Two-actuator multi-axis linkage carrying module

Abstract

The invention discloses a two-actuator multi-axis linkage carrying module which comprises a carrying rack, a clamping jaw assembly and a suction cup assembly. The clamping jaw assembly and the suction cup assembly can horizontally move and are installed on the carrying rack. The clamping jaw assembly is provided with a clamping jaw lifting base capable of conducting lifting motion, a clamping jaw body installed on the clamping jaw lifting base and capable of conducting horizontal relative motion and floating clamping blocks installed on the clamping jaw body and capable of conducting elastic motion in all directions, and the suction cup assembly is provided with a suction cup lifting base capable of conducting lifting motion. The suction cup lifting seat is arranged on the base, the suction cup rotating disc can rotate around a vertical rotating shaft and is arranged on the suction cup lifting seat, the vacuum suction cup is arranged below the suction cup rotating disc, the organ suction cups are arranged at the lower end of the vacuum suction cup and are communicated with a vacuum cavity in the vacuum suction cup, and the special-shaped suction nozzles are matched with different positions of a product in appearance. According to the special-shaped product sucking and carrying device, sucking, carrying and posture changing of special-shaped products in different postures are achieved, and the production efficiency is improved.

Description

Technical Field

[0001] This invention relates to the field of automated assembly technology, and in particular to a two-actuator multi-axis linkage handling module. Background Technology

[0002] Because handles need to be ergonomically designed for easy gripping, their outer contours are typically irregular curves. Existing handle assembly lines generally place handles within carriers, using these carriers to move handles between different stations. However, the carrier postures often differ significantly depending on the process and the specific handling steps. During production, handles frequently need to be moved from one carrier to another. Currently, manual handling is used for carrier transfer, which is inefficient, labor-intensive, and requires the manufacture of numerous carriers, resulting in high handling costs. Summary of the Invention

[0003] To overcome the above-mentioned defects, the present invention provides a two-actuator multi-axis linkage transport module, which can realize the transport and posture change of irregular products with different postures, which is conducive to improving the production efficiency of the production line and reducing the production cost.

[0004] The technical solution adopted by this invention to solve its technical problem is as follows: a two-actuator multi-axis linkage conveying module, including a conveying frame, a gripper assembly, a suction cup assembly, a gripper assembly horizontal drive device, a suction cup assembly horizontal drive device, and a controller, wherein the X direction is perpendicular to the Z direction, and the Z direction is the vertical direction, wherein:

[0005] The gripper assembly includes a gripper bracket, a gripper lifting seat, a gripper lifting drive device, a gripper body, floating grippers, and a clamping drive device. The gripper bracket is mounted on the conveyor frame and can reciprocate linearly in the X direction. The gripper assembly horizontal drive device drives the gripper bracket to reciprocate. The gripper lifting seat is mounted on the gripper bracket and can reciprocate linearly in the Z direction. The gripper lifting drive device drives the gripper lifting seat to move up and down. Pairs of gripper bodies are mounted on the gripper lifting seat and can move relative to each other in the horizontal direction. The clamping drive device drives the pair of gripper bodies to move. Each floating gripper is mounted on the surface of each gripper body to grip the product. The floating grippers can generate a certain amplitude of elastic movement in each direction on the gripper body.

[0006] The suction cup assembly includes a suction cup bracket, a suction cup lifting seat, a suction cup lifting drive device, a suction cup turntable, a suction cup rotation drive device, and a vacuum suction cup. The suction cup bracket is mounted on the transport frame and can reciprocate linearly in the X direction. The suction cup assembly horizontal drive device drives the suction cup bracket to reciprocate. The suction cup lifting seat is mounted on the suction cup bracket and can reciprocate linearly in the Z direction. The suction cup lifting drive device drives the suction cup lifting seat to move up and down. The suction cup turntable is mounted on the suction cup lifting seat and can rotate around a rotating axis extending in the Z direction. The suction cup rotation drive device drives the suction cup turntable to rotate forward and backward. The vacuum suction cup is mounted below the suction cup turntable and has a vacuum chamber inside. The vacuum chamber can be connected to a vacuum supply device through an air pipe. The lower end of the vacuum suction cup is fixed with several accordion suction cups and several irregularly shaped suction nozzles that match the shape of different positions of the product. The accordion suction cups and irregularly shaped suction nozzles can respectively make close contact with different positions of the product for negative pressure adsorption.

