CN216138907U

CN216138907U - Mechanical grabbing device

Info

Publication number: CN216138907U
Application number: CN202121990961.3U
Authority: CN
Inventors: 石军
Original assignee: Suzhou Lyade Intelligent Equipment Co ltd
Current assignee: Suzhou Lyade Intelligent Equipment Co ltd
Priority date: 2021-08-23
Filing date: 2021-08-23
Publication date: 2022-03-29
Anticipated expiration: 2031-08-23

Abstract

The utility model relates to a mechanical grabbing device which is simple in structure, simple and convenient to assemble and disassemble and strong in stability, and is beneficial to improving the efficiency and reducing the production cost. The device comprises a supporting mechanism, a transverse sliding mechanism, a longitudinal sliding mechanism and a suction mechanism, wherein the supporting mechanism provides supporting force for the whole device to ensure the stability during grabbing work; the suction mechanism realizes the suction and placement of the grabbed product through the sucker; and the transverse sliding mechanism realizes the transverse movement of the product and is combined with the longitudinal sliding mechanism to realize the longitudinal movement of the product. The vacuum generator is combined with the negative pressure meter to generate positive and negative pressure and monitor in real time, so that the phenomenon that a product is damaged due to overlarge suction force of the sucker and the phenomenon that the product cannot be normally sucked due to undersize pressure of the sucker is avoided. The position of a product to be placed is accurately positioned by combining the limiting sensor and the valve island, and the transverse drag chain and the longitudinal drag chain are utilized to play a role in conduction and traction. In addition, the shaft coupling can effectively improve the stability of the longitudinal motor and the transverse motor during high-speed operation, and is beneficial to buffering impact and reducing vibration.

Description

Mechanical grabbing device

Technical Field

The utility model relates to a mechanical grabbing device, and belongs to the technical field of mechanical automation equipment.

Background

The substrate is a basic material for manufacturing a Printed Circuit Board (PCB), and has functions of conduction, insulation and support. The performance, quality, workability in manufacturing, manufacturing cost, manufacturing level, and the like of the printed circuit board depend to a large extent on the substrate material. In general, a substrate is a copper clad laminate, and in the production of a single-sided or double-sided printed wiring board, a hole processing, electroless copper plating, electrolytic copper plating, etching, and the like are selectively performed on a substrate material copper clad laminate to obtain a desired circuit pattern. With the rapid development of the existing printed circuit board technology, the requirement for the thickness deviation of the board is higher and higher, so that the development of an ultra-thin multilayer printed circuit board is tended.

In the automatic production process of the printed circuit board, grabbing the substrate is one of the most basic steps, but because the size of the substrate is inconsistent, the shape is irregular and the thickness is different, when a common automatic device is used for grabbing, the substrate is easily damaged, so that not only is the waste of resources generated and the production cost increased, but also the reject ratio of finished products is improved to a certain extent.

SUMMERY OF THE UTILITY MODEL

The present invention is directed to a mechanical gripping device to solve the above problems.

In order to achieve the purpose, the utility model provides the following technical scheme: the device comprises a supporting mechanism, a transverse sliding mechanism and a suction mechanism, wherein the supporting mechanism comprises a supporting bottom plate and a supporting upright post supported above the supporting bottom plate, and the upper part of the supporting bottom plate is connected with the transverse sliding mechanism through a guide rail supporting post; the transverse sliding mechanism comprises a transverse guide rail mounting plate, a transverse screw rod and a transverse guide rail, the transverse guide rail mounting plate is connected with the upper portion of a guide rail supporting column, the upper end and the lower end of the transverse guide rail supporting column are symmetrically paved with transverse guide rail base plates for connection, the two sides of the transverse guide rail mounting plate are provided with screw rod supporting seats for connection with the transverse screw rod, one end of the transverse screw rod is connected with an output shaft of a transverse motor for driving, and a sliding clamping transverse sliding table is clamped on the transverse guide rail and connected with the absorbing mechanism.

The connecting seat can be sleeved outside the transverse screw rod in a sliding and clamping manner, the connecting seat is connected with the transverse guide rails on two sides in a sliding and clamping manner, and the transverse sliding table is connected with the suction mechanism, so that when the transverse motor is started to work, the connecting seat moves back and forth along the transverse screw rod, namely, the transverse sliding table moves back and forth along the transverse guide rails, and therefore the suction mechanism can suck the products and then move left and right and place the products.

