Two-actuator multi-axis linkage carrying module

Abstract

The utility model discloses a two-actuator multi-axis linkage carrying module which comprises a carrying rack, a clamping jaw assembly and a suction cup assembly, wherein 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 suction device, the special-shaped products in different postures can be sucked, carried and changed in posture, and the production efficiency is improved.

Description

Technical Field

[0001] The utility model relates to the technical field of automated assembly, in particular to a two-actuator multi-axis linkage transport module. Background Art

[0002] Since handle products need to be ergonomically designed for easy gripping, the outer contours of the handles are all irregularly curved. Existing handle assembly production lines generally place the handles in a carrier, which is circulated between different stations to achieve the function of transporting the handle products. The carrier postures of different postures and different processes often vary greatly. During the production process on the production line, handle products often need to be taken out of one carrier and placed in another. Currently, the carriers are transported by manually picking up products, which has low production efficiency, consumes labor, and requires the production of a large number of carriers, resulting in high costs for handling handle products. Utility Model Content

[0003] In order to overcome the above-mentioned defects, the utility model provides a two-actuator multi-axis linkage transport module, which can realize the transport and posture change of special-shaped products with different postures, which is beneficial to improving the production efficiency of the production line and reducing production costs.

[0004] The utility model adopts a technical solution to solve the technical problem: a two-actuator multi-axis linkage transport module, including a transport frame, a clamping claw assembly, a suction cup assembly, a horizontal drive device for the clamping claw assembly, a horizontal drive device for the suction cup assembly and a controller, wherein the X direction is perpendicular to the Z direction, and the Z direction is the vertical direction, wherein:

[0005] The clamping jaw assembly includes a clamping jaw bracket, a clamping jaw lifting seat, a clamping jaw lifting drive device, a clamping jaw body, a floating clamping block and a clamping drive device. The clamping jaw bracket can be installed on the handling frame for linear reciprocating motion in the X direction. The horizontal driving device of the clamping jaw assembly drives the clamping jaw bracket to reciprocate. The clamping jaw lifting seat can be installed on the clamping jaw bracket for linear reciprocating motion in the Z direction. The clamping jaw lifting drive device drives the clamping jaw lifting seat to move up and down. The paired clamping jaw bodies can be installed on the clamping jaw lifting seat for relative motion in the horizontal direction. The clamping drive device drives the paired clamping jaw bodies to move. Each floating clamping block is installed on the surface of each clamping jaw body in a one-to-one correspondence for clamping the product. The floating clamping block can generate a certain amplitude of elastic motion in each direction on the clamping jaw 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, wherein the suction cup bracket can be installed on the handling frame for linear reciprocating motion in the X direction, the suction cup assembly horizontal drive device drives the suction cup bracket to reciprocate, the suction cup lifting seat can be installed on the suction cup bracket for linear reciprocating motion in the Z direction, the suction cup lifting drive device drives the suction cup lifting seat to lift and lower, the suction cup turntable can be installed on the suction cup lifting seat to rotate around a rotating shaft 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 installed under the suction cup turntable, a vacuum cavity is formed inside the vacuum suction cup, the vacuum cavity can be connected to the vacuum supply device through an air pipe, a plurality of accordion suction cups connected to the vacuum cavity and a plurality of special-shaped suction nozzles matching the shapes of different positions of the product are fixed at the lower end of the vacuum suction cup, the accordion suction cup and the special-shaped suction nozzle 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, the suction cup assembly horizontal drive device, the suction cup lifting drive device, the clamping drive device, the suction cup rotation drive device and the vacuum supply device.

[0008] As a further improvement of the present invention, a number of positioning pins and product support columns are fixed to the lower end of the vacuum suction cup. The positioning pins can be inserted into the holes on the product to perform preliminary positioning of the product. The product support columns can closely contact the outer surface of the product 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 end of the product support column and the end of each special-shaped suction nozzle are respectively fixed with a rubber-encapsulated structure.

[0010] As a further improvement of the present invention, the suction cup assembly also includes a suction cup seat, a floating spring and a pressure sensor. The suction cup seat can be installed at 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 stretch and contract in the Z direction. The upper end of the floating spring is fixedly connected to the suction cup turntable, and the lower end of the floating spring is fixedly connected to the suction cup seat through the pressure sensor. The pressure sensor can sense the elastic force applied by the floating spring on the suction cup seat, and the pressure sensor and the controller perform 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 sleeve is provided at the upper end of the suction cup seat. The suction cup floating lifting sleeve can slide back and forth in a straight line along the Z direction for a set distance and is sleeved on the suction cup floating lifting linear guide rail.

