CN111634681A

CN111634681A - Adsorption loading and unloading device

Info

Publication number: CN111634681A
Application number: CN202010517077.1A
Authority: CN
Inventors: 冯美; 付强; 高帅; 周佳成; 倪志学; 公言磊; 李妍; 卢秀泉; 李鹏; 金星泽
Original assignee: Jilin University
Current assignee: Jilin University
Priority date: 2020-06-09
Filing date: 2020-06-09
Publication date: 2020-09-08
Anticipated expiration: 2040-06-09
Also published as: CN111634681B

Abstract

The invention discloses an adsorption loading and unloading device which comprises a three-degree-of-freedom feeding mechanism and an adsorption platform, wherein the three-degree-of-freedom feeding mechanism comprises a coarse adjustment mechanism and a fine adjustment mechanism, the coarse adjustment mechanism comprises a rotary motion module, a horizontal motion module and a vertical motion module, the horizontal motion module is arranged on the rotary motion module, the upper end of the vertical motion module is rotatably connected with the horizontal motion module, the lower end of the vertical motion module is rotatably connected with the fine adjustment mechanism, the rotary motion module, the horizontal motion module and the vertical motion module can respectively drive the fine adjustment mechanism to do rotary motion, horizontal motion and vertical motion, the adsorption platform is connected with the fine adjustment mechanism, and the lower end of the adsorption platform is used for adsorbing a substance to be obtained. The invention can provide the adsorption loading and unloading device which has high-strength adsorption, accurate and rapid positioning, flexibility, self-adaptive adsorption curved surface and high safety, and solves the problems in the prior art.

Description

Adsorption loading and unloading device

Technical Field

The invention relates to the technical field of cargo loading, unloading and transportation, in particular to an adsorption loading and unloading device.

Background

In recent 20 years, the handling of goods has been a hotspot in the field of goods handling, and due to the particularity of the transported objects such as glass, paper printing, ports and buildings, there has been a high demand for electromechanical devices for handling goods. At present, the loading and unloading modes mainly comprise modes of mechanical engagement, dry adhesion, wet adhesion, steel wire rope lifting, magnetic adsorption, vacuum adsorption and the like. Compared with the modes of mechanical meshing, dry and wet adhesion, steel wire rope hoisting and the like, the vacuum adsorption loading and unloading mode can increase the friction force and the adsorption capacity on a workpiece with a lubricated and airtight surface by the corrugated surface, does not need to consider the material of an adsorbed object in use, has the characteristics of high tightness and no air leakage on the surface, improves the reliability, and has the advantages of no pollution, no damage to the workpiece and the like. Therefore, the adsorption loading and unloading mode has good application prospect in the industries of building, paper making, printing, glass carrying, port cargo loading and unloading and the like.