The vertical sliding mechanism comprises a vertical guide rail mounting plate, a vertical screw rod and a vertical guide rail, one side of the vertical guide rail mounting plate is connected with the horizontal guide rail through a horizontal sliding table, the other side of the vertical guide rail mounting plate is symmetrically paved with a vertical guide rail substrate to be connected with the vertical guide rail, the upper end and the lower end of the vertical guide rail substrate are respectively connected through screw rod mounting plates, the vertical screw rod is connected between the two screw rod mounting plates, the vertical motor is connected above the screw rod mounting plates through a motor fixing seat, an output shaft of the vertical motor penetrates through the screw rod mounting plates to be connected with the vertical screw rod for driving, and the vertical guide rail is connected with the suction mechanism through the vertical sliding table which is in sliding clamping connection; the longitudinal screw rod is also provided with a screw rod nut and sleeved with a nut seat, and the connection with the suction mechanism is realized through a longitudinal sliding table connected with the nut seat. When the longitudinal motor is started to work, the nut seat is driven to move back and forth along the longitudinal screw rod, and meanwhile, the longitudinal sliding table is driven to move back and forth along the longitudinal guide rail, so that the suction mechanism can move up and down and place products after sucking the products.

Furthermore, the suction mechanism comprises a suction base plate, suction side plates and a suction base plate, the suction base plate is arranged into a frame structure, the suction side plates are upwards erected on two sides of the suction base plate and connected through the suction base plate, and a suction disc is arranged above the suction base plate and is bridged between the opposite sides of the suction base plate; the upper ends of the sucking side plates on the two sides are connected through a sucking base plate, and the sucking base plate can be connected with a transverse sliding mechanism to finish left-right movement and can also be connected with a transverse sliding mechanism and a longitudinal sliding mechanism to finish up-down and left-right movement. The suction base plate is preferably a quadrangular frame structure, opposite sides of the suction base plate are bridged across the plurality of suction cup mounting plates, and a plurality of suction cups are respectively provided on each suction cup mounting plate. When the product is sent to the corresponding position, the product can be sucked by the sucking disc to complete the grabbing operation.

Furthermore, the middle end positions of the two side suction side plates are connected with a side connecting plate, a negative pressure meter is arranged above the side connecting plate, and a vacuum generator is arranged at the upper end of one side suction side plate; the negative pressure gauge is used for measuring a pressure value which is negative pressure relative to atmospheric pressure, the vacuum generator is a novel, efficient, clean, economic and small vacuum component which utilizes a positive pressure air source to generate negative pressure, and positive pressure and negative pressure can be generated simultaneously to be used for compressing air. Utilize vacuum generator to produce the negative pressure that is used for the sucking disc to absorb the product earlier, make the sucking disc more firm with the product absorption, according to the specific pressure value of negative pressure table real-time supervision, the process real time monitoring that the product was absorbed to the sucking disc avoids appearing suction too big and causes the damage of product, the unable normal absorption of sucking disc undersize.

Further, a valve island is arranged on one side of the absorption substrate; the valve island is a gas-electricity integrated control component, and the modular valve island and the valve island with the bus are combined for use, so that the wiring of the electric control valve is simplified, and the debugging, performance detection, diagnosis and maintenance work of a complex system is greatly simplified. The valve island is used for outputting control signals and controlling the vacuum generator to generate positive pressure and negative pressure for grabbing and releasing products to be grabbed.

Furthermore, a positioning plunger is also arranged on the suction bottom plate; the positioning seat of the positioning plunger is elastically fixed on the absorption bottom plate, and flexible positioning is realized by up-and-down floating under the action of the limit screw in the positioning seat. Under the effect of elastic force, whether the sucking is in place is judged to accessible location plunger behind the sucking disc absorption product, improves the security when inhaling the material, effectively avoids the product to be damaged or absorb not in place when absorbing, and reduce cost improves the product qualification rate.

