CN219819342U - Material taking device - Google Patents

Abstract

The material taking device provided by the embodiment of the utility model comprises: the device comprises a frame, a driving mechanism, a linkage mechanism and a material taking mechanism; the frame is provided with a first transmission part and a second transmission part which are oppositely arranged along a first direction, the linkage mechanism is arranged between the first transmission part and the second transmission part and is rotatably connected with the driving end of the driving mechanism, and the linkage mechanism is provided with a third transmission part and a fourth transmission part which are oppositely arranged; the material taking mechanism comprises a plurality of material taking components which are arranged under the linkage mechanism in a surrounding manner; under the condition that the linkage mechanism moves along the first direction, the second transmission part is matched with the fourth transmission part, so that the linkage mechanism rotates around the first rotation direction and extrudes any material taking assembly; under the condition that the linkage mechanism moves along the direction opposite to the first direction, the first transmission part is matched with the third transmission part, so that the linkage mechanism continues to rotate around the first rotation direction and is separated from the material taking assembly. The utility model can reduce the number of the driving mechanisms, so that the structure is simpler, the cost is lower, and the volume is smaller.

Description

Material taking device

Technical Field

The utility model belongs to the technical field of material taking equipment, and particularly relates to a material taking device.

Background

Some current material taking devices respectively push a plurality of suction nozzles to move by adopting a plurality of air cylinders so as to respectively adsorb products through the plurality of suction nozzles, thereby realizing the material taking process of the products. However, such a take-off device has many parts, is relatively costly, and results in a take-off device that occupies a large space.

Disclosure of Invention

The embodiment of the utility model aims to provide a material taking device, which can solve the problems of more parts, high cost, large occupied space and the like of the material taking device in the related technology.

In order to solve the technical problems, the utility model is realized as follows:

the embodiment of the utility model provides a material taking device, which comprises: the device comprises a frame, a driving mechanism, a linkage mechanism and a material taking mechanism;

the frame is provided with a first transmission part and a second transmission part which are oppositely arranged along a first direction, the linkage mechanism is arranged between the first transmission part and the second transmission part and is rotatably connected with the driving end of the driving mechanism, and the linkage mechanism is provided with a third transmission part and a fourth transmission part which are oppositely arranged;

the material taking mechanism comprises a plurality of material taking components which are arranged under the linkage mechanism in a surrounding manner;

under the condition that the linkage mechanism moves along the first direction, the second transmission part is matched with the fourth transmission part, so that the linkage mechanism rotates around the first rotation direction and extrudes any one of the material taking components;

and under the condition that the linkage mechanism moves in the direction opposite to the first direction, the first transmission part is matched with the third transmission part, so that the linkage mechanism continues to rotate around the first rotation direction and is separated from the material taking assembly.

In the embodiment of the utility model, any one of the material taking components can be driven by the driving mechanism and the linkage mechanism, so that any one material taking component can be driven to take materials without arranging a plurality of groups of driving mechanisms.

Drawings

FIG. 1 is a schematic view of a material taking apparatus according to an embodiment of the present utility model;

FIG. 2 is a schematic structural view of a first fixing plate, a first tooth structure and a guide tooth structure according to an embodiment of the present utility model;

FIG. 3 is a schematic structural view of a second fixing plate and a second tooth structure according to an embodiment of the present utility model;

FIG. 4 is a schematic structural diagram of a linkage mechanism according to an embodiment of the present utility model;

fig. 5 is a schematic structural diagram of a connector and a material taking assembly according to an embodiment of the present utility model.

Reference numerals illustrate:

100-frames; 110-a first fixing plate; 120-a second fixing plate; 121-a guide hole; 130-a first tooth structure; 140-a second tooth structure; 150-guiding a tooth-shaped structure; 160-a connector; 161-limiting blocks; 162-slide rail;

200-a driving mechanism;

300-linkage mechanism; 310-a unidirectional transmission component; 320 tooth; 321-a third tooth structure; 322-fourth tooth structure; 330-follower;

400-a material taking mechanism; 410-a take-off assembly; 411-sliding part; 4111-a carriage; 41111-first contact surface; 41112-transition surface; 41113-second contact surface; 4112-slider; 4113-connecting block; 412-a suction nozzle; 413-elastic elements.

