Method and apparatus for transferring a curved structure

Abstract

The application provides a curved surface structure conveying method and a conveying device. The conveying device comprises a first suction mechanism and a second suction mechanism. The conveying method comprises the following steps: using the first suction mechanism to suck the curved surface structure and moving the curved surface structure to the second suction mechanism; using the second suction mechanism to suck the curved surface structure, and moving the curved surface structure by the second suction mechanism after the first suction mechanism releases the curved surface structure. The first suction mechanism profiles and sucks a first region of the curved surface structure. The second suction mechanism profiles and sucks a second region of the curved surface structure. The first region and the second region are spaced apart or tangent. By profiling the first region and the second region of the curved surface structure by the first suction mechanism and the second suction mechanism respectively, the first region and the second region are spaced apart or tangent, so that the first suction mechanism and the second suction mechanism can suck the curved surface structure at the same time, the curved surface structure can be directly transferred between the first suction mechanism and the second suction mechanism without a transfer platform, and the conveying efficiency of the curved surface structure is improved.

Description

Technical Field

[0001] This application relates to the field of conveying curved structures, and more particularly to a method and apparatus for conveying curved structures. Background Technology

[0002] When curved products are conveyed via single-sided adsorption, they are typically conveyed by adsorbing the vertices of the convex surface of the product. For example, products such as camera lenses and curved watch screens require two conveying structures to be transferred between two workstations. Since both conveying structures adsorb the vertices of the curved surface of the product, they cannot directly transfer the product. A transfer platform is needed to realize the transfer of the product. One conveying structure transfers the product from one workstation to the transfer platform, and the other adsorption mechanism transfers the product from the transfer platform to another workstation. The need for transfer leads to low efficiency. Summary of the Invention

[0003] In view of this, this application provides a method and apparatus for conveying curved structures with high conveying efficiency.

[0004] In a first aspect, this application provides a method for conveying a curved structure. The method includes using a first adsorption mechanism to adsorb the curved structure and move it towards a second adsorption mechanism; and using the second adsorption mechanism to adsorb the curved structure, wherein after the first adsorption mechanism releases its adsorption of the curved structure, the second adsorption mechanism drives the curved structure to move. The first adsorption mechanism conforms to and adsorbs a first region of the curved structure. The second adsorption mechanism conforms to and adsorbs a second region of the curved structure. The first region and the second region are spaced apart or tangent to each other.

[0005] In the above-mentioned method for conveying curved structures, the first adsorption mechanism and the second adsorption mechanism are respectively modeled after the first region and the second region of the curved structure, and the first region and the second region are separated or tangent to each other, so that the first adsorption mechanism and the second adsorption mechanism can simultaneously adsorb the curved structure. The transfer of the curved structure can be completed directly between the first adsorption mechanism and the second adsorption mechanism without the need for a transfer platform, thereby improving the conveying efficiency of the curved structure.

[0006] In one possible implementation, in the step of using the second adsorption mechanism to adsorb the curved structure, the time during which the first adsorption mechanism and the second adsorption mechanism simultaneously adsorb the curved structure is greater than or equal to a first set value.

[0007] Obviously, in the above embodiments, within the time period of the first set value, the second adsorption mechanism completes stable adsorption of the curved surface structure, improves the handover stability of the first adsorption mechanism and the second adsorption mechanism, and avoids the problem of the curved surface structure falling off due to unreliable adsorption.

[0008] In one possible implementation, the first region and the second region are structures symmetrical about a first symmetry plane; the first symmetry plane is the normal plane at the vertex of the curved structure.

[0009] Obviously, in the above embodiments, the symmetrical adsorption curved surface structure of the first adsorption mechanism and the second adsorption mechanism improves the transfer stability of the curved surface structure between the first adsorption mechanism and the second adsorption mechanism.

[0010] In one possible implementation, the distance between the first adsorption mechanism and the second adsorption mechanism when adsorbing the curved structure is less than or equal to a second set value.

