Multi-degree-of-freedom compact adaptive intelligent cover plate loading and unloading device

Abstract

The present application relates to a kind of multi-degree-of-freedom compact adaptive intelligent cover plate loading and unloading device, the device includes linear module, scissor lifting platform, jaw mechanism and suction cup module. Linear module includes two synchronous belt linear guide rails;Two synchronous belt linear guide rails between being provided with scissor lifting platform;The scissor lifting platform includes crossbeam base, lifting mechanism and receiving plate;The lower side middle part of the receiving plate is connected with jaw mechanism by bolt;The lower part of the receiving plate is connected with jaw mechanism by bolt on both sides. The present application has the motion structure of multiple degrees of freedom, so that the mechanism can flexibly cope with various cover plate loading and unloading requirements in complex industrial environment.In addition, by integrating each component, the present application ensures that the loading and unloading work is completed in the industrial environment with high cleanliness requirement, while greatly reducing the labor cost, and improving the time efficiency of operation.

Description

Technical Field

[0001] This invention relates to the field of loading and unloading transportation technology, and in particular to a multi-degree-of-freedom compact adaptive intelligent cover plate loading and unloading device. Background Technology

[0002] The scissor lift platform mainly consists of a working platform, lifting boom, drive mechanism, and chassis. It is a versatile piece of work equipment widely used in logistics systems, workshop assembly, and other work environments, characterized by high load-bearing capacity, large working area, stable performance, and wide adaptability. However, existing scissor lift platforms suffer from complex and cumbersome structures, low automation, low motion precision, and poor motion stability, mostly limited to vertical lifting control. Currently, several domestic institutions are involved in the structural design of scissor lift platforms, which have addressed these requirements to some extent.

[0003] In industrial environments, many enclosure structures require sealing with covers, and these environments typically have high requirements for cleanliness and freedom of movement. To ensure the cleanliness of the enclosure's interior, the traditional manual process of loading and unloading covers is cumbersome and prone to environmental pollution. Problems with traditional manual operation include cumbersome procedures, susceptibility to errors, high manpower requirements, and difficulty in adapting to 24-hour continuous operation. Summary of the Invention

[0004] The purpose of this invention is to overcome the shortcomings of the prior art and provide a multi-degree-of-freedom compact adaptive intelligent cover loading and unloading device.

[0005] The objective of this invention can be achieved through the following technical solutions:

[0006] This invention provides a multi-degree-of-freedom compact adaptive intelligent cover loading and unloading device, comprising: a linear module, a scissor lift platform, a gripper mechanism, and a suction cup module.

[0007] The linear module includes two synchronous belt linear guides and an industrial CCD camera; a scissor lift platform is provided between the two synchronous belt linear guides, and the industrial CCD camera is mounted on the scissor lift platform.

[0008] The scissor lift platform includes a crossbeam base, a lifting mechanism, and a receiving plate; the lower part of the lifting mechanism is connected to the crossbeam base, and the upper part of the lifting mechanism is connected to the receiving plate; the lifting mechanism can drive the receiving plate to move up and down; the receiving plate is provided with a groove; the scissor lift platform can slide along the synchronous belt linear guide rail; the groove allows the gripper mechanism to pass through.

[0009] The gripper mechanism is connected to the underside of the receiving plate. The gripper mechanism includes grippers that extend through the groove to grip or release the cover plate.

[0010] The suction cup module is connected to the underside of the receiving plate. The suction cup module includes a suction cup, which extends through the groove to adsorb the cover plate.

[0011] Furthermore, the linear module also includes a first slewing bearing, a stepper motor, a crossbeam, a second slewing bearing, and a cross roller guide; the stepper motor is disposed at the end of the synchronous belt linear guide; a synchronous belt slider is disposed on the synchronous belt linear guide, and the stepper motor provides power to the synchronous belt slider; the crossbeam is disposed on the synchronous belt slider.

[0012] Furthermore, supports are provided at the bottom of both sides of the synchronous belt linear guide rail, and the linear module is mounted on the external frame through the supports.