Furthermore, a transverse drag chain plate with a groove-shaped structure is transversely laid above the supporting upright post through an adapter plate, a transverse drag chain is embedded and installed in the transverse drag chain, and a drag chain connecting seat is arranged on one side of the longitudinal guide rail installing plate and connected with the transverse drag chain; the drag chain is also called a wire and cable protection drag chain, is a device for binding a cable, a wire, an air pressure pipe and an oil pressure pipe to facilitate the rotation and the movement of the cable, the wire, the air pressure pipe and the oil pressure pipe, and plays a role in traction and protection. The longitudinal guide rail mounting plate is connected with the transverse drag chain through the drag chain connecting seat, the drag chain connecting seat can also be connected between the transverse drag chain and the absorption base plate, and the auxiliary transverse sliding mechanism drives the longitudinal sliding mechanism or the absorption mechanism to realize transmission and traction of left and right movement. In addition, the transverse plates of the drag chain are of a groove-shaped structure, and the baffle plates with two upward sides can also protect the transverse drag chain.

Furthermore, a vertical drag chain plate of a groove-shaped structure is connected to the side of the longitudinal guide rail mounting plate and a longitudinal drag chain is embedded and mounted in the vertical drag chain mounting plate, and one end of the vertical drag chain plate is connected with the suction base plate; the vertical plate of the drag chain is also of a groove-shaped structure, and the baffle plates with two upward sides also have the protection effect on the longitudinal drag chain. One end of the longitudinal drag chain is connected to the back of the suction base plate, so that when the suction base plate moves up and down along the longitudinal guide rail, the longitudinal drag chain drives the suction mechanism to play a role in transmission and traction during movement.

Further, output shafts of the transverse motor and the longitudinal motor are connected with the transverse screw rod and the longitudinal screw rod through couplers; the coupling is a coupling device between two shafts or a shaft and a rotary part, is a mechanical part used for firmly coupling a driving shaft and a driven shaft in different mechanisms to rotate together and transmitting motion and torque, is not easy to disengage under normal conditions, can play a role in overload protection sometimes and prevents the coupled machine parts from bearing overlarge load. The coupler is arranged to compensate the deviation between the output shaft of the motor and the screw rod caused by inaccurate manufacture and installation, deformation, thermal expansion and the like during working, so that the longitudinal motor and the transverse motor are more stable during high-speed operation, impact is relieved, and vibration is reduced.

Furthermore, a limit inductor is arranged on the lateral side of the transverse guide rail; the limit sensor is preferably a photoelectric sensor, which converts the measured change into a change of an optical signal on the basis of the photoelectric effect, and further converts a non-electrical signal into an electrical signal by means of a photoelectric element. The absorption base plate or the longitudinal guide rail mounting plate is provided with a baffle plate and is opposite to the position of the limit sensor. When the transmitter of the limit sensor emits infrared light or visible light, the receiver can receive the light under the unobstructed condition, but the light is blocked when the baffle passes through the space between the transmitter and the receiver, at the moment, the limit sensor starts to work and outputs a control signal to the valve island, so that the valve island stops moving transversely to execute longitudinal movement, and after the valve island moves in place, the vacuum generator is controlled to output positive pressure, and the sucker can execute the operation of placing a product.

Compared with the prior art, the utility model has the beneficial effects that: the utility model has the advantages of simple structure, wide application range, simple and convenient disassembly and assembly and strong stability, and is beneficial to improving the efficiency and reducing the production cost. The device consists of a supporting mechanism, a transverse sliding mechanism, a longitudinal sliding mechanism and a suction mechanism, wherein the supporting mechanism provides supporting force for the whole device to ensure the stability during grabbing work; the suction mechanism realizes the suction and placement of the grabbed product through the sucker; the transverse sliding mechanism is used for realizing transverse left-right movement of the product, and the longitudinal sliding mechanism is combined to realize longitudinal up-down movement of the product. The vacuum generator combines the negative pressure meter to generate negative pressure and positive pressure acting on the sucker and monitors in real time, so that the phenomenon that the product is damaged due to overlarge suction force of the sucker and the product cannot be normally sucked due to undersize pressure of the sucker is avoided. The limiting sensor and the valve island are combined to accurately position the position of a product which needs to be grabbed and placed, and the transverse drag chain and the longitudinal drag chain are utilized to conduct and drag. In addition, the shaft coupling is used to effectively improve the stability of the longitudinal motor and the transverse motor during high-speed operation, thereby being beneficial to buffering impact and reducing vibration.