In the design of a loading and unloading mechanism, how to realize the rapid and accurate grabbing of objects with irregular shapes and different materials is a difficult problem in the research field. At the present stage, there are many design studies on the grasping mechanism, but there are many disadvantages, as described below. In the design of a vacuum suction cup type multifunctional gripping device (packaging and food machinery, volume 34, 6 th), a vacuum suction cup type multifunctional gripping device is designed, the device consists of a main body frame, a vacuum system and a tray clamping system, a palletizing robot drives the vacuum suction cup type multifunctional gripping device to move downwards, a vacuum generator works to generate negative pressure to absorb a to-be-palletized package, then the palletizing robot acts to transfer the to-be-palletized package to a palletizing tray and palletize the to-be-palletized package; the sucked objects can be put down by the gripping device by controlling the reversing of the electromagnetic valve, and the products can be transferred and stacked by reciprocating action; however, it has only two degrees of freedom of movement to load and unload the object, and the loading and unloading effect on the irregular curved surface object and the target object with high requirements on positioning accuracy and adsorption strength is not ideal. In the research and development of the rice noodle grabbing robot (machine tool and hydraulic pressure, vol. 46, No. 11), a grabbing robot with two arms moving independently is developed, which mainly comprises an actuating mechanism, a driving system, a control system and a position detection sensor, can work in cooperation with an original conveyor, and conveys rice noodles to be bound from a supporting platform at the tail end of a conveyor belt to an automatic binding machine for binding; it possesses two degrees of freedom of motion and relies on mechanical engagement mode to snatch, snatchs the flexibility poor, snatchs the process and consumes time and power, and the reliability is poor moreover. In a novel manipulator grabbing mechanism (publication number is CN208289926U), a grabbing mechanism is disclosed to include a connecting seat and a grabbing structure, and a manipulator controls the grabbing structure to move towards multiple degrees of freedom by the connecting seat; however, the wall material in the magnetic adsorption mode has to have magnetic conductivity and poor bearing capacity for grabbing objects, and the application range has great limitation. Patent "an adhesion grabbing device based on flexible colloid" (publication number CN206645522U) discloses that the device stretches the flexible colloid through a pre-bent spring leaf to increase its rigidity for adhering and grabbing objects, but only has vertical freedom, and at the same time, the pressure sensitive adhesive absorbs large desorption energy during adhesion, so that it needs much energy to remove it from the substrate, which brings much inconvenience to the grabbing task. Patent "a dry adhesion mechanism and implementation method based on motion peeling" (publication number CN106976718A) discloses that the device starts to move in opposite directions after two dry adhesion structures are attached to an adherend to enhance adhesion and realize grabbing with high adhesion strength; otherwise, the two adhesive structures move away from each other to realize high-efficiency movement stripping; but the device has great limitation on the grabbing precision and the shape and the size of the adhered object.

Disclosure of Invention

The invention aims to provide an adsorption and unloading device which is high in adsorption strength, accurate and rapid in positioning, flexible, adaptive to an adsorption curved surface and high in safety, so as to solve the problems in the prior art.

In order to achieve the purpose, the invention provides the following scheme:

the invention provides an adsorption loading and unloading device which comprises a three-degree-of-freedom feeding mechanism and an adsorption platform, wherein the three-degree-of-freedom feeding mechanism comprises a coarse adjustment mechanism and a fine adjustment mechanism, the coarse adjustment mechanism comprises a rotary motion module, a horizontal motion module and a vertical motion module, the horizontal motion module is arranged on the rotary motion module, the upper end of the vertical motion module is rotatably connected with the horizontal motion module, the lower end of the vertical motion module is rotatably connected with the fine adjustment mechanism, the rotary motion module, the horizontal motion module and the vertical motion module can respectively drive the fine adjustment mechanism to do rotary motion, horizontal motion and vertical motion, the adsorption platform is connected with the fine adjustment mechanism, and the lower end of the adsorption platform is used for adsorbing a substance to be obtained.

Preferably, the rotary motion module comprises a rotary driving motor, a supporting inner ring, a supporting outer ring and a rotary frame, an output shaft of the rotary driving motor is fixedly connected with the rotary frame, the bottom of the rotary frame is fixed on the supporting inner ring, the supporting inner ring is rotatably connected with the supporting outer ring, the supporting outer ring is fixedly connected with the loading and unloading robot, and the horizontal motion module is arranged in the rotary frame.

Preferably, the horizontal movement module comprises a horizontal driving motor, a first gear, a first rack, a slider connecting plate, a first slider and a first slide rail, a housing of the horizontal driving motor is fixed on the slider connecting plate, an output shaft of the horizontal driving motor is fixedly connected with a central shaft of the first gear, the first rack is inverted and fixed on the top of the revolving frame and meshed with the first gear, the first gear is rotatably arranged on the slider connecting plate, the first slider is inverted and fixed at the lower end of the slider connecting plate and matched with the first slide rail, the first slide rail is horizontally fixed on a mounting bottom plate, the mounting bottom plate is fixed on the support inner ring, and the vertical movement module is connected with the slider connecting plate.

