Flexible linkage intelligent transfer robot for machine tool

Abstract

The invention relates to the technical field of factory intelligent transformation equipment, and discloses a machine tool flexible linkage intelligent transfer robot which comprises a supporting device and a chassis, the supporting device is fixedly installed on the upper side of the chassis, four universal wheels are fixedly installed on the lower side of a bottom plate, a lifting device is installed on the supporting device, and a connecting device is installed on the lifting device. The two V-shaped groove feeding and discharging storage frames are fixedly installed on the upper side of the bottom plate, the adsorption device is installed on the connecting device, and a truss structure is adopted for supporting. According to the truss structure, through reasonable arrangement of the rod pieces, force borne by the whole vehicle can be evenly distributed, so that the stability of the whole vehicle is guaranteed when heavy-load materials are lifted, the material carrying problem in different environments can be solved, and heavy materials can be lifted.

Description

Technical Field

[0001] The present invention relates to the technical field of factory intelligent transformation equipment, and specifically to a flexible linkage intelligent handling robot for machine tools. Background Art

[0002] In the sub-sector of compound AGVs, although large-scale applications in high-precision scenarios such as semiconductors / liquid crystals have been achieved, the load capacity of related products is generally small. The rigid demand for heavy-duty truss-type compound AGVs above 500kg in the mechanical manufacturing field still faces a market gap with the lack of mature products. Therefore, there is an urgent need for a flexible linkage intelligent handling robot for machine tools that can meet the material handling problems in different environments and lift heavier materials (above 1000kg). Summary of the Invention

[0003] In response to the shortcomings of the existing technology, the present invention provides a flexible linkage intelligent handling robot for machine tools, which has the advantages of meeting the material handling problems in different environments and being able to lift heavier materials. It solves the problem that the load capacity of related products is generally small, and the mechanical manufacturing field still faces a market gap in the lack of mature products for the rigid demand for heavy-load truss-type composite AGVs above 500kg.

[0004] In order to achieve the above-mentioned material handling difficulties that meet different environments and be able to lift heavier materials, the present invention provides the following technical solutions: a machine tool flexible linkage intelligent handling robot, including a support device and a chassis, the support device is fixedly installed on the upper side of the chassis, four universal wheels are fixedly installed on the lower side of the base plate, a lifting device is installed on the support device, a connecting device is installed on the lifting device, two V-groove loading and unloading storage racks are fixedly installed on the upper side of the base plate, and an adsorption device is installed on the connecting device.

[0005] Preferably, the supporting device includes a left truss top beam, two left truss support columns, two left lifting slides, two right truss support columns, two right lifting slides and a right truss top beam, the two left truss support columns and the two right truss support columns are fixedly mounted on the base plate, and the lifting device is mounted on the two left lifting slides and the two right lifting slides.

[0006] Preferably, the left truss top beam is fixedly mounted on the two left truss support columns, the two left lifting slides are respectively arranged on the two left truss support columns, the right truss top beam is fixedly mounted on the two right truss support columns, and the two right lifting slides are respectively arranged on the two right truss support columns.

[0007] Preferably, the lifting device includes a left lifting screw, a left truss base, a left slider, a left lifting motor, a right lifting motor, a right slider, a right truss base, and a right lifting screw. The left lifting motor and the right lifting motor are both fixedly mounted on the base plate, and the connecting device is installed on the left truss base, the right truss base and the right lifting screw.

[0008] Preferably, the left lifting screw is fixedly mounted on the left lifting motor, the left truss base is threadedly sleeved on the left lifting screw, the left slider is fixedly connected to the left truss base, the right lifting screw is fixedly mounted on the right lifting motor, the right truss base is threadedly sleeved on the right lifting screw, the right slider is fixedly mounted on the right truss base, and the connecting device is fixedly connected to the left slider and the right slider.