Drawings

FIG. 1: is a structural schematic diagram of the whole body of the utility model;

FIG. 2: is a structural schematic diagram of the longitudinal sliding mechanism of the utility model;

FIG. 3: is a schematic structural diagram of the suction mechanism of the utility model.

Labeled as: 1. supporting the upright post; 2. a transverse drag chain; 3. a drag chain transverse plate; 4. a transverse guide rail mounting plate; 5. a transverse guide rail substrate; 6. a screw rod supporting seat; 7. a transverse screw rod; 8. a transverse guide rail; 9. a suction mechanism; 10. a longitudinal drag chain; 11. a drag chain vertical plate; 12. a transverse motor; 13. a limit sensor; 14. a support base plate; 15. a guide rail support column; 16. a longitudinal guide rail mounting plate; 17. a longitudinal rail base plate; 18. a longitudinal guide rail; 19. a longitudinal screw rod; 20. a longitudinal motor; 21. a motor fixing seat; 22. a screw rod mounting plate; 23. a drag chain connecting seat; 901. sucking the substrate; 902. a sucker mounting plate; 903. a valve island; 904. sucking a side plate; 905. sucking the bottom plate; 906. a negative pressure gauge; 907. positioning the plunger; 908. a vacuum generator; 909. a suction cup; 910. a lateral connecting plate.

Detailed Description

The utility model will be described in further detail below with reference to the figures and specific embodiments.

Example 1

The embodiment provides a mechanical grabbing device, as shown in fig. 1-3: the device comprises a supporting mechanism, a transverse sliding mechanism and a suction mechanism 9, wherein the supporting mechanism comprises a supporting bottom plate 14 and a supporting upright post 1 supported above the supporting bottom plate, and the upper part of the supporting bottom plate 14 is connected with the transverse sliding mechanism through a guide rail supporting post 15; the transverse sliding mechanism comprises a transverse guide rail mounting plate 4, a transverse screw rod 7 and a transverse guide rail 8, the transverse guide rail mounting plate 4 is connected above a guide rail supporting column 15, transverse guide rail substrates 5 are symmetrically laid at the upper end and the lower end of the transverse guide rail mounting plate and connected with the transverse guide rail 8, screw rod supporting seats 6 are arranged on the two sides of the transverse guide rail mounting plate 4 and connected with the transverse screw rod 7, one end of the transverse screw rod 7 is connected with an output shaft of a transverse motor 12 for driving, and a transverse sliding table is connected with an absorbing mechanism 9 in a sliding clamping mode on the transverse guide rail 8.

The embodiment also comprises a longitudinal sliding mechanism, the longitudinal sliding mechanism comprises a longitudinal guide rail mounting plate 16, a longitudinal screw rod 19 and a longitudinal guide rail 18, one side of the longitudinal guide rail mounting plate 16 is connected with the transverse guide rail 8 through a transverse sliding table, the other side is symmetrically paved with a longitudinal guide rail base plate 17 connected with the longitudinal guide rail 18, the upper end and the lower end of the longitudinal guide rail base plate 17 are respectively connected through screw rod mounting plates 22, the longitudinal screw rod 19 is connected between the two screw rod mounting plates 22, a longitudinal motor 20 is connected above the screw rod mounting plates 22 through a motor fixing seat 21, an output shaft of the longitudinal motor passes through the screw rod mounting plate 22 to be connected with the longitudinal screw rod 19 for driving, the longitudinal guide rail 18 is connected with a suction mechanism 9 through the longitudinal sliding clamped sliding table, the suction mechanism 9 comprises a suction base plate 901, a suction side plate 904 and a suction bottom plate 905, the suction bottom plate 905 is arranged into a frame structure, and the suction side plates 904 are erected upwards at two sides and connected through the suction base plate 901, suction base 905 bridges across chuck mounting plate 902 between opposite sides and has suction cup 909 positioned above it; the transverse sliding mechanism is used for transverse left and right movement, the longitudinal sliding mechanism is used for longitudinal up and down movement, the transverse sliding mechanism and the longitudinal sliding mechanism can be used separately or in combination, flexible movement of the whole device is achieved, and products are sucked through the suction cups 909 to complete grabbing operation.

