CN208828822U

CN208828822U - A kind of carrying telescoping mechanism and handling device

Info

Publication number: CN208828822U
Application number: CN201920160396.4U
Authority: CN
Inventors: 谭松江
Original assignee: YANTAI LUCKY CNC MACHINERY CO Ltd
Current assignee: YANTAI LUCHEN SEAWOO CNC MACHINERY CO Ltd; YANTAI LUCKY CNC MACHINERY CO Ltd
Priority date: 2019-01-30
Filing date: 2019-01-30
Publication date: 2019-05-07
Anticipated expiration: 2029-01-30

Abstract

The utility model relates to a kind of carrying telescoping mechanism and handling device, driving assembly includes driving portion and sliding block, and driving portion provides the moving distance of first stroke with movable slider；Extension assembly includes folding rule, and folding rule is connected to the two sides of sliding block, and sliding block drives folding rule to provide the moving distance of second stroke；Second stroke is greater than first stroke.Driving portion is passed through from the center of sliding block, and one end of driving portion is equipped with motor cabinet, and motor cabinet is connected with driving motor, and driving portion and motor cabinet junction are equipped with bearing part, and driving motor drives driving portion rotation by gear and bearing part.Driving briquetting is connected with cage cover, the top for covering on driving assembly and extension assembly of cage cover；The side of cage cover is equipped with port, and driving assembly drives extension assembly to be in and out of port, and Double swing head motor driven cage cover rotates and drive driving assembly and extension assembly 360 degree rotation.It realizes in lesser spatial dimension and larger scope of activities is obtained with lesser device volume.

Description

A kind of carrying telescoping mechanism and handling device

Technical field

The utility model relates to a kind of carrying telescoping mechanism and handling devices, belong to workpiece handling technical field.

Background technique

Workpiece handling is essential process in modern production process, in commercial process, either Intermediate products or finished product, assembling or the packaging etc. that workpiece can be completed by carrying the position of change workpiece.It carried Journey needs to make workpiece carry out moving for mechanization along X, Y or Z-direction according to the program being previously written.

In traditional scheme, in order to make workpiece obtain biggish mobile space range, it is desirable to provide biggish activity is empty Between, the volume of corresponding handling device is big, and the space occupied is also larger.Especially in the lesser environment in space, when in order to obtain When obtaining biggish scope of activities, is influenced by handling device volume, the workpiece handling behaviour area of small space large-range can not be obtained Domain.Therefore, such technological deficiency exists in the prior art, can not be obtained in lesser spatial dimension with lesser device volume Obtain larger scope of activities.

The Chinese patent of Publication No. CN107953914A discloses a kind of handling device, including hand-pulling cart, pulls and drag The mop of vehicle is equipped with control panel on hand, and hand-pulling cart is equipped with bracket, and bracket is equipped with scalable crossbeam, the scalable crossbeam Horizontally disposed and one end is connect with bracket, the elastic longitudinal beam that the other end connection of scalable crossbeam is vertically arranged, on bracket Equipped with the spandrel girder parallel with scalable crossbeam, it is equipped with fixture track of sliding track along beam on spandrel girder, fixture track of sliding track is equipped with Grip device, grip device are driven by driving device and are moved on fixture track of sliding track.The technical solution is adopted on hand-pulling cart It is designed with scalable crossbeam and elastic longitudinal beam, is adapted to the place of different height and length, but structure is complicated, takes up an area face Product is big, and the range of application is small, is not suitable for the carrying of large volume workpiece, is less able to achieve in lesser spatial dimension with lesser Device volume obtains larger scope of activities.

Utility model content

The utility model aim is to provide a kind of carrying telescoping mechanism and handling device, merges the linear drives of screw rod class With the flexible driving for folding class, biggish folding and expanding distance is obtained with lesser linear drives distance, realizes lesser space Larger scope of activities is obtained with lesser device volume in range, Workpiece transfer robot etc. is can be applied to and realizes workpiece transfer Occasion.

The technical solution that the utility model solves above-mentioned technical problem is as follows: a kind of carrying telescoping mechanism, the telescopic machine Structure includes driving assembly and extension assembly；

The driving component includes driving portion and sliding block, and the driving portion drives the sliding block to provide the movement of first stroke Distance；

The extension assembly includes folding rule, and the folding rule is connected to the two sides of the sliding block, and the sliding block drives the folding The moving distance of ruler offer second stroke；

The second stroke is greater than the first stroke.

