Material carrying device

Abstract

The invention discloses a material carrying device. The material carrying device comprises a rack; the rack is arranged on the base, and a first through hole and a second through hole are formed in the base; a first cavity is formed in the first cross beam; one end of the first communicating pipe is connected with the first cross beam and communicates with the first cavity, the other end of the first communicating pipe movably penetrates through the first through hole, and a first suction cup is arranged at the other end of the first communicating pipe; the first driving mechanism is used for driving the first cross beam to move in the direction close to or away from the base. A second cavity is formed in the second cross beam; one end of the second communicating pipe is connected with the second cross beam and communicates with the second cavity, the other end of the second communicating pipe is movably arranged in the second through hole in a penetrating mode, and a second suction cup is arranged at the other end of the second communicating pipe; the second driving mechanism is used for driving the second cross beam to move in the direction close to or away from the base. In the application process, different materials are adsorbed through the first suction cup and the second suction cup, materials at different positions can be adsorbed, and the carrying efficiency is improved.

Description

Technical Field

[0001] This invention belongs to the field of suction device technology, and specifically relates to a material handling device. Background Technology

[0002] With the rapid development of smart factories, intelligent manufacturing is being applied in an increasing number of fields, achieving intelligent production processes through the automatic control of smart equipment and production lines. In automated production lines, robotic arms are often needed to handle and transfer materials, allowing materials to be moved from one process to the next without human intervention. During material handling, the robotic arm needs to grip the materials, often using mechanical grippers or suction cups. Depending on the type of material, appropriate grippers or suction cups can be selected to suit its characteristics; for example, plate-shaped materials can be gripped using suction cups. However, in the production process, a single robotic arm typically handles only one type of material, making it impossible to simultaneously handle and transfer different materials, resulting in low efficiency and difficulty in meeting production demands. Summary of the Invention

[0003] The purpose of this invention is to provide a material handling device to solve the problem that a robotic arm can only grasp one or a type of material, cannot grasp and transfer different materials at the same time, has low grasping efficiency, and is difficult to meet production needs.

[0004] This invention provides a material handling device, comprising:

[0005] frame;

[0006] A base, the frame is mounted on the base, and the base is provided with a first through hole and a second through hole;

[0007] A first crossbeam, a first chamber is provided on the first crossbeam, and a first vacuum tube communicating with the first chamber is provided on the first crossbeam;

[0008] A first connecting pipe, one end of which is connected to the first crossbeam and one end of which is connected to the first chamber, and the other end of which is movably inserted into the first through hole, and the other end of which is provided with a first suction cup connected to the first connecting pipe.

[0009] A first drive mechanism is used to drive the first crossbeam to move in a direction closer to or away from the base;

[0010] The second crossbeam has a second chamber and a second vacuum tube communicating with the second chamber.

[0011] The second connecting pipe has one end connected to the second crossbeam and one end connected to the second chamber, and the other end of the second connecting pipe is movably inserted into the second through hole. The other end of the second connecting pipe is provided with a second suction cup connected to the second connecting pipe.

[0012] The second drive mechanism is used to drive the second crossbeam to move in a direction close to or away from the base.

[0013] Furthermore, there are multiple first connecting pipes, and these multiple first connecting pipes are arranged at intervals;

[0014] There are multiple second connecting pipes, which are spaced apart.

[0015] Furthermore, there are multiple first crossbeams and multiple second crossbeams, with multiple first crossbeams spaced apart around the outer periphery of the frame and multiple second crossbeams spaced apart around the outer periphery of the frame.

[0016] Furthermore, the other end of the first connecting tube is rotatable in the first through hole, and the other end of the second connecting tube is rotatable in the second through hole; and / or

[0017] The other end of the first connecting tube is movable along the length of the first connecting tube in the first perforation, and the other end of the second connecting tube is movable along the length of the second connecting tube in the second perforation.

