CN218859883U

CN218859883U - Carrying mechanism

Info

Publication number: CN218859883U
Application number: CN202223212947.8U
Authority: CN
Inventors: 吴盼; 史旭刚; 曹飞; 赵严
Original assignee: Suzhou Lingyunguang Industrial Intelligent Technology Co Ltd
Current assignee: Suzhou Lingyunguang Industrial Intelligent Technology Co Ltd
Priority date: 2022-11-30
Filing date: 2022-11-30
Publication date: 2023-04-14
Anticipated expiration: 2032-11-30

Abstract

The utility model belongs to the technical field of automatic equipment, and discloses a carrying mechanism, which comprises a base, a connecting rod assembly and a driving mechanism, wherein a three-dimensional moving platform is arranged on the base; the connecting rod assembly comprises a first connecting rod and two second connecting rods, one ends of the two second connecting rods are respectively hinged to the three-dimensional moving platform, the other ends of the two second connecting rods are respectively hinged to the first connecting rod, a grabbing assembly is arranged on one side, away from the second connecting rod, of the first connecting rod and used for grabbing a product to be carried, and the second connecting rod can drive the first connecting rod and the grabbing assembly to rotate when rotating so as to carry the product to be carried from a first position to a second position; the driving mechanism is fixed on the three-dimensional moving platform, the output end of the driving mechanism is connected with one of the second connecting rods, and the two second connecting rods are in transmission connection through the synchronous transmission mechanism. The carrying mechanism of the utility model has the advantages of small occupied space, fast carrying speed and high efficiency; the two second connecting rods are connected through belt transmission, so that the position precision is high, and the transmission noise is low.

Description

Carrying mechanism

Technical Field

The utility model relates to an automatic equipment technical field especially relates to a transport mechanism.

Background

In the field of automated equipment, a handling mechanism is often required to carry a product from a first location to a second location. According to the common conveying mechanism, after a product is loaded, a manipulator carries the product to be conveyed along with the base along the linear movement of an X axis and/or a Y axis, and meanwhile, the manipulator also needs the obstacle avoidance movement of a Z axis, so that the movement space is large, the control directions in the conveying process are multiple, the position precision of the in-place movement is low, and the control is complex. For some electronic products requiring precise position transfer, point-to-point precise positioning transfer is often required, and in a limited space of a process line, the traditional carrying mechanism cannot meet the requirement.

SUMMERY OF THE UTILITY MODEL

An object of the utility model is to provide a transport mechanism is particularly useful for the transport to the great electronic product of position accuracy requirement, can solve the low and big problem of motion space of transport precision.

To achieve the purpose, the utility model adopts the following technical proposal:

transport mechanism includes:

the device comprises a base, a three-dimensional moving platform and a control system, wherein the base is provided with the three-dimensional moving platform;

the connecting rod assembly comprises a first connecting rod and two second connecting rods, one ends of the two second connecting rods are respectively hinged to the three-dimensional moving platform, the other ends of the two second connecting rods are respectively hinged to the first connecting rod, a grabbing assembly is arranged on one side, away from the second connecting rods, of the first connecting rod and used for grabbing a product to be carried, and the second connecting rods can drive the first connecting rods and the grabbing assembly to move when rotating so as to carry the product to be carried from a first position to a second position;

the driving mechanism is fixed on the three-dimensional moving platform, the output end of the driving mechanism is connected with one of the second connecting rods to drive the second connecting rods to rotate, and the two second connecting rods are in transmission connection through a synchronous transmission mechanism.

Optionally, the grasping assembly includes:

the sleeve is fixedly connected to the first connecting rod;

the hollow pipe penetrates through the sleeve and is connected with the sleeve in a sliding manner, and the top end of the hollow pipe is communicated with a vacuumizing device;

the top end of the sucker is connected with the hollow tube and is communicated with the vacuumizing device through the hollow tube;

the elastic piece is abutted between the sucker and the sleeve.