[0012] As a further improvement of the present invention, a plurality of angle sensing devices are fixedly mounted on the suction cup lifting seat, and angle sensing contacts are provided on the outer circumferential wall of the suction cup turntable. When the suction cup rotates, the angle sensing contacts thereon can trigger sensing directly with each angle sensing device, and the angle sensing device communicates with the controller by wire or wirelessly.

[0013] As a further improvement of the present invention, the floating clamp includes a floating clamp seat, a compression spring and a polyurethane clamp, the floating clamp seat is provided with at least three floating connecting holes, and the clamp body is fixedly installed with at least three connecting pins with a diameter at one end larger than the diameter at the other end, the connecting pins are inserted into the floating connecting holes, and there is a set gap between the outer side surface of the connecting pin circumference and the inner wall of the floating connecting hole, the end with a larger diameter of the connecting pin is stopped at the side of the floating clamp seat facing away from the clamp body, the compression spring is sleeved on the outside of the end with a smaller diameter of the connecting pin, and the two ends of the compression spring in the elastic expansion and contraction direction are respectively tightly pressed against the floating clamp seat and the clamp body, the polyurethane clamp is fixedly installed on the surface of the side of the floating clamp seat facing away from the clamp body, and the surface of the polyurethane clamp is formed with a special-shaped contact surface that matches the shape of the clamped part of the product.

[0014] As a further improvement of the present invention, the floating connection hole is a straight hole toward the end of the clamp body, the floating connection hole is a conical hole toward the end of the polyurethane clamp block, the connecting pin is a straight cylindrical structure toward the end of the clamp body, and the connecting pin is a conical head with gradually increasing radial dimensions toward the end of the polyurethane clamp block, and the conical head is inserted into the conical hole.

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

[0016] As a further improvement of the present invention, at least two gripper lifting sensing devices are fixed on the gripper bracket at intervals along the Z direction, and each gripper lifting sensing device can respectively sense the gripper lifting seat reaching a specified position; at least two suction cup lifting sensing devices are fixed on the suction cup bracket at intervals along the Z direction, and each suction cup lifting sensing device can respectively sense the suction cup lifting seat reaching a specified position; the transport frame is a gantry structure, and a horizontal linear guide extending along the X direction is fixed on the crossbeam thereon, and the gripper bracket and the suction cup bracket can be linearly slidably installed on the horizontal linear guide, and a pair of gripper translation position sensing devices and a pair of suction cup translation position sensing devices are also fixed on the crossbeam of the transport frame at intervals, and the gripper translation position sensing devices and the suction cup translation position sensing devices can respectively sense the horizontally sliding gripper bracket and the suction cup bracket reaching the limit, and the gripper lifting sensing device, the suction cup lifting sensing device, the horizontal displacement position sensing device and the suction cup translation position sensing device respectively communicate with the controller through wired or wireless means.

[0017] The beneficial effects of the present invention are as follows: a clamping claw assembly and a suction cup assembly are respectively provided on the conveying frame of the present invention, wherein the clamping claw assembly realizes the clamping and conveying of the product at the material picking position, and the suction cup assembly realizes the posture change and conveying of the product on the transfer table, wherein the clamping claw assembly clamps the surface of the product through the floating clamping block, and can realize the close fit and clamping of the surface of the special-shaped product, and the clamping is firm and stable, and the accordion suction cup and the special-shaped suction nozzle on the suction cup assembly are in close fit with different parts of the product surface for negative pressure absorption, and at the same time, a positioning pin and a product support column are provided on the suction cup assembly, so that after the suction cup assembly is lowered, the positioning pin cooperates with the product to complete positioning and guiding, and the product support column supports and positions the product surface, ensuring that the accordion suction cup and the special-shaped suction nozzle stably adsorb the product surface, and ensuring that the product will not fall off when the posture is rotated and changed. The utility model realizes the suction, conveying and posture change of special-shaped products with different postures, replaces the previous production status of manually changing the posture of the product, saves the action process, optimizes the production layout of the entire line, and improves the production efficiency of the production line. BRIEF DESCRIPTION OF THE DRAWINGS

[0018] Figure 1 It is a three-dimensional diagram of the utility model;

[0019] Figure 2 for Figure 1 Enlarged view of part A in the middle;

[0020] Figure 3 for Figure 1 Enlarged view of middle part B;

[0021] Figure 4 This is the main view of the utility model;