[0007] The controller can control the start and stop of the gripper assembly horizontal drive device, suction cup assembly horizontal drive device, suction cup lifting drive device, clamping drive device, suction cup lifting drive device, suction cup rotation drive device and vacuum supply device.

[0008] As a further improvement of the present invention, the lower end of the vacuum suction cup is also fixed with several positioning pins and product support columns. The positioning pins can be inserted into the holes on the product to perform preliminary positioning of the product, and the product support columns can closely contact the outer surface of the product located between each positioning pin and the accordion suction cup, and support the outer surface of the product.

[0009] As a further improvement of the present invention, the product support column end and each irregularly shaped suction nozzle end are respectively fixed with a rubber coating structure.

[0010] As a further improvement of the present invention, the suction cup assembly also includes a suction cup base, a floating spring, and a pressure sensor. The suction cup base is mounted on the lower end of the suction cup turntable and can move up and down a set distance in the Z direction. The floating spring can elastically extend and retract in the Z direction. The upper end of the floating spring is fixedly connected to the suction cup turntable. The lower end of the floating spring is fixedly connected to the suction cup base through the pressure sensor. The pressure sensor can sense the elastic force applied by the floating spring to the suction cup base. The pressure sensor communicates with the controller via wired or wireless communication.

[0011] As a further improvement of the present invention, a suction cup floating lifting linear guide rail is fixedly installed at the lower end of the suction cup turntable, and a suction cup floating lifting sliding sleeve is provided at the upper end of the suction cup seat. The suction cup floating lifting sliding sleeve can be sleeved on the suction cup floating lifting linear guide rail by sliding back and forth in a straight line along the Z direction for a set distance.

[0012] As a further improvement of the present invention, a number of corner sensing devices are fixedly installed on the suction cup lifting base. Corner sensing contacts are provided on the outer circumference of the suction cup turntable. When the suction cup rotates, the corner sensing contacts on it can be triggered to sense each corner sensing device. The corner sensing devices communicate with the controller via wired or wireless communication.

[0013] As a further improvement of the present invention, the floating clamping block includes a floating clamping block seat, a compression spring, and a polyurethane clamping block. The floating clamping block seat is provided with at least three floating connecting holes. At least three connecting pins with one end diameter larger than the other end diameter are fixedly installed on the gripper body. The connecting pins are inserted into the floating connecting holes, and there is a set gap between the outer circumferential surface of the connecting pin and the inner sidewall of the floating connecting hole. The end with the larger diameter of the connecting pin stops on the side of the floating clamping block seat away from the gripper body. The compression spring is sleeved on the outside of the end with the smaller diameter of the connecting pin. The two ends of the compression spring in the elastic extension direction are respectively pressed against the floating clamping block seat and the gripper body. The polyurethane clamping block is fixedly installed on the surface of the floating clamping block seat away from the gripper body. The surface of the polyurethane clamping block forms an irregularly shaped contact surface that matches the shape of the part of the product being clamped.

[0014] As a further improvement of the present invention, the floating connecting hole is a straight hole at the end facing the gripper body, and a tapered hole at the end facing the polyurethane clamping block. The connecting pin is a straight cylindrical structure at the end facing the gripper body, and a tapered head with a gradually increasing radial dimension at the end facing the polyurethane clamping block. The tapered head is inserted into the tapered hole.

[0015] As a further improvement of the present invention, a horizontally extending gripper guide rail is fixedly installed on the gripper lifting seat, and the upper end of the gripper body is slidably sleeved on the gripper guide rail. The clamping drive device is a bidirectional cylinder fixedly installed on the gripper lifting seat, and the two pistons of the bidirectional cylinder are respectively fixedly connected to the two gripper bodies.

[0016] As a further improvement of the present invention, at least two gripper lifting sensors are fixedly spaced along the Z-direction on the gripper bracket, each gripper lifting sensor being able to sense the gripper lifting seat reaching a designated position; at least two suction cup lifting sensors are fixedly spaced along the Z-direction on the suction cup bracket, each suction cup lifting sensor being able to sense the suction cup lifting seat reaching a designated position; the conveying frame is a gantry structure, and a horizontal linear guide rail extending along the X-direction is fixedly mounted on its crossbeam, the gripper bracket and suction cup bracket being linearly slidably mounted on the horizontal linear guide rail, a pair of gripper translation position sensors and a pair of suction cup translation position sensors are also fixedly spaced on the crossbeam of the conveying frame, the gripper translation position sensors and suction cup translation position sensors being able to sense the gripper bracket and suction cup bracket reaching the limit of horizontal sliding, the gripper lifting sensors, suction cup lifting sensors, gripper translation position sensors and suction cup translation position sensors communicating with the controller via wired or wireless means.