[0011] Obviously, in the above embodiments, the distance between the first adsorption mechanism and the second adsorption mechanism when adsorbing the curved surface structure is less than or equal to the second set value, so that the first adsorption mechanism and the second adsorption mechanism are close to the vertex of the curved surface structure, so that the point of application of the adsorption force is close to the center of gravity of the curved surface structure, thereby improving the reliability of the first adsorption mechanism and the second adsorption mechanism adsorbing the curved surface structure respectively.

[0012] Secondly, this application provides a conveying device. The conveying device includes a first adsorption mechanism and a second adsorption mechanism. The first and second adsorption mechanisms are used to implement a method for conveying a curved structure. The conveying method includes using the first adsorption mechanism to adsorb the curved structure and move it towards the second adsorption mechanism; and using the second adsorption mechanism to adsorb the curved structure, and after the first adsorption mechanism releases its adsorption of the curved structure, the second adsorption mechanism drives the curved structure to move. The first adsorption mechanism conforms to and adsorbs a first region of the curved structure. The second adsorption mechanism conforms to and adsorbs a second region of the curved structure. The first region and the second region are spaced apart or tangent to each other.

[0013] In the aforementioned curved structure conveying device, the first adsorption mechanism and the second adsorption mechanism are respectively modeled after the first region and the second region of the curved structure, and the first region and the second region are separated or tangent to each other, so that the first adsorption mechanism and the second adsorption mechanism can simultaneously adsorb the curved structure. The transfer of the curved structure can be completed directly between the first adsorption mechanism and the second adsorption mechanism without the need for a transfer platform, thereby improving the conveying efficiency of the curved structure.

[0014] In one possible implementation, the first adsorption mechanism includes a first body; the first body has a first contact surface, which is shaped to the surface of a first region of a curved structure facing the first contact surface; the first body has a plurality of first adsorption holes, which penetrate the first contact surface; the second adsorption mechanism includes a second body; the second body has a second contact surface, which is shaped to the surface of a second region of a curved structure facing the second contact surface; the second body has a plurality of second adsorption holes, which penetrate the second contact surface.

[0015] Obviously, in the above embodiments, the first bonding surface is shaped to the curved surface and the second bonding surface is shaped to the curved surface, respectively, so that the first adsorption mechanism and the second adsorption mechanism are respectively positioned to fit the curved surface with high accuracy.

[0016] In one possible implementation, the first adsorption mechanism further includes a plurality of first adsorption elements, each first adsorption element passing through a first adsorption hole, and the first adsorption element is capable of driving the curved structure to move towards the first body until the first body is in contact with the first region; the second adsorption mechanism further includes a plurality of second adsorption elements, each second adsorption element passing through a second adsorption hole, and the second adsorption element is capable of driving the curved structure to move towards the second body until the second body is in contact with the second region.

[0017] Obviously, in the above embodiments, even if it is assumed that the motion accuracy of the first adsorption mechanism and the second adsorption mechanism is low, resulting in low positioning accuracy of the relative positions of the first adsorption mechanism and the second adsorption mechanism with the curved structure before contact, the positioning accuracy of the first adsorption mechanism and the second adsorption mechanism with the curved structure can still be improved by the first adsorption member being able to drive the curved structure to move towards the first body and fit with the first body, and the second adsorption member being able to drive the curved structure to move towards the second body and fit with the second body, so as to ensure the accuracy of the first adsorption mechanism and the second adsorption mechanism in conveying the curved structure.

[0018] In one possible implementation, the first adsorption mechanism includes a first body and a plurality of first adsorption elements; the plurality of first adsorption elements are disposed on the body, and the plurality of first adsorption elements are respectively shaped to the surface of the curved structure that is adsorbed in the corresponding first region; the second adsorption mechanism includes a second body and a plurality of second adsorption elements; the plurality of second adsorption elements are disposed on the first body, and the plurality of second adsorption elements are respectively shaped to the surface of the curved structure that is adsorbed in the corresponding second region.

[0019] Obviously, in the above embodiments, the surfaces of the multiple first adsorption elements facing the curved structure are respectively modeled on the curved structure; the surfaces of the multiple second adsorption elements facing the curved structure are respectively modeled on the curved structure, so as to ensure the relative positioning accuracy of the multiple first adsorption elements and the curved structure, as well as the relative positioning accuracy of the multiple second adsorption elements and the curved structure.