[0009] Preferably, the connecting device includes a lifting motor a, a right horizontal slide rail, a horizontal sliding screw, a left horizontal slide rail, a fixing frame, a connecting frame and a connecting bar, and the right horizontal slide rail and the left horizontal slide rail are respectively installed on the left slider and the right slider.

[0010] Preferably, the right horizontal slide rail and the left horizontal slide rail are both fixedly mounted on the connecting bar, the connecting frame is fixedly connected to the right horizontal slide rail and the left horizontal slide rail, the horizontal sliding screw is fixedly connected to the lifting motor a, the fixing frame is arranged on the right horizontal slide rail and the left horizontal slide rail, the fixing frame is threadedly sleeved on the horizontal sliding screw, and the adsorption device is installed on the fixing frame.

[0011] Preferably, the adsorption device includes a sliding screw, a lifting motor b, two lifting cylinders, a 360° rotating device, a magnetic suction cup and a connecting piece, and the lifting motor b is fixedly installed on the fixing frame.

[0012] Preferably, the sliding screw is fixedly mounted on the lifting motor b, the connecting piece is threadedly sleeved on the sliding screw, the two lifting electric cylinders are fixedly mounted on the connecting piece, the 360° rotating device is mounted on the two lifting electric cylinders, and the magnetic suction cup is mounted on the 360° rotating device.

[0013] Compared with the prior art, the present invention provides a machine tool flexible linkage intelligent handling robot, which has the following beneficial effects: 1. This machine tool flexible linkage intelligent handling robot is supported by a truss structure. The rational arrangement of the rods in the truss structure evenly distributes the force on the entire vehicle, ensuring the stability of the vehicle when lifting heavy loads. This can meet the material handling challenges in different environments and can lift heavier materials.

[0014] 2. This machine tool's flexible linkage intelligent handling robot uses a lead screw for transmission. The lead screw has the advantages of high motion precision and good repeatability. It can achieve precise positioning during the process of adsorbing and lifting materials, thereby improving loading and unloading.

[0015] 3. This machine tool flexible linkage intelligent handling robot uses a worm gear drive through a 360° rotation device. The worm gear structure has the advantages of a large transmission ratio and a compact structure, which can save space while meeting the functional requirements.

[0016] 4. The machine tool flexible linkage intelligent handling robot can both walk and turn through its four wheels. All wheels deflect in the same direction, similar to the steering method of traditional cars. It can also crab mode, with all wheels deflecting in parallel in the same direction, allowing the vehicle to move laterally like a crab. It can also rotate in the opposite direction, with the left and right wheels deflecting in opposite directions, reducing the turning radius and allowing the vehicle to rotate almost in place, thereby improving the vehicle's operational flexibility in complex environments, reducing the demand for surrounding space, making it suitable for operations in small areas, and improving the vehicle's stability and controllability, especially at low speeds. BRIEF DESCRIPTION OF THE DRAWINGS

[0017] Figure 1 This is a schematic diagram of the front structure of the present invention; Figure 2 It is a schematic diagram of the three-dimensional structure of the support device of the present invention; Figure 3 It is a schematic diagram of the three-dimensional structure of the lifting device of the present invention; Figure 4 It is a schematic diagram of the three-dimensional structure of the connecting device of the present invention; Figure 5 It is a schematic diagram of the three-dimensional structure of the adsorption device of the present invention.

[0018] In the figure: 1. Support device; 101. Left truss top beam; 102. Left truss support column; 103. Left lifting slide; 104. Right truss support column; 105. Right lifting slide; 106. Right truss top beam; 2. Lifting device; 201. Left lifting screw; 202. Left truss base; 203. Left slider; 204. Left lifting motor; 205. Right lifting motor; 206. Right slider; 207. Right truss base; 208. Right lifting screw ; 3. Bottom plate; 4. V-groove loading and unloading storage rack; 5. Adsorption device; 501. Sliding screw; 502. Lifting motor b; 503. Lifting electric cylinder; 504. 360° rotating device; 505. Magnetic suction cup; 506. Connecting part; 6. Connecting device; 601. Lifting motor a; 602. Right horizontal slide rail; 603. Horizontal sliding screw; 604. Left horizontal slide rail; 605. Fixed frame; 606. Connecting frame; 607. Connecting strip. DETAILED DESCRIPTION

[0019] The present invention is further described in detail below with reference to the accompanying drawings, wherein the same parts are represented by the same figure numerals. It should be noted that the words "front", "rear", "left", "right", "up" and "down", "bottom" and "top" used in the following description refer to directions in the drawings, and the words "inside" and "outside" refer to directions toward or away from the geometric center of a specific component, respectively.