[0017] The beneficial effects of this invention are as follows: The invention features a gripper assembly and a suction cup assembly on the conveying frame. The gripper assembly grips and transports products at the picking position, while the suction cup assembly changes the posture of the products on the transfer table and facilitates their transport. The gripper assembly uses floating clamping blocks to tightly grip the product surface, achieving a close and stable fit even on irregularly shaped products. The suction cup assembly uses accordion suction cups and irregularly shaped nozzles to apply negative pressure and tightly adhere to different parts of the product surface for suction. Furthermore, positioning pins and product support columns are installed on the suction cup assembly. When the suction cup assembly descends, the positioning pins work with the product to complete positioning and guidance, while the product support columns support and position the product surface, ensuring stable adsorption of the accordion suction cups and irregularly shaped nozzles. This prevents the product from falling off during rotation and posture changes. This invention enables the suction, transport, and posture change of irregularly shaped products in different postures, replacing the previous manual changes to product posture, saving on operational steps, optimizing the overall production line layout, and improving production line efficiency. Attached Figure Description

[0018] Figure 1 This is the front view of the present invention;

[0019] Figure 2 This is a top view of the present invention;

[0020] Figure 3 This is a perspective view of the present invention;

[0021] Figure 4 for Figure 3 Enlarged view of section A in the middle;

[0022] Figure 5 for Figure 3 Enlarged view of section B;

[0023] Figure 6 This is a perspective view of the gripper of the present invention;

[0024] Figure 7 This is a front view of the gripper of the present invention;

[0025] Figure 8 This is a top view of the gripper of the present invention;

[0026] Figure 9 This is a right view of the gripper of the present invention;

[0027] Figure 10 This is a perspective view of the suction cup assembly of the present invention;

[0028] Figure 11 This is a front view of the suction cup assembly of the present invention;

[0029] Figure 12 This is a bottom view of the suction cup assembly of the present invention;

[0030] Figure 13 for Figure 12 Enlarged view of section C;

[0031] Figure 14 This is a right view of the suction cup assembly of the present invention. Detailed Implementation

[0032] Example: A two-actuator multi-axis linkage conveying module includes a conveying frame 1, a gripper assembly 2, a suction cup assembly 3, a gripper assembly horizontal drive device 4, a suction cup assembly horizontal drive device 5, and a controller. The X direction is perpendicular to the Z direction, and the Z direction is the vertical direction.

[0033] The gripper assembly 2 includes a gripper bracket 21, a gripper lifting seat 22, a gripper lifting drive device 23, a gripper body 24, floating grippers, and a clamping drive device 25. The gripper bracket 21 is mounted on the conveyor frame 1 and can reciprocate linearly in the X direction. The gripper assembly horizontal drive device 4 drives the gripper bracket 21 to reciprocate. The gripper lifting seat 22 is mounted on the gripper bracket 21 and can reciprocate linearly in the Z direction. The gripper lifting drive device 23 drives the gripper lifting seat 22 to move up and down. Pairs of gripper bodies 24 are mounted on the gripper lifting seat 22 and can move relative to each other in the horizontal direction. The clamping drive device 25 drives the pair of gripper bodies 24 to move. Each floating gripper is mounted on the surface of each gripper body 24 to clamp the product. The floating grippers can generate a certain amplitude of elastic movement in each direction on the gripper body 24.