[0020] In one possible implementation, the first body is a structure symmetrical about a second symmetry plane, the second symmetry plane being perpendicular to the first symmetry plane, and the first symmetry plane being the normal plane at the vertex of the curved structure; a plurality of first adsorption elements are symmetrically distributed about the second symmetry plane on the first body; the second body is a structure symmetrical about a third symmetry plane, the third symmetry plane being perpendicular to the first symmetry plane; a plurality of second adsorption elements are symmetrically distributed about the third symmetry plane on the second body.

[0021] Obviously, in the above embodiments, the multiple first adsorption elements are symmetrically distributed on the first main body, which is beneficial to the uniformity of force distribution on the curved surface structure of the first adsorption mechanism. The multiple second adsorption elements are symmetrically distributed on the second main body, which is beneficial to the uniformity of force distribution on the curved surface structure of the second adsorption mechanism.

[0022] In one possible implementation, the vertical distance between the plurality of first adsorption elements adjacent to the edge of the first region and the edge of the first region is less than or equal to a third preset value; the vertical distance between the plurality of second adsorption elements adjacent to the edge of the second region and the edge of the second region is less than or equal to a third preset value.

[0023] Obviously, in the above embodiments, the vertical distance between the plurality of first adsorption elements adjacent to the edge of the first region and the edge of the first region is less than or equal to a third set value; the vertical distance between the plurality of second adsorption elements adjacent to the edge of the second region and the edge of the second region is less than or equal to a third set value; so as to increase the area of ​​the curved surface structure adsorbed by the first adsorption mechanism and the second adsorption mechanism respectively, and improve the adsorption stability. Attached Figure Description

[0024] Figure 1 A flowchart illustrating a method for transmitting a curved structure, as provided in an embodiment of this application.

[0025] Figure 2 This is a schematic diagram of a transmission device provided in an embodiment of this application.

[0026] Figure 3 for Figure 2 A partial cross-sectional schematic diagram of the conveying device shown.

[0027] Figure 4 for Figure 2 A schematic diagram of the first and second adsorption mechanisms of the conveying device shown.

[0028] Figure 5 for Figure 4 The diagram shows a partial cross-sectional view of the first adsorption mechanism.

[0029] Figure 6 for Figure 2 A schematic diagram of the curved surface structure conveyed by the conveying device shown.

[0030] Figures 7 to 9 Schematic diagrams of curved surface structures in different embodiments of the conveying device.

[0031] Explanation of main component symbols

[0032] Conveying device 1

[0033] First adsorption mechanism 10

[0034] First subject 11

[0035] First bonding surface 111

[0036] First adsorption pore 113

[0037] First adsorption element 13

[0038] First adsorption section 131

[0039] Second adsorption mechanism 20

[0040] Second subject 21

[0041] Second bonding surface 211

[0042] Second adsorption pore 213

[0043] Second adsorption element 23

[0044] Second adsorption section 231

[0045] First driving component 30

[0046] Second drive unit 40

[0047] Surface structures 2, 2a, 2b, 2c

[0048] Area 1, 201, 201a, 201b, 201c

[0049] First Surface 2011

[0050] Second area 203, 203a, 203b, 203c

[0051] Second surface 2031

[0052] Part 1, page 205

[0053] Part Two, 207

[0054] First symmetry plane 2001

[0055] Second symmetry plane 1001

[0056] Third symmetry plane 1003

[0057] First position A

[0058] Second position B

[0059] Third position C Detailed Implementation

[0060] To further illustrate the technical means and effects adopted by this application to achieve the intended purpose, the following description, in conjunction with the accompanying drawings and embodiments, is provided. Obviously, the described embodiments are only some embodiments of this application, and not all embodiments.

[0061] Unless otherwise defined, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this application belongs. The terminology used herein is for the purpose of describing particular embodiments only and is not intended to be limiting of the application.

[0062] The following detailed description of some embodiments of this application is provided in conjunction with the accompanying drawings. Unless otherwise specified, the following embodiments and features can be combined with each other.

[0063] Please see Figure 1 and Figure 2 One embodiment of this application provides a method for conveying a curved structure 2 and a conveying device 1. The conveying device 1 is used to implement the method for conveying the curved structure 2.