Preferably, the number of the first sliding blocks and the number of the first sliding rails are two, the two first sliding rails are arranged in parallel and are respectively matched with one first sliding block, and the two first sliding blocks are fixed at the lower end of the sliding block connecting plate.

Preferably, a center hole is formed in the middle of the bearing inner ring, connecting columns are fixedly connected to two ends of the slider connecting plate, the connecting columns vertically penetrate through the center hole, the vertical motion module comprises a middle frame, a front vertical driving motor, a rear vertical driving motor, a front gear, a rear gear, a second rack, a front slider parallel plate, a rear slider parallel plate and two groups of parallel four-bar mechanisms, the middle frame is fixedly connected with the connecting columns, the second rack is fixed on a top plate of the middle frame and is arranged in parallel with two side plates of the middle frame, the front vertical driving motor is fixed on the front slider parallel plate, the front gear is rotatably connected with the front slider parallel plate, the front gear is in transmission connection with the front vertical driving motor and is meshed with the second rack, the rear vertical driving motor is fixed on the rear slider parallel plate, the rear gear is rotationally connected with the rear sliding block parallel plate, and is in transmission connection with the rear vertical driving motor and meshed with the second rack; a second slide rail is fixedly arranged on one side plate, a first front slide block and a first rear slide block are matched and clamped on the second slide rail, a third slide rail is fixedly arranged on the other side plate, the third slide rail is matched in a sliding way and is clamped with a second front slide block and a second rear slide block, the first front slide block and the second front slide block are both fixed on the front slide block parallel connection plate, the first rear sliding block and the second rear sliding block are fixed on the rear sliding block parallel plate, lifting lugs are arranged at two ends of the front sliding block parallel plate and the rear sliding block parallel plate, one group of parallel four-bar linkage mechanisms are respectively and rotatably connected with the two lifting lugs close to the second sliding rail, the other group of parallel four-bar linkage mechanisms are respectively and rotatably connected with the two lifting lugs close to the third sliding rail, and the lower ends of the two groups of parallel four-bar linkage mechanisms are respectively and rotatably connected with the fine adjustment mechanism.

Preferably, inner grooves are formed in two side walls of the second sliding rail and the third sliding rail, the first front sliding block and the first rear sliding block are matched with the inner grooves in the two side walls of the second sliding rail, and the second front sliding block and the second rear sliding block are matched with the inner grooves in the two side walls of the third sliding rail.

Preferably, the fine adjustment mechanism comprises an electromagnetic power-off brake, a horizontal plate, electric cylinders and spherical bearings, the lower ends of the two parallel four-bar linkage mechanisms are fixedly connected with the electromagnetic power-off brake, the electromagnetic power-off brake is fixed on the horizontal plate, the electric cylinders are vertically fixed on the lower end face of the horizontal plate, push rods of the electric cylinders are in threaded connection with the spherical bearings, and the spherical bearings are connected with the adsorption platform.

Preferably, the adsorption platform includes miniature slip table module and adsorption module, miniature slip table module includes miniature slide rail and miniature slider, the both ends of miniature slide rail are fixed on the spherical bearing, miniature slider cover is established on the miniature slide rail, the lower extreme of miniature slider with adsorption module fixed connection.

Preferably, be provided with binocular vision sensor and a plurality of laser sensor on the lower terminal surface of horizontal plate, binocular vision sensor fixes the center department of horizontal plate, it is a plurality of laser sensor divide into two and equidistant distribution is in binocular vision sensor's both sides.

Compared with the prior art, the invention has the following technical effects:

the rotary motion module, the horizontal motion module and the vertical motion module can respectively drive the fine adjustment mechanism to do rotary, horizontal and vertical three-degree-of-freedom motion, the loading and unloading device is flexible and quick to move and position, the fine adjustment mechanism is used for fine adjustment of the adsorption platform, and accurate positioning and accurate loading and unloading of an object to be taken are achieved.