Optionally, the base comprises:

the base plate is provided with an X-direction long slotted hole, and the first connecting piece penetrates through the X-direction long slotted hole to fix the base plate;

the L-shaped plate is provided with a Y-direction long slotted hole on a horizontal plate of the L-shaped plate, a Z-direction long slotted hole is arranged on a vertical plate of the L-shaped plate, the Y-direction long slotted hole is penetrated by a second connecting piece and connected to the bottom plate, and a third connecting piece is penetrated by the Z-direction long slotted hole and connected to the three-dimensional moving platform.

Optionally, a Y-direction chute is formed in the upper surface of the bottom plate, and a positioning rod is arranged at the bottom end of the three-dimensional moving platform and is slidably connected in the Y-direction chute.

Optionally, the synchronous drive mechanism comprises:

the two belt pulleys are respectively fixed on the two second connecting rods and are respectively coaxially arranged with the two second connecting rods;

and the belt is sleeved on the two belt pulleys to be in transmission connection with the two second connecting rods.

Optionally, the synchronous transmission mechanism further comprises a tension wheel, the tension wheel is adjustably mounted on the three-dimensional moving platform, and the tension wheel is abutted to the belt to provide a tension force. .

Optionally, the carrying mechanism further comprises a limiting assembly, the limiting assembly is arranged on the three-dimensional moving platform and located below the second connecting rod, and the second connecting rod can be stopped against the limiting assembly after rotating in place.

Optionally, the limiting assembly comprises two limiting posts and two hydraulic posts, the two limiting posts are respectively located at two ends of the second connecting rod in the rotating direction, the two hydraulic posts are respectively located at two ends of the second connecting rod in the rotating direction, and the second connecting rod can be sequentially abutted against the hydraulic posts and the limiting posts before rotating in place.

Optionally, the driving mechanism includes a servo motor, a speed reducer and a coupler, the speed reducer and the coupler are sequentially connected to an output end of the servo motor, and the coupler is connected to one of the second connecting rods.

Optionally, the carrying mechanism further includes three sensors, and the three sensors are respectively disposed at 0 °, 90 ° and-90 ° positions of the rotation direction of the second link.

The utility model has the advantages that:

the utility model discloses a carrying mechanism, three-dimensional mobile platform has adjusted three-dimensional position in advance and fixes on the base, set up link assembly through rotating on three-dimensional mobile platform, three-dimensional mobile platform and first connecting rod are articulated respectively to the both ends of two second connecting rods, when actuating mechanism drive two second connecting rods rotate, can drive the rotation of first connecting rod in the vertical plane, and then drive and snatch the subassembly and move to the second position from the first position, realize the transportation or the transport of product, it can be seen that, link assembly is the rotary motion in the vertical plane, the advantage that the space is little, the motion displacement of first connecting rod and snatch the subassembly is little, be suitable for the transportation or the transport of electronic product between the first position of small distance and second position, the transport speed is fast, high efficiency; the two second connecting rods are connected through belt transmission, synchronous rotating motion of the two second connecting rods is facilitated, synchronism is good, stress is balanced, and therefore stable motion of the first connecting rod is facilitated, position accuracy of two ends of rotating motion is high, and belt transmission noise is low.

Drawings

Fig. 1 is a first angle structure diagram of the carrying mechanism of the present invention;

FIG. 2 is a schematic view of the second angle of the carrying mechanism (with the housing and vacuum removed) according to the present invention;

fig. 3 is a schematic structural view of a grabbing component in the carrying mechanism of the present invention;

fig. 4 is a schematic structural view of a base in the carrying mechanism of the present invention;

fig. 5 is a schematic view of the first angle (with the link assembly removed) of the transfer mechanism of the present invention;

fig. 6 is an enlarged schematic view of the region a in fig. 5.

In the figure:

1. a base; 11. a base plate; 111. an X-direction long slot; 112. a Y-direction chute; 12. an L-shaped plate; 121. a Y-direction long slot; 122. a Z-direction long slot; 13. a wiring board; 131. a wiring groove; 2. a connecting rod assembly; 21. a first link; 22. a second link; 221. a bearing; 23. a synchronous transmission mechanism; 231. a belt pulley; 232. a belt; 233. a tension wheel; 3. a drive mechanism; 31. a servo motor; 32. a speed reducer; 33. a coupling; 4. a three-dimensional moving platform; 41. positioning a rod; 42. a housing; 5. a grasping assembly; 51. a sleeve; 52. a hollow tube; 53. a suction cup; 54. an elastic member; 55. a vacuum pumping device; 6. a limiting component; 61. a limiting plate; 62. a limiting column; 63. a hydraulic column; 7. a sensor.