[0064] The manufacturing process of the curved structure 2 includes many processes, such as installation, polishing, and electroplating. These processes usually need to be carried out at multiple stations. When two adjacent processes need to be performed at two stations, a conveyor device 1 is required to transfer the curved structure 2 between the two stations.

[0065] In one embodiment, the curved structure 2 is a glass sheet including a spherical surface. When the curved structure 2 is placed on a platform (not shown), its projection in the plane is rectangular, such as... Figure 2 and Figure 6 As shown, but not limited to.

[0066] The conveying device 1 includes a first adsorption mechanism 10 and a second adsorption mechanism 20. The first adsorption mechanism 10 and the second adsorption mechanism 20 are capable of adsorbing different regions of the curved structure 2.

[0067] The transmission method for curved surface structure 2 includes the following steps:

[0068] S1: The curved surface structure 2 is adsorbed by the first adsorption mechanism 10 and moved to the second adsorption mechanism 20.

[0069] The curved structure 2 is placed at a first position A, such as a work station or a feeding area. The first adsorption mechanism 10 picks up the curved structure 2 located at the first position A and drives the curved structure 2 to move towards the second adsorption mechanism 20.

[0070] Please see Figure 3The first adsorption mechanism 10 is used to adsorb the first region 201 of the curved structure 2. The surface of the first region 201 of the curved structure 2 facing the first adsorption mechanism 10 is the first curved surface 2011. The first adsorption mechanism 10 is shaped like the first curved surface 2011. The first adsorption mechanism 10 can adsorb the first curved surface 2011 and fits against the first curved surface 2011.

[0071] In one embodiment, the conveying device 1 further includes a first driving member 30, such as... Figure 2 As shown. The first driving component 30 is used to drive the first adsorption mechanism 10 to move. The first driving component 30 can be a six-axis robot, a four-dimensional robot, a linear motor, a three-coordinate linear module, or other driving structures capable of driving the first adsorption mechanism to move and / or rotate.

[0072] Please also refer to Figure 2 and Figure 4 The first adsorption mechanism 10 includes a first body 11 and a first adsorption member 13. The first body 11 has a first contact surface 111. The first contact surface 111 is shaped like a first curved surface 2011. The first body 11 has a plurality of first adsorption holes 113. Each first adsorption hole 113 penetrates the first contact surface 111. Each first adsorption member 13 is correspondingly disposed in one first adsorption hole 113. The first adsorption member 13 has a first adsorption portion 131 on the side facing the curved structure 2, and the first adsorption portion 131 protrudes from the first contact surface 111, such as... Figure 5 As shown. When the first adsorption member 13 adsorbs the first curved surface 2011, it can drive the curved surface structure 2 to move towards the first body 11 until the first bonding surface 111 is bonded to the first curved surface 2011.

[0073] S2: The second adsorption mechanism 20 adsorbs the curved structure 2. After the first adsorption mechanism 10 releases the adsorption of the curved structure 2, the second adsorption mechanism 20 drives the curved structure 2 to move.

[0074] The second adsorption mechanism 20 is used to intersect with the curved surface structure 2 of the first adsorption mechanism 10, and drives the curved surface structure 2 to move to the second position B. The second position B can be another work station or a material unloading position, etc.

[0075] The first adsorption mechanism 10 and the second adsorption mechanism 20 intersect at the third position C of the curved surface structure 2. The third position C is a position in the conveying path of the curved surface structure 2.

[0076] Please see Figure 3 The second adsorption mechanism 20 is used to adsorb the second region 203 of the curved structure 2. The surface of the second region 203 of the curved structure 2 facing the second adsorption mechanism 20 is the second curved surface 2031. The second adsorption mechanism 20 is shaped to conform to the second curved surface 2031. The second adsorption mechanism 20 is able to adsorb the second curved surface 2031 and fits against the second curved surface 2031.