Drawings

In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings needed in the embodiments will be briefly described below, and it is obvious that the drawings in the following description are only some embodiments of the present invention, and it is obvious for those skilled in the art to obtain other drawings without creative efforts.

FIG. 1 is a front view of the adsorption loading/unloading apparatus of the present invention;

FIG. 2 is a three-dimensional schematic view of the adsorption loading/unloading apparatus of the present invention;

FIG. 3 is a three-dimensional schematic diagram of a rotational motion module and a horizontal motion module according to the present invention;

FIG. 4 is a three-dimensional schematic view of a vertical motion module of the present invention;

FIG. 5 is a schematic diagram of the movement of two slide rail sliders according to the present invention;

FIG. 6 is a three-dimensional schematic diagram of a fine-tuning mechanism in a three-degree-of-freedom rapid feeding structure according to the present invention;

FIG. 7 is a three-dimensional schematic view of an adsorption platform of the present invention;

FIG. 8 is a two-dimensional schematic of the present invention in proximity to contact with a subject to be extracted;

FIG. 9 is a two-dimensional schematic diagram of a laser sensor and a binocular vision sensor according to the present invention;

wherein: 1-three-degree-of-freedom feeding structure, 2-adsorption platform, 3-coarse adjustment mechanism, 4-fine adjustment mechanism, 5-rotary motion module, 6-horizontal motion module, 7-vertical motion module, 8-rotary drive motor, 9-support inner ring, 10-support outer ring, 11-rotary frame, 12-first slide rail, 13-first slide block, 14-horizontal drive motor, 15-first gear, 16-first rack, 17-installation bottom plate, 18-connecting column, 19-slide block connecting plate, 20-middle frame, 21-front vertical drive motor, 22-rear vertical drive motor, 23-front gear, 24-rear gear, 25-second rack, 26-second slide rail and 27-first front slide block, 28-first rear slide block, 29-third slide rail, 30-second front slide block, 31-second rear slide block, 32-front slide block parallel plate, 33-rear slide block parallel plate, 34-parallel four-bar linkage mechanism, 35-electromagnetic power-off brake, 36-horizontal plate, 37-electric cylinder, 38-spherical bearing, 39-micro sliding table module, 40-micro slide rail, 41-micro slide block, 42-adsorption module, 43-object to be taken, 44-binocular vision sensor and 45-laser sensor.

Detailed Description

The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be obtained by a person skilled in the art without inventive effort based on the embodiments of the present invention, are within the scope of the present invention.

In order to make the aforementioned objects, features and advantages of the present invention comprehensible, embodiments accompanied with figures are described in further detail below.

As shown in fig. 1-9: this embodiment provides an adsorb handling device, including three degree of freedom feed mechanism 1 and adsorption platform 2, three degree of freedom feed mechanism 1 includes coarse adjustment mechanism 3 and fine-tuning 4, coarse adjustment mechanism 3 includes rotary motion module 5, horizontal motion module 6 and vertical motion module 7, horizontal motion module 6 sets up on rotary motion module 5, vertical motion module 7's upper end and horizontal motion module 6 rotate to be connected, vertical motion module 7's lower extreme and fine-tuning 4 rotate to be connected, rotary motion module 5, horizontal motion module 6 and vertical motion module 7 can drive fine-tuning 4 respectively and be rotary motion, horizontal motion and vertical motion, adsorption platform 2 is connected with fine-tuning 4, the lower extreme of adsorption platform 2 is used for adsorbing and treats object 43. Utilize rotary motion module 5, horizontal motion module 6 and vertical motion module 7 can drive fine tuning 4 respectively and do rotation, level and vertical three degree of freedom motions, grabbing device is nimble, quick travel location, recycles fine tuning 4 and finely tunes adsorption platform 2, realizes waiting to get accurate location and the accurate snatching of object 43. The invention utilizes an adsorption mode to load and unload goods, overcomes the problem of poor safety in the prior art when loading and unloading goods, can realize high-strength adsorption by the adsorption platform 2, can be in self-adaptive contact and adsorption with an adsorption curved surface, and can be widely applied to the fields of lossless and accurate transportation in ultra-clean environment, loading and unloading of goods with irregular curved surfaces and different materials, and the like.