Detailed Description

The present invention will be described in further detail with reference to the accompanying drawings and examples. It is to be understood that the specific embodiments described herein are merely illustrative of the invention and are not to be construed as limiting the invention. It should be further noted that, for the convenience of description, only some of the structures associated with the present invention are shown in the drawings, not all of them.

In the description of the present invention, unless expressly stated or limited otherwise, the terms "connected," "connected," and "fixed" are to be construed broadly, e.g., as meaning permanently connected, detachably connected, or integral to one another; can be mechanically or electrically connected; either directly or indirectly through intervening media, either internally or in any other relationship. The specific meaning of the above terms in the present invention can be understood as a specific case by those skilled in the art.

In the present application, unless expressly stated or limited otherwise, the recitation of a first feature "on" or "under" a second feature may include the recitation of the first and second features being in direct contact, and may also include the recitation of the first and second features not being in direct contact, but being in contact with another feature between them. Also, the first feature "on," "above" and "over" the second feature may include the first feature being directly above and obliquely above the second feature, or simply indicating that the first feature is at a higher level than the second feature. "beneath," "under" and "beneath" a first feature includes the first feature being directly beneath and obliquely beneath the second feature, or simply indicating that the first feature is at a lesser elevation than the second feature.

In the description of the present embodiment, the terms "upper", "lower", "right", etc. are used in an orientation or positional relationship based on that shown in the drawings only for convenience of description and simplicity of operation, and do not indicate or imply that the device or element referred to must have a particular orientation, be constructed and operated in a particular orientation, and thus, should not be construed as limiting the present invention. Furthermore, the terms "first" and "second" are used only for descriptive purposes and are not intended to have a special meaning.

The utility model provides a handling mechanism is applicable to and carries the electronic product to the second position from the first position accuracy, as shown in fig. 1 and fig. 2, handling mechanism includes base 1, link assembly 2 and actuating mechanism 3, and base 1 is fixed to be set up, if can fix on platforms such as floor or base, and base 1 top sets up three-dimensional moving platform 4, and in this embodiment, link assembly 2 and actuating mechanism 3 divide the both sides of establishing three-dimensional moving platform 4, through the motion of actuating mechanism 3 drive link assembly 2. Specifically, the connecting rod assembly 2 comprises a first connecting rod 21 and two second connecting rods 22, one ends of the two second connecting rods 22 are respectively hinged to the three-dimensional moving platform 4, the other ends of the two second connecting rods 22 are respectively hinged to the first connecting rod 21, the grabbing assembly 5 is arranged on one side, away from the second connecting rod 22, of the first connecting rod 21 and used for grabbing a product to be carried, and the second connecting rod 22 can drive the first connecting rod 21 and the grabbing assembly 5 to move and carry the product to be carried from a first position to a second position when rotating; the driving mechanism 3 is fixed on the three-dimensional moving platform 4, the output end of the driving mechanism 3 is connected with one of the second connecting rods 22 to drive the second connecting rods 22 to rotate, and the two second connecting rods 22 are in transmission connection through the synchronous transmission mechanism 23.

The utility model discloses a transport mechanism, three-dimensional mobile platform 4 has adjusted three-dimensional position in advance and fixes the rigidity on base 1, during the transport, it is used for snatching the product of treating the transport to snatch subassembly 5, set up link assembly 2 through rotating on three-dimensional mobile platform 4, two three-dimensional mobile platform 4 and first connecting rod 21 are articulated respectively to second connecting rod 22's both ends, when two second connecting rod 22 of actuating mechanism 3 drive rotate, can drive the motion of first connecting rod 21 in the vertical plane, and then the drive snatchs the product of treating the transport on subassembly 5 and transports to the second position from the first position, realize the transportation or the transport of product, therefore, link assembly 2 is the rotational motion in the vertical plane, the advantage that has the space little, first connecting rod 21 and the motion displacement of snatching subassembly 5 are little, be suitable for the transportation or the transport of electronic product between the first position of small distance and the second position, the transport speed is fast, high efficiency. Two second connecting rods 22 are connected through the transmission of the synchronous transmission mechanism 23, so that the improvement of the synchronization degree of the two second connecting rods 22 is facilitated, and the carrying position precision is improved.