[0018] Furthermore, at least one of the first suction cup and the second suction cup is an adjustable suction cup;

[0019] The adjustable suction cup includes a suction cup body, which has a cavity with an opening;

[0020] The inner bottom wall of the cavity is provided with multiple baffles, which divide the cavity into multiple air chambers. Each air chamber is provided with a pushing mechanism located on the inner bottom wall of the cavity. The driving part of the pushing mechanism is connected to the sealing plate. The pushing mechanism is used to push the sealing plate to move along the direction close to or away from the inner bottom wall of the cavity. The pushing mechanism can push at least a portion of the sealing plate to be placed outside the air chamber.

[0021] Furthermore, the baffle is provided with a plurality of spaced-apart air holes.

[0022] Furthermore, at least two of the sealing plates are of different sizes.

[0023] Furthermore, the sealing plate has a groove on its sidewall edge, the groove extends circumferentially along the sealing plate, and an elastic airbag is provided in the groove.

[0024] Furthermore, the material handling device also includes:

[0025] The detection unit is used to acquire surface information of the surface of the object to be adsorbed, including the location, shape and size of the perforations on the surface of the object to be adsorbed.

[0026] A control unit is configured to control the pushing mechanism to move the sealing plate along the inner bottom wall of the cavity according to the surface information, so that the sealing plate seals the perforations on the surface of the object to be adsorbed.

[0027] Furthermore, the first connecting pipe is provided with a first control valve for controlling the opening or closing of the first connecting pipe, and the second connecting pipe is provided with a second control valve for controlling the opening or closing of the second connecting pipe;

[0028] The detection unit is used to acquire each adsorption area on the surface of the part to be adsorbed, corresponding to the suction cup. The control unit is used to control the control valve on the corresponding connecting pipe according to the status information of the adsorption area. The status information includes at least one of the following: perforation position, perforation shape and size, surface curvature, surface flatness, surface liquid volume, volume of the adsorption area, weight of the adsorption area, and thickness of the adsorption area.

[0029] In the material handling device of this invention embodiment, one end of the first connecting pipe is connected to the first crossbeam and communicates with the first chamber, the other end of the first connecting pipe is movably inserted through the first through hole, and the other end of the first connecting pipe is provided with a first suction cup communicating with the first connecting pipe. The first driving mechanism is used to drive the first crossbeam to move in a direction closer to or away from the base; one end of the second connecting pipe is connected to the second crossbeam and communicates with the second chamber, the other end of the second connecting pipe is movably inserted through the second through hole, and the other end of the second connecting pipe is provided with a second suction cup communicating with the second connecting pipe. The second driving mechanism is used to drive the second crossbeam to move in a direction closer to or away from the base. During application, the first drive mechanism can drive the first crossbeam to move along the direction close to the base so that the first suction cup can contact the material. The second drive mechanism can drive the second crossbeam to move along the direction close to the base so that the second suction cup can contact the material at other positions or heights. Different materials can be adsorbed by the first and second suction cups respectively, and materials at different positions and heights can be adsorbed. For example, the first suction cup can adsorb the material in the tray, and the second suction cup can adsorb the tray. The material in the tray and the tray can be adsorbed at the same time, so that the tray and the material can be stably transported to the required position or process, improving the handling efficiency. Multiple suction cups in one suction device can transport materials at different positions. Attached Figure Description

[0030] Figure 1 This is a schematic diagram of the device in an embodiment of the present invention;

[0031] Figure 2 This is a schematic diagram of the device in an embodiment of the present invention;

[0032] Figure 3 A schematic diagram of the structure for adjusting the suction cup;

[0033] Figure 4 Another structural diagram for adjusting the suction cup;

[0034] Figure 5 Another structural diagram for adjusting the suction cup;

[0035] Figure 6 This is a schematic diagram of a sealing plate.

[0036] Figure Labels

[0037] Rack 10;

[0038] Base 20;

[0039] First crossbeam 31; First connecting pipe 32; First drive mechanism 33;

[0040] Second crossbeam 41; Second connecting pipe 42; Second drive mechanism 43; Second suction cup 44;

[0041] Suction cup body 50;

[0042] 51. Baffle; 52. Pushing mechanism; 53. Sealing plate. Detailed Implementation

[0043] The technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some, not all, of the embodiments of the present invention. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0044] The terms "first," "second," etc., used in the specification and claims of this invention are used to distinguish similar objects and are not used to describe a specific order or sequence. It should be understood that such data can be interchanged where appropriate so that embodiments of the invention can be implemented in orders other than those illustrated or described herein. Furthermore, in the specification and claims, "and / or" indicates at least one of the connected objects, and the character " / " generally indicates that the preceding and following objects are in an "or" relationship.

