A flexible pick-up mechanism

Abstract

The application discloses a flexible part taking mechanism, which comprises a linear driving assembly and a support installed on the action output end of the linear driving assembly, and a plurality of vacuum suction assemblies are arranged on the support; the plurality of vacuum suction assemblies comprise a central suction assembly and edge suction assemblies which are symmetrically arranged on the support with the central suction assembly as the center, and the edge suction assemblies are installed on the support through buffer assemblies; wherein the central suction assembly and the edge suction assemblies are in contact with the surface of a target part to be grabbed and are adsorbed under the driving of the linear driving assembly, the linear driving assembly lifts the target part to a target position, and then the central suction assembly and the edge suction assembly release the target part; and the buffer assemblies are used to make the position of the edge suction assembly for adsorbing the target part higher than the position of the central suction assembly for adsorbing the target part when the linear driving assembly lifts the target part. The thin sheet workpiece can be accurately grabbed and transferred.

Description

Technical Field

[0001] This invention relates to the field of sheet material transfer technology, specifically to a flexible material handling mechanism. Background Technology

[0002] Existing part-retrieving devices mainly use articulated robots or servo motors for stroke control, and suction cups or pneumatic grippers for grasping mechanisms. These devices can achieve positioning accuracy when handling thick workpieces, such as pallets and boxes.

[0003] However, the thickness of the workpiece is very small, such as the thickness of paper, which is usually about 0.1 mm. Moreover, when paper is a flexible material, when the paper is subjected to a large force, the thin workpiece will deform due to inertia during the transfer process. Therefore, when releasing it to the target position, it is easy to misalign or the thin workpiece will fold during the transfer and release.

[0004] Meanwhile, when transferring thin sheet workpieces in a stacked state, since the thin sheet workpieces in the stack are usually tightly attached, the method of using pneumatic suction cups to directly attach to the surface of the thin sheet workpieces for vacuum adsorption lacks consideration for the structural characteristics of the thin sheet workpieces themselves. This causes the currently gripped thin sheet workpiece to stick to the next workpiece to be gripped, and the next workpiece to be gripped may shift during the gripping process.

[0005] In summary, existing pneumatic suction cups have the problem of being unable to accurately grasp stacked thin workpieces, leading to grasping failures. Summary of the Invention

[0006] The purpose of this invention is to provide a flexible part-grabbing mechanism to solve the technical problems in the prior art, such as the structural deformation of thin workpieces caused by the inability of existing pneumatic suction cups to accurately grasp thin workpieces and the inability to accurately grasp stacked thin workpieces.

[0007] To solve the above-mentioned technical problems, the present invention specifically provides the following technical solution:

[0008] A flexible part-retrieving mechanism includes a linear drive assembly and a bracket mounted on the actuation output end of the linear drive assembly, wherein a plurality of vacuum adsorption assemblies are disposed on the bracket.

[0009] The plurality of vacuum adsorption components include a central adsorption component and edge adsorption components arranged symmetrically about the central adsorption component on the support, wherein the edge adsorption components are mounted on the support via a buffer component;

[0010] The center adsorption assembly and the edge adsorption assembly are in contact with the surface of the target object to be grabbed and adsorbed under the driving of the linear driving assembly, and the center adsorption assembly and the edge adsorption assembly release the target object after the linear driving assembly lifts the target object to a target position.

[0011] The buffer assembly is used to make the position of the target object adsorbed by the edge adsorption assembly higher than the position of the target object adsorbed by the center adsorption assembly when the linear driving assembly lifts the target object.

[0012] As a preferred scheme of the present application, the buffer assembly is used to control the timing of the linear driving assembly driving the edge adsorption assembly to contact the surface of the target object to be later than the timing of the center adsorption assembly adsorbing the surface of the target object.

[0013] As a preferred scheme of the present application, the buffer assembly comprises a fixed seat, the fixed seat is installed on the support through a spring assembly, and the edge adsorption assembly is installed on the fixed seat.

[0014] The bottom adsorption plane of the edge adsorption assembly installed on the fixed seat is higher than the bottom adsorption plane of the center adsorption assembly.

[0015] As a preferred scheme of the present application, the spring assembly is installed on the support through a rotating shaft, and the support is provided with an adaptive groove for the spring assembly and the fixed seat to rotate as a whole around the rotating shaft.

[0016] The spring assembly is connected with a driving part, and the driving part is used to drive the spring assembly to rotate around the rotating shaft.