Detailed Description

The following description of the embodiments of the present utility model will be made clearly and fully with reference to the accompanying drawings, in which it is evident that the embodiments described are some, but not all embodiments of the utility model. All other embodiments, which can be made by those skilled in the art based on the embodiments of the utility model without making any inventive effort, are intended to be within the scope of the utility model.

The terms first, second and the like in the description and in the claims, are used for distinguishing between similar elements and not necessarily for describing a particular sequential or chronological order. It is to be understood that the data so used may be interchanged, as appropriate, such that embodiments of the present utility model may be implemented in sequences other than those illustrated or described herein, and that the objects identified by "first," "second," etc. are generally of a type, and are not limited to the number of objects, such as the first object may be one or more. Furthermore, in the description and claims, "and/or" means at least one of the connected objects, and the character "/", generally means that the associated object is an "or" relationship.

The following describes embodiments of the present utility model in detail through specific embodiments and application scenarios thereof with reference to the accompanying drawings.

Referring to fig. 1-5, an embodiment of the present utility model discloses a reclaimer device, including a frame 100, a drive mechanism 200, a linkage mechanism 300, and a reclaimer mechanism 400.

The frame 100 is a base member of the reclaimer device that may provide a mounting base for the components of the drive mechanism 200, the linkage mechanism 300, the reclaimer mechanism 400, and the like. In some embodiments, the frame 100 has a first transmission portion and a second transmission portion disposed opposite in a first direction. For example, the first direction may be a downward direction under actual conditions, although other directions are possible in other embodiments. The linkage mechanism 300 is disposed between the first transmission portion and the second transmission portion and rotatably connected to the driving end of the driving mechanism 200, and the linkage mechanism 300 has a third transmission portion and a fourth transmission portion disposed opposite to each other. Based on this arrangement, the linkage 300 can be driven by the driving mechanism 200 to move in the first direction or in a direction opposite to the first direction so that the linkage 300 is close to the second transmission portion or close to the first transmission portion.

In the embodiment of the present utility model, the third transmission portion is disposed towards the first transmission portion, so that when the linkage mechanism 300 approaches the first transmission portion, the third transmission portion is combined with the first transmission portion, and the linkage mechanism 300 rotates around the first rotation direction relative to the driving mechanism 200 under the action of the first transmission portion; similarly, the fourth transmission portion is disposed towards the second transmission portion, so that when the linkage mechanism 300 approaches the second transmission portion, the fourth transmission portion is combined with the second transmission portion, and the linkage mechanism 300 is driven by the second transmission portion to rotate around the first rotation direction relative to the driving mechanism 200. In this way, in the process of driving the linkage mechanism 300 by the driving mechanism 200, the first transmission portion and the third transmission portion may be coupled, or the second transmission portion and the fourth transmission portion may be coupled, and at the same time, the linkage mechanism 300 may be rotated with respect to the driving mechanism 200 at each coupling, so that the state of the linkage mechanism 300 may be changed.

The picking mechanism 400 includes a plurality of picking assemblies 410 disposed circumferentially below the linkage 300, each picking assembly 410 being configured to pick up a picking member and release the picking member to a predetermined position. During the descent of the linkage 300, it contacts at least one of the take-off assemblies 410 and causes a squeezing action to move the at least one take-off assembly 410 downward to facilitate picking or releasing a part.

Based on the above arrangement, when the driving mechanism 200 drives the linkage mechanism 300 to move along the first direction (i.e., downward), the fourth transmission portion is gradually matched with the second transmission portion along with the movement of the linkage mechanism 300 along the first direction, at this time, along with the continued downward movement of the linkage mechanism 300, a reaction force is generated on the fourth transmission portion under the action of the second transmission portion, so that the linkage mechanism 300 rotates around the first rotation direction by a certain angle, after the linkage mechanism 300 contacts with the material taking component 410, any material taking component 410 can be extruded along with the continued movement of the linkage mechanism 300, so that the extruded material taking component 410 extends relative to the frame 100, so that the material taking end of the material taking component 410 can contact with a material piece, further picking up of the material piece is realized, or the material taking end can move to a region to be placed of the material piece, and further release of the material piece is realized. It should be noted that, the first rotation direction may be clockwise or counterclockwise, and when the linkage 300 contacts one of the plurality of material taking assemblies 410, the material taking assembly 410 is pressed to pick up or release one material at a time; when the linkage 300 contacts two or more of the plurality of take off assemblies 410, the two or more take off assemblies 410 are squeezed to facilitate the one-time pick up or release of more than one part.