[0020] The following will clearly and completely describe the technical solutions in the embodiments of the present invention in conjunction with the accompanying drawings. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without making creative efforts are within the scope of protection of the present invention.

[0021] See also Figure 1-Figure 5The present invention provides a technical solution: a machine tool flexible linkage intelligent handling robot, including a support device 1 and a chassis 3, the support device 1 is fixedly mounted on the upper side of the chassis 3, four universal wheels are fixedly mounted on the lower side of the bottom plate 3, a lifting device 2 is mounted on the support device 1, a connecting device 6 is mounted on the lifting device 2, two V-groove loading and unloading storage racks are fixedly mounted on the upper side of the bottom plate 3, an adsorption device 5 is mounted on the connecting device 6, the support device 1 includes a left truss top beam 101, two left truss support columns 102, two left lifting slides 103, two right truss support columns 104, two right lifting slides 105 and a right truss top beam 106, the two left truss support columns 102 and the two right truss support columns 104 are fixedly mounted on the bottom plate 3, the lifting device 2 is mounted on the lifting device 2, two V-groove loading and unloading storage racks are fixedly mounted on the upper side of the bottom plate 3, and the adsorption device 5 is mounted on the connecting device 6. The device 2 is installed on two left lifting slides 103 and two right lifting slides 105. The left truss top beam 101 is fixedly installed on the two left truss support columns 102. The two left lifting slides 103 are respectively arranged on the two left truss support columns 102. The right truss top beam 106 is fixedly installed on the two right truss support columns 104. The two right lifting slides 105 are respectively arranged on the two right truss support columns 104. The supporting device 1 is composed of a left truss top beam 101, a right truss top beam 106, a left truss support column 102, a right truss support column 104, a left lifting slide 103 and a right lifting slide 105. Its function is to provide supporting force when the lifting device lifts materials, thereby ensuring the stability of the entire vehicle. The supporting device adopts a truss structure, which is combined with a lever. The rational arrangement converts the external load into axial tension or pressure of the lever so that the force is evenly distributed, thereby maintaining stability during the lifting of heavy-loaded materials. At the same time, the lever only bears axial force, the cross-sectional size is usually small, and the internal space of the structure is transparent. The overall deadweight is significantly lower than that of the solid structure, so the deadweight is lighter, realizing lightweight design. The truss structure forms a rigid whole through the geometric invariance of the triangular unit, which can cover a large span space. At the same time, the arrangement of the lever is simple, and there is no solid wall blocking the interior, which can create a large span, column-free open space, which is convenient for flexible division of functional areas, ensuring a large range of moving space for the connecting device, and then ensuring the range of material extraction. The lifting slide and the slider of the lifting device 2 are connected to ensure the smooth lifting process of the lifting device 2, and the lifting device 2 includes a left lifting screw 201, a left truss base 202, a left slider 203, a left lifting motor 204, a right lifting motor 205, a right slider 206, a right truss base 207, and a right lifting screw 208. The left lifting motor 204 and the right lifting motor 205 are both fixedly mounted on the bottom plate 3. The connecting device 6 is