Cube two-degree-of-freedom posture adjusting device

Abstract

The utility model relates to the field of mechanical equipment, and discloses a cubic two-degree-of-freedom posture adjusting device which comprises a main body frame, synchronous belt rotating mechanisms arranged on the two sides of the main body frame, and a suction cup rolling mechanism arranged on the rear portion of the main body frame. The synchronous belt rotating mechanism comprises rotating synchronous belt assemblies, the rotating synchronous belt assemblies are arranged above one sides of the two mounting holes of the main body frame respectively, and the rotating mechanism air cylinder is arranged on the rear portion of the main body frame and used for driving the two rotating synchronous belt assemblies to move oppositely or reversely. The suction cup rolling mechanism comprises a decoupling type turnover mechanism, and the bottom of the decoupling type turnover mechanism is arranged on a bottom frame on the rear portion of the main body frame. The unlimited rolling assembly is arranged on the decoupling type turnover mechanism, the pitching angle of the unlimited rolling assembly is controlled by the decoupling type turnover mechanism, and the unlimited rolling assembly can move the cube and adjust the angle posture so as to achieve turnover and rotating motion.

Description

TECHNICAL FIELD

[0001] The utility model relates to a kind of mechanical equipment field, in particular to a kind of cubic two-degree-of-freedom attitude adjustment device. BACKGROUND

[0002] In production and manufacturing, most products need to be packaged and stored in finished product warehouse after production. In certain circumstances, the angle and posture of these products need to be adjusted so that they can be arranged in a unified direction on the shelves. Currently, the main method is to use a multi-axis robot arm with a vacuum element installed at the end, but this method is costly and not suitable for small products. SUMMARY

[0003] To solve the above problems, the utility model aims to provide a cubic two-degree-of-freedom attitude adjustment device that can efficiently adjust the posture of a cube.

[0004] To achieve the above purpose, the utility model adopts the following technical solution: a cubic two-degree-of-freedom attitude adjustment device includes a main frame, a synchronous belt rotating mechanism arranged on both sides of the main frame for adjusting the yaw angle and posture of a picked cube, and a suction cup rolling mechanism arranged at the rear of the main frame for adjusting the roll angle and posture of the cube. The synchronous belt rotating mechanism includes a rotating synchronous belt assembly and a rotating mechanism cylinder. A rotating synchronous belt assembly is arranged above one side of each mounting hole in the main frame. The rotating mechanism cylinder is arranged at the rear of the main frame to drive the two rotating synchronous belt assemblies to move in opposite directions or in reverse. The suction cup rolling mechanism includes a decoupled overturning mechanism and an infinite rolling assembly. The bottom of the decoupled overturning mechanism is arranged on the chassis at the rear of the main frame. The infinite rolling assembly is arranged on the decoupled overturning mechanism. The decoupled overturning mechanism controls the pitch angle of the infinite rolling assembly. The infinite rolling assembly can move the cube and adjust its angle and posture to achieve overturning and rotating motion.

[0005] Further, the rotating synchronous belt assembly includes a driving gear, a driven gear, a rotating mechanism synchronous belt, a rotating synchronous belt assembly mounting plate, a rotating drive motor, and a rotating mechanism linear guide rail.

[0006] Rotating mechanism linear guide rails are arranged on both sides of the chassis at the rear of the main frame. A sliding block is movably arranged on each rotating mechanism linear guide rail. The rotating synchronous belt assembly mounting plate is fixedly arranged on the sliding block.

[0007] The rotating drive motor is mounted on the rotating synchronous belt assembly mounting plate. The output shaft of the rotating drive motor is coaxially connected to the driving gear mounted on the rotating synchronous belt assembly mounting plate.

[0008] A plurality of driven gears are arranged on the upper interval of the rotating synchronous belt assembly mounting plate, the driving gear is connected with the plurality of driven gears through the rotating mechanism synchronous belt to form a mechanical arm, and the rotating mechanism synchronous belt direction is perpendicular to the rotating mechanism linear guide rail;

[0009] The rotating mechanism cylinder is axially parallel to the rotating mechanism linear guide rail, and the extension and retraction of the rotating mechanism cylinder drives the movement of the two rotating synchronous belt assemblies.

[0010] Further, the decoupling type turnover mechanism comprises a turnover rack assembly, a turnover linear guide rail, a turnover motor and a turnover gear;

[0011] The turnover rack assembly is arranged on the chassis at the rear of the main frame and is fixed with the chassis as one component; the right side top of the turnover rack assembly has a strip-shaped sawtooth structure, and the left side is a wing-shaped support structure;

[0012] The turnover linear guide rail is arranged outside the right side of the turnover rack assembly, and the motor mounting seat is slidably arranged on the turnover linear guide rail;

[0013] The turnover motor is installed on the motor mounting seat, and the output shaft of the turnover motor is coaxially connected with the turnover gear to drive the turnover gear to rotate by the turnover motor;

[0014] The outer side surface of the turnover gear is fixed on the infinite rolling assembly, and the infinite rolling assembly is driven to rotate by the turnover motor.

[0015] Further, the infinite rolling assembly comprises a rolling assembly frame, a rolling motor, a rotating disc, a rolling driven gear, a rolling driving gear, a rolling bearing set, a vacuum suction cup and a single-way air slip ring;

[0016] The outer side surface of the rolling assembly frame on the right side is fixedly connected with the outer side surface of the turnover gear, the bottom of the rolling assembly frame on the left side is connected with the wing-shaped support structure of the turnover rack assembly through a rotating shaft, and a connecting rod is arranged between the rolling assembly frames on the two sides;

[0017] The top of the rolling assembly frames on the two sides is provided with a hollow bearing mounting platform, a plurality of rolling bearing sets are arranged at the periphery of the bearing mounting platform, and the left side of the bearing mounting platform has a protruding structure;

[0018] The rolling motor is installed at the bottom of the protruding structure of the bearing mounting platform, and the output shaft of the rolling motor is coaxially connected with the rolling driving gear through the protruding structure to drive the synchronous rotation of the rolling driving gear;

[0019] The rotating disc adopts a circular ring structure, and its outer edge is movably arranged between a plurality of rolling bearing sets. The rotating disc is supported by the rolling bearing sets and rotates. The bottom of the rotating disc is fixedly provided with a rolling driven gear. The rolling driven gear is engaged with a rolling driving gear, and is driven to rotate by the rolling driving gear. The bottom center of the rotating disc is provided with a single-way air slip ring.

[0020] The two vacuum suction cups are arranged side by side on the top of the rotating disc, and are respectively connected with two vacuum pumps through a single-way air slip ring, so that the vacuum suction cups have adsorption force.

[0021] Further, the two vacuum suction cups are connected to the single-way air slip ring through a tee joint. The vacuum pump is connected to the single-way air slip ring through a spiral air pipe.

[0022] Further, the rear chassis of the main frame is provided with a moving mechanism. The moving direction of the moving mechanism is perpendicular to the direction of the rotating mechanism synchronous belt and parallel to the axial direction of the rotating mechanism air cylinder, and can drive the suction cup rolling mechanism to move bidirectionally.