Conversely, in the case where the driving mechanism 200 drives the linkage 300 to move in a direction opposite to the first direction (i.e., upward), as the linkage 300 moves in the direction opposite to the first direction, the fourth transmission portion is gradually separated from the second transmission portion and the third transmission portion is combined with the first transmission portion, at this time, as the linkage 300 continues to move upward, a reaction force is generated on the third transmission portion by the action of the first transmission portion, so that the linkage 300 continues to rotate around the first rotation direction, and, during the movement of the linkage 300 in the direction opposite to the first direction, the linkage 300 is disengaged from the material taking assembly 410 at a certain moment, at this time, the material taking assembly 410 may retract with respect to the frame 100, so as to achieve the return of the material taking assembly 410 in preparation for the next material picking member. It should be noted that, during the movement of the linkage 300 in the direction opposite to the first direction, the rotation direction of the linkage 300 during the movement in the first direction may be the same as that described above, so as to switch to squeeze the next one or more material taking assemblies 410, so that the next one or more material taking assemblies 410 pick up or release the material.

In the embodiment of the present utility model, any one or more of the material taking assemblies 410 of the plurality of material taking assemblies 410 can be driven by the driving mechanism 200 and the linkage mechanism 300, so that any one or more of the material taking assemblies 410 can be driven to take materials without arranging a plurality of groups of driving mechanisms 200, and compared with the mode that a plurality of air cylinders are adopted to respectively drive a plurality of suction nozzles to take materials in the related art, the material taking device in the embodiment of the present utility model can greatly reduce the number of the driving mechanisms 200, so that the use of parts can be reduced, and the overall volume and the manufacturing cost of the material taking device are reduced

Referring to fig. 1 to 3, in some embodiments, the frame 100 may include a first fixing plate 110 and a second fixing plate 120, the first fixing plate 110 and the second fixing plate 120 being spaced apart along a first direction, wherein a side of the first fixing plate 110 facing the second fixing plate 120 may be provided with a first tooth structure 130, the first tooth structure 130 being a first transmission portion, and a side of the second fixing plate 120 facing the first fixing plate 110 may be provided with a second tooth structure 140, the second tooth structure 140 being a second transmission portion; correspondingly, the third transmission part is a third tooth structure 321, which is matched with the first tooth structure 130, and the fourth transmission part is a fourth tooth structure 322, which is matched with the second tooth structure 140.

Based on this arrangement, during the movement of the linkage mechanism 300 in the first direction, the fourth tooth structure 322 is gradually combined with the second tooth structure 140, so that the linkage mechanism 300 can be rotated by the reaction force of the second tooth structure 140 to the fourth tooth structure 322; in contrast, during the movement of the linkage 300 in the direction opposite to the first direction, the third tooth structure 321 is gradually combined with the first tooth structure 130, so that the linkage 300 can be rotated by the reaction force of the first tooth structure 130 to the third tooth structure 321.

Illustratively, the first tooth structure 130, the second tooth structure 140, the third tooth structure 321 and the fourth tooth structure 322 may be regarded as gear structures, that is, include a plurality of teeth arranged along a circumferential direction, so that when the two tooth structures are combined, the cooperation between the plurality of teeth may be achieved, so that the uniformity of the reaction force applied to the linkage mechanism 300 may be improved, and further the smoothness and smoothness of the rotation of the linkage mechanism 300 may be ensured, so as to prevent the occurrence of the seizure phenomenon.