mounted on the left truss base 202, the right truss base 207, and the right lifting screw 208. The left lifting screw 201 is fixedly mounted on the left lifting motor 204. The left truss base 202 is threadedly sleeved on the left lifting screw 201. The left slider 203 is fixedly connected to the left truss base 202. The right lifting screw 208 is fixedly mounted on the right lifting motor 205. The right truss base 207 is threadedly sleeved on the right lifting screw 208.The right slider 206 is fixedly mounted on the right truss base 207, and the connecting device 6 is fixedly connected to the left slider 203 and the right slider 206. The lifting device 2 is composed of a left lifting screw 201, a right lifting screw 208, a left truss base 202, a right truss base 207, a left slider 203, a right slider 206, a left lifting motor 204 and a right lifting motor 205. Its function is to lift the connecting device 6 and then lift the material. The lifting device 2 is composed of two left and right truss bases and a horizontal slide rail of the connecting device 6. The lifting power comes from the lifting motor, which drives the lifting screw to rotate, driving the left and right truss bases to rise and fall, thereby achieving the effect of lifting the entire connecting device. The screw is used as the key transmission component to lift the material. The rotational motion of the screw is converted into linear motion of the left and right truss bases. The screw can achieve extremely high lead accuracy through precision processing (such as grinding, rolling) or grinding technology. At the same time, with high-precision nuts and support structures, the return clearance of the screw drive is extremely small (the gap can be eliminated by pre-tightening), ensuring position consistency during reciprocating motion and ensuring high-precision positioning during the lifting process. The ball screw embeds balls between the screw and the nut, converting sliding friction into rolling friction. The transmission efficiency can reach 90%~95%, with low energy consumption and low heat generation, which is suitable for high-load scenarios. The screw drive can directly convert rotational motion into linear motion without the need for complex intermediate transmission components (such as gears and chains), thereby ensuring the simple and compact structure of the vehicle. The slider and the truss truss support device are connected to the lifting slide to ensure the smooth lifting process of the lifting device. The connecting device 6 includes a lifting motor a601, a right horizontal slide rail 602, a horizontal sliding screw 603, a left horizontal slide rail 604, a fixing frame 605, a connecting frame 606 and a connecting bar 607. The right horizontal slide rail 602 and the left horizontal slide rail 604 are respectively installed on the left slider 203 and the right slider 206. The right horizontal slide rail 602 and the left horizontal slide rail 604 are both fixedly installed on the connecting bar 607. The connecting frame 606 is fixedly connected to the right horizontal slide rail 602 and the left horizontal slide rail 604. The horizontal sliding screw 603 is fixedly connected to the lifting motor a601. The fixing frame 605 is set on the right horizontal slide rail 602 and the left horizontal slide rail 604. The fixing frame 605 is threadedly sleeved on the horizontal slide The lead screw 603 and the adsorption device 5 are installed on the fixed frame 605. The connecting device 6 is composed of a lifting motor a601, a right horizontal slide rail 602, a horizontal sliding lead screw 603, a left horizontal slide rail 604, a fixed frame 605 connecting frame 606, and a connecting bar 607. Its function is to connect the lifting device 2 and the adsorption device 5, and it also has a horizontal sliding function. The horizontal slide rail cooperates with the truss base of the lifting device 2 