[0023] The moving mechanism includes a fixed end guide rail assembly, a movable end guide rail assembly, a middle layer sliding block assembly, and a terminal sliding block assembly.

[0024] The fixed end guide rail assembly is fixedly arranged on the rear chassis of the main frame. The movable end guide rail assembly is arranged on the rear chassis of the main frame in parallel with the fixed end guide rail assembly.

[0025] The middle layer sliding block assembly is located between the fixed end guide rail assembly and the movable end guide rail assembly, and is used to improve the moving stroke of the movable end guide rail assembly.

[0026] The terminal sliding block assembly is arranged on the movable end guide rail assembly. The turnover rack assembly is arranged on the terminal sliding block assembly. The suction cup rolling mechanism is driven by the terminal sliding block assembly to move left and right along the movable end guide rail assembly.

[0027] Further, the fixed end guide rail assembly includes a fixed end assembly mounting rack, a fixed end linear guide rail, a fixed end synchronous belt, a fixed end rack, a moving mechanism motor, a fixed end driving synchronous pulley, and a fixed end driven synchronous pulley.

[0028] The fixed end assembly mounting rack is fixedly arranged on the rear chassis of the main frame. The fixed end linear guide rail is arranged on the inner side of the fixed end assembly mounting rack, close to the side of the movable end guide rail assembly.

[0029] The moving mechanism motor is arranged at the bottom of one end of the fixed end assembly mounting rack. The output shaft of the moving mechanism motor is coaxially connected with the fixed end driving synchronous pulley through the end of the fixed end assembly mounting rack.

[0030] A fixed end driven synchronous pulley is arranged at the other end of the fixed end assembly mounting frame and is in transmission connection with the fixed end driving synchronous pulley through a fixed end synchronous belt.

[0031] A fixed end rack is arranged on the fixed end assembly mounting frame below the fixed end synchronous belt and is in meshing connection with the middle layer gear of the middle layer slider assembly, so that the middle layer slider assembly and the fixed end guide rail assembly are relatively moved during the movement of the mechanism.

[0032] Further, the movable end guide rail assembly comprises a movable end assembly mounting frame, a movable end linear guide rail A, a movable end linear guide rail B, a movable end rack, a movable end synchronous pulley and a movable end synchronous belt.

[0033] The movable end assembly mounting frame is fixedly arranged on the rear chassis of the main body frame and is equal in length to the fixed end assembly mounting frame; the movable end linear guide rail A is arranged on the inner side of the movable end assembly mounting frame, close to the side of the fixed end guide rail assembly; and the movable end linear guide rail B is arranged on the outer side of the movable end assembly mounting frame, away from the side of the fixed end guide rail assembly.

[0034] The movable end synchronous pulley is arranged at each end of the movable end assembly mounting frame, and the two movable end synchronous pulleys are in transmission connection through the movable end synchronous belt.

[0035] The movable end rack is arranged on the movable end assembly mounting frame below the movable end synchronous belt and is in meshing connection with the middle layer gear; the movable end rack is moved by the opposite movement of the gear transmission, so that the moving stroke of the movable end rack is 2 times the length of the fixed end rack, and the first double stroke is provided by the cooperation of the fixed end rack and the movable end rack; and the movement is transmitted to the movable end synchronous belt during the movement.

[0036] Further, the middle layer slider assembly comprises a middle layer slider mounting plate, a fixed guide rail slider, a movable guide rail slider, a middle layer gear, a fixed end synchronous belt tooth plate and a movable end synchronous belt tooth plate A.

[0037] The fixed guide rail sliders are arranged at the two ends of the first side surface of the middle layer slider mounting plate and are slidably arranged on the fixed end linear guide rail and cooperated with the fixed end linear guide rail.

[0038] The fixed end synchronous belt tooth plate is arranged at the center of the first side surface of the middle layer slider mounting plate and has the same tooth shape as the fixed end synchronous belt, so as to clamp the fixed end synchronous belt; the fixed end synchronous belt tooth plate is arranged at the bottom of the fixed end synchronous belt, the middle layer slider assembly is fixed on the fixed end synchronous belt through the fixed end synchronous belt tooth plate, and the movement of the fixed end synchronous belt is transmitted to the middle layer slider assembly.

[0039] The movable guide rail slider is slidably arranged on the movable section linear guide rail A and cooperates with the movable section linear guide rail A;

[0040] The movable end synchronous belt tooth plate A is arranged at the center position of the second side surface of the middle layer slider mounting plate, is clamped on the bottom of the movable end synchronous belt, and fixes the middle layer slider assembly on the movable end synchronous belt through the clamping of the movable end synchronous belt tooth plate A, so that the movement of the middle layer slider assembly is transmitted to the movable end guide rail assembly;

[0041] The middle layer gear is arranged at the geometric center of the top of the middle layer slider mounting plate and is meshed with the fixed end rack and the movable end rack respectively, and the tooth surfaces of the fixed end rack and the movable end rack are opposite to each other; the middle layer gear drives the relative movement of the end slider assembly and the middle layer slider assembly through cooperation with the movable end rack, at this time, the synchronous belt drives the movement of the middle layer slider assembly to the movable end synchronous belt, and the transmission of two-stage double-stroke travel is realized by the middle layer gear.

[0042] Further, the end slider assembly comprises an end slider mounting plate, an end slider and a movable end synchronous belt tooth plate B;

[0043] The end slider mounting plate is arranged at the geometric center of the top of the middle layer slider mounting plate and is meshed with the fixed end rack and the movable end rack respectively, and the tooth surfaces of the fixed end rack and the movable end rack are opposite to each other; the middle layer gear drives the relative movement of the end slider assembly and the middle layer slider assembly through cooperation with the movable end rack, at this time, the synchronous belt drives the movement of the middle layer slider assembly to the movable end synchronous belt, and the transmission of two-stage double-stroke travel is realized by the middle layer gear.

[0044] The movable end synchronous belt tooth plate B is arranged at the center position of the inner side surface of the end slider mounting plate, and the movable end synchronous belt tooth plate B is symmetrically arranged with the movable end synchronous belt tooth plate A; and the movable end synchronous belt tooth plate B is clamped on the bottom of the movable end synchronous belt, and the movable end synchronous belt is pressed on the end slider mounting plate.

