Expansion and contraction mechanisms and handling mechanisms

Abstract

This invention discloses a telescoping mechanism and a conveying mechanism, including a mounting base, a linkage telescoping mechanism, and a first driving assembly. The linkage telescoping mechanism includes multiple linkages hinged to each other, forming a first hinged driving part and a first hinged mounting part laterally opposite each other among the linkages. The first hinged driving part is rotatably mounted on the mounting base. The linkage telescoping mechanism can convert the rotation of the first hinged driving part into the lateral movement of the first hinged mounting part. The first hinged mounting part is used for mounting an adsorption assembly, and the first driving assembly is used to drive the first hinged driving part to rotate. In this invention, when the width of the printed circuit board changes, the adsorption assembly can move laterally under the drive of the first hinged driving part until it reaches the optimal position for adsorbing the printed circuit board.

Description

Technical Field

[0001] This invention relates to the field of material handling technology, and in particular to an expansion and contraction mechanism and a material handling mechanism. Background Technology

[0002] In existing automated production of printed circuit boards, a robotic arm is usually used to drive the first adsorption component to fix and transport the printed circuit boards. However, since the length, width and size of each printed circuit board are different, manual adjustment is usually required to adjust the position of the first adsorption component on the robotic arm to assist in the transport of the printed circuit boards, which greatly increases the production cost of printed circuit boards and reduces production efficiency. Summary of the Invention

[0003] The main objective of this invention is to provide a shrinking and conveying mechanism, which is designed to be highly efficient, low-cost, and capable of automatically adjusting the adsorption distance.

[0004] To achieve the above objectives, the present invention provides a shrinking mechanism comprising:

[0005] Mounting base;

[0006] A linkage extension and retraction mechanism includes multiple linkages hinged to each other. A first hinge driving part and a first hinge mounting part are formed between the multiple linkages and arranged laterally opposite each other. The first hinge driving part is rotatably mounted on a mounting base. The linkage extension and retraction mechanism can convert the rotation of the first hinge driving part into lateral movement of the first hinge mounting part. The first hinge mounting part is used for mounting an adsorption assembly.

[0007] The first drive assembly is used to drive the first hinge drive part to rotate.

[0008] Optionally, two linkage extension and retraction mechanisms are provided and arranged at intervals in the lateral direction. The first hinge drive parts of the two linkage extension and retraction mechanisms rotate so that the lateral distance between the two first hinge mounting parts can be adjusted.

[0009] Optionally, the first driving component can simultaneously drive two of the first hinged driving parts.

[0010] Optionally, the linkage extension and retraction mechanism includes a first link, a second link, a third link, and a fourth link. One end of the first link and the second link are hinged together on the mounting base, and the other end is respectively hinged to the third link and the fourth link. The other end of the third link and the fourth link are hinged together on the first hinge mounting part.

[0011] The first hinged drive unit includes a first link, a second link, a third link, and a fourth link that are hinged to each other.

[0012] Optionally, the two first links of the two linkage extension and retraction mechanisms are integrally arranged; and / or,

[0013] The two second links of the two linkage extension and retraction mechanisms are integrally formed.

[0014] Optionally, the first driving component includes:

[0015] The first motor is mounted on the mounting base and has a rotating part that rotates along the vertical axis;

[0016] The first and second pulleys are spaced apart longitudinally; and,

[0017] A belt is wrapped around the two pulleys so that the two pulleys can rotate synchronously.

[0018] The first pulley is connected to the rotating part and can rotate with the rotating part. The lower end face of the second pulley is fixedly connected to the upper end face of the first connecting rod to drive the first connecting rod to rotate.

[0019] Optionally, the diameter of the first pulley is A, and the diameter of the second pulley is B, where A ≤ B.

[0020] Optionally, the telescopic mechanism further includes a limiting mechanism to restrict the rotation of the linkage telescopic mechanism;

[0021] The limiting mechanism includes:

[0022] A first limiting rod is arranged laterally, and a limiting groove is provided along the thickness direction of the first limiting rod.

[0023] A limiting slider is engaged within the limiting groove and has a sliding stroke along the limiting groove; a hinge rod extends downward from the bottom of the limiting slider; and...