for relative sliding thereon. The middle of the fixed frame 605 cooperates with the horizontal sliding lead screw 603 and is fixedly connected to the truss base of the lifting device 2. During the movement, the fixed frame 605 and the truss base of the lifting device 2 are used as fulcrums to ensure the smooth horizontal sliding of the connecting device 6 frame. The lifting motor drives the horizontal sliding lead screw to rotate, driving the horizontal slide rail of the connecting device 6 to make horizontal linear motion.Thereby driving the adsorption device 5 to perform horizontal linear motion, the adsorption device 5 includes a sliding screw 501, a lifting motor b502, two lifting cylinders 503, a 360° rotating device 504, a magnetic suction cup 505 and a connecting piece 506, the lifting motor b502 is fixedly mounted on the fixing frame 605, the sliding screw 501 is fixedly mounted on the lifting motor b502, the connecting piece 506 is threadedly sleeved on the sliding screw 501, the two lifting cylinders 503 are fixedly mounted on the connecting piece 506, the 360° rotating device 504 is mounted on the two lifting cylinders 503, the magnetic suction cup 505 is mounted on the 360° rotating device 504, and the adsorption device 5 consists of a sliding screw 501, a lifting motor b502, a lifting cylinder 503, and a 360° rotating device 504. The electric cylinder 503, 360° rotating device 504, magnetic suction cup 505, and connecting piece 506 are composed of an electric cylinder 503, which is used to absorb materials and has functions such as rotation, angle compensation, and horizontal lateral sliding. The lifting motor drives the sliding screw to rotate, driving the entire suction device 5 to move horizontally. The angle compensation function is achieved by the electric cylinder, which has extremely high position control accuracy and can accurately lift or place materials. At the same time, its speed and acceleration are controllable, which can greatly improve the efficiency of loading and unloading. The 360° rotating mechanism uses a worm gear structure for transmission, which has the advantages of a large transmission ratio and compact structure. The magnetic suction cup is elastically connected with a spring, and the expansion and contraction of the spring can be used to achieve a buffering effect during the material absorption process. The AGV walks to the material fixture rack, starts the left lifting motor 204 and the right lifting motor 205 to control the left lifting screw 201 and the right lifting screw 208 to lift the connecting device 6 and the adsorption device 5, starts the lifting motor a601 to control the horizontal sliding screw 603 to extend the adsorption device 5 to the top of the extracted material, starts the left lifting motor 204 and the right lifting motor 205 to control the left lifting screw 201 and the right lifting screw 208 to lower the connecting device 6 and the adsorption device 5, and at the same time the adsorption device 5 uses the lifting cylinder 3 and the sliding screw 501 to adjust in real time with the lifting cylinder 3 and the sliding screw 501. The relative position relationship of the material ensures adsorption at the center of gravity of the material. After the adsorption is completed, the left lifting motor 204 and the right lifting motor 205 are started to control the left lifting screw 201 and the right lifting screw 208 to lift the connecting device 6 and the adsorption device 5, and the lifting motor a601 is started to control the horizontal sliding screw 603 to withdraw the material from the tooling rack, and then the left lifting motor 204 and the right lifting motor 205 are started to control the left lifting screw 201 and the right lifting screw 208 to lower the connecting device 6 and the adsorption device 5, and the material is placed in the loading storage position, and all mechanisms are reset.