The embodiment further comprises that the middle end position of the two side suction side plates 904 is connected with the side connecting plate 910, a negative pressure meter 906 is arranged above the side connecting plate, the upper end of one side suction side plate 904 is provided with a vacuum generator 908, one side of the suction side plate 901 is provided with a valve island 903, and the side of the transverse guide rail 8 is provided with a limit sensor 13; the vacuum generator 908 generates positive and negative pressure while being monitored in real time via the negative pressure gauge 906. When the position limit sensor 13 receives the in-place signal of the transverse movement and outputs the signal to the valve island 903, the valve island 903 controls the transverse movement to stop and start the longitudinal movement, and controls the vacuum generator 908 to output positive pressure after the transverse movement is in place, and the suction cup 909 performs the operation of placing the product.

The embodiment also comprises that a transverse towline plate 3 with a groove structure is transversely laid above the supporting upright 1 through an adapter plate, a transverse towline 2 is embedded and installed in the transverse towline plate, a towline connecting seat 23 is arranged on one side of the longitudinal guide rail installation plate 16 and connected with the transverse towline 2, a vertical towline plate 11 with a groove structure is connected to the lateral side of the longitudinal guide rail installation plate 16, a longitudinal towline 10 is embedded and installed in the longitudinal guide rail installation plate 16, and one end of the vertical towline plate 11 is connected with the absorption base plate 901; the drag chain connecting seat 23 is connected between the transverse drag chain 2 and the absorbing base plate 901, and the auxiliary transverse sliding mechanism drives the longitudinal sliding mechanism or the absorbing mechanism 9 to realize the transmission and traction of left and right movement. The longitudinal drag chain 10 drives the suction mechanism 9 to perform the transmission and traction functions during movement.

The embodiment also comprises that a positioning plunger 907 is arranged on the absorption bottom plate 905, and the output shafts of the transverse motor 12 and the longitudinal motor 20 are connected with the transverse screw rod 7 and the longitudinal screw rod 19 through couplers; the positioning plunger 907 is used for judging whether the product is sucked in place, so that the safety during material suction is improved, and the phenomenon that the product is damaged or cannot be sucked during suction is effectively avoided. The coupler can enable the longitudinal motor and the transverse motor to be more stable during high-speed operation, and impact and vibration are relieved.

The use method of the utility model comprises the following steps:

mounting a supporting mechanism:

and vertically supporting the support upright column 1 above the support base plate 14, and connecting a guide rail support column 15 above the support base plate 14 to finish the installation of the support mechanism.

Installation of the suction mechanism:

the suction base plate 905 is a frame structure. First, suction side plates 904 are supported upward on both sides of a suction base plate 905 and connected to each other via a suction base plate 901, and a valve island 903 is provided on one side of the suction base plate 901. Then, the suction cup mounting plate 902 is bridged between the opposite sides of the suction base plate 905, the suction cup 909 is attached to the suction cup mounting plate 902, and the positioning plunger 907 is further provided on the suction base plate 905. Finally, the middle end positions of the suction side plates 904 are connected by a side connecting plate 910, a negative pressure gauge 906 is provided above, and a vacuum generator 908 is connected to one of the suction side plates 904. I.e. the mounting of the suction means 9 is completed.

The transverse sliding mechanism is connected with the suction mechanism:

the transverse guide rail mounting plate 4 is connected above the guide rail supporting column 15, transverse guide rail substrates 5 are symmetrically laid at the upper end and the lower end of the transverse guide rail mounting plate 4 and connected with transverse guide rails 8, the two sides of the transverse guide rail mounting plate 4 are connected with transverse lead screws 7 through lead screw supporting seats 6, and one ends of the transverse lead screws 7 are connected with transverse motors 12 for driving, so that the transverse sliding mechanism is mounted. The connecting seat can be sleeved outside the transverse screw rod 7 in a sliding and clamping manner with the transverse guide rails 8 on the two sides through the transverse sliding table, and the transverse sliding table is connected with the absorbing base plate 901 to complete the connection between the transverse sliding mechanism and the absorbing mechanism 9.