[0077] Please also refer to Figure 2 and Figure 4 The second adsorption mechanism 20 includes a second main body 21 and a second adsorption member 23. The second main body 21 has a second contact surface 211. The second contact surface 211 is shaped to conform to the second curved surface 2031. The second main body 21 has a plurality of second adsorption holes 213. Each second adsorption hole 213 penetrates the second contact surface 211. Each second adsorption member 23 is correspondingly disposed in one second adsorption hole 213. The second adsorption member 23 has a second adsorption portion 231 on the side facing the curved surface structure 2, and the second adsorption portion 231 protrudes from the second contact surface 211. When the second adsorption member 23 adsorbs the second curved surface 2031, it can drive the curved surface structure 2 to move toward the second main body 21 until the second contact surface 211 is in contact with the second curved surface 2031.

[0078] In one embodiment, the first adsorption member 13 and the second adsorption member 23 are suction cup structures, and the first adsorption member 13 and the second adsorption member 23 are connected to an air suction device (not shown). The air suction device draws air through the first adsorption member 13 and the second adsorption member 23, enabling the first adsorption member 13 and the second adsorption member 23 to adsorb the fixed curved surface structure 2. The first adsorption part 131 and the second adsorption part 231 are respectively made of soft material, so that the first adsorption member 13 and the second adsorption member 23 can deform to drive the curved surface structure 2 to move until the first curved surface 2011 and the first contact surface 111 are in contact, and the second curved surface 2031 and the second contact surface 211 are in contact.

[0079] Compared to directly adsorbing the curved structure 2 through the first adsorption hole 113 of the first body 11 and the second adsorption hole 213 of the second body 21, the first adsorption member 13 protrudes from the first bonding surface 111 and adsorbs the curved structure 2, the second adsorption member 23 protrudes from the second bonding surface 211 and adsorbs the curved structure 2, and the soft material of the first adsorption member 13 and the second adsorption member 23 partially adsorbs the curved structure 2, thus improving the reliability of the adsorption curved structure 2.

[0080] Assuming that the motion accuracy of the first adsorption mechanism 10 and the second adsorption mechanism 20 is low, resulting in low positioning accuracy of the relative positions of the first adsorption mechanism 10 and the second adsorption mechanism 20 and the curved surface structure 2 before contact, it is still possible to improve the positioning accuracy of the first adsorption mechanism 10 and the second adsorption mechanism 20 and the curved surface structure 20 before contact by the first curved surface 2011 and the first contact surface 111, and the second curved surface 2031 and the second contact surface 211. This ensures the accuracy of the first adsorption mechanism 10 and the second adsorption mechanism 200 in conveying the curved surface structure 2.

[0081] The first adsorption part 131 and the second adsorption part 231 can be deformed so that the first bonding surface 111 is bonded to the first curved surface 2011 and the second bonding surface 211 is bonded to the second curved surface 2031, so as to allow the relative positioning accuracy of the first adsorption mechanism 10 and the second adsorption mechanism 20 before they come into contact with the curved surface structure 2 respectively to be low.

[0082] In one embodiment, the first region 201 of the curved structure 2 is tangent to the second region 203, and the first adsorption mechanism 10 and the second adsorption mechanism 20 contact each other when adsorbing the curved structure 2, but this is not limited to this.

[0083] It is understood that in other embodiments, the first region 201 and the second region 203 of the curved surface structure 2 may also be spaced apart. Correspondingly, the first adsorption mechanism 10 and the second adsorption mechanism 20 are also spaced apart when adsorbing the curved surface structure 2. For example, in another embodiment, such as... Figure 7 As shown, the curved surface structure 2a is a hemispherical lens structure, and the first region 201a and the second region 203a are separated. For example, in another embodiment, as... Figure 8 As shown, the curved surface structure 2b is a pipe structure, including a first part 205 and a second part 207. The first part 205 is a semi-elliptical spherical structure, and the second part 207 is a cylindrical pipe structure. The first part 205 and the second part 207 intersect. The first region 201b and the second region 203b are separated, and the first region 201b and the second region 203b are distributed on opposite sides of the second part 207.

[0084] The first region 201 and the second region 203 are spaced apart or tangent to each other, which can avoid interference when the first adsorption mechanism 10 and the second adsorption mechanism 20 simultaneously adsorb the first region 201 and the second region 203 of the curved surface structure 2.