[0024] The second limiting rod and the third limiting rod are hinged together at one end to the hinged rod, and the other end is respectively hinged to the first connecting rod and the second connecting rod.

[0025] Optionally, the linkage extension mechanism includes an auxiliary extension mechanism to assist the linkage extension mechanism in converting the rotation of the first hinge drive part into the lateral movement of the first hinge mounting part;

[0026] The auxiliary extension and retraction mechanism includes a fifth link, a sixth link, and a seventh link. One end of the fifth link, the sixth link, and the seventh link are hinged together, and the other end is respectively hinged to the mounting frame, the first hinge drive part, and the first hinge mounting part.

[0027] The present invention also proposes a conveying mechanism, including an expansion and contraction mechanism, wherein the expansion and contraction mechanism includes:

[0028] Mounting base;

[0029] A linkage extension and retraction mechanism includes multiple linkages hinged to each other. A first hinge driving part and a first hinge mounting part are formed between the multiple linkages and arranged laterally opposite each other. The first hinge driving part is rotatably mounted on a mounting base. The linkage extension and retraction mechanism can convert the rotation of the first hinge driving part into lateral movement of the first hinge mounting part. The first hinge mounting part is used for mounting an adsorption assembly.

[0030] The first drive assembly is used to drive the first hinge drive part to rotate.

[0031] In the technical solution of this invention, the linkage extension and retraction mechanism includes multiple linkages that are hinged to each other. A first hinge driving part and a first hinge mounting part are formed between the multiple linkages and arranged laterally opposite each other. The first hinge driving part can move under the action of the first driving component, and the first hinge mounting part can move laterally under the drive of the first hinge driving part. The adsorption component is mounted on the first hinge mounting part. Thus, when the width of the printed circuit board changes, the adsorption component can move laterally under the drive of the first hinge driving part until it moves to the optimal position to adsorb the printed circuit board. Attached Figure Description

[0032] To more clearly illustrate the technical solutions in the embodiments of the present invention or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on the structures shown in these drawings without creative effort.

[0033] Figure 1 A three-dimensional structural schematic diagram of an embodiment of the conveying mechanism provided by the present invention;

[0034] Figure 2 for Figure 1 A three-dimensional structural schematic diagram of an embodiment of the telescoping mechanism;

[0035] Figure 3 for Figure 2A three-dimensional structural diagram of the connecting rod extension and retraction mechanism;

[0036] Figure 4 for Figure 1 A three-dimensional structural diagram of the first drive component and the auxiliary extension and contraction mechanism;

[0037] Figure 5 for Figure 1 A three-dimensional structural diagram of the middle limiting mechanism;

[0038] Figure 6 for Figure 1 A three-dimensional structural diagram of the auxiliary material handling mechanism;

[0039] Figure 7 for Figure 1 A three-dimensional structural diagram of the mid-position compensation mechanism;

[0040] Figure 8 for Figure 1 A three-dimensional structural schematic diagram of another embodiment of the expansion and contraction mechanism.

[0041] Explanation of icon numbers:

[0042]

[0043]

[0044] The realization of the objective, functional features and advantages of the present invention will be further explained in conjunction with the embodiments and with reference to the accompanying drawings. Detailed Implementation

[0045] The technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those of ordinary skill in the art without creative effort are within the scope of protection of the present invention.

[0046] It should be noted that all directional indications (such as up, down, left, right, front, back, etc.) in the embodiments of the present invention are only used to explain the relative positional relationship and movement of each component in a certain specific posture (as shown in the figure). If the specific posture changes, the directional indication will also change accordingly.

[0047] Furthermore, the use of terms such as "first" and "second" in this invention is for descriptive purposes only and should not be construed as indicating or implying their relative importance or implicitly specifying the number of technical features indicated. Therefore, a feature defined with "first" or "second" may explicitly or implicitly include at least one of that feature. Additionally, the technical solutions of the various embodiments can be combined with each other, but only on the basis of being achievable by those skilled in the art. When the combination of technical solutions is contradictory or impossible to implement, such a combination of technical solutions should be considered non-existent and not within the scope of protection claimed by this invention.