In addition, a transverse drag chain plate 3 is transversely paved above the supporting upright posts 1 through adapter plates, the transverse drag chain plate 3 is of a groove-shaped structure, a transverse drag chain 2 is embedded and installed in the groove-shaped structure, and the transverse drag chain 2 is connected with one side of the absorbing base plate 901 through a drag chain connecting seat 23. The transverse drag chain 2 is used for dragging and driving the transverse sliding of the suction mechanism 9.

The transverse sliding mechanism is combined with the longitudinal sliding mechanism to be connected with the suction mechanism:

and (5) finishing the installation of the transverse sliding mechanism according to the steps. Longitudinal guide rail base plates 17 are symmetrically laid on the longitudinal guide rail mounting plates 16 and connected with longitudinal guide rails 18, and the upper end and the lower end of each longitudinal guide rail base plate 17 are connected through screw rod mounting plates 22. The longitudinal screw 19 is connected between two screw mounting plates 22, the longitudinal motor 20 is connected above the screw mounting plates 22 through a motor fixing seat 21, and an output shaft of the longitudinal motor passes through the screw mounting plates 22 and is connected with the longitudinal screw 19 for driving. The transverse guide rail 8 is connected with the longitudinal guide rail mounting plate 16 through a transverse sliding table, so that the transverse sliding mechanism and the longitudinal sliding mechanism are combined. Similarly, a connecting seat is sleeved outside the longitudinal screw rod 19, the connecting seat is in sliding clamping connection with the longitudinal guide rails 18 on the two sides through the longitudinal sliding table, and the longitudinal sliding table is connected with the suction base plate 901, so that the transverse sliding mechanism and the longitudinal sliding mechanism are connected with the suction mechanism 9 after being combined.

In addition, a vertical drag chain 11 is connected to the side of the longitudinal guide rail mounting plate 16, and the vertical drag chain 10 is embedded in the vertical drag chain 11 which is also in a groove-shaped structure. At this time, the transverse drag chain 2 is connected to the longitudinal rail mounting plate 16 through the drag chain connecting seat 23, and one end of the longitudinal drag chain 10 is connected to the back surface of the suction base plate 901. Namely, the transverse drag chain 2 can be used for dragging and driving the transverse sliding of the suction mechanism 9, and the longitudinal drag chain 10 can be used for dragging and driving the longitudinal sliding of the suction mechanism 9.

The method comprises the following specific using operation steps:

firstly, the product to be sucked is sent to the corresponding position below the sucking mechanism 9, and signals are sent to the transverse motor 12 and the longitudinal motor 20 to start the operation.

Then, the suction base plate 901 moves down along the longitudinal rail 18, and after the product is accurately positioned by the positioning plug 907, the vacuum generator 908 is started to increase the suction force to combine with the suction cup 909 to suck the product, and the suction force of the suction cup 909 is monitored in real time according to the value on the negative pressure gauge 906.

Then, the suction substrate 901 moves upward along the longitudinal rail 18, after the suction cup 909 drives the product to move upward to a proper position, the longitudinal rail mounting plate 16 moves leftward along the transverse rail 8, the proper position signal is detected by the limit sensor 13 and output to the valve island 903, the valve island 903 controls the suction substrate 901 to move downward along the longitudinal rail 18, and the vacuum generator 908 is controlled to output positive pressure to the suction cup 909 to place the product.

Finally, after the product is placed, the suction base plate 901 moves upwards along the longitudinal guide rail 18, and the longitudinal guide rail mounting plate 16 moves rightwards along the transverse guide rail 8 again, and returns to the initial position, so that the single grabbing and placing operation is completed.

It should be noted that: the sucking disc mounting panel 902 can be along sucking the opposite side of bottom plate 905 cross-over connection a plurality ofly, also can set up a plurality of sucking discs 909 on the sucking disc mounting panel 902, and application range is wider, makes the base plate of less or great area equally can be sucked by sucking disc 909, and not fragile promotion finished product qualification rate.

In the description of the present invention, it is to be understood that the indicated orientations or positional relationships are based on the orientations or positional relationships shown in the drawings and are only for convenience in describing the present invention and simplifying the description, but are not intended to indicate or imply that the indicated devices or elements must have a particular orientation, be constructed and operated in a particular orientation, and are not to be construed as limiting the present invention.

In addition to the above embodiments, the present invention may have other embodiments. It will be apparent to those skilled in the art that modifications and equivalents may be made in the above-described embodiments or portions thereof, and any modifications, equivalents, improvements, etc. made within the spirit and principles of the present invention are intended to be included within the scope of the present invention.