[0045] like Figures 1 to 6 As shown, the material handling device of this embodiment includes:

[0046] The system comprises a frame 10, a base 20, a first crossbeam 31, a first connecting pipe 32, a first drive mechanism 33, a second crossbeam 41, a second connecting pipe 42, and a second drive mechanism 43. The frame 10 can be connected to a robotic arm and is mounted on the base 20. The base 20 has a first through hole and a second through hole. The first crossbeam 31 has a first chamber and a first vacuum tube communicating with the first chamber, allowing a vacuum to be created in the first chamber. One end of the first connecting pipe 32 is connected to the first crossbeam 31 and communicates with the first chamber. The other end of the first connecting pipe 32 is movably inserted through the first through hole and has a first suction cup communicating with it. The first drive mechanism 33 drives the first crossbeam 31 to move towards or away from the base 20. The first drive mechanism 33 can also drive the other end of the first connecting pipe 32 to move up and down in the first through hole, allowing the first suction cup to contact the surface of the object to be adsorbed for adsorption. The first drive mechanism 33 can drive the first crossbeam 31 to move in a direction closer to or farther from the base 20 to adjust the position height of the first suction cup. The second drive mechanism 43 can drive the second crossbeam 41 to move in a direction closer to or farther from the base 20 to adjust the position height of the second suction cup, so that the first suction cup and the second suction cup are at the same or different heights. The first drive mechanism 33 and the second drive mechanism 43 can be a drive motor or a drive cylinder.

[0047] The second crossbeam 41 is provided with a second chamber, and a second vacuum tube communicating with the second chamber is provided on the second crossbeam 41. A vacuum can be formed in the second chamber through the second vacuum tube. One end of the second connecting tube 42 is connected to the second crossbeam 41 and communicates with the second chamber. The other end of the second connecting tube 42 is movably inserted through a second perforation, and a second suction cup communicating with the other end of the second connecting tube 42 is provided. The second driving mechanism 43 is used to drive the second crossbeam 41 to move in a direction closer to or farther from the base 20. The second driving mechanism 43 can be used to drive the second crossbeam 41 to move in a direction closer to or farther from the base 20. The second driving mechanism 43 can also drive the other end of the second connecting tube 42 to move up and down in the second perforation so that the second suction cup can contact the surface of the object to be adsorbed for adsorption.

[0048] In the material handling device of this invention embodiment, the other end of the first connecting pipe is provided with a first suction cup communicating with the first connecting pipe. The first driving mechanism can drive the first crossbeam to move along a direction closer to or away from the base. The other end of the second connecting pipe is provided with a second suction cup communicating with the second connecting pipe. The second driving mechanism can drive the second crossbeam to move along a direction closer to or away from the base. In application, the first driving mechanism can drive the first crossbeam to move along a direction closer to the base so that the first suction cup can contact the material. The second driving mechanism can drive the second crossbeam to move along a direction closer to the base so that the second suction cup can contact the material at other positions or heights. Different materials can be adsorbed by the first suction cup and the second suction cup, and materials at different positions and heights can be adsorbed. For example, the first suction cup can adsorb the material in the tray, and the second suction cup can adsorb the tray. The material in the tray and the tray can be adsorbed simultaneously, so that the tray and the material can be stably transported to the required position or process, improving the handling efficiency. Multiple suction cups in one suction device can transport materials at different positions.

[0049] Optionally, there can be multiple first connecting tubes 32, which can be spaced apart. Materials can be adsorbed through the first suction cups at the other ends of the multiple first connecting tubes 32. Similarly, there can be multiple second connecting tubes 42, which can be spaced apart. Materials can be adsorbed through the second suction cups at the other ends of the multiple second connecting tubes 42. The shapes and sizes of the first and second suction cups can be the same or different, and they can be rectangular, elliptical, or circular, etc.