[0048] In existing automated production of printed circuit boards, a robotic arm is usually used to drive the first adsorption component to fix and transport the printed circuit boards. However, since the length, width and size of each printed circuit board are different, manual adjustment is usually required to adjust the position of the first adsorption component on the robotic arm to assist in the transport of the printed circuit boards, which greatly increases the production cost of printed circuit boards and reduces production efficiency.

[0049] To address the aforementioned problems, this invention proposes a shrinking mechanism, aiming to provide a high-efficiency, low-cost shrinking mechanism with automatically adjustable adsorption distance, wherein... Figures 1 to 8 This is a three-dimensional structural diagram of an embodiment of the conveying mechanism provided by the present invention.

[0050] Reference Figure 1 and Figure 2 This invention proposes a telescoping mechanism 2, including a mounting base 1, a link telescoping mechanism 21, and a first drive assembly 3. The link telescoping mechanism 21 includes multiple links that are hinged to each other. A first hinged drive part 211 and a first hinged mounting part 212 are formed between the multiple links and arranged laterally opposite each other. The first hinged drive part 211 is rotatably mounted on the mounting base 1. The link telescoping mechanism 21 can convert the rotation of the first hinged drive part 211 into the lateral movement of the first hinged mounting part 212. The first hinged mounting part 212 is used for mounting the adsorption assembly 110. The first drive assembly 3 is used to drive the first hinged drive part 211 to rotate.

[0051] In the technical solution of the present invention, the linkage extension and retraction mechanism 21 includes a plurality of linkages hinged to each other. A first hinge driving part 211 and a first hinge mounting part 212 are formed between the plurality of linkages and are arranged laterally opposite each other. The first hinge driving part 211 can move under the action of the first driving component 3, and the first hinge mounting part 212 can move laterally under the drive of the first hinge driving part 211. The adsorption component 110 is mounted on the first hinge mounting part 212. Thus, when the width of the printed circuit board changes, the adsorption component 110 can move laterally under the drive of the first hinge driving part 211 until it moves to the optimal position for adsorbing the printed circuit board.

[0052] Please refer to Figure 3 To achieve adsorption of the printed circuit board (hereinafter referred to as PCB), the adsorption assembly 110 is provided with a plurality of first suction cups 1101. The first suction cup 1101 can be one or more; this invention does not limit this. To ensure a firm adsorption of the PCB, in one embodiment of this invention, a plurality of first suction cups 1101 are provided and spaced apart along the length direction of the first hinge mounting portion 212 to form the adsorption assembly 110. Further, the adsorption assembly 110 can be one set or multiple sets. To ensure that the PCB does not shake when adsorbed, in one embodiment of this invention, the adsorption assembly 110 is provided with two sets, and... The connecting rod extension and retraction mechanisms 21 are respectively located on opposite sides of the PCB board. Specifically, two connecting rod extension and retraction mechanisms 21 are provided and arranged at intervals in the horizontal direction so that two sets of adsorption components 110 can be installed on the extension and retraction mechanism 2 at the same time to complete the adsorption on both sides of the PCB board simultaneously, ensuring the stability of the adsorption of the PCB board by the extension and retraction mechanism 2. Furthermore, the first hinge drive parts 211 of the two connecting rod extension and retraction mechanisms 21 can be rotated so that the distance between the two first hinge mounting parts 212 in the horizontal direction can be adjusted, thereby making the distance between the adsorption components 110 installed on the first hinge mounting parts 212 adjustable, so that the extension and retraction mechanism 2 can realize the handling of PCB boards of different widths.

[0053] To reduce the size of the mechanism and save on costs, in one embodiment of the present invention, the first driving assembly 3 simultaneously drives two first hinge driving parts 211. There are several ways in which the first driving assembly 3 simultaneously drives two first hinge driving parts 211. For example, the first hinge driving parts 211 can be stacked together and driven together by the first driving assembly 3, or two link extension / retraction mechanisms 21 can share one first hinge driving part 211. The latter is preferred in this invention. Specifically, the link extension / retraction mechanism 21 includes a first link 2111, a second link 2112, a third link 2113, and a fourth link 2114. One end of the first link 2111 and the second link 2112 are hinged together on the mounting base 1, and the other ends are respectively hinged to the third link 2113 and the fourth link 2114. The third link 2113 and the... The other end of the fourth link 2114 is hinged to the first hinge mounting part 212. The first hinge driving part 211 includes the first link 2111, the second link 2112, the third link 2113, and the fourth link 2114, which are hinged to each other. The two first links 2111 of the two link extension mechanisms 21 are integrally arranged, and / or the two second links 2112 of the two link extension mechanisms 21 are integrally arranged. In this way, the two link extension mechanisms 21 are combined into one mechanism, sharing some links, reducing the number of links, reducing the size of the mechanism, and reducing the production cost of the mechanism. At the same time, due to the integral arrangement of the first link 2111, the two link extension mechanisms 21 share the same first hinge driving part 211. The first driving component 3 only needs to drive one first hinge driving part 211 to complete the driving of the entire mechanism, reducing enterprise costs.