[0013] Furthermore, the first side beam is connected to the timing belt slider via the first slewing bearing; the second side beam is connected to the cross roller guide and the timing belt slider via the second slewing bearing.

[0014] Furthermore, when the two stepper motors move at different speeds, the two synchronous belt sliders move in opposite directions, causing the first and second slewing bearings to rotate, and the crossbeam to deflect and tilt. The cross roller guide rail slides and extends due to the tilt of the crossbeam, achieving deflection at an angle of -10° to 10°. The linear module can achieve two degrees of freedom in the horizontal direction: translation and rotation.

[0015] Furthermore, the industrial CCD camera can identify markers affixed to the cover plate and adaptively adjust the device orientation so that the receiving plate is directly facing the cover plate.

[0016] Furthermore, the lifting mechanism also includes an electric actuator mounting base sheet metal, an electric actuator, a bolt-type roller bearing, a roller seat, and a scissor fork; the crossbeam base is connected to the crossbeam, and the crossbeam base has two parallel crossbeams; each crossbeam base has two scissor forks; the electric actuator is connected to the scissor forks on both sides through the electric actuator mounting base sheet metal; the scissor forks are fixed to the crossbeam base and the receiving plate through bearing seats and bolt-type roller bearings.

[0017] Furthermore, the bolt-type roller bearing can roll in the roller seat to realize the lifting and lowering of the scissor lift; the roller seat is respectively installed on the crossbeam base and the support plate.

[0018] Furthermore, the lower end of the bearing housing on the lower side is fixedly connected to the crossbeam base, and the upper end of the bearing housing on the upper side is fixedly connected to the receiving plate; the bolt-type roller bearing on the lower side is set on the crossbeam base, and the bolt-type roller bearing on the upper side is set on the receiving plate.

[0019] Furthermore, the receiving plate is provided with a first groove and a second groove; there are four first grooves, and they are circular in shape; there is one second groove, and it is elongated in shape; the suction cup extends through the first groove to adsorb the cover plate; the gripper extends through the second groove to grip or release the cover plate.

[0020] Furthermore, when the electric actuator extends, it simultaneously pushes the scissor lifts on both sides upwards, thus raising the receiving plate and allowing it to fit against the cover plate, supporting it. Similarly, when the electric actuator retracts, the receiving plate lowers, allowing the disassembled cover plate to be removed or moved away from the installed cover plate. This scissor lift platform allows for vertical translational freedom.

[0021] Furthermore, the gripper mechanism also includes a gripper linear guide rail, a gripper slider, and a lead screw motor; the gripper mechanism is provided in two sets, and the two sets of gripper mechanisms are staggered; the gripper is connected to the lead screw of the lead screw motor; the gripper is also connected to the gripper linear guide rail through the gripper slider.

[0022] Furthermore, the two gripper mechanisms share a single gripper linear guide rail, allowing the two grippers to slide on the same guide rail.

[0023] Furthermore, the two grippers moving in opposite directions can clamp the cover plate or engage the quick-release latches on the cover plate to install or remove the cover plate. The two grippers moving in the same direction can adjust the lateral position of the cover plate, providing another degree of freedom in the horizontal direction.

[0024] Furthermore, the suction cup module also includes a suction cup shaft, a spring, a linear sliding bearing, a proximity switch, and a bracket. The bracket is equipped with the suction cup, suction cup shaft, spring, linear sliding bearing, and proximity switch; the suction cup is mounted on the suction cup shaft, and the suction cup shaft is mounted on the linear sliding bearing; the bottom of the bracket has a notch through which the suction cup shaft can extend; a spring is installed at the bottom of the suction cup shaft, and the proximity switch is located at the bottom of the bracket's inner cavity; the bracket is fixedly mounted on a receiving plate.

[0025] Furthermore, a spring is installed at the bottom of the suction cup shaft, allowing it to remain extended in its normal state. When the cover plate and the receiving plate are in contact, the cover plate presses against the suction cup shaft and suction cup, causing the suction cup to adhere to the cover plate. Simultaneously, the spring contracts under the pressure of the cover plate, retracting the suction cup shaft. A proximity switch is triggered when the suction cup shaft retracts, allowing the determination of the relative position and orientation of the cover plate and the receiving plate.