[0022] Figure 5It is a top view of the utility model;

[0023] Figure 6 This is a three-dimensional diagram of the clamping jaws of the present invention;

[0024] Figure 7 This is a front view of the clamping jaw of the present utility model;

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

[0026] Figure 9 This is a right side view of the clamping jaw of the present invention;

[0027] Figure 10 This is a three-dimensional diagram of the suction cup assembly of the present utility model;

[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 middle C part;

[0031] Figure 14 It is a right side view of the suction cup assembly of the present utility model. DETAILED DESCRIPTION

[0032] Example: A two-actuator multi-axis linkage transport module includes a transport 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, assuming that the X direction is perpendicular to the Z direction, and the Z direction is the vertical direction, wherein:

[0033] The clamping jaw assembly 2 includes a clamping jaw bracket 21, a clamping jaw lifting seat 22, a clamping jaw lifting drive device 23, a clamping jaw body 24, a floating clamping block and a clamping drive device 25. The clamping jaw bracket 21 can be installed on the handling frame 1 for linear reciprocating motion in the X direction. The horizontal driving device 4 of the clamping jaw assembly drives the clamping jaw bracket 21 to reciprocate. The clamping jaw lifting seat 22 can be installed on the clamping jaw bracket 21 for linear reciprocating motion in the Z direction. The clamping jaw lifting drive device 23 drives the clamping jaw lifting seat 22 to move up and down. The paired clamping jaw bodies 24 can be installed on the clamping jaw lifting seat 22 for relative motion in the horizontal direction. The clamping drive device 25 drives the paired clamping jaw bodies 24 to move. Each floating clamping block is installed one by one on the surface of each clamping jaw body 24 for clamping the product. The floating clamping block can generate a certain amplitude of elastic motion in each direction on the clamping jaw 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 can be installed on the transport frame 1 for linear reciprocating motion 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 can be installed on the suction cup bracket 31 for linear reciprocating motion 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 rotatably installed on the suction cup lifting seat 32, and the suction cup rotation drive device 35 drives the suction cup turntable 34 to rotate forward and reverse. The vacuum suction cup 36 is installed below the suction cup turntable 34. A vacuum cavity is formed inside the vacuum suction cup 36. The vacuum cavity can be connected to the vacuum supply device through an air pipe. The lower end of the vacuum suction cup 36 is fixed with a plurality of accordion suction cups 361 connected to the vacuum cavity and a plurality of special-shaped suction nozzles 362 that match the shapes of different positions of the product. The accordion suction cups 361 and the special-shaped suction nozzles 362 can respectively make close contact with different positions of the product for negative pressure adsorption;

[0035] The controller can control the start and stop of the clamping jaw 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 rotation drive device 35 and the vacuum supply device.

[0036] By setting up the clamping jaw assembly 2 and the suction cup assembly 3, the picking, transportation and posture change of special-shaped products can be achieved respectively. The clamping jaw assembly 2 adopts a floating clamping block to clamp the special-shaped surface of the product, which can ensure that the product is always in close contact with the floating clamping block, avoiding the product from falling off the clamping jaw assembly 2 during picking and transportation. The suction cup assembly 3 achieves perfect fitting to the special-shaped surface of the product through the accordion suction cup 361 and the special-shaped suction nozzle 362, and realizes stable negative pressure adsorption to ensure that the product will not fall from the suction cup during the flipping and posture change process. The controller controls the actions of the clamping jaw assembly 2 and the suction cup assembly 3 respectively, and can realize the simultaneous operation of the material picking station and the posture change 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 holes in the product to initially position the product. The product support columns 364 can closely contact and support the outer surface of the product between each positioning pin 363 and the accordion suction cup 361. Before the suction cup assembly 3 performs negative pressure suction on the irregularly shaped product, the positioning pins 363 cooperate with the product to complete positioning and guidance. The product support columns 364 support the product surface at different locations, ensuring that the irregularly shaped surface of the product fits perfectly with the accordion suction cup 361 and the shaped suction nozzle 362.

[0038] The ends of the product support column 364 and the ends of each special-shaped suction nozzle 362 are respectively fixed with a rubber coating structure. The rubber coating structure has a certain elasticity to avoid damaging the product surface and can achieve sealing contact.

[0039] The suction cup assembly 3 also includes a suction cup seat 37, a floating spring 38 and a pressure sensor 39. The suction cup seat 37 can be installed at 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 stretch and contract in the Z direction. The upper end of the floating spring 38 is fixedly connected to the suction cup turntable 34, and the lower end of the floating spring 38 is fixedly connected to the suction cup seat 37 through the pressure sensor 39. The pressure sensor 39 can sense the elastic force applied by the floating spring 38 on the suction cup seat 37. The pressure sensor 39 communicates with the controller by wire or wirelessly.