[0085] It is understood that in other embodiments, the first body 11 may not be shaped to the first curved surface 2011, and the second body 21 may not be shaped to the second curved surface 2031. The first adsorption mechanism 10 and the second adsorption mechanism 20 are respectively shaped to fit the curved surface structure 2 by multiple first adsorption elements 13 shaped to the first curved surface 2011 and multiple second adsorption elements 23 shaped to the second curved surface 2031, so as to ensure the relative positioning accuracy of the first adsorption mechanism 10 and the second adsorption mechanism 2 with the curved surface structure 2. Specifically, multiple first adsorption parts 131 protrude from the first contact surface 111 of the first main body 11, and the surfaces of the multiple first adsorption parts 131 facing the curved structure 2 are respectively modeled on the first curved surface 2011; multiple second adsorption parts 231 protrude from the second contact surface 211, and the surfaces of the multiple second adsorption parts 231 facing the curved structure 2 are respectively modeled on the second curved surface 2031; the first adsorption parts 131 and the second adsorption parts 231 do not deform, so as to ensure the relative positioning accuracy of the multiple first adsorption parts 131 and the first curved surface 2011, and the relative positioning accuracy of the multiple second adsorption parts 231 and the second curved surface 2031.

[0086] It is understood that in other embodiments, the first adsorption member 13 and the second adsorption member 23 may also be omitted. They can be directly adsorbed onto the curved surface structure 2 through the first adsorption hole 113 and the second adsorption hole 213, or the first adsorption mechanism 10 and the second adsorption mechanism 20 can adsorb and fix the curved surface structure 2.

[0087] In one embodiment, when the first adsorption mechanism 10 and the second adsorption mechanism 20 interact with the curved surface structure 2, the time during which the first adsorption mechanism 10 and the second adsorption mechanism 2 simultaneously adsorb the curved surface structure 2 is greater than or equal to a first preset value. Within the time period of the first preset value, the second adsorption mechanism 20 completes stable adsorption of the curved surface structure 2, improving the interaction stability of the first adsorption mechanism 10 and the second adsorption mechanism 20, and avoiding the problem of the curved surface structure 2 falling off due to unreliable adsorption. The first preset value can be determined based on factors such as adsorption force and the weight of the curved surface structure 2. For example, the first preset value can be selected within the range of 1s-3s.

[0088] In one embodiment, the first region 201 and the second region 203 of the curved surface structure 2 are symmetrical about the first symmetry plane 2001, but are not limited thereto. The curved surface structure 2 is a symmetrical structure, and the first symmetry plane 2001 is a normal plane at the vertex of the curved surface structure 2. The first adsorption mechanism 10 and the second adsorption mechanism 20 correspond to the first region 201 and the second region 203, respectively. The first body 11 and the second body 21 are symmetrical about the first symmetry plane 2001, and a plurality of first adsorption elements 13 and a plurality of second adsorption elements 23 are symmetrically arranged about the first symmetry plane 2001. The first adsorption mechanism 10 and the second adsorption mechanism 2 symmetrically adsorb the curved surface structure 2, which improves the transfer stability of the curved surface structure 2 between the first adsorption mechanism 10 and the second adsorption mechanism 20.

[0089] It is understood that in other embodiments, the first region 201 and the second region 203 of the curved surface structure 2 may also be asymmetrical structures, and the first region 201 and the second region 203 may also be partially symmetrical, thereby reducing the difference in the force of the first adsorption mechanism 10 and the second adsorption mechanism 20 adsorbing the curved surface structure 2 respectively, and improving the stability of the junction curved surface structure 2.

[0090] In one embodiment, the distance between the first adsorption mechanism 10 and the second adsorption mechanism 20 when adsorbing the curved surface structure 2 is 0, that is, the first adsorption mechanism 10 and the second adsorption mechanism 20 contact each other when simultaneously adsorbing the curved surface structure 2, but this is not limited to this. It can be understood that the distance between the first adsorption mechanism 10 and the second adsorption mechanism 20 when adsorbing the curved surface structure 2 is less than or equal to a second set value, so that the first adsorption mechanism 10 and the second adsorption mechanism 20 are respectively close to the vertex of the curved surface structure 2, so that the point of application of the adsorption force is close to the center of gravity of the curved surface structure 2, thereby improving the reliability of the first adsorption mechanism 10 and the second adsorption mechanism 20 adsorbing the curved surface structure 2 respectively.