[0050] In some embodiments, there may be multiple first crossbeams 31 and multiple second crossbeams 41. Multiple first crossbeams 31 may be spaced apart around the outer periphery of the frame 10, and multiple second crossbeams 41 may be spaced apart around the outer periphery of the frame 10. Alternatively, there may be two first crossbeams 31 and two second crossbeams 41. For example, two first crossbeams 31 may be located on opposite sides of the outer periphery of the frame 10, and two second crossbeams 41 may be located on the other opposite sides of the outer periphery of the frame 10.

[0051] In some embodiments, the other end of the first connecting tube 32 can rotate in the first through hole, and the other end of the second connecting tube 42 can rotate in the second through hole.

[0052] In some embodiments, the other end of the first connecting tube 32 can move along the length of the first connecting tube 32 in the first through hole, and the other end of the second connecting tube 42 can move along the length of the second connecting tube 42 in the second through hole. The first driving mechanism 33 can drive the first crossbeam 31 to move towards or away from the base 20, and the first driving mechanism 33 can drive the other end of the first connecting tube 32 to move up and down in the first through hole, so that the first suction cup contacts the surface of the object to be adsorbed. The second driving mechanism 43 can drive the second crossbeam 41 to move towards or away from the base 20, and the second driving mechanism 43 can drive the other end of the second connecting tube 42 to move up and down in the second through hole, so that the second suction cup contacts the surface of the object to be adsorbed.

[0053] In some embodiments, at least one of the first and second suction cups can be an adjustable suction cup. The adjustable suction cup may include a suction cup body 50, which has an open cavity. The inner bottom wall of the cavity is provided with multiple baffles 51, dividing the cavity into multiple air chambers. Each air chamber has a pushing mechanism 52 located on its inner bottom wall. The pushing mechanism 52 can be a micro motor, cylinder, etc. The driving part of the pushing mechanism 52 is connected to a sealing piece 53. The pushing mechanism 52 is used to push the sealing piece 53 to move along a direction close to or away from the inner bottom wall of the cavity. The pushing mechanism 52 can push at least a portion of the sealing piece 53 to be placed outside the air chamber. When the workpiece to be transported has a through hole, the corresponding pushing mechanism 52 can push the sealing piece 53 to block the through hole at the corresponding position. Some items to be transported have through holes, such as trays for holding materials, which allow water or air to flow out. When using a suction cup to pick up the tray, it is difficult to create a vacuum when the suction cup picks up the through hole, making it difficult for the suction cup to adhere stably and firmly to the tray. When the item to be transported has a through hole, the pushing mechanism 52 can be used to push the sealing plate 53 to move away from the inner bottom wall of the cavity. The pushing mechanism 52 can push the sealing plate 53 to be placed outside the air cavity so that the sealing plate 53 can block the through hole, so that a vacuum can be created when the suction cup picks up the through hole, and the suction cup can adhere stably and firmly to the tray.

[0054] Optionally, the baffle 51 is provided with multiple spaced air holes to facilitate the formation of a vacuum after the gas in the suction cup cavity is extracted. The outer edge of the baffle 51 can be on the same plane as the opening edge of the cavity, allowing the suction cup to contact the surface of the workpiece to be transported during adsorption. The baffle 51 can be provided with an air passage, the upper end of which can communicate with the cavity of the suction cup, and the lower opening of which can be located on the surface of the outer edge of the baffle 51.

[0055] Optionally, at least two sealing plates have different area sizes, and through holes of different sizes on the parts to be transported can be sealed by sealing plates of different sizes.