[0054] Please refer to Figure 4The linkage extension and retraction mechanism 21 can convert the rotation of the first hinge drive part 211 into the lateral movement of the first hinge mounting part 212. The first drive assembly 3 is used to drive the first hinge drive part 211 to rotate. Therefore, the first drive assembly 3 should include, but is not limited to, the first motor 31, pulleys, and any other mechanism that can provide rotational motion. In one embodiment of the present invention, the first drive assembly 3 includes the first motor 31, the first pulley 32 and the second pulley 33, and the belt 34. The first motor 31 is mounted on the mounting base 1 and has a rotating part that rotates along the vertical axis. The first pulley 32 and the second pulley 33 are arranged longitudinally at intervals, and the belt 34 is closedly wrapped around the two pulleys. The belts 34 are arranged to allow the two belts 34 to rotate synchronously. The first belt pulley 32 is connected to the rotating part and can rotate with the rotating part. The lower end face of the second belt pulley 33 is fixedly connected to the upper end face of the first connecting rod 2111 to drive the first connecting rod 2111 to rotate. The rotation of the first motor 31 drives the first belt pulley 32 to rotate. The rotation of the first belt pulley 32 drives the second belt pulley 33 connected to it via the belt 34 to rotate. The rotation of the second belt pulley 33 drives the first connecting rod 2111 fixedly connected to its lower end face to rotate, thereby driving the first hinge mounting part 212 to move laterally, thereby adjusting the distance between the two adsorption components 110.

[0055] In order to make the driving amount of the first drive component 3 adjustable, in one embodiment of the present invention, the diameter of the first pulley 32 is A, the diameter of the second pulley 33 is B, and A≤B. Thus, by adjusting the diameter difference between the first pulley 32 and the second pulley 33, the reduction ratio between the first pulley 32 and the second pulley 33 can be adjusted, thereby achieving the purpose of adjusting the driving amount of the first drive component 3.

[0056] Understandably, if the connection method of the first link 2111, the second link 2112, the third link 2113, and the fourth link 2114 is used, in addition to the movement of the link extension mechanism 21, the third link 2113 and the fourth link 2114 will also rotate under the drive of the first link 2111 and the second link 2112. Although the rotating link extension mechanism 21 can still perform the work of adjusting the distance, it is undoubtedly not conducive to improving efficiency. Therefore, please refer to... Figure 5In one embodiment of the present invention, the telescoping mechanism 2 further includes a limiting mechanism 4 to restrict the rotation of the link telescoping mechanism 21. The limiting mechanism 4 includes a first limiting rod 41, a limiting slider 42, a second limiting rod 43, and a third limiting rod 44 arranged laterally. The first limiting rod 41 has a limiting groove 411 extending through it along its thickness direction. The limiting slider 42 is engaged in the limiting groove 411 and has a sliding stroke along the limiting groove 411. A hinge rod extends downward from the bottom of the limiting slider 42. One end of the second limiting rod 43 and the third limiting rod 44 are hinged together on the hinge rod, and the other end is respectively hinged to the first connecting rod 2111. In this way, the degree of freedom of the link telescoping mechanism 21 is reduced, making the action of the link telescoping mechanism 21 unique.