In order to avoid the situation that the rotation direction of the linkage mechanism 300 is uncertain during the movement of the linkage mechanism 300 in the first direction or the direction opposite to the first direction, in the embodiment of the present utility model, as shown in fig. 4, the linkage mechanism 300 may include a unidirectional transmission part 310 and a tooth-shaped part 320, where the tooth-shaped part 320 is connected with the driving end of the driving mechanism 200 through the unidirectional transmission part 310, so under the action of the unidirectional transmission part 310, whether the driving mechanism 200 drives the tooth-shaped part 320 to move in the first direction or move in the direction opposite to the first direction, the tooth-shaped part 320 can be guaranteed to rotate in the same direction (i.e. the first rotation direction), so that the situation that the rotation direction of the tooth-shaped part 320 is uncertain to cause the uncertainty of the material taking position or the releasing position can be avoided, and thus the accuracy between the material taking assembly 410 and the position to be taken or the position to be released can be guaranteed, and the smooth picking or releasing of the material can be guaranteed.

Illustratively, the unidirectional transmission member 310 may include unidirectional bearings, although other unidirectional structures, such as ratchets and ratchets, may be included. In addition, the driving end of the driving mechanism 200 may be provided with a shaft member, which may be engaged with an inner ring of the one-way bearing, and an outer ring of the one-way bearing may be engaged with the tooth member 320, so that one-way rotation of the tooth member 320 with respect to the driving mechanism 200 may be ensured. In addition, the driving mechanism 200 may include an air cylinder.

In an embodiment of the present utility model, one side of the tooth 320 may have a third tooth structure 321, and the opposite side of the tooth 320 may have a fourth tooth structure 322. Illustratively, the tooth 320 may include a circular ring structure having a third tooth 321 formed at one end and a fourth tooth 322 formed at the other end. It should be noted that, the third tooth structure 321 and the fourth tooth structure 322 may be fixed to the ring structure, including welding, bonding, riveting, and other fixing methods, and the whole tooth 320 may be an integral structural member.

To provide a squeezing action on the take-off assembly 410 to extend the take-off assembly 410 relative to the frame 100, the linkage 300 may further include a follower 330, as shown in fig. 4, where the follower 330 may contact the take-off assembly 410 and provide a squeezing action on the take-off assembly 410 to facilitate movement of the take-off assembly 410. Specifically, the follower 330 may be coupled to the unidirectional transmission member 310 and move and rotate synchronously with the tooth 320, and the follower 330 may be in contact with or separate from the take-off assembly 410. With this arrangement, as the linkage 300 moves in the first direction, the follower 330 contacts the take-out assembly 410 and squeezes the take-out assembly 410 in the first direction, thereby extending the corresponding take-out assembly 410 relative to the squeeze to facilitate picking up or releasing the material; conversely, as the linkage 300 moves in a direction opposite the first direction, the follower 330 gradually releases and disengages the take-off assembly 410 to facilitate retraction of the take-off assembly 410 relative to the frame 100.

In some embodiments, the follower 330 may include rolling elements, and may specifically include rollers, rolling bearings, and so on, in this case, after the follower 330 contacts the material taking component 410, the follower 330 rotates along with the linkage 300 around the first rotation direction, so that the follower 330 may be in rolling contact with the material taking component 410 through the rolling elements, thereby reducing friction resistance between the follower 330 and the material taking component 410, further reducing wear of parts, and improving stability of relative movement between the follower 330 and the material taking component 410.

It should be noted that the linkage 300 may squeeze the take out assembly 410 one at a time to pick up or release one at a time. Of course, to improve the material taking efficiency, the linkage mechanism 300 may also squeeze the material taking assemblies 410 at a time, such as two, three, five, etc., to achieve a single wash pick up or release of the material pieces, thereby improving the efficiency.

To improve efficiency, the linkage 300 of embodiments of the present utility model may include a plurality of followers 330, where the plurality of followers 330 are respectively contactable with at least a portion of the plurality of take-off assemblies 410 in a one-to-one correspondence, and simultaneously squeeze at least a portion of the plurality of take-off assemblies 410 to move. Based on this, in the process that the driving mechanism 200 drives the linkage mechanism 300 to move along the first direction, the plurality of follower elements 330 gradually contact with the corresponding material taking assemblies 410, and squeeze the corresponding material taking assemblies 410, so that the plurality of material taking assemblies 410 can synchronously extend out relative to the frame 100, so as to facilitate the simultaneous realization of the picking up or releasing of the plurality of material pieces, and further improve the efficiency.