[0045] The utility model discloses a kind of cubic two-degree-of-freedom attitude adjustment devices, which can realize efficient adjustment of cubic angle posture. BRIEF DESCRIPTION OF DRAWINGS

[0046] Figure 1 It is the whole structure schematic diagram of cubic two-degree-of-freedom attitude adjustment device in an embodiment of the utility model;

[0047] Figure 2 It is synchronous belt rotating mechanism and main frame schematic diagram in an embodiment of the utility model;

[0048] Figure 3 It is suction cup rolling mechanism schematic diagram in an embodiment of the utility model;

[0049] Figure 4 It is optional mobile mechanism schematic diagram in an embodiment of the utility model;

[0050] REFERENCE NUMERALS:

[0051] 1-Body frame; 1-1-Vacuum pump; 1-2-Master control board; 1-3-Solenoid valve group;

[0052] 2-Synchronous belt rotating mechanism; 2-1-Rotating synchronous belt assembly; 2-2-Rotating mechanism cylinder; 2-1-1-Rotating mechanism synchronous belt; 2-1-2-Rotating synchronous belt assembly mounting plate; 2-1-3-Rotating drive motor; 2-1-4-Rotating mechanism linear guide rail;

[0053] 3-Suck disc rolling mechanism; 3-1-Decoupling type turnover mechanism; 3-2-Infinite rolling assembly; 3-1-1-Turnover rack assembly; 3-1-2-Turnover linear guide rail; 3-1-3-Turnover motor; 3-1-4-Turnover gear; 3-2-1-Rolling assembly frame; 3-2-2-Rolling motor; 3-2-3-Rolling driven gear; 3-2-4-Rolling driving gear; 3-2-5-Rolling bearing set; 3-2-6-Vacuum chuck; 3-2-7-Single-way air slip ring;

[0054] 4-Optional moving mechanism; 4-1-Fixed end guide rail assembly; 4-2-Movable end guide rail assembly; 4-3-Middle layer slider assembly; 4-4-Terminal slider assembly; 4-1-1-Fixed end assembly mounting frame; 4-1-2-Fixed end linear guide rail; 4-1-3 Fixed end synchronous belt; 4-1-4-Fixed end rack; 4-1-5-Moving mechanism motor; 4-1-6-Fixed end driving synchronous pulley; 4-1-7 Fixed end driven synchronous pulley; 4-2-1-Movable end assembly mounting frame; 4-2-2-Movable end linear guide rail A; 4-2-3-Movable end linear guide rail B; 4-2-4-Movable end rack; 4-2-5-Movable end synchronous pulley; 4-2-6-Movable end synchronous belt; 4-3-1-Middle layer slider mounting plate; 4-3-2-Fixed guide rail slider; 4-3-3-Movable guide rail slider; 4-3-4-Middle layer gear; 4-3-5-Fixed end synchronous belt toothed plate; 4-3-6-Movable end synchronous belt toothed plate A; 4-4-1-Terminal slider mounting plate; 4-4-2-Terminal slider; 4-4-3-Movable end synchronous belt toothed plate B. DETAILED DESCRIPTION

[0055] In order to make the purpose, technical scheme and advantages of the embodiments of the present application clearer, the technical scheme of the embodiments of the present application will be described clearly and completely below with reference to the drawings of the embodiments of the present application. Obviously, the described embodiments are part of the embodiments of the present application, rather than all the embodiments. Based on the described embodiments of the present application, all other embodiments obtained by those skilled in the art belong to the scope of protection of the present application.

[0056] It is to be noted that the terms used herein are merely for describing specific embodiments and are not intended to limit exemplary embodiments according to the present application. As used herein, the singular form is intended to include the plural form as well, unless the context clearly indicates otherwise, and it is further understood that the terms "comprises" and / or "comprising," when used in this specification, specify the presence of stated features, steps, operations, devices, components and / or combinations thereof, but do not preclude the presence or addition of one or more other features, steps, operations, devices, components and / or combinations thereof.

[0057] In the description of the present application, it should also be noted that the terms "center", "inner", "outer" and the like indicate the orientation or positional relationship based on the orientation or positional relationship shown in the drawings, or the orientation or positional relationship commonly used when the product of the present application is used, and are merely for the convenience of describing the present application and simplifying the description, and do not indicate or imply that the device or element referred to must have a particular orientation, be constructed and operated in a particular orientation, and therefore cannot be understood as a limitation on the present application.

[0058] In the description of the present application, it should also be noted that unless otherwise specified and limited, the terms "provided", "connected", "connected" should be understood broadly, for example, it can be fixedly connected, or it can be detachably connected, or integrally connected; it can be directly connected, or indirectly connected through an intermediate medium, or it can be connected inside two elements. For those skilled in the art, the specific meaning of the above terms in the present application can be understood according to the specific circumstances.

[0059] In order to solve the problem that the multi-axis mechanical arm and the like used in the prior art has high cost and is not suitable for small products, in order to make the control system more suitable for small cube products, the cost is lower and the control system is easier to realize, the utility model provides a cube two-degree-of-freedom posture adjusting device, which can realize angle posture adjustment of horizontal rotation and rolling of the cube. It comprises a main frame, a synchronous belt rotating mechanism, a suction cup rolling mechanism and an optional moving mechanism, and the components are connected with each other through various structures and transmission modes to realize efficient posture adjustment of the product. In particular, the synchronous belt rotating mechanism comprises two groups of oppositely distributed sponge rubber synchronous belt assemblies, which are pressed inward by a cylinder and are reversely rotated to realize continuous rotation of the cube; the suction cup rolling mechanism comprises a decoupling type overturning assembly and an infinite rolling assembly, the cube is sucked by a vacuum suction cup on the infinite rolling assembly, the cube is turned out of the synchronous belt rotating mechanism by the decoupling type overturning assembly, and the cube is continuously rolled by the infinite rolling assembly; at the same time, the moving mechanism can be selected between the suction cup rolling mechanism and the main frame, and the moving mechanism can also realize the stacking function in cooperation with the decoupling type overturning assembly and the vacuum suction cup.

[0060] In an embodiment of the utility model, provide a cube two freedom degree attitude adjustment device, can realize from the yaw angle and the roll angle to the attitude of cube is adjusted, to this realizes to cube carries out three degrees of freedom attitude adjustment, and carries out the stacking placement. Figure 1 As shown in the figure, in the embodiment, the device comprises: a main frame 1, a synchronous belt rotating mechanism 2 and a suction cup roll mechanism 3.

[0061] The main frame 1 comprises a chassis composed of aluminum square tube and a top plate for accommodating the cube, which is spliced by L-shaped adapter plate and T-shaped adapter plate.

[0062] The synchronous belt rotating mechanism 2 is arranged on both sides of the main frame 1, and is used for adjusting the yaw angle attitude of the picked cube.

[0063] The suction cup roll mechanism 3 is arranged at the rear of the main frame 1, and is used for adjusting the roll angle attitude of the cube.

[0064] In a preferred embodiment, as shown in the figure, the main frame 1 comprises a chassis composed of aluminum square tube and a top plate for accommodating the cube, which is spliced by L-shaped adapter plate and T-shaped adapter plate. Figure 2 The top plate is arranged on the chassis, and one installation hole is arranged on each side of the top plate, facilitating assembly and maintenance. One end of each installation hole is provided with a vacuum pump 1-1, one end of one installation hole is provided with a main control board 1-2, and one end of the other installation hole is provided with an electromagnetic valve group 1-3.