[0057] Understandably, since the first hinge drive unit 211 and the first hinge mounting unit 212 have only one contact point, when the first hinge mounting unit 212 moves laterally under the drive of the first hinge drive unit 211, the first hinge mounting unit 212 will sway and rotate due to insufficient support points, thereby affecting the stability of the telescopic mechanism 2. Therefore, please refer to... Figure 4 In one embodiment of the present invention, the linkage extension and retraction mechanism 21 includes an auxiliary extension and retraction mechanism 52 to assist the linkage extension and retraction mechanism 21 in converting the rotation of the first hinge drive part 211 into the lateral movement of the first hinge mounting part 212. The auxiliary extension and retraction mechanism 52 includes a fifth link 51, a sixth link 52, and a seventh link 53. One end of the fifth link 51, the sixth link 52, and the seventh link 53 are hinged together, and the other end is respectively hinged to the mounting frame 611, the first hinge drive part 211, and the first hinge mounting part 212. In this way, two support points are formed on the first hinge mounting part 212 to ensure the smooth operation of the first hinge mounting part 212.

[0058] In another embodiment of the present invention, the link extension / retraction mechanism 21 can be replaced by two parallelogram link mechanisms 6. Specifically, please refer to... Figure 8The parallelogram linkage mechanism 6 includes a mounting frame 611, a tenth link 621, and two eighth links 612. The tenth link 621 is arranged parallel to the mounting frame 611, and the two eighth links 612 are arranged longitudinally at intervals to rotatably connect the mounting frame 611 and the tenth link 621. The second hinged mounting part 62 includes the tenth link 621, and the adsorption component 110 is mounted on the tenth link 621. The second hinged driving part 61 includes the eighth links 612. The two parallelogram linkage mechanisms 6 share a mounting frame 611. Thus, the mounting frame 611, the tenth link 621, and the two eighth links 612 together form a four-bar linkage mechanism. By driving the two eighth links 612, the adsorption component 110 can be moved closer and further away, thereby achieving the purpose of adjusting the distance of the adsorption component 110 according to the width of the PCB board.

[0059] Understandably, in the above embodiments, although the tenth link 621 has a travel distance capable of moving closer and further away, it also rotates relative to the PCB board. To limit the movement trajectory of the tenth link 621, in one embodiment of the present invention, the parallelogram linkage mechanism 6 includes a rectangular link group 613 and two ninth links 612 spaced apart along the longitudinal direction. The two eighth links 612 and the two ninth links 612 are respectively hinged to both sides of the rectangular link group 613 along the width direction of the rectangular link group 613. The other end of the two eighth links 612 is hinged to the mounting bracket 611, and the two ninth links 612 are hinged to the tenth link 621. In this way, the degree of freedom of the parallelogram linkage mechanism 6 is limited to 1 by the rectangular link group 613, so as to ensure that the two parallelogram linkage mechanisms 6 can move along a predetermined straight trajectory.

[0060] The second drive assembly 7 can be a motor, a belt pulley, or a motor and a gear set. In one embodiment of the present invention, the second drive assembly 7 includes a second motor 71, a drive gear 72, and a driven gear 73. The second motor 71 is mounted on the mounting bracket 611 and has a rotating part that rotates along the vertical axis. The drive gear 72 is fixedly connected to the rotating part. The driven gear 73 includes two first driven gears 73173, two second driven gears 73273, and two third driven gears 73373. The two first driven gears 73173 are rotatably mounted on one of the two eighth connecting rods 612 and the mounting end of the mounting base 1, and the lower end face of the first driven gear 73173 is fixedly connected to the upper end face of the eighth connecting rod 612. The two second driven gears 73273 are rotatably mounted on the mounting end of one of the two eighth connecting rods 612 and the rectangular rod group 613, and the lower end face of the second driven gear 73273 is fixedly connected to the upper end face of the eighth connecting rod 612. The two third driven gears 73373 are rotatably mounted on the mounting end of one of the two ninth connecting rods 612 and the rectangular rod group 613, and the lower end face of the third driven gear 73373 is fixedly connected to the upper end face of the ninth connecting rod 612. The driving gear 72 meshes with one of the two first driven gears 73173, the two first driven gears 73173 mesh with each other, and the two second driven gears 73273 mesh with the two third driven gears 73373 respectively.