[0040] When the suction cup assembly 3 absorbs the product under negative pressure, the floating spring 38 realizes the elastic movement of the vacuum suction cup 36 in the Z direction, thereby achieving stable contact between the accordion suction cup 361 and the special-shaped suction nozzle 362 and the product surface without crushing the product, so that the accordion suction cup 361 and the special-shaped suction nozzle 362 maintain a good bonding pressure with the product surface. This bonding 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] A floating suction cup lift linear guide 341 is fixedly mounted at the lower end of the suction cup turntable 34. A floating suction cup lift sleeve 371 is mounted on the upper end of the suction cup seat 37. This sleeve 371 is capable of sliding back and forth linearly along the Z direction for a set distance and is mounted on the floating suction cup lift linear guide 341. The floating suction cup lift sleeve 371 slides up and down along the floating suction cup lift linear guide 341, guiding the vacuum cup 36 as it rises and falls, preventing it from tilting and ensuring that the accordion suction cup 361 and shaped suction nozzle 362 thereon adhere closely to the irregularly shaped surface of the product.

[0042] Several angle sensors 321 are also fixedly mounted on the suction cup lift base 32. Angle sensing contacts 342 are located on the outer circumferential wall of the suction cup turntable 34. When the suction cup rotates, the angle sensing contacts 342 align with each angle sensor 321, triggering induction. The angle sensors 321 communicate with the controller via wired or wireless communication. As the suction cup turntable 34 rotates to change the product's posture, the angle sensors 321 and angle sensing contacts 342 work together to sense and determine the product's real-time posture. Once the product reaches the desired posture, the suction cup rotation drive 35 stops, ensuring precise rotation of the product to the desired posture, facilitating assembly at the next workstation.

[0043] The floating clamp includes a floating clamp seat 26, a compression spring 27 and a polyurethane clamp 28. The floating clamp seat 26 is provided with at least three floating connecting holes 261. At least three connecting pins 241 with a diameter at one end larger than the diameter at the other end are fixedly installed on the clamp body 24. The connecting pins 241 are inserted into the floating connecting holes 261, and there is a set gap between the outer side surface of the circumference of the connecting pin 241 and the inner wall of the floating connecting hole 261. The end of the connecting pin 241 with a larger diameter is stopped at the side of the floating clamp seat 26 facing away from the clamp body 24. The compression spring 27 is sleeved on the outside of the end of the connecting pin 241 with a smaller diameter. The two ends of the compression spring 27 in the elastic expansion and contraction direction are respectively tightly pressed against the floating clamp seat 26 and the clamp body 24. The polyurethane clamp 28 is fixedly installed on the surface of the floating clamp seat 26 facing away from the clamp body 24. A special-shaped contact surface is formed on the surface of the polyurethane clamp 28 that matches the shape of the clamped part of the product. The floating clamping block in the clamping jaw assembly 2 can produce different degrees of deformation through the compression springs 27 in all directions, ensuring that the polyurethane clamping block 28 can completely fit the product and ensure that it is clamped and does not fall off.

[0044] The floating connection hole 261 is a straight hole at one end facing the clamp body 24, and a conical hole at one end facing the polyurethane clamp block 28. The connecting pin 241 is a straight cylindrical structure at one end facing the clamp body 24, and a conical head with gradually increasing radial dimensions at one end facing the polyurethane clamp block 28. The conical head is inserted into the conical hole.

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

[0046] At least two gripper lifting sensing devices 211 are fixed on the gripper bracket 21 at intervals along the Z direction, and each gripper lifting sensing device 211 can respectively sense the gripper lifting seat 22 reaching a specified position; at least two suction cup lifting sensing devices 311 are fixed on the suction cup bracket 31 at intervals along the Z direction, and each suction cup lifting sensing device 311 can respectively sense the suction cup lifting seat 32 reaching a specified position; the transport frame 1 is a gantry structure, and a horizontal linear guide rail 11 extending along the X direction is fixed on the crossbeam on it, and the gripper bracket 21 and the suction cup bracket 31 can respectively sense the gripper lifting seat 22 reaching a specified position. It is installed on the horizontal linear guide rail 11 so as to be able to slide linearly. A pair of clamping jaw translation position sensing devices 12 and a pair of suction cup translation position sensing devices 13 are also fixed at intervals on the crossbeam of the transport frame 1. The clamping jaw translation position sensing device 12 and the suction cup translation position sensing device 13 can respectively sense the horizontal sliding clamping jaw bracket 21 and the suction cup bracket 31 reaching the limit. The clamping jaw lifting sensing device 211, the suction cup lifting sensing device 311, the horizontal translation position sensing device and the suction cup translation position sensing device 13 respectively communicate with the controller through wired or wireless means.