Specifically, the rotary motion module 5 comprises a rotary driving motor 8, a supporting inner ring 9, a supporting outer ring 10 and a rotary frame 11, an output shaft of the rotary driving motor 8 is fixedly connected with the rotary frame 11, the bottom of the rotary frame 11 is fixed on the supporting inner ring 9, the supporting inner ring 9 is rotatably connected with the supporting outer ring 10, the supporting outer ring 10 is used for being fixedly connected with the loading and unloading robot, and the horizontal motion module 6 is arranged in the rotary frame 11. The revolving frame 11 is driven by the revolving driving motor 8 to rotate so as to drive the supporting inner ring 9 and the horizontal moving module 6 to rotate,

specifically, the horizontal movement module 6 comprises a horizontal driving motor 14, a first gear 15, a first rack 16, a slider connecting plate 19, a first slider 13 and a first slide rail 12, a housing of the horizontal driving motor 14 is fixed on the slider connecting plate 19, an output shaft of the horizontal driving motor 14 is fixedly connected with a central shaft of the first gear 15, the first rack 16 is inverted and fixed on the top of the revolving frame 11 and meshed with the first gear 15, the first gear 15 is rotatably arranged on the slider connecting plate 19, the first slider 13 is inverted and fixed on the lower end of the slider connecting plate 19 and matched with the first slide rail 12, the first slide rail 12 is horizontally fixed on a mounting bottom plate 17, the mounting bottom plate 17 is fixedly supported on the inner ring 9, the vertical movement module 7 is connected with the slider connecting plate 19, the revolving frame 11 is provided with a top plate and two side plates arranged below the top plate at two sides, a mounting space is formed between the two, so that the horizontal driving motor 14, the first gear 15, the first rack 16, the slider connecting plate 19, the first slider 13 and the first slide rail 12 are disposed in the installation space. Preferably, the number of the first sliding blocks 13 and the number of the first sliding rails 12 are two, the two first sliding rails 12 are arranged in parallel and are respectively matched with one first sliding block 13, and the two first sliding blocks 13 are both fixed at the lower end of the sliding block connecting plate 19. The specific situation is analyzed from the perspective of fig. 3, when the horizontal driving motor 14 rotates clockwise to output, the first gear 15 moves clockwise, and since the first rack 16 is inversely fixed on the lower surface of the top plate of the revolving frame 11, the horizontal driving motor 14 and the first slider 13 horizontally move leftward along the first slide rail 12, and when the horizontal driving motor 14 rotates counterclockwise, the situation is opposite, and the vertical movement module 7, the fine adjustment mechanism 4, and the adsorption platform 2 can synchronously rotate and horizontally move along with the movement of the revolving movement module 5 and the horizontal movement module 6.