[0065] In a preferred embodiment, as shown in the figure, the synchronous belt rotating mechanism 2 comprises a rotating synchronous belt assembly 2-1 and a rotating mechanism cylinder 2-2. Figure 2 One rotating synchronous belt assembly 2-1 is arranged above one side of the two installation holes of the main frame 1, and the rotating mechanism cylinder 2-2 is arranged at the rear of the main frame 1, and is used for driving the two rotating synchronous belt assemblies 2-1 to move relatively or reversely.

[0066] In the embodiment, specifically, the rotating synchronous belt assembly 2-1 comprises a driving gear, a driven gear, a rotating mechanism synchronous belt 2-1-1, a rotating synchronous belt assembly mounting plate 2-1-2, a rotating drive motor 2-1-3 and a rotating mechanism linear guide rail 2-1-4.

[0067] Rotating mechanism linear guide rails 2-1-4 are arranged on both sides of the chassis at the rear of the main frame 1, and a sliding block is movably arranged on each rotating mechanism linear guide rail 2-1-4.

[0068] The rotating drive motor 2-1-3 is installed on the rotating synchronous belt assembly mounting plate 2-1-2, and the output shaft of the rotating drive motor 2-1-3 is coaxially connected with the driving gear installed on the rotating synchronous belt assembly mounting plate 2-1-2.

[0069] A plurality of driven gears are arranged on the upper interval of the rotating synchronous belt assembly mounting plate 2-1-2, the driving gears are connected with the plurality of driven gears through the rotating mechanism synchronous belt 2-1-1 to form a mechanical arm, and the direction of the rotating mechanism synchronous belt 2-1-1 is perpendicular to the rotating mechanism linear guide rail 2-1-4.

[0070] The rotating mechanism air cylinder 2-2 is axially parallel to the rotating mechanism linear guide rail 2-1-4, that is, one end of the rotating mechanism air cylinder 2-2 is connected with the inner end face of the slider on one rotating mechanism linear guide rail 2-1-4, and the other end of the rotating mechanism air cylinder 2-2 is connected with the inner end face of the slider on the other rotating mechanism linear guide rail 2-1-4, and the extension and contraction movement of the rotating mechanism air cylinder 2-2 drives the movement of the two rotating synchronous belt assemblies 2-1.

[0071] In this embodiment, the rotating mechanism synchronous belt 2-1-1 adopts a sponge rubber synchronous belt.

[0072] In use, the process of the synchronous belt rotating mechanism 2 for adjusting the yaw angle attitude of the cube is as follows: the rotating mechanism air cylinder 2-2 is first retracted at a set low working air pressure, the distance between the two rotating synchronous belt assemblies 2-1 is controlled to be the shortest, and the activity path and range of the synchronous belt assembly 2-1 are limited by the rotating mechanism linear guide rail 2-1-4, the rotating synchronous belt assemblies 2-1 are symmetrically distributed, and at this time, the two rotating mechanism synchronous belts 2-1-1 are in close contact with the cube; then the two rotating drive motors 2-1-3 rotate in the same direction, the two rotating synchronous belts 2-1-1 exert friction forces with opposite directions on the two sides of the cube respectively, so as to make the cube have a yaw angle rotation trend. During the yaw angle rotation of the cube, the contact between the cube plane and the rotating synchronous belt 2-1-1 changes to the contact between the cube edge and the rotating synchronous belt 2-1-1, and because the working air pressure of the rotating air cylinder 2-2 is low during retraction, the force is small, so the rotating synchronous belt assembly 2-1 can be squeezed apart during the rotation of the cube, so that the distance between the two rotating synchronous belt assemblies 2-1 is passively increased, thereby realizing the control of the yaw angle rotation of the cube. After the yaw angle of the cube is rotated to the preset angle, the air cylinder 2-2 is extended at a normal working air pressure, the distance between the two rotating synchronous belt assemblies 2-1 is away, and the subsequent other operations can be performed on the cube.

[0073] In a preferred embodiment, as shown in Figure 1 and Figure 3 The chuck roll mechanism 3 includes a decoupling overturning mechanism 3-1 and an infinite roll assembly 3-2.

[0074] The bottom of the decoupling overturning mechanism 3-1 can be arranged on the chassis at the rear of the main body frame 1.

[0075] The infinite rolling assembly 3-2 is arranged on the decoupling turnover mechanism 3-1, the decoupling turnover mechanism 3-1 controls the pitch angle of the infinite rolling assembly 3-2, and the infinite rolling assembly 3-2 can move the cube and adjust the angle posture to realize the turnover and rotation motion.

[0076] In the embodiment, the decoupling turnover mechanism 3-1 includes a turnover rack assembly 3-1-1, a turnover linear guide rail 3-1-2, a turnover motor 3-1-3 and a turnover gear 3-1-4.

[0077] The turnover rack assembly 3-1-1 can be arranged on the chassis at the rear of the main frame 1 and fixed as a component with the chassis; the right side top of the turnover rack assembly 3-1-1 has a strip-shaped sawtooth structure (as shown in the figure), and the left side is a wing-shaped support structure. Figure 3

[0078] The turnover linear guide rail 3-1-2 is arranged outside the right side of the turnover rack assembly 3-1-1, and a motor mounting seat is arranged on the turnover linear guide rail 3-1-2 and slides.

[0079] The turnover motor 3-1-3 is mounted on the motor mounting seat, and the output shaft of the turnover motor 3-1-3 is coaxially connected with the turnover gear 3-1-4, so that the turnover motor 3-1-3 drives the turnover gear 3-1-4 to rotate.

[0080] The outer side surface of the turnover gear 3-1-4 is fixed on the infinite rolling assembly 3-2, and the infinite rolling assembly 3-2 is driven by the turnover motor 3-1-3 to perform turnover motion.

[0081] In the embodiment, the pitch angle of the infinite rolling assembly 3-2 needs to realize 0° to 270° turnover. The size of the infinite rolling assembly 3-2 is affected by the position of the cube after the synchronous belt rotating mechanism 2 rotates, if the motor direct drive scheme is selected, in order to avoid interference with the main frame 1, the length of the infinite rolling assembly 3-2 needs to be lengthened to ensure the distance when it is in the horizontal direction, which also affects the height when it is in the vertical direction, and it will be easy to interfere with the main frame 1 when it is at 270°, i.e. vertical downward, which further affects the design of the main frame 1. Therefore, the angle and length size of the infinite rolling assembly 3-2 controlled by the decoupling turnover mechanism 3-1 are coupled with the spatial position of the structure of the main frame 1. The addition of the gear and rack can completely decouple the coupling relationship between the two, and the turnover motor 3-1-3 drives the motor itself, the turnover rack assembly 3-1-1 and the infinite rolling assembly 3-2 to turn over together when the turnover motor 3-1-3 rotates, avoiding the infinite rolling assembly 3-2 being too long in the horizontal direction and too high in the vertical direction.