[0022] When in use, the material picking process is as follows: the AGV walks to the material fixture rack, starts the left lifting motor 204 and the right lifting motor 205 to control the left lifting screw 201 and the right lifting screw 208 to lift the connecting device 6 and the adsorption device 5, starts the lifting motor a601 to control the horizontal sliding screw 603 to extend the adsorption device 5 to the air above the extracted material, starts the left lifting motor 204 and the right lifting motor 205 to control the left lifting screw 201 and the right lifting screw 208 to lower the connecting device 6 and the adsorption device 5, and at the same time the adsorption device 5 uses the lifting cylinder 3 and the sliding screw 501 Adjust the relative position relationship with the material in real time to ensure adsorption at the center of gravity of the material. After the adsorption is completed, start the left lifting motor 204 and the right lifting motor 205 to control the left lifting screw 201 and the right lifting screw 208 to lift the connecting device 6 and the adsorption device 5, and start the lifting motor a601 to control the horizontal sliding screw 603 to withdraw the material from the tooling rack, then start the left lifting motor 204 and the right lifting motor 205 to control the left lifting screw 201 and the right lifting screw 208 to lower the connecting device 6 and the adsorption device 5, put the material into the loading storage position, and reset all mechanisms.

[0023] Loading process: AGV walks to the designated processing machine, starts the left lifting motor 204 and the right lifting motor 205 to control the left lifting screw 201 and the right lifting screw 208 to lift the connecting device 6 and the adsorption device 5, starts the lifting motor a601 to control the horizontal sliding screw 603 to extend the adsorption device 5 to the air above the extracted material, starts the left lifting motor 204 and the right lifting motor 205 to control the left lifting screw 201 and the right lifting screw 208 to lower the connecting device 6 and the adsorption device 5, and at the same time the adsorption device 5 uses the lifting cylinder 3 and the sliding screw The lever 501 adjusts its relative position with the material in real time to ensure adsorption at the center of gravity of the material. After adsorption is completed, the left lifting motor 204 and the right lifting motor 205 are started to control the left lifting screw 201 and the right lifting screw 208 to lift the connecting device 6 and the adsorption device 5, and the lifting motor a601 is started to control the horizontal sliding screw 603 to extend the material into the machine tool for clamping and processing, and all mechanisms are reset; when one end of the material is processed, the 360° rotating device 504 of the adsorption device 5 will turn the material around to process the other end, and all mechanisms are reset.

[0024] Step 3: Through the unloading process: the AGV walks to the designated processing machine, starts the left lifting motor 204 and the right lifting motor 205 to control the left lifting screw 201 and the right lifting screw 208 to lift the connecting device 6 and the adsorption device 5, starts the lifting motor a601 to control the horizontal sliding screw 603 to extend the adsorption device 5 to the top of the extracted material, starts the left lifting motor 204 and the right lifting motor 205 to control the left lifting screw 201 and the right lifting screw 208 to lower the connecting device 6 and the adsorption device 5, and at the same time the adsorption device 5 uses the lifting cylinder 3 and the sliding screw 50 1 Adjust the relative position relationship with the material in real time to ensure adsorption at the center of gravity of the material. After adsorption is completed, start the left lifting motor 204 and the right lifting motor 205 to control the left lifting screw 201 and the right lifting screw 208 to lift the connecting device 6 and the adsorption device 5, and start the lifting motor a601 to control the horizontal sliding screw 603 to remove the material from the machine tool. Then start the left lifting motor 204 and the right lifting motor 205 to control the left lifting screw 201 and the right lifting screw 208 to lower the connecting device 6 and the adsorption device 5, put the material into the unloading storage position, and reset all mechanisms.

[0025] Step 4: Material discharge process: AGV walks to the material fixture rack, starts the left lifting motor 204 and the right lifting motor 205 to control the left lifting screw 201 and the right lifting screw 208 to lift the connecting device 6 and the adsorption device 5, starts the lifting motor a601 to control the horizontal sliding screw 603 to extend the adsorption device 5 to the top of the extracted material, starts the left lifting motor 204 and the right lifting motor 205 to control the left lifting screw 201 and the right lifting screw 208 to lower the connecting device 6 and the adsorption device 5, and at the same time the adsorption device 5 uses the lifting cylinder 3 and the sliding screw 501 Adjust the relative position relationship with the material in real time to ensure adsorption at the center of gravity of the material. After the adsorption is completed, start the left lifting motor 204 and the right lifting motor 205 to control the left lifting screw 201 and the right lifting screw 208 to lift the connecting device 6 and the adsorption device 5, and start the lifting motor a601 to control the horizontal sliding screw 603 to withdraw the material from the tooling rack, then start the left lifting motor 204 and the right lifting motor 205 to control the left lifting screw 201 and the right lifting screw 208 to lower the connecting device 6 and the adsorption device 5, put the material into the tooling rack, and reset all mechanisms.

[0026] While embodiments of the present invention have been shown and described, it will be appreciated by those skilled in the art that various changes, modifications, substitutions, and variations may be made to these embodiments without departing from the principles and spirit of the invention, and that the scope of the invention is defined by the appended claims and their equivalents.

Claims

1. A machine tool flexible linkage intelligent handling robot, comprising a support device (1) and a chassis (3), characterized in that: The support device (1) is fixedly mounted on the upper side of the chassis (3), four universal wheels are fixedly mounted on the lower side of the base plate (3), a lifting device (2) is mounted on the support device (1), a connecting device (6) is mounted on the lifting device (2), two V-groove loading and unloading storage racks are fixedly mounted on the upper side of the base plate (3), and an adsorption device (5) is mounted on the connecting device (6).