As the preferred embodiment for carrying telescoping mechanism, the driving portion uses screw rod, and driving portion is from the center of the sliding block It passes through, one end of driving portion is equipped with motor cabinet, and the motor cabinet is connected with driving motor, and driving portion is equipped with motor cabinet junction Bearing part, driving motor drive the driving portion rotation by gear and bearing part.

As the preferred embodiment for carrying telescoping mechanism, the two sides of the motor cabinet are connected with hangers, the rear end of the folding rule It is connect with hangers.

As the preferred embodiment for carrying telescoping mechanism, the side of the folding rule is connected with driving sliding block, the driving sliding block It is connected with driving guide rail, the driving guide rail lower part is connected with driving briquetting, and the driving briquetting is connected with cage cover, described to hang What is shrouded covers on the top of driving assembly and extension assembly；

The side of the cage cover is equipped with port, and the driving component drives the extension assembly to be in and out of the port.

As the preferred embodiment for carrying telescoping mechanism, cage cover upper end is connected with transition sleeve, the transition sleeve connection There is Double swing head motor, cage cover described in the Double swing head motor driven rotates and drive the driving component and extension assembly 360 Degree rotation.

As the preferred embodiment for carrying telescoping mechanism, shield cylinder is equipped on the outside of the transition sleeve and Double swing head motor, it is described Shield cylinder top is connected with Z-direction slide assemblies, and the Z-direction slide assemblies are connected with X to slide assemblies；The X is to slide assemblies It is connected with door type frame.

As the preferred embodiment for carrying telescoping mechanism, the inside of the folding rule is equipped with the first fixed block, and described first is fixed Fixture block is connected on the inside of block, the fixture block is connected with guide rod, and the front end of the guide rod is equipped with the second fixed block, and second is fixed The side of block connects the end of the folding rule by linkage block.

As the preferred embodiment for carrying telescoping mechanism, the front end of the folding rule is connected with clamp assemblies, the clamp assemblies Including hanger, driving cylinder, handgrip drive block, handgrip actuating arm, handgrip slide plate, handgrip locating piece and handgrip part；The hanger It is centrally formed with sliding channel, the driving cylinder is connected to the upper end of the hanger, and driving cylinder connects the handgrip driving Block, handgrip drive block two sides connect the handgrip actuating arm by handgrip Rotational Cylindrical, and the handgrip actuating arm passes through described Sliding channel extends to the downside of the hanger, and the handgrip slide plate is connected to the lower end of the handgrip actuating arm, handgrip slide plate Lower end two sides be formed with slideway, the handgrip locating piece connects the handgrip slide plate by the slideway, and the handgrip part connects It connects in the lower section of the handgrip locating piece.

As the preferred embodiment for carrying telescoping mechanism, hanger lower end quadrangle is connected with limit guide rail, and the limit is led Rail is connected with position limiting slide block, and the position limiting slide block lower end connects the upper end of the handgrip slide plate.

The utility model embodiment also provides a kind of handling device, and the handling device uses above-mentioned telescoping mechanism.

The beneficial effects of the utility model are: driving portion provides the moving distance of first stroke with movable slider；The two of sliding block Side is connected with folding rule, and sliding block drives folding rule to provide the moving distance of second stroke, and second stroke is greater than first stroke, this is practical new Type merges the linear drives of screw rod class and folds the flexible driving of class, obtains biggish folding exhibition with lesser linear drives distance Distance is opened, realizes in lesser spatial dimension and larger scope of activities is obtained with lesser device volume, can be applied to workpiece handling Robot etc. realizes the occasion of workpiece transfer, easily controllable, at low cost.

Detailed description of the invention

It, below will be to reality in order to illustrate more clearly of the embodiments of the present invention or technical solution in the prior art It applies mode or attached drawing needed to be used in the description of the prior art is briefly described.It should be evident that attached in being described below Figure is only exemplary, for those of ordinary skill in the art, without creative efforts, can be with It is extended according to the attached drawing of offer and obtains other implementation attached drawings.