[0034] The suction cup assembly 3 includes a suction cup bracket 31, a suction cup lifting seat 32, a suction cup lifting drive device 33, a suction cup turntable 34, a suction cup rotation drive device 35, and a vacuum suction cup 36. The suction cup bracket 31 is mounted on the transport frame 1 and can reciprocate linearly in the X direction. The suction cup assembly horizontal drive device 5 drives the suction cup bracket 31 to reciprocate. The suction cup lifting seat 32 is mounted on the suction cup bracket 31 and can reciprocate linearly in the Z direction. The suction cup lifting drive device 33 drives the suction cup lifting seat 32 to move up and down. The suction cup turntable 34 can extend around the Z direction. The rotating shaft is mounted on the suction cup lifting seat 32. The suction cup rotation drive device 35 drives the suction cup turntable 34 to rotate forward and backward. The vacuum suction cup 36 is installed below the suction cup turntable 34. A vacuum chamber is formed inside the vacuum suction cup 36. The vacuum chamber can be connected to the vacuum supply device through an air pipe. Several accordion suction cups 361 and several irregularly shaped suction nozzles 362 that match the shape of different positions of the product are fixedly provided at the lower end of the vacuum suction cup 36. The accordion suction cups 361 and the irregularly shaped suction nozzles 362 can respectively make close contact with the negative pressure adsorption of different positions of the product.

[0035] The controller can control the start and stop of the gripper assembly horizontal drive device 4, the suction cup assembly horizontal drive device 5, the suction cup lifting drive device 33, the clamping drive device 25, the suction cup lifting drive device 33, the suction cup rotation drive device 35, and the vacuum supply device.

[0036] By setting up gripper assembly 2 and suction cup assembly 3, the picking, handling and posture changing of irregular products can be realized respectively. Gripper assembly 2 uses floating clamping blocks to hold the irregular surface of the product, which can ensure that the product is always in close contact with the floating clamping blocks and prevent the product from falling off the gripper assembly 2 during picking and handling. Suction cup assembly 3 uses accordion suction cup 361 and irregular suction nozzle 362 to achieve perfect fit to the irregular surface of the product, realize stable negative pressure adsorption, and ensure that the product will not fall off the suction cup during the flipping and posture changing process. The controller controls the action of gripper assembly 2 and suction cup assembly 3 respectively, which can realize the simultaneous operation of the picking station and the posture changing station.

[0037] The lower end of the vacuum suction cup 36 is also fixed with several positioning pins 363 and product support columns 364. The positioning pins 363 can be inserted into the holes on the product to perform initial positioning of the product. The product support columns 364 can closely contact the outer surface of the product located between each positioning pin 363 and the accordion suction cup 361, and support the outer surface of the product. Before the suction cup assembly 3 applies negative pressure to the irregularly shaped product, the positioning pins 363 cooperate with the product to complete positioning and guidance, and the product support columns 364 support the surface of the product at different positions, ensuring that the irregular curved surface of the product fits perfectly with the accordion suction cup 361 and the irregularly shaped suction nozzle 362.

[0038] The product support column 364 and each of the irregularly shaped suction nozzles 362 are respectively equipped with a rubber-coated structure. The rubber-coated structure has a certain degree of elasticity, which avoids damage to the product surface and can achieve a sealed contact.

[0039] The suction cup assembly 3 also includes a suction cup base 37, a floating spring 38, and a pressure sensor 39. The suction cup base 37 is mounted on the lower end of the suction cup turntable 34 and can move up and down a set distance in the Z direction. The floating spring 38 can elastically extend and retract in the Z direction. The upper end of the floating spring 38 is fixedly connected to the suction cup turntable 34. The lower end of the floating spring 38 is fixedly connected to the suction cup base 37 through the pressure sensor 39. The pressure sensor 39 can sense the elastic force applied by the floating spring 38 to the suction cup base 37. The pressure sensor 39 communicates with the controller via wired or wireless communication.

[0040] When the suction cup assembly 3 applies negative pressure to the product, the floating spring 38 enables the vacuum suction cup 36 to move elastically in the Z direction. This allows the accordion suction cup 361 and the irregularly shaped suction nozzle 362 to adhere stably to the product surface without damaging the product. This ensures that the accordion suction cup 361 and the irregularly shaped suction nozzle 362 maintain a good contact pressure with the product surface. This contact pressure is sensed by the pressure sensor 39. When the pressure reaches the set value, the controller controls the suction cup lifting drive device 33 to stop working.