Referring to fig. 2, in some embodiments, the frame 100 may further include a guide tooth structure 150, the guide tooth structure 150 being disposed at a side of the first fixing plate 110 facing the second fixing plate 120, and the guide tooth structure 150 may contact with the follower 330 in case the linkage 300 moves in a direction opposite to the first direction. Based on this, the guiding and limiting effects can be performed on the follower 330 by the guiding and orthodontics structure 150, so that the follower 330 can return to the initial position after the linkage mechanism 300 returns, and thus the position accuracy of the follower 330 can be ensured, so that the linkage mechanism 300 can normally move.

Referring to fig. 1 and 5, in some embodiments, the frame 100 may further include a plurality of connectors 160, and the plurality of connectors 160 are respectively connected between the first and second fixing plates 110 and 120, such that the first and second fixing plates 110 and 120 may be fixed by the plurality of connectors 160 so as to provide a stable base mounting member, thereby providing a stable material taking environment for the material taking device. The connection member 160 may be a connection rod, a connection beam, or the like, for example, but may be other forms as long as the stability of the rack 100 can be ensured. In addition, the connecting piece 160 and the first fixing plate 110 and the second fixing plate 120 can be connected by bolts or screws, so as to facilitate assembly and disassembly.

Further, the plurality of material taking components 410 are slidably disposed on the plurality of connecting members 160 in a one-to-one correspondence manner, so that guiding and mounting functions can be provided for the material taking components 410 through the connecting members 160, so that the material taking components 410 can be ensured to move more accurately and smoothly, and the material taking precision and smoothness can be ensured.

Wherein, the material taking assembly 410 may include a sliding component 411 and a suction nozzle 412, the sliding component 411 is slidably connected with the connecting piece 160 and is contactable with the linkage mechanism 300, the suction nozzle 412 is connected with the sliding component 411, so that the suction or release of the material can be realized through the suction nozzle 412, and the suction nozzle 412 can be ensured to slide smoothly and stably through the sliding component 411. Illustratively, the suction nozzle 412 may be coupled to a vacuum suction device to form the vacuum suction nozzle 412 to facilitate vacuum suction of the workpiece.

In addition, during the movement of the linkage mechanism 300 along the first direction, the follower 330 contacts the sliding component 411 and generates a squeezing action, so that the sliding component 411 moves along the first direction relative to the connecting piece 160 and synchronously drives the suction nozzle 412 to move, thereby realizing that the suction nozzle 412 extends out relative to the frame 100, so as to pick up or release the material.

To enable the return of the suction nozzle 412, the take-out assembly 410 may further include an elastic member 413, as shown in fig. 5, the elastic member 413 elastically connecting the suction nozzle 412 and the second fixing plate 120 and serving to urge the suction nozzle 412 to have a tendency to move in a direction opposite to the first direction. Based on this, when a part of the linkage 300 (specifically, the follower 330) is disengaged from the sliding member 411 during the movement of the linkage 300 in the direction opposite to the first direction, the suction nozzle 412 may return in the direction opposite to the first direction under the elastic force of the elastic member 413, that is, the suction nozzle 412 is retracted relative to the frame 100, so as to be pressed by the linkage 300 during the next suction or discharge of the material. The elastic element 413 may be a compression spring, and of course, may also be other elastic structures, such as rubber bands, elastic glue, etc., and the specific form is not limited.

With continued reference to fig. 5, in some embodiments, the sliding member 411 may include a slider 4111 having a contact end for contacting the linkage 300 so as to be squeezed by the linkage 300. The contact end may include a first contact surface 41111, a transition surface 41112, and a second contact surface 41113 sequentially disposed along a first rotation direction, where the first contact surface 41111 is higher than the second contact surface 41113 in the first direction, and the transition surface 41112 is in transitional connection with the first contact surface 41111 and the second contact surface 41113.