[0017] As a preferred scheme of the present application, the edge adsorption assembly comprises a suction disc main body, the bottom of the suction disc main body forms the adsorption plane, the suction disc main body is provided with a gas source terminal, the gas source terminal is installed on the fixed seat, and the adsorption plane of the suction disc main body has a driving adsorption angle with the horizontal plane in an initial state.

[0018] The linear driving assembly drives the suction disc main body to contact the surface of the target object, so that the suction disc main body rotates around the rotating shaft and the adsorption angle tends to be zero.

[0019] As a preferred scheme of the present application, the driving part comprises a gas source connecting pipe, one end of the gas source connecting pipe is connected with a motion cavity provided in the adaptive groove, and the other end of the gas source connecting pipe is connected with a positive and negative pressure generating device.

[0020] One end of the motion cavity is connected with the spring assembly, and the other end is connected with the inner wall of the adaptive groove.

[0021] The positive and negative pressure generating device provides positive pressure or negative pressure to the action cavity through the air source connecting pipe, so that the action cavity expands or shrinks to drive the elastic assembly to rotate around the rotating shaft.

[0022] As a preferred scheme of the present application, an air passage is arranged in the inner wall of the suction disc body, one end of the air passage extends to the adsorption plane, and the other end is connected to the air source connecting pipe through a pipeline.

[0023] As a preferred scheme of the present application, a rail groove is arranged on the support towards the central adsorption assembly, a telescopic assembly is arranged in the rail groove, a guide block is arranged at the output end of the telescopic assembly, and the adaptive groove is arranged on the guide block.

[0024] As a preferred scheme of the present application, the elastic assembly comprises a male mounting base and a female mounting base, a guide groove is arranged on the male mounting base for sliding of the female mounting base, the female mounting base is connected to the guide groove through a guide pin, and a spring is arranged at the bottom of the guide pin.

[0025] Compared with the prior art, the present application has the following beneficial effects:

[0026] The present application utilizes the structural characteristics of the stacked sheet workpieces to press the middle part of the sheet workpiece during the process after vacuum adsorption of the sheet workpiece, changes the adhesion state of two adjacent sheet workpieces to make the current grasped sheet workpiece in the stacked sheet workpieces have a tendency to separate from the underlying sheet workpiece, and the edge of the sheet workpiece is lifted first during the process after vacuum adsorption of the sheet workpiece, so that the suction force between the two adjacent sheet workpieces caused by close adhesion can be solved, and the sheet workpiece can be accurately grasped and transferred. BRIEF DESCRIPTION OF DRAWINGS

[0027] In order to more clearly illustrate the embodiments of the present application or the technical solutions in the prior art, the drawings needed to be used in the following embodiment or prior art description will be briefly introduced. Obviously, the drawings in the following description are only exemplary, and other drawings can be obtained by the provided drawings without creative labor for those skilled in the art.

[0028] Figure 1 It is an overall structural schematic diagram of the embodiment of the present application.

[0029] Figure 2 It is an assembly structure schematic diagram of the edge adsorption assembly and the support of the embodiment of the present application.

[0030] Figure 3 It is a longitudinal section structure schematic diagram of the edge adsorption assembly of the embodiment of the present application.

[0031] The reference signs in the drawings represent the following respectively:

[0032] 1-linear drive assembly; 2-bracket; 3-central suction assembly; 4-edge suction assembly; 5-buffer assembly; 6-fixing seat; 7-spring assembly; 8-rotation shaft; 9-driving part; 10-rail slot; 11-telescopic assembly; 12-guide block; 13-stacked sheet workpiece;

[0033] 41-suction disc main body; 42-gas source connection terminal;

[0034] 61-sub-mounting seat; 62-mother mounting seat;

[0035] 71-guide slot; 72-guide pin; 73-spring;

[0036] 91-gas source connecting pipe; 92-action cavity; 93-adapting slot; 94-air channel. DETAILED DESCRIPTION

[0037] The technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the drawings in the embodiments of the present application. Obviously, the described embodiments are only part of the embodiments of the present application, rather than all the embodiments. Based on the embodiments in the present application, all other embodiments obtained by those skilled in the art without creative work fall within the scope of protection of the present application.

[0038] As shown in the drawings, the present application provides a flexible piece taking mechanism, which comprises a linear drive assembly 1 and a bracket 2 mounted on the action output end of the linear drive assembly 1, and a plurality of vacuum suction assemblies are arranged on the bracket 2. Figure 1

[0039] The plurality of vacuum suction assemblies comprises a central suction assembly 3 and an edge suction assembly 4 arranged on the bracket 2 in a central symmetry with the central suction assembly 3, and the edge suction assembly 4 is mounted on the bracket 2 through a buffer assembly 5.