Claims

1. A mechanical grabbing device which characterized in that: the device comprises a supporting mechanism, a transverse sliding mechanism and a suction mechanism (9), wherein the supporting mechanism comprises a supporting bottom plate (14) and a supporting upright post (1) supported above the supporting bottom plate, and a guide rail supporting post (15) is arranged above the supporting bottom plate (14) and connected with the transverse sliding mechanism; transverse sliding mechanism includes transverse guide mounting panel (4), transverse screw rod (7) and transverse guide (8), transverse guide mounting panel (4) connect in guide rail support column (15) top, its upper and lower both ends symmetry is laid transverse guide base plate (5) and is connected transverse guide (8), transverse guide mounting panel (4) both sides set up lead screw supporting seat (6) and connect transverse screw rod (7), the output shaft that transverse motor (12) was connected to transverse screw rod (7) one end is used for the drive, slide clamping on transverse guide (8) horizontal slip table with suction means (9) meet.

2. A mechanical gripping apparatus according to claim 1, wherein: also comprises a longitudinal sliding mechanism, the longitudinal sliding mechanism comprises a longitudinal guide rail mounting plate (16), a longitudinal screw rod (19) and a longitudinal guide rail (18), one side of the longitudinal guide rail mounting plate (16) is connected with the transverse guide rail (8) through the transverse sliding table, the other side is symmetrically paved with a longitudinal guide rail base plate (17) to be connected with the longitudinal guide rail (18), the upper end and the lower end of the longitudinal guide rail base plate (17) are respectively connected through a screw rod mounting plate (22), the longitudinal screw rod (19) is connected between the two screw rod mounting plates (22), the longitudinal motor (20) is connected above the screw rod mounting plates (22) through a motor fixing seat (21), and the output shaft of the screw rod passes through the screw rod mounting plate (22) to be connected with the longitudinal screw rod (19) for driving, the longitudinal guide rail (18) is connected with the suction mechanism (9) through a longitudinal sliding table which is in sliding clamping connection.

3. A mechanical gripping apparatus according to claim 2, wherein: the sucking mechanism (9) comprises a sucking base plate (901), sucking side plates (904) and a sucking base plate (905), wherein the sucking base plate (905) is of a frame structure, the sucking side plates (904) are upwards erected on two sides of the sucking base plate and are connected through the sucking base plate (901), and a sucking disc (909) is arranged between the opposite sides of the sucking base plate (905) in a bridging mode and above the sucking base plate (902).

4. A mechanical gripping apparatus according to claim 3, wherein: the middle end positions of the two side suction side plates (904) are connected with a side connecting plate (910), a negative pressure meter (906) is arranged above the side suction side plates, and a vacuum generator (908) is arranged at the upper end of the suction side plate (904).

5. A mechanical gripping apparatus according to claim 3, wherein: and a valve island (903) is arranged on one side of the suction substrate (901).

6. A mechanical gripping apparatus according to claim 3, wherein: and a positioning plunger (907) is also arranged on the suction bottom plate (905).

7. A mechanical gripping apparatus according to claim 2, wherein: a groove-shaped structure of a drag chain transverse plate (3) is transversely paved above the supporting upright post (1) through an adapter plate, a transverse drag chain (2) is embedded and installed in the supporting upright post, and a drag chain connecting seat (23) is arranged on one side of the longitudinal guide rail installing plate (16) and connected with the transverse drag chain (2).

8. A mechanical gripping apparatus according to claim 3, wherein: the side of the longitudinal guide rail mounting plate (16) is connected with a vertical drag chain plate (11) of a groove-shaped structure, a longitudinal drag chain (10) is embedded and mounted in the longitudinal drag chain plate, and one end of the vertical drag chain plate (11) is connected with the absorption base plate (901).

9. A mechanical gripping apparatus according to claim 2, wherein: and output shafts of the transverse motor (12) and the longitudinal motor (20) are connected with the transverse screw rod (7) and the longitudinal screw rod (19) through couplers.

10. A mechanical gripping apparatus according to claim 1, wherein: and a limiting inductor (13) is arranged on the lateral side of the transverse guide rail (8).