[0041] The lower end of the suction cup turntable 34 is fixedly equipped with a suction cup floating lifting linear guide rail 341, and the upper end of the suction cup base 37 is provided with a suction cup floating lifting sliding sleeve 371. The suction cup floating lifting sliding sleeve 371 can slide back and forth linearly along the Z direction for a set distance and is fitted onto the suction cup floating lifting linear guide rail 341. By sliding the suction cup floating lifting sliding sleeve 371 up and down along the suction cup floating lifting linear guide rail 341, the lifting of the vacuum suction cup 36 is guided, preventing it from tilting and ensuring that the accordion suction cup 361 and the irregularly shaped suction nozzle 362 on it are tightly fitted to the irregularly shaped surface of the product.

[0042] Several angle sensing devices 321 are also fixedly installed on the suction cup lifting base 32. Angle sensing contacts 342 are provided on the outer circumference of the suction cup turntable 34. When the suction cup rotates, the angle sensing contacts 342 can be directly opposite to each angle sensing device 321 to trigger sensing. The angle sensing devices 321 communicate with the controller via wired or wireless communication. When the suction cup turntable 34 rotates to change the product's posture, the angle sensing devices 321 and the angle sensing contacts 342 work together to sense and judge the real-time posture of the product. When the product rotates to the required posture, the suction cup rotation drive device 35 stops working, realizing the precise rotation of the product to the required posture, which is convenient for assembly at the next station.

[0043] The floating clamping block includes a floating clamping block seat 26, a compression spring 27, and a polyurethane clamping block 28. The floating clamping block seat 26 is provided with at least three floating connecting holes 261. At least three connecting pins 241 with one end diameter larger than the other end diameter are fixedly installed on the gripper body 24. The connecting pins 241 are inserted into the floating connecting holes 261, and there is a set gap between the outer circumferential surface of the connecting pin 241 and the inner sidewall of the floating connecting hole 261. The larger diameter end of the connecting pin 241 stops on the side of the floating clamping block seat 26 away from the gripper body 24. The compression spring 27 is sleeved on the outer side of the smaller diameter end of the connecting pin 241. The two ends of the compression spring 27 in the elastic extension direction are respectively pressed against the floating clamping block seat 26 and the gripper body 24. The polyurethane clamping block 28 is fixedly installed on the surface of the floating clamping block seat 26 away from the gripper body 24. The surface of the polyurethane clamping block 28 forms an irregular contact surface that matches the shape of the part of the product being clamped. The floating clamping block in the gripper assembly 2 can be deformed to different degrees by the compression spring 27 in various directions, ensuring that the polyurethane clamping block 28 can completely fit the product and ensure that it is clamped tightly and does not fall off.

[0044] The floating connecting hole 261 is a straight hole at the end facing the gripper body 24, and a tapered hole at the end facing the polyurethane clamping block 28. The connecting pin 241 is a straight cylindrical structure at the end facing the gripper body 24, and a tapered head with a gradually increasing radial dimension at the end facing the polyurethane clamping block 28. The tapered head is inserted into the tapered hole.

[0045] A horizontally extending gripper guide rail 221 is fixedly installed on the gripper lifting seat 22. The upper end of the gripper body 24 is slidably sleeved on the gripper guide rail 221. The clamping drive device 25 is a bidirectional cylinder fixedly installed on the gripper lifting seat 22. The two pistons of the bidirectional cylinder are respectively fixedly connected to the two gripper bodies 24.

[0046] At least two gripper lifting sensors 211 are fixedly spaced along the Z-direction on the gripper bracket 21, each capable of sensing the gripper lifting seat 22 reaching a designated position; at least two suction cup lifting sensors 311 are fixedly spaced along the Z-direction on the suction cup bracket 31, each capable of sensing the suction cup lifting seat 32 reaching a designated position; the conveying frame 1 is a gantry structure, with a horizontal linear guide rail 11 extending along the X-direction fixed on its crossbeam; the gripper bracket 21 and suction cup bracket 31 can... The conveyor frame 1 is mounted linearly on the horizontal linear guide rail 11. A pair of gripper translation position sensors 12 and a pair of suction cup translation position sensors 13 are fixedly fixed at intervals on the crossbeam of the conveyor frame 1. The gripper translation position sensors 12 and the suction cup translation position sensors 13 can respectively sense the gripper bracket 21 and the suction cup bracket 31 when they reach the limit of horizontal sliding. The gripper lifting sensor 211, the suction cup lifting sensor 311, the gripper translation position sensors 12 and the suction cup translation position sensors 13 communicate with the controller via wired or wireless means.