[0047] The working principle and action flow of this mechanism:

[0048] 1. The jaw assembly 2 grips the material at a fixed retrieving position. Driven by the jaw assembly's horizontal drive 4 and the jaw lift drive 23, the irregularly shaped product is moved from the retrieving position to the transfer and flipping platform for unloading. If the product's position at the retrieving position deviates, the floating clamping block in the jaw assembly 2 deforms to varying degrees via springs in various directions, ensuring that the polyurethane clamping block 28 fits snugly against the product and prevents it from falling out.

[0049] 2. After the product is flipped and positioned on the transfer platform, the suction cup assembly 3 descends, positioning pins 363 engage the product to position and guide it. The shaped suction nozzle 362 and the accordion suction cup 361 contact the product, and vacuum is activated to absorb the product. Driven by the suction cup rotation drive 35 (servo motor and reducer), the suction cup assembly begins to rotate to the desired position. Then, driven by the suction cup assembly horizontal drive 5 and the suction cup lift drive 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 transport module, characterized by: The invention comprises a transport frame (1), a clamping claw assembly (2), a suction cup assembly (3), a clamping claw assembly horizontal driving device (4), a suction cup assembly horizontal driving device (5) and a controller, wherein the X direction is perpendicular to the Z direction, and the Z direction is a vertical direction, wherein: The clamping jaw assembly comprises a clamping jaw support (21), a clamping jaw lifting seat (22), a clamping jaw lifting drive device (23), a clamping jaw body (24), a floating clamping block and a clamping drive device (25). The clamping jaw support is mounted on a transport frame and can move back and forth linearly in the X direction. The horizontal clamping jaw drive device drives the clamping jaw support to move back and forth. The clamping jaw lifting seat is mounted on the clamping jaw support and can move back and forth linearly in the Z direction. The clamping jaw lifting drive device drives the clamping jaw lifting seat to move up and down. Pairs of clamping jaw bodies are mounted on the clamping jaw lifting seat and can move relative to each other in the horizontal direction. The clamping drive device drives the paired clamping jaw bodies to move. Each floating clamping block is mounted on the surface of each clamping jaw body in a one-to-one correspondence for clamping products. The floating clamping block can generate a certain amplitude of elastic movement in each direction on the clamping jaw body. The suction cup assembly comprises 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 can be mounted on a transport rack so as to move back and forth in a straight line in the X direction. The suction cup assembly horizontal drive device drives the suction cup bracket to move back and forth. The suction cup lifting seat can be mounted on the suction cup bracket so as to move back and forth in a straight line 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 can rotate around the suction cup bracket. A rotating shaft extending in the Z direction is rotatably mounted on a suction cup lifting seat, a suction cup rotation drive device drives the suction cup turntable to rotate forward and reversely, a vacuum suction cup is mounted below the suction cup turntable, a vacuum cavity is formed inside the vacuum suction cup, the vacuum cavity can be connected to a vacuum supply device through an air pipe, a plurality of accordion suction cups (361) connected to the vacuum cavity and a plurality of special-shaped suction nozzles (362) matching the shapes of different positions of the product are fixed at the lower end of the vacuum suction cup, the accordion suction cups and special-shaped suction nozzles can respectively be in close contact with different positions of the product for negative pressure adsorption; The controller can control the start and stop of the gripper assembly horizontal drive device, the suction cup assembly horizontal drive device, the suction cup lifting drive device, the clamping drive device, the suction cup rotation drive device and the vacuum supply device.

2. The two-actuator multi-axis linkage transport module according to claim 1, characterized in that: A plurality of positioning pins (363) and product support columns (364) are also fixed to the lower end of the vacuum suction cup. The positioning pins can be inserted into the holes on the product to perform preliminary positioning of the product. The product support columns can closely contact the outer surface of the product between each positioning pin and the accordion suction cup and support the outer surface of the product.

3. The two-actuator multi-axis linkage transport module according to claim 2, characterized in that: The end of the product support column and the end of each special-shaped suction nozzle are respectively fixed with a rubber-encapsulated structure.