Fig. 1 is carrying telescoping mechanism schematic perspective view provided by the embodiment of the utility model；

Fig. 2 is carrying telescoping mechanism overlooking structure diagram provided by the embodiment of the utility model；

Fig. 3 is carrying telescoping mechanism present invention looks up structural representation provided by the embodiment of the utility model；

Fig. 4 is the carrying telescoping mechanism solid signal provided by the embodiment of the utility model equipped with cage cover and clamp assemblies Figure；

Fig. 5 is the carrying telescoping mechanism provided by the embodiment of the utility model equipped with cage cover, shield cylinder and clamp assemblies Stereoscopic schematic diagram；

Fig. 6 is provided by the embodiment of the utility model equipped with the carrying of Z-direction slide assemblies, X to slide assemblies and door type frame Telescoping mechanism stereoscopic schematic diagram；

In figure, 1, driving assembly；101, driving portion；102, sliding block；103, motor cabinet；104, driving motor；

2, extension assembly；201, folding rule；202, hangers；203, the first fixed block；204, fixture block；205, guide rod；206, Second fixed block；

3, sliding block is driven；4, guide rail is driven；5, briquetting is driven；6, cage cover；7, port；8, transition sleeve；9, Double swing head electricity Machine；10, shield cylinder；11, Z-direction slide assemblies；12, X is to slide assemblies；13, door type frame；

14, clamp assemblies；1401, hanger；1402, cylinder is driven；1403, handgrip drive block；1404, handgrip actuating arm； 1405, handgrip slide plate；1406, handgrip locating piece；1407, handgrip part；1408, sliding channel；1409, slideway；1410, limit is led Rail；1411, position limiting slide block.

Specific embodiment

To keep the above objects, features, and advantages of the utility model more obvious and easy to understand, with reference to the accompanying drawing to this The specific embodiment of utility model is described in detail.Many details are explained in the following description in order to abundant Understand the utility model.But the utility model can be implemented with being much different from other way described herein, this field Technical staff can do similar improvement without prejudice to the utility model connotation, therefore the utility model is not by following public affairs The limitation for the specific embodiment opened.

Unless otherwise defined, all technical and scientific terms used herein are led with the technology for belonging to the utility model The normally understood meaning of the technical staff in domain is identical.Terminology used in the description of the utility model herein only be The purpose of description specific embodiment, it is not intended that in limitation the utility model.

Referring to figure 1, figure 2 and figure 3, a kind of carrying telescoping mechanism is provided, telescoping mechanism includes driving assembly 1 and extension assembly 2, driving assembly 1 includes driving portion 101 and sliding block 102, and driving portion 101 provides the moving distance of first stroke with movable slider 102； Extension assembly 2 includes folding rule 201, and folding rule 201 is connected to the two sides of sliding block 102, and sliding block 102 drives folding rule 201 to provide the second row The moving distance of journey；Second stroke is greater than first stroke.First stroke uses linear driving portion 101, if driving portion 101 moves Dynamic first stroke is A, since, there are connection relationship, extension assembly 2 follows driving group between driving assembly 1 and extension assembly 2 During part 1 is mobile, at least there is the distance A of a synchronizing moving, additionally, due to extension assembly 2 from mobile process In can also stretch, if stretching, extension distance be B, therefore second stroke be distance A and distance B summation, thus realize with shorter The driving assembly 1 of length provide larger row at scope of activities.

Referring to fig. 4 and Fig. 5, carry in one embodiment of telescoping mechanism, driving portion 101 uses screw rod, driving portion 101 from The center of sliding block 102 passes through, and one end of driving portion 101 is equipped with motor cabinet 103, and motor cabinet 103 is connected with driving motor 104, electricity The two sides of base 103 are connected with hangers 202, and the rear end of folding rule 201 is connect with hangers 202, folding rule 201 and 202 connection side of hangers Formula can pass through pin shaft class formation.Driving portion 101 and 103 junction of motor cabinet are equipped with bearing part, and driving motor 104 passes through gear Driving portion 101 is driven to rotate with bearing part.In 104 operation process of driving motor, driving portion 101 is rotated, due to 101 He of driving portion It is connected between sliding block 102 by linear bearing, realizes the straight reciprocating motion of sliding block 102.