[0040] The central suction assembly 3 and the edge suction assembly 4 are in contact with and adsorb the surface of the target piece to be grabbed under the driving of the linear drive assembly 1, and the central suction assembly 3 and the edge suction assembly 4 release the target piece after the linear drive assembly 1 lifts the target piece to a target position.

[0041] The buffer assembly 5 is used to make the position of the edge suction assembly 4 adsorbing the target piece higher than the position of the central suction assembly 3 adsorbing the target piece when the linear drive assembly 1 lifts the target piece.

[0042] The flexible piece taking mechanism in the present application is essentially through the multi-point adsorption of the sheet workpiece by the plurality of vacuum suction assemblies when working, but in the adsorption process: ​

[0043] The present application makes the position difference of the central adsorption assembly 3 and the edge adsorption assembly 4 contacting the surface of the sheet workpiece and the height difference after adsorption to realize the accurate separation of the sheet workpiece in the stack, and can well maintain the overall structure of the sheet workpiece. In the present application, the sheet workpiece is taken as a positive planar geometric structure, and the edge adsorption assembly 4 can be two (the sheet workpiece is a long strip structure) or four (the sheet workpiece is a rectangular structure and the length of the length and width is close) according to the area of the sheet workpiece.

[0044] Specifically, in the process of approaching and adsorbing:

[0045] Since there is a position difference (the position difference distance is usually within the range of 5mm, and is determined according to the actual thickness of the sheet workpiece, and the smaller the thickness of the sheet workpiece, the smaller the position difference) between the central adsorption assembly 3 and the edge adsorption assembly 4, when the linear drive assembly 1 (specifically a pneumatic cylinder or a hydraulic cylinder) drives the central adsorption assembly 3 and the edge adsorption assembly 4 to approach and adsorb the sheet workpiece 13 (the uppermost sheet workpiece) in the stack, the central adsorption assembly 3 first contacts the surface of the sheet workpiece, and then the linear drive assembly 1 continues to drive to approach until the edge adsorption assembly 4 contacts the surface of the sheet workpiece 13. At this time, the central adsorption assembly makes the middle of the sheet workpiece be pressed during the process of vacuum adsorbing the sheet workpiece, changes the fitting state of the two adjacent sheet workpieces, that is, the central stress strain of the sheet workpiece has the tendency of edge lifting, so that the current grasped sheet workpiece in the stack has the tendency of being separated from the underlying sheet workpiece.

[0046] Adsorption lifting process:

[0047] After the vacuum adsorption of the sheet workpiece by the edge adsorption assembly 4, the edge of the sheet workpiece is lifted first during the lifting process of the linear drive assembly 1, so as to solve the suction force caused by the close fitting between the two adjacent sheet workpieces, thereby accurately grasping and transferring the sheet workpiece. It is well known that lifting from the edge of the sheet material can be more easily separated.

[0048] In the process of approaching and adsorbing, since the adsorption plane of the edge adsorption assembly 4 relative to the bottom of the central adsorption assembly 3 is higher in the longitudinal direction than the central adsorption assembly 3, obviously the central adsorption assembly 3 will first lift the sheet workpiece during the lifting process. Therefore, in order to solve this problem, the edge adsorption assembly 4 still needs to maintain the above-mentioned position difference during the lifting process. For this purpose, the buffer assembly 5 is used to control the timing of the linear drive assembly 1 driving the edge adsorption assembly 4 to contact the surface of the target piece to be later than the surface of the target piece adsorbed by the central adsorption assembly 3.

[0049] Since the buffer assembly 5 only needs to realize the difference in position, the buffer assembly 5 can be a spring or a controllable displacement assembly, a lead screw, and a micro pneumatic cylinder.

[0050] To realize the above functions, the present application provides a specific embodiment of the buffer assembly 5, which comprises a fixed seat 6 mounted on the support 2 through a resilient assembly 7, and the edge adsorption assembly 4 is mounted on the fixed seat 6.

[0051] The bottom adsorption plane of the edge adsorption assembly 4 mounted on the fixed seat 6 is higher than the bottom adsorption plane of the center adsorption assembly 3.