[0082] ​In this embodiment, the infinite rolling assembly 3-2 includes a rolling assembly frame 3-2-1, a rolling motor 3-2-2, a rotating disc, a rolling driven gear 3-2-3, a rolling driving gear 3-2-4, a rolling bearing set 3-2-5, a vacuum chuck 3-2-6, and a single-path air slip ring 3-2-7.

[0083] The bottom outer side of the rolling assembly frame 3-2-1 on the right side is fixedly connected with the outer side of the flip gear 3-1-4, and the bottom of the rolling assembly frame 3-2-1 on the left side is connected with the wing-shaped support structure of the flip rack assembly 3-1-1 through a rotating shaft, and a connecting rod is arranged between the rolling assembly frames 3-2-1 on the two sides to enhance the stability of the rolling assembly frame 3-2-1.

[0084] The top of the rolling assembly frame 3-2-1 on the two sides is provided with a hollow bearing mounting platform, a plurality of rolling bearing sets 3-2-5 are arranged at the periphery of the bearing mounting platform, and the left side of the bearing mounting platform has a protruding structure.

[0085] The rolling motor 3-2-2 is installed at the bottom of the protruding structure of the bearing mounting platform, and the output shaft of the rolling motor 3-2-2 is coaxially connected with the rolling driving gear 3-2-4 through the protruding structure to drive the rolling driving gear 3-2-4 to rotate synchronously.

[0086] The rotating disc adopts a circular ring structure, the outer edge of which is movably arranged between the plurality of rolling bearing sets 3-2-5, and the rotating disc is supported and rotated by the plurality of rolling bearing sets 3-2-5; the bottom of the rotating disc is fixedly provided with the rolling driven gear 3-2-3, the rolling driven gear 3-2-3 is engaged with the rolling driving gear 3-2-4, and the rotating disc is driven to rotate by the rolling driving gear 3-2-4; the single-path air slip ring 3-2-7 is arranged at the center of the bottom of the rotating disc.

[0087] The two vacuum chucks 3-2-6 are arranged side by side on the top of the rotating disc and are respectively connected with the two vacuum pumps 1-1 through a single-path air slip ring 3-2-7, so that the vacuum chuck 3-2-6 has an adsorption force.

[0088] In this embodiment, the two vacuum chucks 3-2-6 are connected to the single-path air slip ring 3-2-7 through a tee joint, and the vacuum pump 1-1 is connected to the single-path air slip ring 3-2-7 through a spiral air pipe.

[0089] When in use, the process of the suction cup rolling mechanism 3 adjusting the rolling angle posture of the cube is as follows: the cylinder 2-2 retracts to control the synchronous belt assembly 2-1 to clamp, the two rotary drive motors 2-1-3 rotate reversely, the direction is inward, driving the two synchronous belts 2-1-1 to provide the cube with a same direction friction force, the direction is towards the suction cup rolling mechanism 3. At this time, the decoupling turnover mechanism 3-1 controls the angle of the infinite rolling assembly 3-2 towards the cube, the cube is driven by the synchronous belt 2-1-1 to contact the vacuum suction cup 3-2-6 on the infinite rolling assembly 3-2, then the vacuum pump 1-1 starts to work to make the vacuum suction cup 3-2-6 suck the cube. The decoupling turnover assembly 3-1 controls the infinite rolling assembly 3-2 to drive the cube to a vertical upward state, the rolling motor 3-2-2 drives the rolling driving gear 3-2-4 to rotate, then drives the rolling driven gear 3-2-3 to rotate, drives the two vacuum suction cups 3-2-6 installed thereon and the cube adsorbed thereon to rotate together under the assistance of the single-way air slip ring 3-2-7; after the cube rolling angle rotates to a preset angle, the decoupling turnover mechanism 3-1 controls the infinite rolling assembly 3-2 to turn over the cube back to the synchronous belt rotating mechanism 2, the cube can be operated in other ways, or the cube can be driven to a horizontal backward or vertical downward state for placement and stacking, etc. The vacuum pump 1-1 is turned off after the cube reaches the required position.

[0090] As shown in Figure 3 , in the movement process of the decoupling turnover mechanism 3-1 controlling the infinite rolling assembly 3-2, the turnover motor 3-1-3 drives the turnover gear 3-1-4, the turnover gear 3-1-4 and the rolling assembly frame 3-2-1 are a component, the angle of the turnover gear 3-1-4 is synchronous with the infinite rolling assembly 3-2; at the same time, due to the gear and rack transmission, the turnover motor 3-1-3 drives the turnover gear 3-1-4, which will also make itself move along the turnover linear guide rail 3-1-2.

[0091] In a preferred embodiment, a moving mechanism 4 can also be arranged on the rear chassis of the main frame 1, the moving direction of the moving mechanism 4 is perpendicular to the direction of the rotating mechanism synchronous belt 2-1-1 and parallel to the axial direction of the rotating mechanism cylinder 2-2, which can drive the suction cup rolling mechanism 3 to move in two directions. The moving mechanism 4 is a three-stroke moving mechanism, whether it is installed or not does not affect the two-degree-of-freedom posture adjustment of the cube. When the moving mechanism 4 is used, the turnover rack assembly 3-1-1 is arranged on the moving mechanism 4, by installing the moving mechanism 4, the cube adjusted to a preset angle posture can be moved out of the working area of the device for placement or stacking in cooperation with the suction cup rolling mechanism 3.

[0092] As shown in Figure 4 , the moving mechanism 4 includes a fixed end guide rail assembly 4-1, a movable end guide rail assembly 4-2, a middle layer slider assembly 4-3 and a terminal slider assembly 4-4.

[0093] The fixed end rail assembly 4-1 is fixedly arranged on the rear chassis of the main frame 1, and the movable end rail assembly 4-2 is arranged in parallel with the fixed end rail assembly 4-1 on the rear chassis of the main frame 1;

[0094] The middle layer slider assembly 4-3 is located between the fixed end rail assembly 4-1 and the movable end rail assembly 4-2, and is used to improve the moving stroke of the movable end rail assembly 4-2.

[0095] The terminal slider assembly 4-4 is arranged on the movable end rail assembly 4-2, and the reversing rack assembly 3-1-1 is arranged on the terminal slider assembly 4-4. The terminal slider assembly 4-4 drives the suction cup rolling mechanism 3 to move left and right along the movable end rail assembly 4-2.

[0096] In this embodiment, the fixed end rail assembly 4-1 includes a fixed end assembly mounting rack 4-1-1, a fixed end linear guide rail 4-1-2, a fixed end synchronous belt 4-1-3, a fixed end rack 4-1-4, a moving mechanism motor 4-1-5, a fixed end driving synchronous pulley 4-1-6, and a fixed end driven synchronous pulley 4-1-7.

[0097] The fixed end assembly mounting rack 4-1-1 is fixedly arranged on the rear chassis of the main frame 1, and the fixed end linear guide rail 4-1-2 is arranged on the inner side of the fixed end assembly mounting rack 4-1-1, close to the side of the movable end rail assembly 4-2.