In the one embodiment for carrying telescoping mechanism, the side of folding rule 201 is connected with driving sliding block 3, and driving sliding block 3 connects There is driving guide rail 4, driving 4 lower part of guide rail is connected with driving briquetting 5, and driving briquetting 5 is connected with cage cover 6, and cage cover 6 covers on drive The top of dynamic component 1 and extension assembly 2.The side of cage cover 6 is equipped with port 7, and driving assembly 1 drives extension assembly 2 to be in and out of Port 7.The design of cage cover 6 is convenient to carry out whole driving to driving assembly 1 and extension assembly 2, due to cage cover 6 and folding rule Driving sliding block 3, driving 4 structure of guide rail between 201, folding rule 201 can be moved back and forth along driving guide rail 4.

In the one embodiment for carrying telescoping mechanism, 6 upper end of cage cover is connected with transition sleeve 8, and transition sleeve 8 is connected with double pendulum Head motor 9, Double swing head motor 9 drive cage cover 6 to rotate and driving assembly 1 and extension assembly 2 are driven to carry out 360 degree rotation.It crosses It crosses and is equipped with shield cylinder 10 on the outside of set 8 and Double swing head motor 9,10 top of shield cylinder is connected with Z-direction slide assemblies 11, Z-direction Slide Group Part 11 is connected with X to slide assemblies 12；X is connected with door type frame 13 to slide assemblies 12.9 operation process of Double swing head motor, cage Cover 6 realizes rotary motion by transition sleeve 8, due to passing through driving sliding block 3, driving guide rail 4 between cage cover 6 and extension assembly 2 It is attached, cage cover 6 is able to drive extension assembly 2 and driving assembly 1 rotates integrally.10 one side of shield cylinder plays in protection The effect of portion's structure, another aspect shield cylinder 10 can combine slide assemblies, and slide assemblies are realized to the left up and down of shield cylinder 10 Right driving, specifically, Z-direction slide assemblies 11 drive shield cylinder 10 to move up and down, X drives shield cylinder 10 left to slide assemblies 12 It moves right, simultaneously because being fixedly connected between shield cylinder 10 and cage cover 6, shield cylinder 10 is able to drive cage cover 6 up and down It is mobile.

In the one embodiment for carrying telescoping mechanism, the inside of folding rule 201 is equipped with the first fixed block 203, the first fixed block 203 insides are connected with fixture block 204, and fixture block 204 is connected with guide rod 205, and the front end of guide rod 205 is equipped with the second fixed block 206, The side of second fixed block 206 connects the end of folding rule 201 by linkage block.The front end of folding rule 201 is connected with clamp assemblies 14, Clamp assemblies 14 include hanger 1401, driving cylinder 1402, handgrip drive block 1403, handgrip actuating arm 1404, handgrip slide plate 1405, handgrip locating piece 1406 and handgrip part 1407；Hanger 1401 is centrally formed with sliding channel 1408,1401 lower end four of hanger Angle is connected with limit guide rail 1410, and limit guide rail 1410 is connected with position limiting slide block 1411, and 1411 lower end of position limiting slide block connects handgrip The upper end of slide plate 1405.Driving cylinder 1402 is connected to the upper end of hanger 1401, and driving cylinder 1402 connects handgrip drive block 1403, handgrip Rotational Cylindrical is connected handgrip actuating arm 1404 by 1403 two sides of handgrip drive block, and handgrip actuating arm 1404 passes through sliding Channel 1408 extends to the downside of hanger 1401, and handgrip slide plate 1405 is connected to the lower end of handgrip actuating arm 1404, handgrip slide plate 1405 lower end two sides are formed with slideway 1409, and handgrip locating piece 1406 connects handgrip slide plate 1405, handgrip by slideway 1409 Part 1407 is connected to the lower section of handgrip locating piece 1406.

Referring to Fig. 1, Fig. 2, Fig. 3, Fig. 4, Fig. 5 and Fig. 6, the utility model embodiment also provides a kind of handling device, carries Device uses above-mentioned telescoping mechanism.Telescoping mechanism includes driving assembly 1 and extension assembly 2, and driving assembly 1 includes driving portion 101 and sliding block 102, driving portion 101 provides the moving distance of first stroke with movable slider 102；Extension assembly 2 includes folding rule 201, Folding rule 201 is connected to the two sides of sliding block 102, and sliding block 102 drives folding rule 201 to provide the moving distance of second stroke；Second stroke Greater than first stroke.