[0026] Compared with the prior art, the present invention has the following advantages:

[0027] (1) The present invention has a multi-degree-of-freedom motion structure, which enables the mechanism to flexibly respond to various cover loading and unloading needs in complex industrial environments. In addition, by integrating the various components, the present invention ensures that loading and unloading work can be completed in industrial environments with high cleanliness requirements, while significantly reducing labor costs and improving the time efficiency of the operation.

[0028] (2) The present invention can achieve multiple degrees of freedom in a small space height. The height of the entire multi-degree-of-freedom compact adaptive intelligent cover loading and unloading device of the present invention can be as low as 136mm.

[0029] (3) This invention brings an advanced, efficient and reliable solution to the industrial field, which can not only meet the requirements of environments with high cleanliness, but also bring more convenient and economical automated loading and unloading solutions to related industries. Attached Figure Description

[0030] Figure 1 This is a schematic diagram of the overall structure of a multi-degree-of-freedom compact adaptive intelligent cover plate loading and unloading device according to an embodiment of the present invention;

[0031] Figure 2 This is a schematic diagram of the linear module according to an embodiment of the present invention;

[0032] Figure 3 This is a schematic diagram of the scissor lift platform according to an embodiment of the present invention;

[0033] Figure 4 This is a schematic diagram of the structure of the receiving plate in an embodiment of the present invention;

[0034] Figure 5 This is a schematic diagram of the gripper mechanism according to an embodiment of the present invention;

[0035] Figure 6 This is a schematic diagram of the suction cup module according to an embodiment of the present invention;

[0036] Figure 7 This is a schematic diagram of the stepper motor during differential motion according to an embodiment of the present invention;

[0037] Figure 8 for Figure 7 A magnified view of a portion of the image;

[0038] Figure 9 This is a schematic diagram illustrating the overall application scenario of an embodiment of the present invention;

[0039] Figure 10 This is a schematic diagram of the upper-layer application scenario in an embodiment of the present invention.

[0040] The diagram labels are as follows: 1. Linear module; 101. Synchronous belt linear guide; 102. First slewing bearing; 103. Stepper motor; 104. Crossbeam; 105. Second slewing bearing; 106. Cross roller guide; 107. Industrial CCD camera; 2. Scissor lift platform; 201. Crossbeam base; 202. Support plate; 2021. First groove; 2022. Second groove; 203. Electric actuator mounting base. Sheet metal; 204, electric actuator; 205, bolt-type roller bearing; 206, roller seat; 207, scissor fork; 3, gripper mechanism; 301, gripper linear guide; 302, gripper; 303, gripper slider; 304, lead screw motor; 4, suction cup module; 401, suction cup; 402, suction cup shaft; 403, spring; 404, linear sliding bearing; 405, proximity switch; 406, bracket; 5, external frame. Detailed Implementation

[0041] The technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings.

[0042] To better understand the above-mentioned objectives, features, and advantages of the present invention, the present invention will be described in detail below with reference to the accompanying drawings and specific embodiments. It should be noted that, unless otherwise specified, the embodiments and features of the present invention can be combined with each other.

[0043] Numerous specific details are set forth in the following description to provide a thorough understanding of the invention. The described embodiments are merely some, not all, of the embodiments of the invention. All other embodiments obtained by those skilled in the art based on the embodiments of the invention without inventive effort are within the scope of protection of this invention.

[0044] Furthermore, the following descriptions of the embodiments are with reference to the accompanying illustrations, illustrating specific embodiments in which the invention can be implemented. Directional terms used in this invention, such as "long," "left and right," and "up and down," are merely for reference to the accompanying illustrations. Therefore, the use of directional terms is for better and clearer explanation and understanding of the invention, and does not indicate or imply that the referred device or element must have a specific orientation, or be constructed and operated in a specific orientation, and therefore should not be construed as a limitation of the invention. Unless otherwise expressly specified and limited, the terms "installed," "connected," and "linked" should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral connection; they can refer to a mechanical connection; they can refer to a direct connection or an indirect connection through an intermediate medium; they can refer to the internal communication between two elements. Those skilled in the art can understand the specific descriptive meaning of the above terms in this invention based on the specific circumstances.

