the die-casting machine from continuing die casting and damaging the die-casting machine when the die-casting part is not removed. The sensing probe 53 may be a radiation sensing or touch sensing, but is not limited thereto.

It is apparent that the above examples are given by way of illustration only and are not limiting of the embodiments. Other variations or modifications of the above teachings will be apparent to those of ordinary skill in the art. It is not necessary here nor is it exhaustive of all embodiments. While obvious variations or modifications are contemplated as falling within the scope of the present utility model.

Claims (10)

1. The utility model provides a three connecting rod get a machine, includes elevating system (1), slide mechanism (2), gets a mechanism (3), its characterized in that: slide mechanism (2) set up in the upper end of elevating system (1), get a mechanism (3) fixedly install in slide mechanism (2)'s upper end, get a mechanism (3) including base (31), driving shaft (32), driven shaft (33), driving lever (34), driven lever (35), connecting rod (36), first drive arrangement, articulated case (37), arm (38) and clamp head (39), driving shaft (32) set up in the side rear of driven shaft (33), first drive arrangement installs in the below of base (31), and the output of first drive arrangement passes base (31), driving shaft (32) are connected in first drive arrangement's output with the transmission, the first end of driving lever (34) articulates in driving shaft (32), the second end of driving lever (34) with the first end of connecting rod (36) articulates, the second end and articulated case (37) of connecting rod (36) are fixedly connected, the first end of driven lever (35) articulates in driven shaft (33), the output of first drive arrangement passes through base (31), the first end of driving lever (32) articulates in articulated case (37).

2. The three-bar linkage extractor of claim 1, wherein: the picking mechanism (3) further comprises a second driving device (385), and the second driving device (385) is installed in the hinge box (37).

3. The three-bar linkage extractor of claim 2, wherein: the mechanical arm (38) comprises a first mechanical arm (381) and a second mechanical arm (382) which is sleeved at the second end of the first mechanical arm (381) in a telescopic mode, the first end of the first mechanical arm (381) is installed at the output end of the second driving device (385) in a transmission mode, and a clamping head (39) is arranged at the other end of the second mechanical arm (382).

4. The three-bar linkage extractor of claim 1, wherein: the gripping head (39) comprises a clamping jaw (391) and a third driving device (392) for driving the clamping jaw (391) to be matched in a closing and opening mode.

5. The three-bar linkage extractor of claim 1, wherein: the lifting mechanism (1) is arranged at the upper end of the base mounting mechanism (4), and the base mounting mechanism (4) comprises a bottom plate (41) and a stand column (42) fixedly arranged at the upper end of the bottom plate (41).

6. The three-bar linkage extractor of claim 5, wherein: elevating system (1) include mounting panel (11), lower mounting panel (12), rocking wheel (13), screw rod (14), first gear, guide pillar (15), guide pin bushing (16) and latch segment (17), mounting panel (12) are fixedly installed in the upper end of stand (42) down, screw rod (14) are connected and pass mounting panel (12) down with last mounting panel (11) fixedly, rocking wheel (13) with first gear fixed connection, first gear is installed in mounting panel (12) below down, first gear is connected with screw rod (14) meshing, guide pin bushing (16) have been installed in last mounting panel (11) fixedly to the upper end of guide pillar (15), guide pin bushing (16) have been cup jointed to the lower extreme of guide pillar (15), stand (42) are hollow stand, stand (42) are passed down in mounting panel (12) and are inserted through latch segment (17), stand (42), guide pin bushing (15), guide pin bushing (16) and the quantity of latch segment (17) one-to-one.

7. The three-bar linkage extractor of claim 2, wherein: the sliding mechanism (2) comprises a mounting seat (21), a sliding box (22), a second gear (25), a toothed bar (26), a mounting side plate (27) and a fourth driving device, wherein the mounting seat (21) is fixedly mounted at the upper end of the lifting mechanism (1), the mounting side plate (27) is fixedly mounted on the right side of the mounting seat (21), sliding grooves (23) are respectively mounted at the upper end of the mounting seat (21) and the left side of the mounting side plate (27), sliding rails (24) matched with the sliding grooves (23) are fixedly mounted at the lower end and the right side of the sliding box respectively, the fourth driving device is fixedly mounted at the right side of the mounting side plate (27), the output end of the fourth driving device penetrates through the mounting side plate (27), the second gear (25) is mounted at the left side of the mounting side plate (27) in a transmission mode, and the sliding bar (26) is fixedly mounted at the left side of the mounting side plate (27) in a meshed mode.

8. The three-bar linkage extractor of claim 7, wherein: the first driving device, the second driving device (385) and the fourth driving device are all motors.

9. The three-bar linkage extractor of claim 4, wherein: the third driving device (392) is an air cylinder.

10. A three-bar picking machine according to any one of claims 1 to 9, characterized in that: the automatic detection device is characterized by further comprising an induction mechanism (5), wherein the induction mechanism (5) is fixedly arranged on one side of the lifting mechanism (1), the induction mechanism (5) comprises a vertical rod (51) fixedly arranged on one side of the lifting mechanism, a cross rod (52) is fixedly arranged at the top end of the vertical rod (51), and an induction probe (53) is arranged at one end, far away from the vertical rod (51), of the cross rod (52).