[0047] Explanation of the working principle and operation process of this organization:

[0048] 1. The gripper assembly 2 grips the material at a fixed picking position. Driven by the gripper assembly horizontal drive device 4 and the gripper lifting drive device 23, the irregularly shaped product is transported from the picking position to the transfer and flipping platform for unloading. If there is a deviation in the product position at the picking position, the floating clamping block in the gripper assembly 2 can deform to different degrees through springs in various directions to ensure that the polyurethane clamping block 28 can completely fit the product and ensure that it is clamped tightly and does not fall off.

[0049] 2. After the product's flipping posture is changed on the transfer and flipping platform, the suction cup assembly 3 descends, and the positioning pin 363 cooperates with the product to complete positioning and guidance. The irregularly shaped suction nozzle 362 contacts the product with the accordion suction cup 361, opening the vacuum to suck up the product. Driven by the suction cup rotation drive device 35 (servo motor and reducer), it begins to rotate to the required posture. Then, driven by the suction cup assembly horizontal drive device 5 and the suction cup lifting drive device 33, the product is delivered to the unloading position. The vacuum of the suction cup assembly 3 is disconnected, and the product is unloaded.

Claims

1. A two-actuator multi-axis linkage handling module, characterized by: The device comprises a carrying frame (1), a gripper assembly (2), a suction cup assembly (3), a gripper assembly horizontal driving device (4), a suction cup assembly horizontal driving device (5) and a controller, and X direction and Z direction are perpendicular, and Z direction is vertical direction, wherein: The gripper assembly comprises a gripper support (21), a gripper lifting seat (22), a gripper lifting driving device (23), a gripper body (24), a floating clamp block and a clamping driving device (25), the gripper support is installed on the carrying frame and can move linearly in X direction, the gripper assembly horizontal driving device drives the gripper support to move linearly, the gripper lifting seat is installed on the gripper support and can move linearly in Z direction, the gripper lifting driving device drives the gripper lifting seat to move up and down, the gripper bodies are installed on the gripper lifting seat and can move relatively in horizontal direction, the clamping driving device drives the gripper bodies to move, and each floating clamp block is installed on the surface of each gripper body to clamp the product, and the floating clamp block can move elastically in each direction on the gripper body within a certain range; The suction cup assembly comprises a suction cup support (31), a suction cup lifting seat (32), a suction cup lifting driving device (33), a suction cup rotating disc (34), a suction cup rotating driving device (35) and a vacuum suction cup (36), the suction cup support is installed on the carrying frame and can move linearly in X direction, the suction cup assembly horizontal driving device drives the suction cup support to move linearly, the suction cup lifting seat is installed on the suction cup support and can move linearly in Z direction, the suction cup lifting driving device drives the suction cup lifting seat to move up and down, the suction cup rotating disc is installed on the suction cup lifting seat and can rotate around the rotating shaft extending in Z direction, the suction cup rotating driving device drives the suction cup rotating disc to rotate in opposite directions, the vacuum suction cup is installed below the suction cup rotating disc, a vacuum cavity is formed in the vacuum suction cup, the vacuum cavity can be communicated with a vacuum supply device through an air pipe, a plurality of organ pipe suction cups (361) and a plurality of special-shaped suction nozzles (362) matched with different positions and shapes of the product are fixed at the lower end of the vacuum suction cup and communicated with the vacuum cavity, and the organ pipe suction cups and the special-shaped suction nozzles can be in close contact with different positions of the product under negative pressure. The controller can control the gripper assembly horizontal driving device, the suction cup assembly horizontal driving device, the suction cup lifting driving device, the clamping driving device, the suction cup lifting driving device, the suction cup rotating driving device and the vacuum supply device to start and stop working.

2. The dual-actuator multi-axis carry module of claim 1, wherein: The lower end of the vacuum suction cup is also fixed with a plurality of positioning pins (363) and product support columns (364), the positioning pins can be inserted into the holes in the product to preliminarily position the product, and the product support columns can be in close contact with the outer side surface of the product between each positioning pin and the organ pipe suction cup and support the outer side surface of the product.

3. The dual-actuator multi-axis carry module of claim 2, wherein: The end of the product support column and the end of each special-shaped suction nozzle are respectively fixed with a rubber coating structure.