[0045] Example

[0046] This embodiment provides a multi-degree-of-freedom compact adaptive intelligent cover loading and unloading device, such as... Figure 1 As shown, the device includes a linear module 1, a scissor lift platform 2, a gripper mechanism 3, and a suction cup module 4, all mounted on the external frame 5.

[0047] Among them, such as Figure 2 As shown, the linear module 1 includes two synchronous belt linear guides 101, and a scissor lift platform 2 is arranged between the two synchronous belt linear guides 101.

[0048] like Figure 3 As shown, the scissor lift platform 2 includes a crossbeam base 201, a lifting mechanism, and a receiving plate 202. The lower part of the lifting mechanism is connected to the crossbeam base 201, and the upper part of the lifting mechanism is connected to the receiving plate 202. The lifting mechanism can drive the upper receiving plate 202 to move up and down. The receiving plate 202 is provided with a groove for the gripper mechanism 3 to pass through. The scissor lift platform 2 can slide along the synchronous belt linear guide rail 101.

[0049] like Figure 5 As shown, the gripper mechanism 3 is connected to the lower side of the receiving plate 202. The gripper mechanism 3 includes a gripper 302, which extends through the groove to grip or release the cover plate.

[0050] like Figure 6 As shown, the suction cup module 4 is connected to the lower side of the receiving plate 202. The suction cup module 4 includes a suction cup 401, which extends through the groove to adsorb the cover plate.

[0051] More specifically, the linear module 1 includes two synchronous belt linear guides 101, a first slewing bearing 102, two stepper motors 103, two crossbeams 104, a second slewing bearing 105, and crossed roller guides 106. Supports are provided below both ends of the synchronous belt linear guides 101. The synchronous belt linear guides 101 are mounted on the external frame 5 via these supports. The stepper motors 103 are located at the ends of the synchronous belt linear guides 101, providing power to them.

[0052] A synchronous belt slider is mounted on the synchronous belt linear guide 101, and a crossbeam 104 is mounted on the synchronous belt slider. When the two stepper motors 103 rotate synchronously, they drive the crossbeam 104 to move back and forth along the synchronous belt linear guide 101. The crossbeam 104 and the synchronous belt slider are not rigidly connected. The first side crossbeam 104 is connected to the synchronous belt slider through a first slewing bearing 102; the second side crossbeam 104 is connected to the crossed roller guide 106 and the synchronous belt slider through a second slewing bearing 105. The first slewing bearing 102, the second slewing bearing 105, and the crossed roller guide 106 provide additional rotational freedom for the crossbeam 104. Figure 7 and Figure 8 As shown, when the two stepper motors 103 move at different speeds, the two synchronous belt sliders move in opposite directions, causing the first slewing bearing 102 and the second slewing bearing 105 to rotate, and the crossbeam 104 to deflect and tilt. The crossed roller guide 106 slides and extends due to the tilt of the crossbeam 104, achieving deflection at an angle of -10° to 10°. This linear module 1 can achieve two degrees of freedom: translation and rotation in the horizontal direction. The industrial CCD camera 107 can identify markers affixed to the cover plate and adaptively adjust the device's posture to ensure the receiving plate is directly facing the cover plate.

[0053] More specifically, the scissor lift platform 2 includes a beam base 201, a receiving plate 202, an electric actuator mounting plate 203, an electric actuator 204, a bolt-type roller bearing 205, a roller seat 206, and a scissor lift 207.