[0061] In the above embodiment, the drive gear 72, driven by the motor, drives the first driven gear 73173 meshing with it to rotate. The rotation of the first driven gear 73173 will drive another first driven gear 73173 meshing with it to rotate, thereby driving the tenth link 621 fixedly connected to the first driven gear 73173 to rotate. The rotation of the tenth link 621 will drive the second driven gear 73273 connected to the tenth link 621 to rotate. The rotation of the second driven gear 73273 will drive the third driven gear 73373 meshing with it to rotate. The rotation of the third driven gear 73373 will drive the ninth link 612 fixedly connected to the third driven gear 73373 to rotate, thereby driving the tenth link 621 to move laterally. In this way, the purpose of adjusting the adsorption component 110 is achieved.

[0062] To make the meshing distance between the drive gear 72 and the driven gear 73 adjustable, in one embodiment of the present invention, the drive gear 72 is provided with an adjustment groove to adjust the installation position of the drive gear 72, and / or the driven gear 73 is provided with an adjustment groove to adjust the installation position of the driven gear 73. The drive gear 72 and the driven gear 73 are mounted on the connecting rod through the adjustment groove. By adjusting the installation position of the connecting rod within the adjustment groove, the meshing distance of the gears can be adjusted.

[0063] The present invention also proposes a conveying mechanism 10000, which includes an expansion and contraction mechanism 2. The specific structure of the expansion and contraction mechanism 2 is as described in the above embodiments. Since the conveying mechanism 10000 adopts all the technical solutions of all the above embodiments, it has at least all the beneficial effects brought about by the technical solutions of the above embodiments, which will not be described in detail here.

[0064] The handling mechanism 10000 also includes a robotic arm 8. The telescopic mechanism 2 is fixedly connected to the robotic arm 8 through the mounting bracket 611. The robotic arm 8 is used to cooperate with the telescopic mechanism 2 to complete the adsorption and handling of the PCB board.

[0065] Understandably, due to the varying thicknesses of the PCB boards, the robotic arm 8 needs to descend to different heights when retrieving the PCB board via the telescoping mechanism 2. To address this issue, please refer to... Figure 7 In one embodiment of the present invention, the tenth link 621 includes a first rod portion 6211 and a second rod portion 6212 arranged laterally. The height of the first rod portion 6211 is higher than the height of the second rod portion 6212. The suction cup is disposed on the second rod portion 6212. A position compensation mechanism 9 is provided between the first rod portion 6211 and the second rod portion 6212. The position compensation mechanism 9 includes a guide post 91 and a guide groove 92 that cooperate with each other, and a spring 93. One of the guide post 91 and the guide groove 92 is connected to the first rod portion 6211, and the other is connected to the second rod portion 6212. The guide post 91 is movably disposed in the guide groove 92 and can slide up and down along the guide groove 92. The spring 93 is disposed in the guide groove 92 and is used to connect the bottom of the guide post 91 and the bottom of the guide groove 92.

[0066] To prevent the PCB boards from sticking together during adsorption, please refer to... Figure 6In one embodiment of the present invention, the conveying mechanism 10000 further includes an auxiliary material picking mechanism 10. The auxiliary material picking mechanism 10 includes a mounting plate 101, a driving member 102, and a second suction cup 103. The mounting plate 101 is movably disposed on the second hinged mounting portion 62 and has a movement stroke that moves along the length direction of the second hinged mounting portion 62. The driving member 102 is fixedly mounted on the mounting plate 101 and forms a telescopic portion that moves in the up-down direction. The second suction cup 103 is fixedly connected to the telescopic portion. The driving member can be a cylinder or a hydraulic cylinder. The present invention does not limit this. When the PCB board is stuck together, the stuck PCB can be separated by the up-down shaking of the driving member 102. Furthermore, the auxiliary material picking mechanism 10 also includes a fan 104. The fan 104 is movably mounted on the second hinged mounting portion 62 and has a movement stroke that moves along the length direction of the suction cup mounting bracket 611. In this way, the separation and adhesion of the stuck PCB board can be assisted by the wind force.

[0067] The above description is merely a preferred embodiment of the present invention and does not limit the patent scope of the present invention. Any equivalent structural transformations made using the contents of the present invention's specification and drawings under the inventive concept of the present invention, or direct / indirect applications in other related technical fields, are included within the patent protection scope of the present invention.