[0052] Of course, the center adsorption assembly 3 can also be mounted on the support 2 through the buffer assembly 5, and the working principle is the same. However, the sheet workpiece is relatively soft due to its overall structure, and even if the sheet workpiece is made of metal, it is impossible to adsorb the sheet workpiece as a whole when the vacuum chuck is adsorbed, so the number of vacuum chucks for vacuum adsorption is increased, and a larger transfer or moving space is required. When the area of the sheet workpiece is large, even if the edge of the sheet workpiece is adsorbed by multiple points, the edge will be bent under the influence of gravity.

[0053] Therefore, in the present application, the adsorption points of the edge adsorption assembly 4 and the sheet workpiece need to ensure or maintain the stability of the sheet workpiece during the transfer process. At this time, the center adsorption assembly 3 cannot be installed on the support 2 through the buffer assembly 5. In this case, the sheet workpiece is bent during the adsorption process without being adsorbed as a whole, and a fixed bending state is maintained for transfer. Of course, the bending deformation of this structure does not affect the overall structure.

[0054] In the present application, the edge adsorption assembly 4 can actively bend the sheet workpiece during adsorption.

[0055] The resilient assembly 7 is mounted on the support 2 through a rotating shaft 8, and the support 2 is provided with an adaptive groove 93 for the resilient assembly 7 and the fixed seat 6 to rotate as a whole around the rotating shaft 8. The resilient assembly 7 is connected with a driving part 9, and the driving part 9 is used to drive the resilient assembly 7 to rotate around the rotating shaft 8. The function of the resilient assembly 7 is to realize the buffer contact between the edge adsorption assembly 4 and the surface of the sheet workpiece, that is, to press the edge of the sheet workpiece as much as possible without applying pressure to the sheet workpiece by the center adsorption assembly 3.

[0056] Further, as shown in FIG. 2, the driving part 9 is connected with a driving mechanism 10, and the driving mechanism 10 is connected with a control mechanism 11. Figure 2 and Figure 3As shown, the edge adsorption assembly 4 in the application includes a suction cup body 41, the bottom of the suction cup body 41 forms an adsorption plane, and a gas source terminal 42 is arranged on the suction cup body 41 and is installed on the fixed seat 6; the adsorption plane of the suction cup body 41 has a driving adsorption angle with the horizontal plane in the initial state.

[0057] The linear driving assembly 1 drives the suction cup body 41 to contact the surface of the target piece, and the suction cup body 41 rotates around the rotating shaft 8 and the adsorption angle tends to zero. The purpose is that when the linear driving assembly 1 drives the center adsorption assembly 3 to contact the surface of the sheet workpiece and continues to drive the adsorption plane of the edge adsorption assembly 4 to contact the surface of the sheet workpiece, the suction cup body 41 rotates around the rotating shaft 8 and the adsorption angle tends to zero, and the bottom of the suction cup body 41 and the surface of the sheet workpiece are attached and adsorbed, and the interaction force between the two makes the suction cup body 41 rotate around the rotating shaft 8.

[0058] Since this process is realized by the interaction force generated after the two are in contact, the angle of the suction cup body 41 rotating around the rotating shaft 8 is the state of the minimum force applied to the surface of the sheet workpiece (at this time, the suction cup body 41 has realized the adsorption of the surface of the sheet workpiece), that is, to avoid excessive force applied to the sheet workpiece to deform it. At this time, only the driving part 9 is needed to maintain the rotation angle of the suction cup body 41, that is, the rotation angle of the rotating shaft 8.

[0059] Further, the driving part 9 in the application is used to actively drive the edge adsorption assembly 4 to rotate around the rotating shaft 8 or be forced to rotate around the rotating shaft 8 when the edge adsorption assembly 4 contacts the surface of the sheet workpiece, and maintain the angle of the edge adsorption assembly 4 rotating around the rotating shaft 8 when the linear driving assembly 1 lifts the whole support 2, and the purpose is to keep the state of the adsorbed sheet workpiece stable during the adsorption and transfer process.

[0060] Specifically, since the technical solution provided by the application is realized by the vacuum adsorption mode, the driving part 9 in the application can be synchronously driven with the edge adsorption assembly 4, and therefore the driving part 9 can use the same driving as the positive and negative pressure generating device.

[0061] Specifically, the driving part 9 includes a gas source connecting pipe 91, one end of the gas source connecting pipe 91 is connected with an action cavity 92 arranged in an adaptive groove 93, and the other end of the gas source connecting pipe 91 is connected with a positive and negative pressure generating device.

[0062] One end of the action cavity 92 is connected with the elastic assembly 7, and the other end is connected with the inner wall of the adaptive groove 93.