[0098] The moving mechanism motor 4-1-5 is arranged at the bottom of one end of the fixed end assembly mounting rack 4-1-1, and the output shaft of the moving mechanism motor 4-1-5 is coaxially connected with the fixed end driving synchronous pulley 4-1-6 through the end of the fixed end assembly mounting rack 4-1-1.

[0099] The fixed end driven synchronous pulley 4-1-7 is arranged at the other end of the fixed end assembly mounting rack 4-1-1, and the fixed end driven synchronous pulley 4-1-7 is drivingly connected with the fixed end driving synchronous pulley 4-1-6 through the fixed end synchronous belt 4-1-3.

[0100] The fixed end rack 4-1-4 is movably arranged on the fixed end assembly mounting rack 4-1-1 below the fixed end synchronous belt 4-1-3, and is engaged with the middle layer gear 4-3-4 in the middle layer slider assembly 4-3, so that the middle layer slider assembly 4-3 and the fixed end rail assembly 4-1 produce relative movement in the mechanism movement process.

[0101] In this embodiment, the movable end rail assembly 4-2 includes a movable end assembly mounting rack 4-2-1, a movable end linear guide rail A 4-2-2, a movable end linear guide rail B 4-2-3, a movable end rack 4-2-4, a movable end synchronous pulley 4-2-5, and a movable end synchronous belt 4-2-6.

[0102] The movable end assembly mounting frame 4-2-1 is fixedly arranged on the rear bottom frame of the main body frame 1, and the movable end assembly mounting frame 4-2-1 is equal in length to the fixed end assembly mounting frame 4-1-1; the movable end linear guide rail A 4-2-2 is arranged on the inner side of the movable end assembly mounting frame 4-2-1, close to one side of the fixed end guide rail assembly 4-1; and the movable end linear guide rail B 4-2-3 is arranged on the outer side of the movable end assembly mounting frame 4-2-1, away from one side of the fixed end guide rail assembly 4-1.

[0103] The movable end synchronous pulley 4-2-5 is arranged at each end of the movable end assembly mounting frame 4-2-1, and the two movable end synchronous pulleys 4-2-5 are drivingly connected through the movable end synchronous belt 4-2-6.

[0104] The movable end rack 4-2-4 is arranged on the movable end assembly mounting frame 4-2-1 below the movable end synchronous belt 4-2-6, and is engaged with the middle layer gear 4-3-4; the movable end rack 4-2-4 moves through the gear transmission, so that the moving stroke of the movable end rack 4-2-4 is twice the length of the fixed end rack 4-1-4, and a first two times stroke is provided by the fixed end rack 4-1-4 cooperating with the movable end rack 4-2-4; and the movement is transmitted to the movable end synchronous belt 4-2-6 in the process of the mechanism movement. Since the middle layer slider assembly 4-3 is fixed on the inner side of the movable end synchronous belt 4-2-6, and the movable end rack 4-2-4 cooperates with the middle layer gear 4-3-4 on the middle layer slider assembly 4-3 to make the movable end guide rail assembly 4-2 and the middle layer slider assembly 4-3 move relatively, the synchronous belt 4-2-6 is driven to rotate. And the movable end rack 4-2-4 is used as a mounting frame of a second two times stroke structure.

[0105] The setting direction of the movable end linear guide rail A 4-2-2 and the movable end linear guide rail B 4-2-3 is parallel to the movable end synchronous belt 4-2-5; and the sliding grooves of the movable end linear guide rail A 4-2-2 and the movable end linear guide rail B 4-2-3 are opposite.

[0106] In the embodiment, the middle layer slider assembly 4-3 includes a middle layer slider mounting plate 4-3-1, a fixed guide rail slider 4-3-2, a movable guide rail slider 4-3-3, a middle layer gear 4-3-4, a fixed end synchronous belt tooth plate 4-3-5, and a movable end synchronous belt tooth plate A 4-3-6.

[0107] The first side surface of the middle layer slider mounting plate 4-3-1 is provided with the fixed guide rail slider 4-3-2 at both ends, and the fixed guide rail slider 4-3-2 is slidingly arranged on the fixed end linear guide rail 4-1-2 and cooperates with the fixed end linear guide rail 4-1-2.

[0108] A fixed end synchronous belt tooth plate 4-3-5 is arranged at the center of the first side of the middle layer slider mounting plate 4-3-1, and the tooth shape of the fixed end synchronous belt tooth plate 4-3-5 is the same as that of the fixed end synchronous belt 4-1-3, so as to clamp the fixed end synchronous belt 4-1-3. The fixed end synchronous belt tooth plate 4-3-5 is installed at the bottom of the fixed end synchronous belt 4-1-3, and the middle layer slider assembly 4-3 is fixed on the fixed end synchronous belt 4-1-3 through the fixed end synchronous belt tooth plate 4-3-5, so as to transmit the movement of the fixed end synchronous belt 4-1-3 to the middle layer slider assembly 4-3.

[0109] Two movable guide rail sliders 4-3-3 are arranged at the two ends of the second side of the middle layer slider mounting plate 4-3-1 respectively, and the movable guide rail sliders 4-3-3 are slidingly arranged on the movable section linear guide rail A4-2-2 and cooperate with the movable section linear guide rail A4-2-2.

[0110] An active end synchronous belt tooth plate A4-3-6 is arranged at the center position of the second side of the middle layer slider mounting plate 4-3-1, and the active end synchronous belt tooth plate A4-3-6 is clamped at the bottom of the active end synchronous belt 4-2-6. The active end synchronous belt tooth plate A4-3-6 clamps the active end synchronous belt 4-2-6 to fix the middle layer slider assembly 4-3 on the active end synchronous belt 4-2-6, and transmits the movement of the middle layer slider assembly 4-3 to the active end guide rail assembly 4-2.

[0111] The middle layer gear 4-3-4 is arranged at the geometric center of the top of the middle layer slider mounting plate 4-3-1, and meshes with the fixed end rack 4-1-4 and the active end rack 4-2-4 respectively. The fixed end rack 4-1-4 and the active end rack 4-2-4 are opposite in tooth surface. The middle layer gear 4-3-4 drives the end slider assembly 4-4 to move relative to the middle layer slider assembly 4-3 through cooperation with the active end rack 4-2-4. At this time, the synchronous belt drives the middle layer slider assembly 4-3 to move and transmits to the active end synchronous belt 4-2-6, and the transmission of two-stage double-stroke is realized by the middle layer gear 4-3-4.

[0112] The sliding directions of the two fixed guide rail sliders 4-3-2 and the two movable guide rail sliders 4-3-3 are consistent and staggered.

[0113] In this embodiment, the end slider assembly 4-4 includes an end slider mounting plate 4-4-1, an end slider 4-4-2 and an active end synchronous belt tooth plate B 4-4-3.

[0114] The inner side of the end slider mounting plate 4-4-1 is provided with an end slider 4-4-2 at each end, and the end slider 4-4-2 is slidingly arranged on the active end linear guide rail B 4-2-3.