Claims

1. A conveying mechanism, characterized in that, The conveying mechanism includes an extension / retraction mechanism and an auxiliary material handling mechanism; the conveying mechanism is used to install the adsorption assembly, and includes a mounting base, a linkage extension / retraction mechanism, and a first drive assembly; the linkage extension / retraction mechanism includes multiple linkages hinged to each other, and a first hinged drive part and a first hinged mounting part are formed between the multiple linkages and arranged laterally opposite each other. The first hinged drive part is rotatably mounted on the mounting base, and the linkage extension / retraction mechanism can convert the rotation of the first hinged drive part into the lateral movement of the first hinged mounting part. The first hinged mounting part is used for mounting the adsorption assembly; the first drive assembly is used to drive the first hinged drive part to rotate. Two linkage extension and retraction mechanisms are provided and arranged at intervals in the lateral direction. The first hinge drive parts of the two linkage extension and retraction mechanisms rotate so that the lateral distance between the two first hinge mounting parts can be adjusted. The first driving component simultaneously drives the two first hinge driving parts; The linkage extension and retraction mechanism includes a first link, a second link, a third link, and a fourth link. One end of the first link and the second link are hinged together on the mounting base, and the other end is respectively hinged to the third link and the fourth link. The other end of the third link and the fourth link are hinged together on the first hinge mounting part. The first hinged drive unit includes a first link, a second link, a third link, and a fourth link that are hinged to each other; The telescoping mechanism also includes a limiting mechanism to restrict the rotation of the linkage telescoping mechanism; The limiting mechanism includes: A first limiting rod is arranged laterally, and a limiting groove is provided along the thickness direction of the first limiting rod. A limiting slider is engaged within the limiting groove and has a sliding stroke along the limiting groove; a hinge rod extends downward from the bottom of the limiting slider; and... The second limiting rod and the third limiting rod are hinged together at one end on the hinge rod, and the other end is respectively hinged to the first connecting rod and the second connecting rod; The first hinged mounting part includes a tenth link, which includes a first rod portion and a second rod portion arranged laterally. The height of the first rod portion is higher than that of the second rod portion. A first suction cup is disposed on the second rod portion. A position compensation mechanism is disposed between the first rod portion and the second rod portion. The position compensation mechanism includes a guide post and a guide groove that cooperate with each other, as well as a spring. One of the guide post and the guide groove is connected to the first rod portion, and the other is connected to the second rod portion. The guide post is movably disposed in the guide groove and can slide up and down along the guide groove. The spring is disposed in the guide groove to connect the bottom of the guide post and the bottom of the guide groove. The auxiliary material handling mechanism includes a mounting plate, a driving component, and a second suction cup. The mounting plate is movably disposed on the first hinged mounting portion and has a travel stroke that moves along the length direction of the first hinged mounting portion. The driving component is fixedly mounted on the mounting plate and forms a telescopic portion that moves in the up-down direction. The second suction cup is fixedly connected to the telescopic portion.

2. The conveying mechanism as described in claim 1, characterized in that, The two first links of the two linkage extension and retraction mechanisms are integrally arranged; and / or, The two second links of the two linkage extension and retraction mechanisms are integrally formed.

3. The conveying mechanism as described in claim 1, characterized in that, The first driving component includes: The first motor is mounted on the mounting base and has a rotating part that rotates along the vertical axis; The first and second pulleys are spaced apart longitudinally; and, A belt is wrapped around the two pulleys so that the two pulleys can rotate synchronously. The first pulley is connected to the rotating part and can rotate with the rotating part. The lower end face of the second pulley is fixedly connected to the upper end face of the first connecting rod to drive the first connecting rod to rotate.

4. The conveying mechanism as described in claim 3, characterized in that, The diameter of the first pulley is A, and the diameter of the second pulley is B, where A ≤ B.

5. The conveying mechanism as described in claim 1, characterized in that, The linkage extension and retraction mechanism includes an auxiliary extension and retraction mechanism to assist the linkage extension and retraction mechanism in converting the rotation of the first hinge drive part into the lateral movement of the first hinge mounting part. The auxiliary extension and retraction mechanism includes a fifth link, a sixth link, and a seventh link. One end of the fifth link, the sixth link, and the seventh link are hinged together, and the other end is respectively hinged to the mounting base, the first hinge drive part, and the first hinge mounting part.

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