[0063] The positive and negative pressure generating device provides positive pressure or negative pressure to the action cavity 92 through the air source connecting pipe 91, so that the action cavity 92 expands or shrinks to drive the elastic assembly 7 to rotate around the rotating shaft 8.

[0064] Further, in the present application, the sheet workpiece actively bends during the adsorption process (the slight degree of bending does not affect the structure of the sheet workpiece), so the adsorption plane of the adsorption body 41 is not a complete plane. Simply relying on the adsorption of the adsorption plane of the adsorption body 41 and the sheet workpiece can cause the adsorption body 41 to easily separate during the transfer process due to uneven stress. The main reason is that the edge structure of the vacuum adsorption disc cannot be completely matched. Therefore, in the present application, in order to enable the adsorption body 41 to adsorb more tightly, a gas channel 94 is arranged in the inner wall of the adsorption body 41. One end of the gas channel 94 extends to the adsorption plane, and the other end is connected to the air source connecting pipe 91 through a pipeline.

[0065] The end opening of the gas channel 94 extending to the adsorption plane of the adsorption body 41 and the adsorption plane of the adsorption body 41 can be synchronously controlled by the positive and negative pressure generating device, so that the edge of the adsorption plane of the adsorption body 41 can be tightly matched with the sheet workpiece. Therefore, when the adsorption body 41 separates from the surface of the sheet workpiece, positive air pressure can be actively applied to separate the adsorption plane from the surface of the sheet workpiece.

[0066] Further, the structure of the existing vacuum adsorption disc is relatively fixed. Therefore, if the position of the adsorption position (edge adsorption assembly 4) is not suitable during the adsorption of the sheet workpiece, it is necessary to stop and adjust, and there is also a disassembly process, which complicates the adsorption process. Therefore, in the mounting structure of the edge adsorption assembly 4 of the present application, in order to quickly adjust the position of the adsorption assembly 4, a rail groove 10 facing the center adsorption assembly 3 is arranged on the adsorption disc support 2. A telescopic assembly 11 (specifically a pneumatic cylinder or a hydraulic cylinder) is arranged in the rail groove 10. The output end of the telescopic assembly 11 is provided with a guide block 12, and an adaptive groove 93 is arranged on the guide block 12. The telescopic assembly 11 can be a screw-nut pair transmission assembly or a pneumatic cylinder or a hydraulic cylinder. The connecting structure of the rail groove 10 and the guide block 12 can also limit the guide block 12.

[0067] Further, in the existing technology, there are various ways to achieve the buffer contact between the center adsorption assembly 3, the edge adsorption assembly 4 and the sheet workpiece. This mainly depends on the structure of the existing pneumatic adsorption disc. If the existing pneumatic adsorption disc is a telescopic structure or a flexible plastic (which can stretch or contract by changing the internal air pressure or by combining the pressure change on the surface of the workpiece), it itself has a buffer effect. If the adsorption disc is made of rubber material which cannot be deformed or has very small deformation, its buffer characteristics are not obvious.

[0068] And rely on the pneumatic suction cup or vacuum suction cup itself to buffer the extension and deformation, the deformation state is actually not stable, so the buffer state is not good control.

[0069] Therefore, in order to better illustrate the working principle of the elastic assembly 7, a specific embodiment of the elastic assembly 7 is provided, including a male mounting seat 61 and a female mounting seat 62, the male mounting seat 61 is provided with a guide groove 71 for sliding of the female mounting seat 62, the female mounting seat 62 is connected to the guide groove 71 through a guide pin 72, the bottom of the guide pin 72 is provided with a spring 73, the air source terminal 42 is installed on the female mounting seat 62, and the male mounting seat 61 is installed on the inner wall of the adaptive groove 93 through a rotating shaft 8.

[0070] In specific work, the edge adsorption assembly 4 needs to be restored to the initial position after buffering, and the edge adsorption assembly 4 does not need displacement in a large stroke, and the buffering distance of the edge adsorption assembly 4 is also limited to avoid the edge adsorption assembly 4 from being separated from the adsorbed surface due to excessive buffering.

[0071] When the suction cup body 41 contacts the surface of the sheet workpiece, the female mounting seat 62 and the guide pin 72 move along the guide groove 71 to stretch the spring 73, and when the linear driving assembly 1 performs the lifting action, the contact state of the suction cup body 41 and the sheet workpiece is maintained until the spring 73 returns to the initial state (that is, the state of being completely compressed by the female mounting seat 62 and the guide pin 72).