In this embodiment, the synchronous transmission mechanism 23 includes a pulley 231 and a belt 232, the pulley 231 is disposed on the second link 22 and coaxially connected, and the belt 233 is sleeved on the two pulleys 231 to synchronously connect the two second links 22.

As shown in fig. 2, the two second connecting rods 22 are connected through the belt 232 in a transmission manner, so that the two second connecting rods 22 can rotate synchronously, the synchronism is good, the stress is balanced, the stable movement of the first connecting rod 21 can be realized, the positioning positions at the two ends of the movement stroke of the first connecting rod 21 are high in precision, and the belt 232 is low in transmission noise. In the preferred embodiment, the two second connecting rods 22 are arranged along the vertical direction of the three-dimensional moving platform 4, and are respectively connected with the three-dimensional moving platform 4 in a rotating manner through bearings 221, the rotating plane is a vertical plane, and the lengths of the two second connecting rods 22 are the same. Connect belt pulley 231 on the second connecting rod 22, specifically, the one end that bearing 221 deviates from second connecting rod 22 sets up belt pulley 231, and belt pulley 231 and the coaxial setting of second connecting rod 22 realize the transmission on two belt pulleys 231 that belt 232 cover was established and connect, and when actuating mechanism 3 drive arbitrary one second connecting rod 22 rotated, two second connecting rods 22 realized synchronous rotation through the transmission of belt 232, and turning moment is big, and the synchronism is good. It can be understood that the first connecting rod 21, the two second connecting rods 22 and the three-dimensional moving platform 4 form a parallelogram connecting rod motion mechanism, and in the vertical plane, in the process that the two second connecting rods 22 with the same length are positively and negatively rotated to two limit or limit positions, the first connecting rod 21 can be ensured to be always kept in the vertical direction, and the movement of the first connecting rod 21 in the vertical plane can convey the product from the first position to the second position, so that the conveying precision is high.

Optionally, the grasping assembly 5 includes a sleeve 51, a hollow tube 52, a suction cup 53 and an elastic member 54, the sleeve 51 being fixedly connected to the first link 21; the hollow tube 52 penetrates through the sleeve 51 and is connected with the sleeve 51 in a sliding way, and the top end of the hollow tube 52 is communicated with a vacuumizing device 55; the top end of the suction cup 53 is connected with the hollow pipe 52 and is communicated with a vacuum extractor 55 through the hollow pipe 52; the elastic member 54 abuts between the suction cup 53 and the sleeve 51.

Referring to fig. 1 and 3, the first link 21 is L-shaped, the first link 21 includes a vertical section and a horizontal section that are perpendicular to each other, the vertical section is connected to the second link 22, the end of the horizontal section is connected to the sleeve 51, the hollow tube 52 is inserted into the sleeve 51, the hollow tube 52 is sleeved with a snap ring or a snap ring, and the snap ring or the snap ring can abut against the top end of the sleeve 51 to limit downward movement of the hollow tube 52, so that the hollow tube 52 can move upward only along with the suction cup 53 but cannot move downward. By providing the elastic member 54 between the suction cup 53 and the sleeve 51, the elastic member 54 is preferably a spring, and the spring is sleeved on the outer circumference of the hollow tube 52, and when the suction cup 53 contacts the product and adsorbs the product, the elastic member 54 is compressed and deformed so that the suction cup 53 can be elastically contacted with the product, thereby preventing the product from being damaged. It should be added that there is a rotation limit between the sleeve 51 and the vacuum tube 52, so that the sleeve can only slide axially and cannot rotate. Rotation limiting means include, but are not limited to, keyed connections or providing non-circular surface contact between the outer wall of hollow tube 52 and the inner wall of sleeve 51.