Driving portion 101 uses screw rod, and driving portion 101 is passed through from the center of sliding block 102, and one end of driving portion 101 is equipped with electricity Base 103, motor cabinet 103 are connected with driving motor 104, and driving portion 101 and 103 junction of motor cabinet are equipped with bearing part, driving Motor 104 drives driving portion 101 to rotate by gear and bearing part.The two sides of motor cabinet 103 are connected with hangers 202, folding rule 201 Rear end connect with hangers 202.

The side of folding rule 201 is connected with driving sliding block 3, and driving sliding block 3 is connected with driving guide rail 4, and driving 4 lower part of guide rail connects It is connected to driving briquetting 5, driving briquetting 5 is connected with cage cover 6, the top for covering on driving assembly 1 and extension assembly 2 of cage cover 6. The side of cage cover 6 is equipped with port 7, and driving assembly 1 drives extension assembly 2 to be in and out of port 7.6 upper end of cage cover was connected with Set 8 is crossed, transition sleeve 8 is connected with Double swing head motor 9, and Double swing head motor 9 drives cage cover 6 to rotate and drives driving assembly 1 and stretch 2360 degree of component rotations of exhibition.Shield cylinder 10 is equipped on the outside of transition sleeve 8 and Double swing head motor 9, it is sliding that 10 top of shield cylinder is connected with Z-direction Dynamic component 11, Z-direction slide assemblies 11 are connected with X to slide assemblies 12；X is connected with door type frame 13 to slide assemblies 12.

The inside of folding rule 201 is equipped with the first fixed block 203, is connected with fixture block 204, fixture block 204 on the inside of the first fixed block 203 It is connected with guide rod 205, the front end of guide rod 205 is equipped with the second fixed block 206, and the side of the second fixed block 206 passes through linkage The end of block connection folding rule 201.The front end of folding rule 201 is connected with clamp assemblies 14, and clamp assemblies 14 include hanger 1401, driving Cylinder 1402, handgrip drive block 1403, handgrip actuating arm 1404, handgrip slide plate 1405, handgrip locating piece 1406 and handgrip part 1407；Hanger 1401 is centrally formed with sliding channel 1408, and driving cylinder 1402 is connected to the upper end of hanger 1401, drives cylinder 1402 connection handgrip drive blocks 1403,1403 two sides of handgrip drive block connect handgrip actuating arm 1404 by handgrip Rotational Cylindrical, grab Hand-drive arm 1404 extends to the downside of hanger 1401 by sliding channel 1408, and handgrip slide plate 1405 is connected to handgrip actuating arm 1404 lower end, the lower end two sides of handgrip slide plate 1405 are formed with slideway 1409, and handgrip locating piece 1406 is connected by slideway 1409 Handgrip slide plate 1405 is connect, handgrip part 1407 is connected to the lower section of handgrip locating piece 1406.The connection of 1401 lower end quadrangle of hanger is limited Position guide rail 1410, limit guide rail 1410 are connected with position limiting slide block 1411, and 1411 lower end of position limiting slide block connects handgrip slide plate 1405 Upper end.

The utility model embodiment driving portion 101 provides the moving distance of first stroke with movable slider 102；Sliding block 102 Two sides are connected with folding rule 201, and sliding block 102 drives folding rule 201 to provide the moving distance of second stroke, and second stroke is greater than the first row Journey, the utility model are merged the linear drives of screw rod class and fold the flexible driving of class, obtained with lesser linear drives distance Biggish folding and expanding distance is realized in lesser spatial dimension and obtains larger scope of activities with lesser device volume, can answer The occasion of workpiece transfer is realized for Workpiece transfer robot etc., it is easily controllable, it is at low cost.

Each technical characteristic of embodiment described above can be combined arbitrarily, for simplicity of description, not to above-mentioned reality It applies all possible combination of each technical characteristic in example to be all described, as long as however, the combination of these technical characteristics is not deposited In contradiction, all should be considered as described in this specification.

Above-described embodiments merely represent several embodiments of the utility model, the description thereof is more specific and detailed, But it cannot be understood as the limitations to utility model patent range.It should be pointed out that for the common skill of this field For art personnel, without departing from the concept of the premise utility, various modifications and improvements can be made, these are belonged to The protection scope of the utility model.Therefore, the scope of protection shall be subject to the appended claims for the utility model patent.