4. The two-actuator multi-axis linkage transport module according to claim 1, characterized in that: The suction cup assembly also includes a suction cup seat (37), a floating spring (38) and a pressure sensor (39). The suction cup seat can be installed at the lower end of the suction cup turntable and can move up and down along the Z direction to a set distance. The floating spring can elastically stretch in the Z direction. The upper end of the floating spring is fixedly connected to the suction cup turntable, and the lower end of the floating spring is fixedly connected to the suction cup seat through the pressure sensor. The pressure sensor can sense the elastic force applied by the floating spring on the suction cup seat, and the pressure sensor and the controller perform wired or wireless communication.

5. The two-actuator multi-axis linkage transport module according to claim 4, characterized in that: 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 sleeve (371) is provided at the upper end of the suction cup seat. The suction cup floating lifting sleeve can slide back and forth along the Z direction for a set distance and is sleeved on the suction cup floating lifting linear guide rail.

6. The two-actuator multi-axis linkage transport module according to claim 1, characterized in that: A plurality of rotation angle sensing devices (321) are fixedly mounted on the suction cup lifting seat, and rotation angle sensing contacts (342) are provided on the outer circumferential wall of the suction cup turntable. When the suction cup rotates, the rotation angle sensing contacts thereon can trigger induction by aligning with each rotation angle sensing device, and the rotation angle sensing device performs wired or wireless communication with the controller.

7. The two-actuator multi-axis linkage transport module according to claim 1, characterized in that: The floating clamp includes a floating clamp seat (26), a compression spring (27) and a polyurethane clamp (28), the floating clamp seat is provided with at least three floating connection holes (261), the clamp body is fixedly provided with at least three connection pins (241) with a diameter at one end larger than that at the other end, the connection pins are inserted into the floating connection holes, and a set gap is formed between the outer side surface of the connection pin circumference and the inner wall of the floating connection hole, the end of the connection pin with a larger diameter is stopped at the side of the floating clamp seat facing away from the clamp body, the compression spring is sleeved on the outer side of the end of the connection pin with a smaller diameter, and the two ends of the compression spring in the elastic expansion and contraction direction are respectively pressed against the floating clamp seat and the clamp body, the polyurethane clamp is fixedly installed on the surface of the side of the floating clamp seat facing away from the clamp body, and the surface of the polyurethane clamp is formed with a special-shaped contact surface that matches the shape of the clamped part of the product.

8. The two-actuator multi-axis linkage transport module according to claim 7, characterized in that: The floating connection hole is a straight hole at one end facing the clamp body, and a conical hole at one end facing the polyurethane clamp block. The connecting pin is a straight cylindrical structure at one end facing the clamp body, and a conical head with gradually increasing radial dimensions at one end facing the polyurethane clamp block. The conical head is inserted into the conical hole.

9. The two-actuator multi-axis linkage transport module according to claim 1, characterized in that: A horizontally extending clamping guide rail (221) is fixedly mounted on the clamping jaw lifting seat, and the upper end of the clamping jaw body is slidably sleeved on the clamping jaw guide rail. The clamping drive device is a bidirectional cylinder fixedly mounted on the clamping jaw lifting seat, and the two pistons of the bidirectional cylinder are respectively fixedly connected to the two clamping jaw bodies.

10. The two-actuator multi-axis linkage transport module according to claim 1, characterized in that: At least two gripper lifting sensing devices (211) are fixed on the gripper bracket at intervals along the Z direction, and each gripper lifting sensing device can respectively sense the gripper lifting seat reaching a specified position; at least two suction cup lifting sensing devices (311) are fixed on the suction cup bracket at intervals along the Z direction, and each suction cup lifting sensing device can respectively sense the suction cup lifting seat reaching a specified position; the transport frame is a gantry structure, and a horizontal linear guide rail (11) extending along the X direction is fixed on the crossbeam thereof, and the gripper bracket and the suction cup bracket can be installed on the horizontal linear guide rail in a linear sliding manner; a pair of gripper translation position sensing devices (12) and a pair of suction cup translation position sensing devices (13) are also fixed on the crossbeam of the transport frame at intervals, and the gripper translation position sensing devices and the suction cup translation position sensing devices can respectively sense the gripper bracket and the suction cup bracket that have reached a limit horizontal sliding position; the gripper lifting sensing device, the suction cup lifting sensing device, the horizontal displacement position sensing device and the suction cup translation position sensing device respectively communicate with the controller via wired or wireless communication.

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