Specifically, the slider 4111 is used to mount and fix the suction nozzle 412, so that the suction nozzle 412 can slide with respect to the connector 160 by the slider 4111, so as to achieve lifting and lowering of the suction nozzle 412; in addition, the linkage 300 may contact the slider 4111, so as to drive the suction nozzle 412 to move along the first direction under the squeezing action of the linkage 300.

Considering that the linkage mechanism 300 can rotate along the first rotation direction after the fourth transmission part is combined with the second transmission part in the moving process of the linkage mechanism 300 along the first direction, along with the moving and rotating of the linkage mechanism 300, the follower 330 can move along the first contact surface 41111, the transition surface 41112 and the second contact surface 41113, so that the suction nozzle 412 can be ensured to be stably extended or retracted, and further the stability in the picking and taking process or the discharging process of the material can be improved, so that the adverse effect on the material caused by excessive vibration can be prevented. When the follower 330 is separated from the second contact surface 41113, the suction nozzle 412 returns to the original position under the elastic force of the elastic element 413, so as to prepare for the next extension.

With continued reference to fig. 5, in some embodiments, the sliding member 411 may further include a slider 4112 and a connecting block 4113, and accordingly, the connecting member 160 may be provided with a sliding rail 162 extending along the first direction, the slider 4112 is slidably connected to the sliding rail 162, and the connecting block 4113 connects the slider 4112 with the sliding seat 4111, so that the sliding seat 4111 can be ensured to move smoothly and smoothly by the cooperation of the slider 4112 with the sliding rail 162, thereby ensuring smooth and smooth extension and retraction of the suction nozzle 412.

In order to prevent the suction nozzles 412 from being inclined to affect the suction effect or the positional accuracy of the material, the second fixing plate 120 may be provided with a plurality of guide holes 121, and the suction nozzles 412 of the plurality of material taking assemblies 410 may pass through the guide holes 121 in a one-to-one correspondence and may be movable in the first direction or in a direction opposite to the first direction in the guide holes 121. Based on this, the suction nozzle 412 may be guided and limited by the guide hole 121 to ensure the moving accuracy of the suction nozzle 412.

In addition, the connecting piece 160 may include a limiting block 161, and the limiting block 161 may play a role in limiting the sliding component 411, so as to prevent the sliding component 411 from sliding randomly. Illustratively, the stopper 161 is disposed at a sidewall of the connector 160 to limit the moving position of the connecting block 4113.

The specific working process of the material taking device comprises the following steps:

in an initial state, the cylinder of the driving mechanism 200 is in the original position, and the third tooth-shaped structure 321 is meshed with the first tooth-shaped structure 130; the cylinder is extended, the tooth 320 and the follower 330 are moved down synchronously, and the fourth tooth structure 322 is engaged with the second tooth structure 140 during the downward movement, so that the tooth 320 and the follower 330 are rotated together, and the suction nozzle 412 is extended relative to the frame 100 under the extrusion action of the follower 330, so that the material is taken or discharged.

Subsequently, the cylinder is retracted, the tooth 320 and the follower 330 are moved up synchronously, and the third tooth structure 321 is engaged with the first tooth structure 130 during the upward movement, so that the tooth 320 and the follower 330 are driven to rotate continuously, the follower 330 is lifted up and separated from the suction nozzle 412, and the suction nozzle 412 is retracted relative to the frame 100 under the elastic force of the elastic element 413 until reaching the stop block 161.

The embodiments of the present utility model have been described above with reference to the accompanying drawings, but the present utility model is not limited to the above-described embodiments, which are merely illustrative and not restrictive, and many forms may be made by those having ordinary skill in the art without departing from the spirit of the present utility model and the scope of the claims, which are to be protected by the present utility model.

Claims (10)

1. A take-out device, comprising: the device comprises a frame (100), a driving mechanism (200), a linkage mechanism (300) and a material taking mechanism (400);

the frame (100) is provided with a first transmission part and a second transmission part which are oppositely arranged along a first direction, the linkage mechanism (300) is arranged between the first transmission part and the second transmission part and is rotatably connected with the driving end of the driving mechanism (200), and the linkage mechanism (300) is provided with a third transmission part and a fourth transmission part which are oppositely arranged;

the material taking mechanism (400) comprises a plurality of material taking assemblies (410) which are arranged under the linkage mechanism (300) in a surrounding mode;

the second transmission part is matched with the fourth transmission part under the condition that the linkage mechanism (300) moves along the first direction, so that the linkage mechanism (300) rotates around the first rotation direction and presses any material taking assembly (410);

the first drive portion cooperates with the third drive portion with movement of the linkage (300) in a direction opposite the first direction to continue rotation of the linkage (300) about the first rotational direction and disengage the take-off assembly (410).