[0056] In some embodiments, such as Figure 5 As shown, at least one of the first and second suction cups can be an adjustable suction cup. The adjustable suction cup can include a suction cup body 60, which has a vacuum chamber. The inner bottom wall of the vacuum chamber can be provided with a first drive motor 61. The drive shaft of the first drive motor 61 can be connected to the upper end of the first rotating rod 62, and the lower end of the first rotating rod 62 is connected to the rotating plate 63. The first drive motor 61 can drive the rotating plate 63 to rotate. A second drive motor 64 can be provided on the rotating plate 63. The drive shaft of the second drive motor 64 is connected to one end of the screw 66, and one end of the slide rod 65 is connected to the rotating plate 63. The upper end of the slide block 67 is provided with a screw hole, and the screw 66 passes through the screw hole. The second drive motor 64 can drive the screw 66 to rotate, and the screw 66 can drive the slide block 67 to move along the length direction of the slide rod 65 to change the position of the sealing plate 71. The lower end of the slide 67 can be provided with a receiving groove 68, and the upper end of the connecting shaft 70 can be located in the receiving groove 68. The connecting shaft 70 can move along its length in the receiving groove 68. The lower end of the connecting shaft 70 is connected to the sealing plate 71. An elastic element 69 can be provided between the upper end of the connecting shaft 70 and the bottom wall of the receiving groove 68. One side of the elastic element 69 can be connected to the upper end of the connecting shaft 70, and the other side of the elastic element 69 can be connected to the bottom wall of the receiving groove 68. The elastic element 69 can be a spring, an elastic airbag, or an elastic air bag. The elastic airbag or elastic air bag can be filled with gas. When a vacuum is formed in the vacuum chamber of the suction cup body 60, the elastic airbag or elastic air bag can expand and push the sealing plate 71 to seal the through hole on the part to be transported. When transporting large parts with through holes, there are many suction cups, and the suction cups are large in volume. One or more of the suction cups can be adjustable suction cups, which can be used to achieve stable adsorption of the part to be transported.

[0057] The conveying device may also include:

[0058] The detection unit can be used to acquire surface information of the surface of the part to be adsorbed, which may include the location, shape and size of the through holes on the surface of the part to be adsorbed.

[0059] The control unit can be used to control the first drive motor 61 to drive the rotating plate 63 to rotate and control the drive shaft of the second drive motor 64 to drive the screw 66 to rotate, so that the screw 66 drives the slide 67 to move along the length direction of the slide rod 65, thereby changing the position of the sealing plate 71, and thus causing the sealing piece 53 to seal the through hole on the surface of the part to be adsorbed.

[0060] In some embodiments, such as Figure 6As shown, the sealing plate 53 may have a groove on its sidewall edge, which may extend circumferentially along the sealing plate 53. An elastic airbag 54 may be provided in the groove, which may be filled with gas. The sidewall edge of the sealing plate 53 may abut against the inner wall of the cavity and / or the surface of the baffle 51. When the sidewall edge of the sealing plate 53 abuts against the inner wall of the cavity and / or the surface of the baffle 51, the elastic airbag 54 is squeezed into the groove. When the sealing plate 53 blocks the through hole, it extends out of the cavity, and the gas in the elastic airbag 54 expands, causing the elastic airbag to protrude outside the groove, which can increase the coverage area of ​​the sealing plate 53 and can cover some holes with larger diameters.

[0061] In embodiments of the present invention, the material handling device may further include:

[0062] The detection unit is used to acquire surface information of the surface of the part to be adsorbed. The surface information may include the location, shape and size of the perforations on the surface of the part to be adsorbed.

[0063] The control unit controls the pushing mechanism 52 to move the sealing plate 53 away from the inner bottom wall of the cavity based on the surface information, so that the sealing plate 53 blocks the perforations on the surface of the part to be adsorbed.

[0064] The control unit is used to select a sealing piece 53 with an area larger than the perforation according to the perforation shape and size, and to control the pushing mechanism 52 to push the sealing piece 53 with an area larger than the perforation to move in a direction away from the inner bottom wall of the cavity, so that the sealing piece 53 seals the perforation on the surface of the part to be adsorbed.

[0065] In some embodiments of the present invention, a first control valve is provided on the first connecting pipe 32 for controlling the opening or closing of the first connecting pipe 32, and a second control valve is provided on the second connecting pipe 42 for controlling the opening or closing of the second connecting pipe 42. The detection unit is used to acquire each adsorption area on the surface of the adsorbent corresponding to the suction cup. The control unit is used to control the control valve on the corresponding connecting pipe according to the status information of the adsorption area. The status information includes at least one of the following: perforation position, perforation shape and size, surface curvature, surface flatness, surface liquid volume, volume of the adsorption area, weight of the adsorption area, and thickness of the adsorption area.