2. The machine tool flexible linkage intelligent handling robot according to claim 1, characterized in that: The supporting device (1) comprises a left truss top beam (101), two left truss support columns (102), two left lifting slides (103), two right truss support columns (104), two right lifting slides (105) and a right truss top beam (106); the two left truss support columns (102) and the two right truss support columns (104) are fixedly mounted on the bottom plate (3); and the lifting device (2) is mounted on the two left lifting slides (103) and the two right lifting slides (105).

3. The machine tool flexible linkage intelligent handling robot according to claim 2, characterized in that: The left truss top beam (101) is fixedly mounted on the two left truss support columns (102), the two left lifting slides (103) are respectively arranged on the two left truss support columns (102), the right truss top beam (106) is fixedly mounted on the two right truss support columns (104), and the two right lifting slides (105) are respectively arranged on the two right truss support columns (104).

4. The machine tool flexible linkage intelligent handling robot according to claim 1, characterized in that: The lifting device (2) comprises a left lifting screw (201), a left truss base (202), a left slider (203), a left lifting motor (204), a right lifting motor (205), a right slider (206), a right truss base (207), and a right lifting screw (208). The left lifting motor (204) and the right lifting motor (205) are both fixedly mounted on the base plate (3). The connecting device (6) is mounted on the left truss base (202), the right truss base (207), and the right lifting screw (208).

5. The machine tool flexible linkage intelligent handling robot according to claim 4, characterized in that: The left lifting screw (201) is fixedly mounted on the left lifting motor (204), the left truss base (202) is threadedly sleeved on the left lifting screw (201), the left slider (203) is fixedly connected to the left truss base (202), the right lifting screw (208) is fixedly mounted on the right lifting motor (205), the right truss base (207) is threadedly sleeved on the right lifting screw (208), the right slider (206) is fixedly mounted on the right truss base (207), and the connecting device (6) is fixedly connected to the left slider (203) and the right slider (206).

6. The machine tool flexible linkage intelligent handling robot according to claim 5, characterized in that: The connecting device (6) includes a lifting motor a (601), a right horizontal slide rail (602), a horizontal sliding screw (603), a left horizontal slide rail (604), a fixing frame (605), a connecting frame (606) and a connecting bar (607), and the right horizontal slide rail (602) and the left horizontal slide rail (604) are respectively installed on the left slider (203) and the right slider (206).

7. The machine tool flexible linkage intelligent handling robot according to claim 6, characterized in that: The right horizontal slide rail (602) and the left horizontal slide rail (604) are both fixedly mounted on the connecting bar (607), the connecting frame (606) is fixedly connected to the right horizontal slide rail (602) and the left horizontal slide rail (604), the horizontal sliding screw (603) is fixedly connected to the lifting motor a (601), the fixing frame (605) is arranged on the right horizontal slide rail (602) and the left horizontal slide rail (604), the fixing frame (605) is threadedly sleeved on the horizontal sliding screw (603), and the adsorption device (5) is mounted on the fixing frame (605).

8. The machine tool flexible linkage intelligent handling robot according to claim 7, characterized in that: The adsorption device (5) comprises a sliding screw (501), a lifting motor b (502), two lifting electric cylinders (503), a 360° rotating device (504), a magnetic suction cup (505) and a connecting piece (506), and the lifting motor b (502) is fixedly mounted on a fixing frame (605).

9. The machine tool flexible linkage intelligent handling robot according to claim 8, characterized in that: The sliding screw (501) is fixedly mounted on the lifting motor b (502), the connecting piece (506) is threadedly sleeved on the sliding screw (501), the two lifting electric cylinders (503) are fixedly mounted on the connecting piece (506), the 360° rotating device (504) is mounted on the two lifting electric cylinders (503), and the magnetic suction cup (505) is mounted on the 360° rotating device (504).

Images