2. The material extraction device of claim 1, wherein the frame (100) further comprises a first fixed plate (110) and a second fixed plate (120) spaced apart along the first direction;

a first tooth-shaped structure (130) serving as the first transmission part is arranged on one side of the first fixed plate (110) facing the second fixed plate (120), and a second tooth-shaped structure (140) serving as the second transmission part is arranged on one side of the second fixed plate (120) facing the first fixed plate (110);

the third transmission part is a third tooth-shaped structure (321) matched with the first tooth-shaped structure (130), and the fourth transmission part is a fourth tooth-shaped structure (322) matched with the second tooth-shaped structure (140).

3. The material taking device according to claim 2, wherein the linkage mechanism (300) comprises a unidirectional transmission part (310) and a tooth-shaped piece (320), and the tooth-shaped piece (320) is rotationally connected with the driving end of the driving mechanism (200) through the unidirectional transmission part (310);

one side of the tooth (320) is provided with the third tooth structure (321), and the other side of the tooth (320) opposite to the tooth is provided with the fourth tooth structure (322).

4. A pick-up device according to claim 3, wherein the linkage (300) further comprises a follower (330), the follower (330) being connected to the unidirectional transmission member (310) and moving and rotating synchronously with the tooth member (320), and the follower (330) being contactable with the pick-up assembly (410) and pressing the pick-up assembly (410) to move.

5. The material taking apparatus according to claim 4, wherein the linkage mechanism (300) includes a plurality of the followers (330), the plurality of followers (330) being contactable with at least part of the plurality of material taking assemblies (410) respectively in one-to-one correspondence and simultaneously pressing at least part of the plurality of material taking assemblies (410) to move.

6. The material taking device according to claim 4, wherein the frame (100) further comprises a guide tooth structure (150), the guide tooth structure (150) being arranged at a side of the first fixing plate (110) facing the second fixing plate (120);

the positive-going toothed structure (150) is contactable with the follower (330) with movement of the linkage (300) in a direction opposite to the first direction.

7. The material extracting device according to any one of claims 2 to 6, wherein the frame (100) further comprises a plurality of connecting members (160), the plurality of connecting members (160) being respectively connected between the first fixing plate (110) and the second fixing plate (120);

the material taking assemblies (410) are slidably arranged on the connecting pieces (160) in a one-to-one correspondence manner.

8. The material extraction device according to claim 7, wherein the material extraction assembly (410) comprises a sliding member (411), a suction nozzle (412) and an elastic element (413);

the sliding part (411) is in sliding connection with the connecting piece (160) and can be contacted with the linkage mechanism (300);

the suction nozzle (412) is connected with the sliding component (411);

the elastic member (413) elastically connects the suction nozzle (412) and the second fixing plate (120), and serves to urge the suction nozzle (412) to have a tendency to move in a direction opposite to the first direction.

9. The extraction device according to claim 8, wherein the sliding member (411) comprises a slider (4111), the slider (4111) having a contact end for contacting the linkage (300);

the contact end comprises a first contact surface (41111), a transition surface (41112) and a second contact surface (41113) which are sequentially arranged along the first rotation direction, wherein the position of the first contact surface (41111) is higher than that of the second contact surface (41113) in the first direction, and the transition surface (41112) is in transition connection with the first contact surface (41111) and the second contact surface (41113).

10. The material taking device according to claim 8, wherein the second fixing plate (120) is provided with a plurality of guide holes (121), and the suction nozzles (412) of the material taking assemblies (410) respectively pass through the guide holes (121) in a one-to-one correspondence manner and are movable in the guide holes (121) along the first direction or a direction opposite to the first direction.