[0054] A crossbeam 104 is connected to a crossbeam base 201, and two crossbeam bases 201 are provided and arranged in parallel. Scissor lifters 207 are mounted on the crossbeam bases 201, with two scissor lifters 207 on each crossbeam base 201. The scissor lifters 207 are fixed to the two sides near the crossbeam 104 by bearing seats; the lower end of the lower bearing seat is fixedly connected to the crossbeam base 201, and the upper end of the upper bearing seat is fixedly connected to the receiving plate 202. Bolt-type roller bearings 205 are provided at adjacent ends of the scissor lifters 207 on the same crossbeam base 201; the lower bolt-type roller bearing 205 is mounted on the crossbeam base 201, and the upper bolt-type roller bearing 205 is mounted on the receiving plate 202. Figure 4 As shown, the receiving plate 202 is provided with four first grooves 2021 and one second groove 2022. The first grooves 2021 are circular in shape, and the second groove 2022 is elongated in shape. The suction cup 401 extends through the first grooves 2021 to adsorb the cover plate, and the gripper 302 extends through the second grooves 2022 to grip or release the cover plate.

[0055] The electric actuator 204 is connected to the scissor lifts 207 on both sides via the electric actuator mounting plate 203. Bolted roller bearings 205 roll within the roller seats to achieve the lifting and lowering of the scissor lifts 207. When the electric actuator 204 extends, it simultaneously pushes the scissor lifts 207 on both sides upwards, thereby lifting the support plate 202 and allowing it to fit against the cover plate, supporting the cover plate. Similarly, when the electric actuator 204 retracts, it lowers the support plate 202, allowing the disassembled cover plate to be removed or moved away from the installed cover plate. This scissor lift platform 2 allows for vertical translational freedom.

[0056] More specifically, the gripper mechanism 3 includes a gripper linear guide rail 301, grippers 302, gripper sliders 303, and a lead screw motor 304. The first side of the gripper 302 is connected to the lead screw motor 304; the second side of the gripper 302 is connected to the gripper linear guide rail 301 via the slider 303. Two sets of gripper mechanisms 3 are provided, and the two sets of gripper mechanisms 3 are arranged in parallel and staggered. The two sets of gripper mechanisms 3 share a single gripper linear guide rail 301, allowing the two grippers 302 to slide on the same gripper linear guide rail 301. The two grippers 302 moving in opposite directions can grip the cover plate, or grip the quick-release latches on the cover plate, to complete the function of installing or removing the cover plate. The two grippers 302 moving in the same direction can adjust the lateral position of the cover plate, thus providing another degree of freedom in the horizontal direction.

[0057] More specifically, the suction cup module 4 includes a suction cup 401, a suction cup shaft 402, a spring 403, a linear sliding bearing 404, a proximity switch 405, and a bracket 406. Four sets of suction cup modules 4 are arranged, distributed at the four corners of the receiving plate 202. The bracket 406 is equipped with the suction cup 401, suction cup shaft 402, spring 403, linear sliding bearing 404, and proximity switch 405. The suction cup 401 is bolted to the suction cup shaft 402, and the suction cup shaft 402 is mounted on the linear sliding bearing 404. The spring 403 is installed at the bottom of the suction cup shaft 402, and the proximity switch 405 is located at the bottom of the inner cavity of the bracket 406. The bracket 406 is fixedly mounted on the receiving plate 202 with bolts. The spring 403 installed at the bottom of the suction cup shaft 402 allows the suction cup shaft 402 to be in an extended state under normal conditions. When the cover plate and the receiving plate 202 are in contact, the cover plate will press against the suction cup shaft 402 and the suction cup 401, causing the suction cup 401 to adhere to the cover plate. At the same time, the spring 403 is compressed by the cover plate, and the suction cup shaft 402 retracts. The proximity switch 405 will detect if there is metal approaching. When the suction cup shaft 402 is pressed down, the protrusion of the suction cup shaft 402 will approach and trigger the proximity switch 405. After all four proximity switches 405 are triggered, it is considered that the cover plate has been correctly received by the receiving plate.