Specifically, a central hole is formed in the middle of the bearing inner ring 9, connecting columns 18 are fixedly connected to two ends of a slider connecting plate 19, the connecting columns 18 vertically penetrate through the central hole, the vertical motion module 7 comprises a middle frame 20, a front vertical driving motor 21, a rear vertical driving motor 22, a front gear 23, a rear gear 24, a second rack 25, a front slider parallel plate 32, a rear slider parallel plate 33 and two sets of parallel four-bar mechanisms 34, the middle frame 20 is fixedly connected with the connecting columns 18, the second rack 25 is fixed on a top plate of the middle frame 20 and is arranged in parallel with two side plates of the middle frame 20, the front vertical driving motor 21 is fixed on the front slider parallel plate 32, the front gear 23 is rotatably connected with the front slider parallel plate 32, the front gear 23 is in transmission connection with the front vertical driving motor 21 and is meshed with the second rack 25, the rear vertical driving motor 22 is fixed on the rear slider parallel plate 33, the rear gear 24 is rotationally connected with the rear sliding block parallel plate 33, and the rear gear 24 is in transmission connection with the rear vertical driving motor 22 and is meshed with the second rack 25; a second slide rail 26 is fixedly arranged on one side plate, a first front slide block 27 and a first rear slide block 28 are arranged on the second slide rail 26 in a sliding matching and clamping manner, a third slide rail 29 is fixedly arranged on the other side plate, a second front slide block 30 and a second rear slide block 31 are arranged on the third slide rail 29 in a sliding matching and clamping manner, the first front slide block 27 and the second front slide block 30 are both fixed on a front slide block parallel connection plate 32, the first rear slide block 28 and the second rear slide block 31 are both fixed on a rear slide block parallel connection plate 33, lifting lugs are arranged at two ends of the front slide block parallel connection plate 32 and the rear slide block parallel connection plate 33, a group of parallel four-bar linkage mechanisms 34 are respectively connected with two rotation parts close to the second slide rail 26, the other group of parallel four-bar linkage mechanisms 34 are respectively connected with two rotation parts close to the third lifting lugs 29, and the lower ends of the two groups of parallel four-bar linkage mechanisms 34 are respectively connected with. Preferably, the two side walls of the second slide rail 26 and the third slide rail 29 are both provided with inner grooves, the shapes of the first front slide block 27 and the first rear slide block 28 are both matched with the inner grooves on the two side walls of the second slide rail 26, the shapes of the second front slide block 30 and the second rear slide block 31 are both matched with the inner grooves on the two side walls of the third slide rail 29, and the first front slide block 27, the first rear slide block 28, the second front slide block 30 and the second rear slide block 31 are prevented from falling off in a sliding manner. With front and back being from the perspective of fig. 5, with vertical paper facing inward being back and vertical paper facing outward being front. After the front vertical driving motor 21 and the rear vertical driving motor 22 are operated, the first front slide block 27 and the first rear slide block 28 move on the second slide rail 26, and the second front slide block 30 and the second rear slide block 31 move on the third slide rail 29; as the front vertical driving motor 21 rotates counterclockwise and outputs, the front gear 23 moves counterclockwise, and since the second rack 25 is fixed upside down on the lower surface of the top plate of the middle frame 20, the front vertical driving motor 21 together with the front slider parallel plate 32 and the first and second

front sliders

27, 30 move horizontally backward along the second and

third slide rails

26, 29, respectively, and the first and second

front sliders

27, 30 move synchronously under the action of the front slider parallel plate 32; similarly, when the rear vertical driving motor 22 rotates clockwise to output, the rear vertical driving motor 22, the rear sliding block parallel plate 33, the first rear sliding block 28 and the second rear sliding block 31 respectively move forward and horizontally along the second sliding rail 26 and the third sliding rail 29, and the first rear sliding block 28 and the second rear sliding block 31 synchronously move under the action of the rear sliding block parallel plate 33; therefore, the sliders on the same side move oppositely; the clockwise of preceding vertical driving motor 21, the anticlockwise then opposite condition of back vertical driving motor 22, homonymy slider deviates from the motion to realize that vertical direction reciprocates, in order to realize adsorbing fast and feeding.

Specifically, the fine adjustment mechanism 4 includes an electromagnetic power-off brake 35, a horizontal plate 36, electric cylinders 37 and spherical bearings 38, the lower ends of two sets of parallel four-bar linkage mechanisms 34 are all fixedly connected with the electromagnetic power-off brake 35, the electromagnetic power-off brake 35 is all fixed on the horizontal plate 36, so as to prevent the coarse adjustment mechanism 3 from generating a rollover accident under the condition of no top support, a plurality of electric cylinders 37 are all vertically fixed on the lower end face of the horizontal plate 36, the push rods of the electric cylinders 37 are all in threaded connection with the spherical bearings 38, the spherical bearings 38 are all connected with the adsorption platform 2, the spherical bearings 38 and the micro sliding table module 39 can meet the self-adaptive adsorption of the adsorption module 42 on the object 43 to be taken on the curved surface, namely, the extension length of each electric cylinder 37 in the fine adjustment mechanism 4 is reasonably adjusted and independently controlled, so as to realize the self-adaptive adsorption of objects in different.