Optionally, the base 1 comprises a bottom plate 11 and an L-shaped plate 12, the bottom plate 11 has an X-direction long slot 111, and a first connecting member penetrates through the X-direction long slot 111 and is connected to a floor or a base or other platform to adjustably connect and fix the base 1; the horizontal plate of the L-shaped plate 12 is provided with a Y-direction long slotted hole 121, the vertical plate of the L-shaped plate 12 is provided with a Z-direction long slotted hole 122, a second connecting piece penetrates through the Y-direction long slotted hole 121 to adjustably connect the L-shaped plate 12 to the bottom plate 11, and a third connecting piece penetrates through the Z-direction long slotted hole 122 to adjustably connect the three-dimensional moving platform 4 to the L-shaped plate 12.

As shown in fig. 4, the bottom plate 11 is provided with a plurality of X-direction long slots 111, when the device is installed, the first connecting member penetrates through the X-type long slots 111 and is loosely connected (loose connection means pre-connection but not tightening) to a floor or a base or other platform, and after the bottom plate 11 slides along the long axis direction of the X-direction long slots 111 relative to the first connecting member to adjust the X-direction position of the bottom plate 11, the first connecting member is locked to realize adjustment and fixation of the bottom plate 11. Similarly, the second connecting piece and the Y-direction slotted hole 121 can realize the Y-direction adjustment and fixation of the L-shaped plate 12 relative to the bottom plate 11, and the third connecting piece and the Z-direction slotted hole 122 can realize the Z-direction position adjustment and fixation of the three-dimensional moving platform 4 relative to the vertical plate. In conclusion, the three-way position adjustment and fixation of X, Y, Z of the three-dimensional moving platform 4 can be realized.

In some embodiments, the upper surface of the bottom plate 11 has a Y-direction sliding slot 112, and the bottom end of the three-dimensional moving platform 4 has a positioning rod 41, and the positioning rod 41 is slidably connected in the Y-direction sliding slot 112. The bottom end of the positioning rod 41 abuts against the bottom of the Y-direction sliding groove 112, and the positioning rod 41 has the following functions: the three-dimensional moving platform 4 is supported on one side departing from the L-shaped plate 12, so that the stability and reliability of the three-dimensional moving platform 4 in the vertical direction are ensured; the guiding function when the L-shaped plate 12 moves in the Y-direction.

Optionally, the base 1 further includes a wiring board 13, the wiring board 13 is fixed on the top end of the three-dimensional mobile platform 4, and a wiring slot 131 is arranged on the wiring board 13.

As shown in fig. 1, the routing plate 13 is an inverted L-shaped, the three-dimensional moving platform 4 is a vertical plate, the bottom end of the routing plate 13 is fixedly connected to the top end of the three-dimensional moving platform 4, and a routing groove 131 is formed in the top end of the routing plate 13. In this embodiment, evacuating device 55 sets up and deviates from the one side of snatching subassembly 5 at three-dimensional moving platform 4, and consequently, hollow tube 52 need wear to establish trough 131 through the vacuum tube and be connected to evacuating device 55, can understand, and trough 131 is seted up on the top, can avoid vacuum tube and link assembly 2's motion to interfere to improve the transport security.

Optionally, the carrying mechanism further comprises a limiting component 6, the limiting component 6 is arranged on the three-dimensional moving platform 4 and is located below the second connecting rod 22, and the second connecting rod 22 can stop against the limiting component 6 after rotating in place.

As shown in fig. 1 and 5, the rotation of the second link 22 is a reciprocating rotation in the range from-90 ° to 90 °, and when the second link is rotated to the two extreme positions, it just corresponds to the first position and the second position of the gripper assembly 5, so as to carry the product between the two stations or positions. By arranging the limiting component 6, the rotation angle of the second connecting rod 22 can be limited, and excessive rotation or insufficient rotation can be avoided.

Optionally, the limiting assembly 6 includes two limiting posts 62 and two hydraulic posts 63, the two limiting posts 62 and the two hydraulic posts 63 are respectively located at two ends of the second connecting rod 22 in the rotation direction, and the second connecting rod 22 can be sequentially abutted against the two limiting posts 63 and the two limiting posts 62 before rotating in place.