[0066] The detection unit acquires the state information of each adsorption region on the surface of the workpiece corresponding to the suction cup. The control unit controls the control valve on the corresponding connecting pipe based on the state information of the adsorption region. The state information includes at least one of the following: perforation location, perforation shape and size, surface curvature, surface flatness, surface liquid volume, volume of the adsorption region, weight of the adsorption region, and thickness of the adsorption region. The suction cup in the corresponding region can be controlled to adsorb based on the state information of different regions.

[0067] Each area to be adsorbed can have multiple suction cups. The control unit is used to control the number of control valves on the corresponding connecting pipe according to the surface curvature of the area to be adsorbed. When the surface curvature of the area to be adsorbed is greater than the preset curvature, the control unit controls the number of control valves on the corresponding connecting pipe to increase, so as to adsorb the area and generate sufficient adsorption force to prevent adsorption instability.

[0068] For example, the control unit is used to control the number of control valves on the corresponding connecting pipe according to the surface curvature of the area to be adsorbed. When the surface curvature of the first area to be adsorbed is greater than that of the second area to be adsorbed, the control unit controls the number of control valves on the connecting pipe in the first area to be adsorbed to be greater than the number of control valves on the connecting pipe in the second area to be adsorbed, so as to adsorb the area. The connected control valves can enable the corresponding suction cup to adsorb in the area, so as to generate sufficient adsorption force in the first area to be adsorbed and prevent adsorption instability.

[0069] The control unit is used to control the number of control valves on the corresponding connecting pipe according to the surface flatness of the area to be adsorbed. When the surface flatness of the first area to be adsorbed is less than that of the second area to be adsorbed, the control unit controls the number of control valves on the connecting pipe in the first area to be adsorbed to be greater than the number of control valves on the connecting pipe in the second area to be adsorbed, so as to adsorb the area. The connected control valves can enable the corresponding suction cup to adsorb in the area, so as to generate sufficient adsorption force in the first area to be adsorbed and prevent adsorption instability.

[0070] The control unit controls the number of control valves on the corresponding connecting pipe based on the amount of liquid on the surface of the area to be adsorbed. When the amount of liquid on the surface of the first area to be adsorbed is greater than the amount of liquid on the surface of the second area to be adsorbed, the control unit controls the number of control valves on the connecting pipe in the first area to be adsorbed to be greater than the number of control valves on the connecting pipe in the second area to be adsorbed, so as to adsorb the area. The opening of the control valves can enable the corresponding suction cups to adsorb in the area, so as to generate sufficient adsorption force in the first area to be adsorbed and prevent unstable adsorption.

[0071] The control unit is used to control the number of control valves on the corresponding connecting pipe according to the volume of the area to be adsorbed. When the volume of the first area to be adsorbed is greater than the volume of the second area to be adsorbed, the control unit controls the number of control valves on the connecting pipe in the first area to be adsorbed to be greater than the number of control valves on the connecting pipe in the second area to be adsorbed, so as to adsorb the area. The connected control valves can enable the corresponding suction cups to adsorb in the area, so as to generate sufficient adsorption force in the first area to be adsorbed and prevent adsorption instability.

[0072] The control unit is used to control the number of control valves on the corresponding connecting pipe according to the weight of the area to be adsorbed. When the weight of the first area to be adsorbed is greater than the weight of the second area to be adsorbed, the control unit controls the number of control valves on the connecting pipe in the first area to be adsorbed to be greater than the number of control valves on the connecting pipe in the second area to be adsorbed, so as to adsorb the area. The connected control valves can enable the corresponding suction cups to adsorb in the area, so as to generate sufficient adsorption force in the first area to be adsorbed and prevent adsorption instability.

[0073] The control unit is used to control the number of control valves on the corresponding connecting pipe according to the thickness of the area to be adsorbed. When the thickness of the first area to be adsorbed is greater than the thickness of the second area to be adsorbed, the control unit controls the number of control valves on the connecting pipe in the first area to be adsorbed to be greater than the number of control valves on the connecting pipe in the second area to be adsorbed, so as to adsorb the area. The connected control valves can enable the corresponding suction cups to adsorb in the area, so as to generate sufficient adsorption force in the first area to be adsorbed and prevent adsorption instability.