Specifically, adsorption platform 2 includes miniature slip table module 39 and adsorption module 42, and miniature slip table module 39 includes miniature slide rail 40 and miniature slider 41, and the both ends of miniature slide rail 40 are fixed on spherical bearing 38, and miniature slider 41 cover is established on miniature slide rail 40, and the lower extreme and the adsorption module 42 fixed connection of miniature slider 41. Preferably, a binocular vision sensor 44 and a plurality of laser sensors 45 are arranged on the lower end surface of the horizontal plate 36, the binocular vision sensor 44 is fixed at the center of the horizontal plate 36, the plurality of laser sensors 45 are divided into two rows and are distributed at equal intervals on two sides of the binocular vision sensor 44, accurate adsorption feeding can be realized by utilizing the downward small displacement of the fine adjustment mechanism 4, accurate positioning of the three-degree-of-freedom feeding mechanism 1 is realized by positioning control of the binocular vision sensor 44, meanwhile, the precise downward movement of the fine adjustment mechanism 4 in fig. 6 needs to be measured by the laser sensor 45, so as to achieve the purpose that the gripping device rapidly and precisely positions the to-be-adsorbed area of the object 43 to be taken and precisely adsorbs the target on the surface of the object 43 to be taken, therefore, the functions of quickly and accurately positioning the area to be adsorbed, quickly and accurately reaching the adsorption part and adaptively adjusting and adsorbing the curved surface-shaped object are realized.

The principle and the implementation mode of the present invention are explained by applying specific examples in the present specification, and the above descriptions of the examples are only used to help understanding the method and the core idea of the present invention; meanwhile, for a person skilled in the art, according to the idea of the present invention, the specific embodiments and the application range may be changed. In view of the above, the present disclosure should not be construed as limiting the invention.

Claims

1. An adsorption handling device which is characterized in that: including three degree of freedom feed mechanism and adsorption platform, three degree of freedom feed mechanism include coarse adjustment mechanism and fine-tuning, coarse adjustment mechanism includes rotary motion module, horizontal motion module and vertical motion module, the horizontal motion module sets up on the rotary motion module, the upper end of vertical motion module with the horizontal motion module rotates to be connected, the lower extreme of vertical motion module with fine-tuning rotates to be connected, the rotary motion module horizontal motion module with the vertical motion module can drive respectively fine-tuning is rotary motion, horizontal motion and vertical motion, adsorption platform with fine-tuning connects, adsorption platform's lower extreme is used for adsorbing the object of waiting to get.

2. The adsorption handling device of claim 1, wherein: the rotary motion module comprises a rotary driving motor, a supporting inner ring, a supporting outer ring and a rotary frame, an output shaft of the rotary driving motor is fixedly connected with the rotary frame, the bottom of the rotary frame is fixed on the supporting inner ring, the supporting inner ring is rotatably connected with the supporting outer ring, the supporting outer ring is fixedly connected with the loading and unloading robot, and the horizontal motion module is arranged in the rotary frame.

3. The adsorption handling device of claim 2, wherein: the horizontal motion module comprises a horizontal driving motor, a first gear, a first rack, a slider connecting plate, a first slider and a first sliding rail, a shell of the horizontal driving motor is fixed on the slider connecting plate, an output shaft of the horizontal driving motor is fixedly connected with a central shaft of the first gear, the first rack is inverted and fixed at the top of the revolving frame and meshed with the first gear, the first gear is rotatably arranged on the slider connecting plate, the first slider is inverted and fixed at the lower end of the slider connecting plate and matched with the first sliding rail, the first sliding rail is horizontally fixed on an installation bottom plate, the installation bottom plate is fixed on the inner support ring, and the vertical motion module is connected with the slider connecting plate.