As shown in fig. 5 and 6, the limiting column 62 and the hydraulic column 63 are fixed on the three-dimensional moving platform 4 through the limiting plate 61, the limiting column 62 and the hydraulic column 63 are vertically arranged on the limiting plate 61 as a hard limiting position and a soft limiting position respectively, and when the second connecting rod 22 rotates, the second connecting rod firstly abuts against the hydraulic column 63 and compresses the hydraulic column 63, then abuts against the limiting column 62, and rotates in place. The hydraulic column 63 may be a hydraulic rod, and the second link 22 can be automatically reset when rotating in the reverse direction.

Alternatively, the driving mechanism 3 includes a servo motor 31, a speed reducer 32 and a coupling 33, the speed reducer 32 and the coupling 33 are sequentially connected to an output end of the servo motor 31, and the coupling 33 is connected to one of the second links 22.

As shown in fig. 1 and 3, after the output end of the servo motor 31 is sequentially connected to the reducer 32 and the coupling 33, the bearing 221 of the lower second connecting rod 22 is connected to the coupling 33 to drive the second connecting rod 22 to rotate, it should be noted that the servo motor 31 can drive the second connecting rod 22 to rotate in the forward and reverse directions, and the rotation angle is preset and fixed, but after long-time rotation and use, there may be errors in the rotation position, therefore, in this embodiment, the driving mechanism further includes three sensors 7, and the three sensors 7 are respectively disposed at 0 °, 90 ° and-90 ° positions of the rotation direction of the second connecting rod 22.

As shown in fig. 2, a pulley 231 is disposed on one side of the two second links 22 facing the driving mechanism to mount a belt 232, and three sensors 7 are disposed on the periphery of the pulley 231 of the upper second link 2, corresponding to 0 °, 90 ° and-90 ° rotation positions of the pulley 231, respectively, for detecting the rotation in place and performing null calibration. The three sensors 7 are respectively fixed on the three-dimensional moving platform 4. In some embodiments, the sensor 7 may be a photoelectric sensor in combination with a sensing strip.

Optionally, the synchronous transmission mechanism 23 further includes a tension wheel 233, the tension wheel 233 is adjustably mounted on the three-dimensional moving platform 4, and the tension wheel 233 abuts against the belt 232 to provide a tension force.

As shown in fig. 2, at least one tension wheel 233 is disposed on the three-dimensional moving platform 4, and when the length of the belt 232 is large, one tension wheel 233 may be disposed on each of two sides of the belt 232 to provide sufficient tension. The tension wheel 233 is adjustably connected with the three-dimensional moving platform 4, so that the tension force applied by the tension wheel 233 to the belt 232 can be conveniently adjusted.

Supplementary explanation, the utility model discloses a handling mechanism, link assembly 2 and actuating mechanism 3 divide and establish in the both sides of three-dimensional moving platform 4, and three-dimensional moving platform 4 sets up casing 42 towards one side of actuating mechanism 3, and belt pulley 231, belt 232 and shaft coupling 33 etc. all are located casing 42, and evacuating device 55 is fixed in the outside of casing 42, is connected with the subassembly 5 that snatchs of three-dimensional moving platform 4 opposite side through top trough 131.

It is obvious that the above embodiments of the present invention are only examples for clearly illustrating the present invention, and are not intended to limit the embodiments of the present invention. Numerous obvious variations, rearrangements, and substitutions will now occur to those skilled in the art without departing from the scope of the invention. This need not be, nor should it be exhaustive of all embodiments. Any modification, equivalent replacement, and improvement made within the spirit and principle of the present invention should be included in the protection scope of the claims of the present invention.