[0115] The movable end synchronous belt tooth plate B 4-4-3 is arranged in the middle line position of the inner side of the end slider mounting plate 4-4-1, and the movable end synchronous belt tooth plate B 4-4-3 is symmetrically arranged with the movable end synchronous belt tooth plate A 4-3-6; and the movable end synchronous belt tooth plate B 4-4-3 is clamped at the bottom of the movable end synchronous belt 4-2-6, and the movable end synchronous belt 4-2-6 is pressed on the end slider mounting plate 4-4-1.

[0116] In the embodiment, when the fixed end guide rail assembly 4-1 and the movable end guide rail assembly 4-2 are aligned head to tail, the middle layer gear 4-3-4, the fixed end synchronous belt tooth plate 4-3-5, the movable end synchronous belt tooth plate A 4-3-6 and the movable end synchronous belt tooth plate B 4-4-3 are all on the symmetry middle line of the whole mechanism, that is, the middle layer slider assembly 4-3 and the end slider assembly 4-4 are also symmetrical along the middle line.

[0117] When in use, the three times of the moving mechanism 4 form the moving mechanism principle as follows:

[0118] The fixed end guide rail assembly 4-1 and the main body frame 1 are connected as one member and are fixed. The fixed end synchronous belt tooth plate 4-3-5 in the middle layer slider assembly 4-3 clamps the fixed end synchronous belt 4-1-3, so that the moving mechanism motor 4-1-5 can drive the middle layer slider assembly 4-3 to move through the fixed end main and driven synchronous belt pulleys 4-1-6 and 4-1-7. The fixed guide rail slider 4-3-2 and the movable guide rail slider 4-3-3 in the middle layer slider assembly 4-3 cooperate with the fixed end linear guide rail 4-1-2 and the movable end linear guide rail A 4-2-2 respectively, and at the same time, the middle layer gear 4-3-4 is engaged with the fixed end rack 4-1-4 and the movable end rack 4-2-4. Therefore, with the fixed end guide rail assembly 4-1 as the reference, the moving stroke of the movable end guide rail assembly 4-2 is twice that of the middle layer slider assembly.

[0119] The two movable end synchronous belt tooth plates AB, 4-3-6 and 4-4-3, cooperating with the movable end synchronous belt 4-2-6, are symmetrically distributed, the synchronous belt tooth plate A 4-3-6 is in the middle layer slider assembly 4-3, the synchronous belt tooth plate B 4-4-3 is in the end slider assembly, and the end slider 4-4-2 cooperates with the movable end linear guide rail B 4-2-3, so that with the middle layer slider assembly as the reference, the moving stroke of the end slider assembly 4-4 is twice that of the movable end guide rail assembly 4-2.

[0120] Therefore, with the fixed end guide rail assembly 4-1 as the reference, the moving stroke of the end slider assembly 4-4 is three times that of the middle layer slider assembly 4-3.

[0121] In the above embodiments, the flip rack assembly 3-1-1 can be connected with the main body frame 1 as one member, or can be connected with the end slider mounting plate 4-4-1 as one member.

[0122] Finally, it should be noted that the above examples are intended to illustrate the technical solutions of the present application, but not to limit them; although the present application has been described in detail with reference to the foregoing examples, those skilled in the art should understand that the technical solutions recorded in the foregoing examples can still be modified, or some technical features can be replaced by equivalents; and these modifications or replacements do not make the essence of the corresponding technical solutions deviate from the spirit and scope of the technical solutions of the embodiments of the present application.

Claims

1. A cubic two-degree-of-freedom attitude adjustment device, characterized by comprising: The utility model relates to a kind of cube picking device, including: Main frame (1); Synchronous belt rotating mechanism (2) is arranged at the both sides of main frame (1), for yaw angle posture adjustment to the cube picked up; Sucker roll mechanism (3) is arranged at the rear of main frame (1), for roll angle posture adjustment to the cube; Wherein, synchronous belt rotating mechanism (2) includes rotating synchronous belt assembly (2-1) and rotating mechanism cylinder (2-2);Rotating synchronous belt assembly (2-1) is respectively arranged on the upper side of the both sides of the installation hole of main frame (1), rotating mechanism cylinder (2-2) is arranged at the rear of main frame (1), for driving two rotating synchronous belt assembly (2-1) to carry out relative or reverse movement; Sucker roll mechanism (3) includes decoupling type turnover mechanism (3-1) and infinite roll assembly (3-2);The bottom of decoupling type turnover mechanism (3-1) is arranged on the chassis at the rear of main frame (1);Infinite roll assembly (3-2) is arranged on decoupling type turnover mechanism (3-1), and the pitch angle of infinite roll assembly (3-2) is controlled by decoupling type turnover mechanism (3-1), and infinite roll assembly (3-2) can move cube and adjust angle posture, to realize turnover and rotation movement.

2. The cube 2-DOF attitude adjustment device according to claim 1, wherein Rotating synchronous belt assembly (2-1) includes driving gear, driven gear, rotating mechanism synchronous belt (2-1-1), rotating synchronous belt assembly mounting plate (2-1-2), rotating drive motor (2-1-3) and rotating mechanism linear guide (2-1-4); Rotating mechanism linear guide (2-1-4) is respectively arranged on the both sides of the chassis at the rear of main frame (1), and the slider is movably arranged on each rotating mechanism linear guide (2-1-4), and rotating synchronous belt assembly mounting plate (2-1-2) is fixedly arranged on the slider; Rotating drive motor (2-1-3) is installed on rotating synchronous belt assembly mounting plate (2-1-2), and the output shaft of rotating drive motor (2-1-3) is coaxially connected with driving gear installed on rotating synchronous belt assembly mounting plate (2-1-2); A plurality of driven gears are arranged on rotating synchronous belt assembly mounting plate (2-1-2) in upper interval, driving gear is transmissionally connected with a plurality of driven gears through rotating mechanism synchronous belt (2-1-1) to form mechanical arm, and the direction of rotating mechanism synchronous belt (2-1-1) is perpendicular to rotating mechanism linear guide (2-1-4); Rotating mechanism cylinder (2-2) is axially parallel to rotating mechanism linear guide (2-1-4), and two rotating synchronous belt assembly (2-1) is moved by the expansion and contraction movement of rotating mechanism cylinder (2-2).

3. The cube 2-DOF attitude adjustment device according to claim 1, wherein Decoupling type turnover mechanism (3-1) includes turnover rack assembly (3-1-1), turnover linear guide (3-1-2), turnover motor (3-1-3) and turnover gear (3-1-4); Turnover rack assembly (3-1-1) is arranged on the chassis at the rear of main frame (1), and is fixed as a component with the chassis;The right side top of turnover rack assembly (3-1-1) has strip sawtooth structure, and the left side is wing type support structure; The turnover linear guide rail (3-1-2) is arranged outside the right side of the turnover rack assembly (3-1-1), and a motor mounting seat is arranged on the turnover linear guide rail (3-1-2) in a sliding manner; The turnover motor (3-1-3) is mounted on the motor mounting seat, and the output shaft of the turnover motor (3-1-3) is coaxially connected with the turnover gear (3-1-4) to drive the turnover gear (3-1-4) to rotate by the turnover motor (3-1-3); Wherein, the outer side surface of the turnover gear (3-1-4) is fixedly arranged on the endless rolling assembly (3-2), and the endless rolling assembly (3-2) is driven to perform a turnover movement by the turnover motor (3-1-3).