[0058] The process of disassembling the cover plate using this invention is as follows: The industrial CCD camera 107 identifies the position of the marker and locates the cover plate. The synchronous belt linear guide rail 101 and the stepper motor 103 in the linear module 1 drive the crossbeam 104 to move to this position. After the crossbeam base 201 moves to the designated position, the electric push rod 204 extends to drive the scissor lift 207 to lift the receiving plate 202 and attach the receiving plate 202 to the cover plate. During the process of lifting the receiving plate and attaching it to the cover plate 202, the suction cups 401 in the four suction cup modules complete the adsorption of the cover plate, and at the same time, the suction cup shaft 402 retracts to trigger the proximity switch 405. After the attachment is completed, the two grippers 302 move to the quick-release buckle position of the cover plate and move closer to each other to complete the gripping of the cover plate. The disassembly of the cover plate is now complete. Afterwards, the scissor lift platform 2 descends, and the linear module 1 moves horizontally to move the cover plate out of its original position.

[0059] The process of installing the cover plate using this invention is as follows: The industrial CCD camera 107 identifies the location of the marker and positions the cover plate to be installed. The synchronous belt linear guide rail 101 and the stepper motor 103 in the linear module 1 drive the crossbeam 104 to move to that position. After the crossbeam base 201 moves to the designated position, the electric push rod 204 extends to drive the scissor lift 207 to lift the receiving plate 202, bringing the cover plate on the receiving plate 202 into contact with the housing. After contact is completed, the two grippers 302 move away from each other to release the cover plate, at which point the cover plate has been installed back into the housing. Then, the scissor lift platform 2 descends away from the cover plate. During the process of the receiving plate 202 descending and moving away from the cover plate, the suction cups 401 in the four suction cup modules move away from the cover plate and release their adsorption. At the same time, the suction cup shaft 402 extends and releases the trigger of the proximity switch 405. Finally, the linear module 1 moves horizontally to move the cover plate loading and unloading mechanism out of the cover plate area.

[0060] Overall application scenarios such as Figure 9 , Figure 10 As shown, the actual application scenario of the multi-degree-of-freedom compact adaptive intelligent cover loading and unloading device provided in this embodiment has height limitations. The height of the entire mechanism needs to be limited to below 140mm. In this embodiment, the height of the entire mechanism is 136mm. Through intelligent operation, it not only ensures the cleanliness of the sealed environment, but also solves the problems of cumbersome process, easy error, and large amount of human resources in traditional manual operation.

[0061] The above are preferred embodiments of the present invention. It should be noted that, for those skilled in the art, several improvements and modifications can be made without departing from the principle of the present invention, and these improvements and modifications are also considered to be within the scope of protection of the present invention.

Claims

1. A multi-degree-of-freedom compact adaptive intelligent cover loading and unloading device, characterized in that, include: Linear module (1), scissor lift platform (2), gripper mechanism (3) and suction cup module (4); The linear module (1) includes two synchronous belt linear guides (101); a scissor lift platform (2) is provided between the two synchronous belt linear guides (101). The scissor lift platform (2) includes a crossbeam base (201), a lifting mechanism, and a receiving plate (202); the lower part of the lifting mechanism is connected to the crossbeam base (201), and the upper part of the lifting mechanism is connected to the receiving plate (202); the lifting mechanism can drive the receiving plate (202) to move up and down; the receiving plate (202) is provided with a groove; the scissor lift platform (2) can slide along the synchronous belt linear guide rail (101); the groove allows the gripper mechanism (3) and the suction cup module (4) to pass through; The gripper mechanism (3) is connected to the lower side of the receiving plate (202). The gripper mechanism (3) includes a gripper (302). The gripper (302) extends through the groove to grip or release the cover plate. The suction cup module (4) is connected to the lower side of the receiving plate (202). The suction cup module (4) includes a suction cup (401), which extends through the groove to adsorb the cover plate. The linear module (1) further includes a first slewing bearing (102), a stepper motor (103), a crossbeam (104), a second slewing bearing (105), and a cross roller guide (106); the stepper motor (103) is disposed at the end of the synchronous belt linear guide (101); a synchronous belt slider is disposed on the synchronous belt linear guide (101), and the stepper motor (103) provides power to the synchronous belt slider; the crossbeam (104) is disposed on the synchronous belt slider; The first side beam (104) is connected to the synchronous belt slider via the first slewing bearing (102); the second side beam (104) is connected to the cross roller guide (106) and the synchronous belt slider via the second slewing bearing (105); when the two stepper motors (103) move at different speeds, the two synchronous belt sliders move in opposite directions, causing the first slewing bearing (102) and the second slewing bearing (105) to rotate, and the beam (104) to deflect and tilt; the cross roller guide (106) slides and extends due to the tilt of the beam (104), thus achieving deflection, with a deflection angle of -10° to 10°; The groove includes a first groove (2021) and a second groove (2022); there are four first grooves (2021) and they are circular in shape; there is one second groove (2022) and it is elongated in shape; the suction cup (401) extends through the first groove (2021) to adsorb the cover plate; the gripper (302) extends through the second groove (2022) to grip or release the cover plate.