[0091] The second setting value can be set based on the dimension of the curved structure 2 along the direction from the first adsorption mechanism 10 toward the second adsorption mechanism 20. For example, the second setting value is not less than 10% of the dimension value, but is not limited thereto.

[0092] The first main body 11 is symmetrical about the second symmetry plane 1001. The second main body 21 is symmetrical about the third symmetry plane 1003. Multiple first adsorption elements 13 are symmetrically distributed about the second symmetry plane 1001 on the first main body 11. Multiple second adsorption elements 23 are symmetrically distributed about the third symmetry plane 1003 on the second main body 21. When the first adsorption mechanism 10 and the second adsorption mechanism 20 simultaneously adsorb the curved surface structure 2, the second symmetry plane 1001 is perpendicular to the first symmetry plane 2001, the third symmetry plane 1003 is perpendicular to the first symmetry plane 2001, and the second symmetry plane 1001 and the third symmetry plane 1003 coincide.

[0093] Multiple first adsorption elements 13 are symmetrically distributed on the first main body 11, which is beneficial to the uniformity of force distribution of the adsorption curved surface structure 2 by the first adsorption mechanism 10. Multiple second adsorption elements 23 are symmetrically distributed on the second main body 21, which is beneficial to the uniformity of force distribution of the adsorption curved surface structure 2 by the second adsorption mechanism 20.

[0094] In one embodiment, the vertical distance between the edges of the first adsorption members 13 adjacent to the edge of the first bonding surface 111 and the edge of the first region 201 is less than or equal to a third preset value, and the edge of the first bonding surface 111 coincides with the edge of the first region 201 of the curved structure 2; the vertical distance between the edges of the second adsorption members 23 adjacent to the edge of the second bonding surface 211 and the edge of the second region 203 is less than or equal to a third preset value, and the edge of the second bonding surface 211 coincides with the edge of the second region 203 of the curved structure 2; thereby increasing the area of ​​the curved structure 2 adsorbed by the first adsorption mechanism 10 and the second adsorption mechanism 20 respectively, and improving the adsorption stability.

[0095] It is understood that in other embodiments, the first body 11 and the second body 21 can also be asymmetrical structures of the contoured curved surface structure 2, and the plurality of first adsorption members 13 can also be asymmetrically arranged on the first body 11, and the plurality of second adsorption members 23 can also be asymmetrically arranged on the second body 21, as long as the first adsorption mechanism 10 and the second adsorption mechanism 20 can conform to the curved surface structure 2 and can adsorb and fix the curved surface structure 2. For example, in another embodiment, such as Figure 9 As shown, the curved structure 2c is a hemispherical structure with multiple hollowed-out parts of different shapes on its outer surface. The curved structure 2c is an asymmetrical structure. The first region 201c and the second region 203c are asymmetrical structures. Correspondingly, the first adsorption mechanism 10 and the second adsorption mechanism 20 are asymmetrical structures. Multiple first adsorption elements 13 and multiple second adsorption elements 23 are respectively arranged on the first main body 11 and the second main body 21, corresponding to the positions of the solid parts on the curved structure 2 that avoid the hollowed-out parts.

[0096] In the above-mentioned method and device 1 for conveying the curved structure 2, the first adsorption mechanism 10 and the second adsorption mechanism 2 are respectively modeled on the first region 201 and the second region 203 of the curved structure 2, and the first region 201 and the second region 203 are separated or tangent to each other, so that the first adsorption mechanism 10 and the second adsorption mechanism 2 can simultaneously adsorb the curved structure 2. The transfer of the curved structure 2 can be completed directly between the first adsorption mechanism 10 and the second adsorption mechanism 2 without the need for a transfer platform, thereby improving the conveying efficiency of the curved structure 2.

[0097] The above embodiments are only used to illustrate the technical solutions of this application and are not intended to limit it. Although this application has been described in detail with reference to preferred embodiments, those skilled in the art should understand that modifications or equivalent substitutions can be made to the technical solutions of this application without departing from the spirit and substance of the technical solutions of this application.