4. The adsorption handling device of claim 3, wherein: the first sliding blocks and the first sliding rails are two, the first sliding rails are arranged in parallel and are respectively matched with one first sliding block, and the two first sliding blocks are fixed at the lower end of the sliding block connecting plate.

5. The adsorption handling device of claim 3, wherein: the middle of the bearing inner ring is provided with a central hole, two ends of the slider connecting plate are fixedly connected with connecting columns, the connecting columns vertically penetrate through the central hole, the vertical motion module comprises a middle frame, a front vertical driving motor, a rear vertical driving motor, a front gear, a rear gear, a second rack, a front slider parallel plate, a rear slider parallel plate and two groups of parallel four-bar mechanisms, the middle frame is fixedly connected with the connecting columns, the second rack is fixed on a top plate of the middle frame and is arranged in parallel with two side plates of the middle frame, the front vertical driving motor is fixed on the front slider parallel plate, the front gear is rotatably connected with the front slider parallel plate, the front gear is in transmission connection with the front vertical driving motor and is meshed with the second rack, the rear vertical driving motor is fixed on the rear slider parallel plate, the rear gear is rotationally connected with the rear sliding block parallel plate, and is in transmission connection with the rear vertical driving motor and meshed with the second rack; a second slide rail is fixedly arranged on one side plate, a first front slide block and a first rear slide block are matched and clamped on the second slide rail, a third slide rail is fixedly arranged on the other side plate, the third slide rail is matched in a sliding way and is clamped with a second front slide block and a second rear slide block, the first front slide block and the second front slide block are both fixed on the front slide block parallel connection plate, the first rear sliding block and the second rear sliding block are fixed on the rear sliding block parallel plate, lifting lugs are arranged at two ends of the front sliding block parallel plate and the rear sliding block parallel plate, one group of parallel four-bar linkage mechanisms are respectively and rotatably connected with the two lifting lugs close to the second sliding rail, the other group of parallel four-bar linkage mechanisms are respectively and rotatably connected with the two lifting lugs close to the third sliding rail, and the lower ends of the two groups of parallel four-bar linkage mechanisms are respectively and rotatably connected with the fine adjustment mechanism.

6. The adsorption handling device of claim 5, wherein: inner grooves are formed in two side walls of the second sliding rail and the third sliding rail, the shape of the first front sliding block and the shape of the first rear sliding block are matched with the inner grooves in the two side walls of the second sliding rail, and the shape of the second front sliding block and the shape of the second rear sliding block are matched with the inner grooves in the two side walls of the third sliding rail.

7. The adsorption handling device of claim 5, wherein: the fine adjustment mechanism comprises an electromagnetic power-off brake, a horizontal plate, electric cylinders and spherical bearings, the lower ends of the two parallel four-bar linkage mechanisms are fixedly connected with the electromagnetic power-off brake, the electromagnetic power-off brake is fixed on the horizontal plate, the electric cylinders are vertically fixed on the lower end face of the horizontal plate, push rods of the electric cylinders are in threaded connection with the spherical bearings, and the spherical bearings are connected with the adsorption platform.

8. The adsorption handling device of claim 7, wherein: the adsorption platform comprises a micro sliding table module and an adsorption module, the micro sliding table module comprises a micro sliding rail and a micro sliding block, two ends of the micro sliding rail are fixed on the spherical bearing, the micro sliding block is sleeved on the micro sliding rail, and the lower end of the micro sliding block is fixedly connected with the adsorption module.

9. The adsorption handling device of claim 7, wherein: be provided with binocular vision sensor and a plurality of laser sensor on the lower terminal surface of horizontal plate, binocular vision sensor fixes the center department of horizontal plate, it is a plurality of laser sensor divide into two and equidistant distribution is in binocular vision sensor's both sides.