[0072] The above examples are only exemplary embodiments of the present application and are not used to limit the present application, and the protection scope of the present application is defined by the claims. Those skilled in the art can make various modifications or equivalent replacements to the present application within the spirit and protection scope of the present application, and such modifications or equivalent replacements are also regarded as falling within the protection scope of the present application.

Claims

1. A flexible pick-up mechanism, characterized in that, The application relates to a linear driving assembly (1) and a support (2) installed on the action output end of the linear driving assembly (1), wherein a plurality of vacuum adsorption assemblies are arranged on the support (2). The plurality of vacuum adsorption assemblies comprise a central adsorption assembly (3) and edge adsorption assemblies (4) arranged on the support (2) in a center-symmetrical manner relative to the central adsorption assembly (3), wherein the edge adsorption assemblies (4) are installed on the support (2) through buffer assemblies (5). The central adsorption assembly (3) and the edge adsorption assemblies (4) are in contact with and adsorb the surface of a target object to be gripped under the driving of the linear driving assembly (1), the linear driving assembly (1) lifts the target object to a target position, and then the central adsorption assembly (3) and the edge adsorption assemblies (4) release the target object. The buffer assemblies (5) are used to make the position of the target object adsorbed by the edge adsorption assemblies (4) higher than the position of the target object adsorbed by the central adsorption assembly (3) when the linear driving assembly (1) lifts the target object. The buffer assemblies (5) comprise a fixed seat (6) installed on the support (2) through a springing assembly (7), and the edge adsorption assemblies (4) are installed on the fixed seat (6). The bottom adsorption plane of the edge adsorption assemblies (4) installed on the fixed seat (6) is higher than the bottom adsorption plane of the central adsorption assembly (3). The springing assembly (7) is installed on the support (2) through a rotating shaft (8), and the support (2) is provided with an adaptive groove (93) for the springing assembly (7) and the fixed seat (6) to rotate as a whole around the rotating shaft (8). The springing assembly (7) is connected with a driving part (9) for driving the springing assembly (7) to rotate around the rotating shaft (8). The driving part (9) comprises a gas source connecting pipe (91), one end of the gas source connecting pipe (91) is connected with an action cavity (92) arranged in the adaptive groove (93), and the other end of the gas source connecting pipe (91) is connected with a positive and negative pressure generating device. One end of the action cavity (92) is connected with the springing assembly (7), and the other end is connected with the inner wall of the adaptive groove (93). The positive and negative pressure generating device provides positive pressure or negative pressure into the action cavity (92) through the gas source connecting pipe (91), so that the action cavity (92) expands or shrinks to drive the springing assembly (7) to rotate around the rotating shaft (8). The fixed seat (6) comprises a son mounting seat (61) and a mother mounting seat (62). The springing assembly comprises a guide groove (71) arranged on the son mounting seat (61), the mother mounting seat (62) is connected with the guide groove (71) through a guide pin (72), and the bottom of the guide pin (72) is provided with a spring (73).

2. The flexible pick-up mechanism according to claim 1, wherein The buffer assemblies (5) are used to control the timing of the linear driving assembly (1) driving the edge adsorption assemblies (4) to contact the surface of the target object to be later than the timing of the central adsorption assembly (3) adsorbing the surface of the target object.

3. The flexible pick-up mechanism according to claim 1, wherein The edge adsorption component (4) comprises a suction disc body (41), the bottom of the suction disc body (41) forms the adsorption plane, a gas source terminal (42) is arranged on the suction disc body (41), and the gas source terminal (42) is installed on the fixing seat (6); the adsorption plane of the suction disc body (41) has an adsorption included angle with the horizontal plane in the initial state; In the process that the linear driving component (1) drives the suction disc body (41) to contact the surface of the target piece, the suction disc body (41) rotates around the rotating shaft (8), so that the adsorption included angle tends to be zero.

4. The flexible pick-up mechanism according to claim 3, wherein A gas channel (94) is arranged in the inner wall of the suction disc body (41), one end of the gas channel (94) extends to the adsorption plane, and the other end is connected with the gas source connecting pipe (91) through a pipeline.

5. The flexible pick-up mechanism according to claim 1, wherein A rail groove (10) towards the central adsorption component (3) is arranged on the support (2), a telescopic component (11) is arranged in the rail groove (10), a guide block (12) is arranged at the output end of the telescopic component (11), and the adaptive groove (93) is arranged on the guide block (12).

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