4. The dual-actuator multi-axis carry module of claim 1, wherein: The suction cup assembly further comprises a suction cup base (37), a floating spring (38) and a pressure sensor (39), the suction cup base is installed at the lower end of the suction cup turntable and can move up and down in the Z direction by a set distance, the floating spring is fixedly connected between the upper end of the floating spring and the suction cup turntable and can elastically stretch and contract in the Z direction, the lower end of the floating spring is fixedly connected to the suction cup base through the pressure sensor, the pressure sensor can sense the elastic force applied by the floating spring on the suction cup base, and the pressure sensor is in wired or wireless communication with the controller.

5. The dual-actuator multi-axis carry module of claim 4, wherein: A suction cup floating lifting linear guide rail (341) is fixedly installed at the lower end of the suction cup turntable, and a suction cup floating lifting sliding sleeve (371) is arranged at the upper end of the suction cup base and can slide linearly on the suction cup floating lifting linear guide rail by a set distance.

6. The dual-actuator multi-axis carry module of claim 1, wherein: A plurality of corner sensing devices (321) are further fixedly installed on the suction cup lifting seat, corner sensing contacts (342) are arranged on the circumferential outer side wall of the suction cup turntable, and when the suction cup rotates, the corner sensing contacts thereon can be directly opposite to trigger and sense each corner sensing device, and the corner sensing devices are in wired or wireless communication with the controller.

7. The dual-actuator multi-axis carry module of claim 1, wherein: The floating clamp block comprises a floating clamp block base (26), a compression spring (27) and a polyurethane clamp block (28), at least three floating connection holes (261) are arranged on the floating clamp block base, at least three connecting pins (241) with one end having a larger diameter than the other end are fixedly installed on the jaw body, the connecting pins are inserted into the floating connection holes, and a set gap exists between the circumferential outer side of the connecting pin and the inner side wall of the floating connection hole, the end of the connecting pin with the larger diameter is stopped on the side of the floating clamp block base away from the jaw body, the compression spring is sleeved on the outer side of the end of the connecting pin with the smaller diameter, and the two ends of the compression spring in the elastic stretching and contracting direction are tightly abutted against the floating clamp block base and the jaw body respectively, and the polyurethane clamp block is fixedly installed on the surface of the side of the floating clamp block base away from the jaw body, and a special-shaped contact surface matching the shape of the clamped part of the product is formed on the surface of the polyurethane clamp block.

8. The dual-actuator multi-axis carry module of claim 7, wherein: The floating connection hole is a straight hole towards the end of the jaw body, and is a tapered hole towards the end of the polyurethane clamp block, the end of the connecting pin towards the jaw body is a straight cylindrical structure, and the end of the connecting pin towards the polyurethane clamp block is a tapered head with gradually increasing radial size, and the tapered head is inserted into the tapered hole.

9. The dual-actuator multi-axis carry module of claim 1, wherein: A horizontally extending jaw guide rail (221) is fixedly installed on the jaw lifting seat, and the upper end of the jaw body is sleeved on the jaw guide rail in a slidable manner, and the clamping driving device is a double-acting cylinder fixedly installed on the jaw lifting seat, and two pistons of the double-acting cylinder are fixedly connected with two jaw bodies respectively.

10. The dual-actuator multi-axis carry module of claim 1, wherein: The gripper support is fixed with at least two gripper lifting sensing devices (211) spaced along the Z direction, each gripper lifting sensing device being capable of sensing the arrival of a gripper lifting seat at a specified position; the suction disc support is fixed with at least two suction disc lifting sensing devices (311) spaced along the Z direction, each suction disc lifting sensing device being capable of sensing the arrival of a suction disc lifting seat at a specified position; the carrying frame is a gantry structure, a horizontal linear guide rail (11) extending along the X direction is fixed on the cross beam of the carrying frame, the gripper support and the suction disc support are linearly slidably mounted on the horizontal linear guide rail, a pair of gripper translation position sensing devices (12) and a pair of suction disc translation position sensing devices (13) are fixed on the cross beam of the carrying frame, the gripper translation position sensing devices and the suction disc translation position sensing devices are capable of sensing the arrival of the linearly sliding gripper support and the linearly sliding suction disc support at a limit position, and the gripper lifting sensing devices, the suction disc lifting sensing devices, the gripper translation position sensing devices and the suction disc translation position sensing devices respectively communicate with the controller through wired or wireless communication.

Images