[0074] The embodiments of the present invention have been described above with reference to the accompanying drawings. However, the present invention is not limited to the specific embodiments described above. The specific embodiments described above are merely illustrative and not restrictive. Those skilled in the art can make many other forms under the guidance of the present invention without departing from the spirit and scope of the claims, and all of these forms are within the protection scope of the present invention.

Claims

1. A material handling device, characterized in that, include: frame; A base, the frame is mounted on the base, and the base is provided with a first through hole and a second through hole; A first crossbeam, a first chamber is provided on the first crossbeam, and a first vacuum tube communicating with the first chamber is provided on the first crossbeam; A first connecting pipe, one end of which is connected to the first crossbeam and one end of which is connected to the first chamber, and the other end of which is movably inserted into the first through hole, and the other end of which is provided with a first suction cup connected to the first connecting pipe. A first drive mechanism is used to drive the first crossbeam to move in a direction closer to or away from the base; The second crossbeam has a second chamber and a second vacuum tube communicating with the second chamber. The second connecting pipe has one end connected to the second crossbeam and one end connected to the second chamber, and the other end of the second connecting pipe is movably inserted into the second through hole. The other end of the second connecting pipe is provided with a second suction cup connected to the second connecting pipe. The second drive mechanism is used to drive the second crossbeam to move in a direction close to or away from the base.

2. The material handling device according to claim 1, characterized in that, The number of the first connecting pipes is multiple, and the multiple first connecting pipes are arranged at intervals; There are multiple second connecting pipes, which are spaced apart.

3. The material handling device according to claim 1, characterized in that, There are multiple first crossbeams and multiple second crossbeams. Multiple first crossbeams are spaced apart around the outer periphery of the frame, and multiple second crossbeams are spaced apart around the outer periphery of the frame.

4. The material handling device according to claim 1, characterized in that, The other end of the first connecting tube is rotatable in the first through hole, and the other end of the second connecting tube is rotatable in the second through hole; and / or The other end of the first connecting tube is movable along the length of the first connecting tube in the first perforation, and the other end of the second connecting tube is movable along the length of the second connecting tube in the second perforation.

5. The material handling device according to claim 1, characterized in that, At least one of the first suction cup and the second suction cup is an adjustable suction cup; The adjustable suction cup includes a suction cup body, which has a cavity with an opening; The inner bottom wall of the cavity is provided with multiple baffles, which divide the cavity into multiple air chambers. Each air chamber is provided with a pushing mechanism located on the inner bottom wall of the cavity. The driving part of the pushing mechanism is connected to the sealing plate. The pushing mechanism is used to push the sealing plate to move along the direction close to or away from the inner bottom wall of the cavity. The pushing mechanism can push at least a portion of the sealing plate to be placed outside the air chamber.

6. The material handling device according to claim 5, characterized in that, The baffle is provided with multiple spaced air holes.

7. The material handling device according to claim 5, characterized in that, At least two sealing plates have different area sizes.

8. The material handling device according to claim 5, characterized in that, The sealing plate has a groove on its sidewall edge, the groove extends circumferentially along the sealing plate, and an elastic airbag is provided in the groove.

9. The material handling device according to claim 5, characterized in that, Also includes: The detection unit is used to acquire surface information of the surface of the object to be adsorbed, including the location, shape and size of the perforations on the surface of the object to be adsorbed. A control unit is configured to control the pushing mechanism to move the sealing plate along the inner bottom wall of the cavity according to the surface information, so that the sealing plate seals the perforations on the surface of the object to be adsorbed.

10. The material handling device according to claim 9, characterized in that, The first connecting pipe is provided with a first control valve for controlling the opening or closing of the first connecting pipe, and the second connecting pipe is provided with a second control valve for controlling the opening or closing of the second connecting pipe; The detection unit is used to acquire each adsorption area on the surface of the part to be adsorbed, corresponding to the suction cup. The control unit is used to control the control valve on the corresponding connecting pipe according to the status information of the adsorption area. The status information includes at least one of the following: perforation position, perforation shape and size, surface curvature, surface flatness, surface liquid volume, volume of the adsorption area, weight of the adsorption area, and thickness of the adsorption area.

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