Claims

1. Handling mechanism, its characterized in that includes:

the device comprises a base (1), wherein a three-dimensional moving platform (4) is arranged on the base (1);

the connecting rod assembly (2) comprises a first connecting rod (21) and two second connecting rods (22), one ends of the two second connecting rods (22) are respectively hinged to the three-dimensional moving platform (4), the other ends of the two second connecting rods are respectively hinged to the first connecting rod (21), a grabbing component (5) is arranged on one side, away from the second connecting rod (22), of the first connecting rod (21) and used for grabbing a product to be carried, and the second connecting rod (22) can drive the first connecting rod (21) and the grabbing component (5) to move when rotating so as to carry the product to be carried from a first position to a second position;

the driving mechanism (3) is fixed on the three-dimensional moving platform (4), the output end of the driving mechanism (3) is connected with one of the second connecting rods (22) to drive the second connecting rods (22) to rotate, and the two second connecting rods (22) are in transmission connection through a synchronous transmission mechanism (23).

2. Handling mechanism according to claim 1, wherein the gripping assembly (5) comprises:

a sleeve (51), said sleeve (51) being fixedly connected to said first link (21);

the hollow pipe (52) penetrates through the sleeve (51) and is connected with the sleeve (51) in a sliding mode, and the top end of the hollow pipe (52) is communicated with a vacuumizing device (55);

the top end of the sucking disc (53) is connected with the hollow tube (52) and is communicated with the vacuumizing device (55) through the hollow tube (52);

an elastic member (54), wherein the elastic member (54) is in contact with a space between the suction cup (53) and the sleeve (51).

3. Handling mechanism according to claim 2, characterized in that said basement (1) comprises:

the base plate (11), the base plate (11) has X-direction slotted holes (111), and first connecting pieces penetrate through the X-direction slotted holes (111) to fix the base plate (11);

the L-shaped plate (12), the horizontal plate of the L-shaped plate (12) is provided with a Y-direction slotted hole (121), the vertical plate of the L-shaped plate (12) is provided with a Z-direction slotted hole (122), a second connecting piece penetrates through the Y-direction slotted hole (121) and is connected with the bottom plate (11), and a third connecting piece penetrates through the Z-direction slotted hole (122) and is connected with the three-dimensional moving platform (4).

4. The carrying mechanism according to claim 3, characterized in that the upper surface of the bottom plate (11) is provided with a Y-direction sliding slot (112), the bottom end of the three-dimensional moving platform (4) is provided with a positioning rod (41), and the positioning rod (41) is slidably connected in the Y-direction sliding slot (112).

5. Handling mechanism according to claim 1, wherein the synchronous transmission mechanism (23) comprises:

two belt pulleys (231) are arranged, and the two belt pulleys (231) are respectively fixed on the two second connecting rods (22) and are respectively coaxially arranged with the two second connecting rods (22);

and the belt (232) is sleeved on the two belt pulleys (231) to be in transmission connection with the two second connecting rods (22).

6. The handling mechanism according to claim 5, wherein the synchronous transmission mechanism further comprises a tension wheel (233), the tension wheel (233) is adjustably mounted on the three-dimensional moving platform (4), and the tension wheel (233) abuts against the belt (232) to provide tension.

7. A handling mechanism according to any of claims 1 to 6, characterized in that it further comprises a limiting component (6), said limiting component (6) is arranged on said three-dimensional moving platform (4) and is located below said second link (22), said second link (22) can stop against said limiting component (6) after rotating to the right position.

8. The carrying mechanism according to claim 7, characterized in that the limiting assembly (6) comprises two limiting columns (62) and two hydraulic columns (63), the two limiting columns (62) are respectively located at two ends of the second connecting rod (22) in the rotating direction, the two hydraulic columns (63) are respectively located at two ends of the second connecting rod (22) in the rotating direction, and the second connecting rod (22) can be abutted against the hydraulic columns (63) and the limiting columns (62) in sequence before rotating to the right position.

9. Handling mechanism according to any of claims 1-6, characterized in that the driving mechanism (3) comprises a servo motor (31), a reducer (32) and a coupling (33), the reducer (32) and the coupling (33) being connected in series to the output of the servo motor (31), the coupling (33) being connected to one of the second links (22).

10. Handling mechanism according to any of claims 1-6, characterized in that the handling mechanism further comprises three sensors (7), which sensors (7) are arranged at 0 °, 90 ° and-90 ° of the direction of rotation of the second link (22), respectively.