Claims

1. A method for transmitting curved surface structures, comprising: The curved structure is adsorbed by the first adsorption mechanism and then moves toward the second adsorption mechanism; The curved structure is adsorbed by the second adsorption mechanism. After the first adsorption mechanism releases the adsorption of the curved structure, the second adsorption mechanism drives the curved structure to move. The first adsorption mechanism conforms to and adsorbs the first region of the curved surface structure; The second adsorption mechanism conforms to and adsorbs the second region of the curved surface structure; The first region and the second region are spaced apart or tangent to each other and are located on the same side of the curved structure.

2. The method for transmitting curved surface structures as described in claim 1, characterized in that: In the step of using the second adsorption mechanism to adsorb the curved surface structure, the time during which the first adsorption mechanism and the second adsorption mechanism simultaneously adsorb the curved surface structure is greater than or equal to a first set value.

3. The method for transmitting curved surface structures as described in claim 1, characterized in that: The first region and the second region are structures symmetrical about a first symmetry plane; the first symmetry plane is the normal plane at the vertex of the curved structure.

4. The method for transmitting curved surface structures as described in claim 3, characterized in that: The distance between the first adsorption mechanism and the second adsorption mechanism when adsorbing the curved structure is less than or equal to a second set value.

5. A conveying device, comprising: First adsorption mechanism; and Second adsorption mechanism; The first adsorption mechanism and the second adsorption mechanism are used to implement the curved structure conveying method as described in any one of claims 1 to 4.

6. The conveying device as described in claim 5, characterized in that: The first adsorption mechanism includes a first body; the first body is provided with a first contact surface, the first contact surface being shaped like the surface of the first region of the curved structure facing the first contact surface; the first body is provided with a plurality of first adsorption holes, the first adsorption holes penetrating the first contact surface; The second adsorption mechanism includes a second body; the second body has a second bonding surface, which is shaped like the surface of the second region of the curved structure facing the second bonding surface; the second body has a plurality of second adsorption holes, which penetrate the second bonding surface.

7. The conveying device as described in claim 6, characterized in that: The first adsorption mechanism further includes a plurality of first adsorption elements, each of which is inserted through the first adsorption hole, and the first adsorption element can drive the curved structure to move toward the first body until the first body is in contact with the first area. The second adsorption mechanism further includes a plurality of second adsorption elements, each of which is inserted through the second adsorption hole, and the second adsorption element can drive the curved structure to move toward the second body until the second body is in contact with the second region.

8. The conveying device as described in claim 5, characterized in that: The first adsorption mechanism includes a first body and a plurality of first adsorption elements; the plurality of first adsorption elements are disposed on the first body, and the surfaces of the plurality of first adsorption elements facing the curved structure are respectively shaped to the surfaces to be adsorbed in the corresponding first region; The second adsorption mechanism includes a second body and a plurality of second adsorption elements; the plurality of second adsorption elements are disposed on the body, and the surfaces of the plurality of second adsorption elements facing the curved structure are respectively modeled on the surfaces to be adsorbed in the corresponding second region.

9. The conveying device as described in claim 7 or 8, characterized in that: The first main body has a structure symmetrical about the second symmetry plane; a plurality of the first adsorption elements are distributed symmetrically about the second symmetry plane on the first main body; The second main body has a structure symmetrical about the third symmetry plane; a plurality of the second adsorption elements are symmetrically distributed about the third symmetry plane in the second main body; When the first adsorption mechanism and the second adsorption mechanism simultaneously adsorb the curved structure, the second symmetry plane is perpendicular to the first symmetry plane, the third symmetry plane is perpendicular to the first symmetry plane, and the second symmetry plane and the third symmetry plane coincide; the first symmetry plane is the normal plane at the vertex of the curved structure.

10. The conveying device as claimed in claim 9, characterized in that: The vertical distance between the plurality of first adsorption elements adjacent to the edge of the first region and the edge of the first region is less than or equal to a third set value; The vertical distance between the plurality of second adsorption elements adjacent to the edge of the second region and the edge of the second region is less than or equal to the third set value.

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