Claims

1. a kind of carrying telescoping mechanism, which is characterized in that the telescoping mechanism includes driving assembly (1) and extension assembly (2)；

The driving component (1) includes driving portion (101) and sliding block (102), and the driving portion (101) drives the sliding block (102) moving distance of first stroke is provided；

The extension assembly (2) includes folding rule (201), and the folding rule (201) is connected to the two sides of the sliding block (102), described Sliding block (102) drives the folding rule (201) to provide the moving distance of second stroke.

2. a kind of carrying telescoping mechanism according to claim 1, which is characterized in that the driving portion (101) uses screw rod, Driving portion (101) is passed through from the center of the sliding block (102), and one end of driving portion (101) is equipped with motor cabinet (103), the electricity Base (103) is connected with driving motor (104), and driving portion (101) and motor cabinet (103) junction are equipped with bearing part, driving electricity Machine (104) drives driving portion (101) rotation by gear and bearing part.

3. a kind of carrying telescoping mechanism according to claim 2, which is characterized in that the two sides of the motor cabinet (103) connect It is connected to hangers (202), the rear end of the folding rule (201) is connect with hangers (202).

4. a kind of carrying telescoping mechanism according to claim 3, which is characterized in that the side of the folding rule (201) connects Have driving sliding block (3), the driving sliding block (3) is connected with driving guide rail (4), and driving guide rail (4) lower part is connected with driving Briquetting (5), the driving briquetting (5) are connected with cage cover (6), and the cage cover (6) covers on driving assembly (1) and stretching, extension group The top of part (2)；

The side of the cage cover (6) is equipped with port (7), and the driving component (1) drives the extension assembly (2) to be in and out of institute State port (7).

5. a kind of carrying telescoping mechanism according to claim 4, which is characterized in that cage cover (6) upper end is connected with Transition sleeve (8), the transition sleeve (8) are connected with Double swing head motor (9), and the Double swing head motor (9) drives the cage cover (6) Rotate and drive the driving component (1) and extension assembly (2) 360 degree rotation.

6. a kind of carrying telescoping mechanism according to claim 5, which is characterized in that the transition sleeve (8) and Double swing head electricity Shield cylinder (10) are equipped on the outside of machine (9), shield cylinder (10) top is connected with Z-direction slide assemblies (11), the Z-direction Slide Group Part (11) is connected with X to slide assemblies (12)；The X is connected with door type frame (13) to slide assemblies (12).

7. a kind of carrying telescoping mechanism according to claim 1, which is characterized in that the inside of the folding rule (201) is equipped with First fixed block (203), the first fixed block (203) inside are connected with fixture block (204), and the fixture block (204), which is connected with, leads To bar (205), the front end of the guide rod (205) is equipped with the second fixed block (206), and the side of the second fixed block (206) passes through Linkage block connects the end of the folding rule (201).

8. a kind of carrying telescoping mechanism according to claim 1, which is characterized in that the front end of the folding rule (201) connects Have clamp assemblies (14), the clamp assemblies (14) include hanger (1401), driving cylinder (1402), handgrip drive block (1403), handgrip actuating arm (1404), handgrip slide plate (1405), handgrip locating piece (1406) and handgrip part (1407)；The extension Frame (1401) is centrally formed with sliding channel (1408), and driving cylinder (1402) is connected to the upper of the hanger (1401) End, driving cylinder (1402) connect the handgrip drive block (1403), and handgrip drive block (1403) two sides are turned by handgrip Dynamic column connects the handgrip actuating arm (1404), and the handgrip actuating arm (1404) is extended to by the sliding channel (1408) The downside of the hanger (1401), the handgrip slide plate (1405) are connected to the lower end of the handgrip actuating arm (1404), handgrip The lower end two sides of slide plate (1405) are formed with slideway (1409), and the handgrip locating piece (1406) is connected by the slideway (1409) The handgrip slide plate (1405) is connect, the handgrip part (1407) is connected to the lower section of the handgrip locating piece (1406).

9. a kind of carrying telescoping mechanism according to claim 8, which is characterized in that hanger (1401) the lower end quadrangle connects It is connected to limit guide rail (1410), the limit guide rail (1410) is connected with position limiting slide block (1411), the position limiting slide block (1411) Lower end connects the upper end of the handgrip slide plate (1405).

10. a kind of handling device, which is characterized in that the handling device includes as described in any one of claim 1 to 9 flexible Mechanism.