2. The multi-degree-of-freedom compact adaptive intelligent cover loading and unloading device according to claim 1, characterized in that, The lifting mechanism further includes an electric actuator mounting plate (203), an electric actuator (204), a bolt-type roller bearing (205), a roller seat (206), and a scissor fork (207); the crossbeam base (201) is connected to the crossbeam (104), and the crossbeam base (201) has two parallel ones; each crossbeam base (201) has two scissor forks (207); the electric actuator (204) is connected to the scissor forks (207) at both ends through the electric actuator mounting plate (203); the scissor forks (207) are fixed to the crossbeam base (201) and the receiving plate (202) through the bearing seat and the bolt-type roller bearing (205).

3. The multi-degree-of-freedom compact adaptive intelligent cover loading and unloading device according to claim 2, characterized in that, The bolt-type roller bearing (205) rolls in the roller seat (206) to realize the lifting and lowering of the scissor fork (207); the roller seat (206) is respectively installed on the crossbeam base (201) and the support plate (202).

4. The multi-degree-of-freedom compact adaptive intelligent cover loading and unloading device according to claim 3, characterized in that, The lower end of the bearing seat on the lower side is fixedly connected to the crossbeam base (201), and the upper end of the bearing seat on the upper side is fixedly connected to the support plate (202); the lower bolt-type roller bearing (205) is set on the crossbeam base (201), and the upper bolt-type roller bearing (205) is set on the support plate (202).

5. The multi-degree-of-freedom compact adaptive intelligent cover loading and unloading device according to claim 1, characterized in that, The gripper mechanism (3) further includes a gripper linear guide (301), a gripper slider (303), and a lead screw motor (304); the gripper mechanism (3) is provided in two sets, and the two sets of gripper mechanisms (3) are staggered; the gripper (302) is connected to the lead screw of the lead screw motor (304); the gripper (302) is also connected to the gripper linear guide (301) through the gripper slider (303).

6. The multi-degree-of-freedom compact adaptive intelligent cover loading and unloading device according to claim 5, characterized in that, The two sets of gripper mechanisms (3) share a single gripper linear guide (301) so that the two grippers (302) can slide on the same gripper linear guide (301).

7. The multi-degree-of-freedom compact adaptive intelligent cover loading and unloading device according to claim 1, characterized in that, The suction cup module (4) further includes a suction cup shaft (402), a spring (403), a linear sliding bearing (404), a proximity switch (405), and a bracket (406); the bracket (406) is provided with a suction cup (401), a suction cup shaft (402), a spring (403), a linear sliding bearing (404), and a proximity switch (405); the suction cup (401) is mounted on the suction cup shaft (402), and the suction cup shaft (402) is mounted on the linear sliding bearing (404); the bottom of the bracket (406) is provided with a notch, through which the suction cup shaft (402) can extend; the spring (403) is installed at the bottom of the suction cup shaft (402), and the proximity switch (405) is located at the bottom of the inner cavity of the bracket (406); the bracket (406) is fixedly mounted on the receiving plate (202).

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