4. The cube 2-DOF attitude adjustment device according to claim 3, wherein The endless rolling assembly (3-2) comprises a rolling assembly frame (3-2-1), a rolling motor (3-2-2), a rotating disc, a rolling driven gear (3-2-3), a rolling driving gear (3-2-4), a rolling bearing set (3-2-5), a vacuum suction disc (3-2-6) and a single-path air slip ring (3-2-7); The bottom outer side surface of the rolling assembly frame (3-2-1) on the right side is fixedly connected with the outer side surface of the turnover gear (3-1-4), the bottom of the rolling assembly frame (3-2-1) on the left side is connected with the wing-shaped support structure of the turnover rack assembly (3-1-1) through a rotating shaft, and a connecting rod is arranged between the rolling assembly frames (3-2-1) on the two sides; The top of the rolling assembly frame (3-2-1) on the two sides is provided with a hollow bearing mounting platform, a plurality of rolling bearing sets (3-2-5) are arranged at the periphery of the bearing mounting platform, and the left side of the bearing mounting platform has a protruding structure; The rolling motor (3-2-2) is mounted at the bottom of the protruding structure of the bearing mounting platform, and the output shaft of the rolling motor (3-2-2) is coaxially connected with the rolling driving gear (3-2-4) through the protruding structure to drive the rolling driving gear (3-2-4) to rotate synchronously; The rotating disc adopts a circular ring structure, the outer edge of the rotating disc is movably arranged between the plurality of rolling bearing sets (3-2-5), the rotating disc is supported by the plurality of rolling bearing sets (3-2-5) and rotates, the bottom of the rotating disc is fixedly provided with the rolling driven gear (3-2-3), the rolling driven gear (3-2-3) is engaged with the rolling driving gear (3-2-4), and the rotating disc is driven to rotate by the rolling driving gear (3-2-4); and the single-path air slip ring (3-2-7) is arranged at the center of the bottom of the rotating disc; The two vacuum suction discs (3-2-6) are arranged side by side on the top of the rotating disc, and are respectively connected with the two vacuum pumps (1-1) through a single-path air slip ring (3-2-7), so that the vacuum suction disc (3-2-6) has adsorption force.

5. The cube 2-DOF attitude adjustment device according to claim 4, wherein The two vacuum suction discs (3-2-6) are connected to the single-path air slip ring (3-2-7) through a three-way joint; and the vacuum pump (1-1) is connected to the single-path air slip ring (3-2-7) through a spiral air pipe.

6. The cube 2-DOF attitude adjustment device according to claim 1, wherein The moving mechanism (4) is arranged on the rear chassis of the main frame (1), and the moving direction of the moving mechanism (4) is perpendicular to the direction of the rotating mechanism synchronous belt (2-1-1) and parallel to the axial direction of the rotating mechanism cylinder (2-2), so that the suction cup rolling mechanism (3) can be driven to move bidirectionally; The moving mechanism (4) comprises a fixed end guide rail assembly (4-1), a movable end guide rail assembly (4-2), a middle layer sliding block assembly (4-3) and a terminal sliding block assembly (4-4); The fixed end guide rail assembly (4-1) is fixedly arranged on the rear chassis of the main frame (1), and the movable end guide rail assembly (4-2) is arranged on the rear chassis of the main frame (1) in parallel with the fixed end guide rail assembly (4-1); The middle layer sliding block assembly (4-3) is located between the fixed end guide rail assembly (4-1) and the movable end guide rail assembly (4-2) and is used for improving the moving stroke of the movable end guide rail assembly (4-2); The terminal sliding block assembly (4-4) is arranged on the movable end guide rail assembly (4-2), and the turnover rack assembly (3-1-1) is arranged on the terminal sliding block assembly (4-4), so that the suction cup rolling mechanism (3) is driven by the terminal sliding block assembly (4-4) to move leftward and rightward along the movable end guide rail assembly (4-2).

7. The cube 2-DOF attitude adjustment device according to claim 6, wherein The fixed end guide rail assembly (4-1) comprises a fixed end assembly mounting rack (4-1-1), a fixed end linear guide rail (4-1-2), a fixed end synchronous belt (4-1-3), a fixed end rack (4-1-4), a moving mechanism motor (4-1-5), a fixed end driving synchronous pulley (4-1-6) and a fixed end driven synchronous pulley (4-1-7); The fixed end assembly mounting rack (4-1-1) is fixedly arranged on the rear chassis of the main frame (1), the fixed end linear guide rail (4-1-2) is arranged on the inner side of the fixed end assembly mounting rack (4-1-1) and is close to the side of the movable end guide rail assembly (4-2); The moving mechanism motor (4-1-5) is arranged at the bottom of one end of the fixed end assembly mounting rack (4-1-1), and the output shaft of the moving mechanism motor (4-1-5) is coaxially connected with the fixed end driving synchronous pulley (4-1-6) through the end of the fixed end assembly mounting rack (4-1-1); The fixed end driven synchronous pulley (4-1-7) is arranged at the other end of the fixed end assembly mounting rack (4-1-1), and the fixed end driven synchronous pulley (4-1-7) is in transmission connection with the fixed end driving synchronous pulley (4-1-6) through the fixed end synchronous belt (4-1-3); The fixed end rack (4-1-4) is movably arranged on the fixed end assembly mounting rack (4-1-1) below the fixed end synchronous belt (4-1-3) and is in mesh with the middle layer gear (4-3-4) in the middle layer sliding block assembly (4-3), so that the middle layer sliding block assembly (4-3) and the fixed end guide rail assembly (4-1) produce relative movement in the mechanism movement process.

8. The cube 2-DOF attitude adjustment device according to claim 6, wherein The movable end guide rail assembly (4-2) comprises a movable end assembly mounting frame (4-2-1), a movable end linear guide rail A (4-2-2), a movable end linear guide rail B (4-2-3), a movable end rack (4-2-4), a movable end synchronous pulley (4-2-5) and a movable end synchronous belt (4-2-6); The movable end assembly mounting frame (4-2-1) is fixedly arranged on the rear chassis of the main body frame (1), and the movable end assembly mounting frame (4-2-1) is equal in length to the fixed end assembly mounting frame (4-1-1); the movable end linear guide rail A (4-2-2) is arranged on the inner side of the movable end assembly mounting frame (4-2-1) and close to one side of the fixed end guide rail assembly (4-1); the movable end linear guide rail B (4-2-3) is arranged on the outer side of the movable end assembly mounting frame (4-2-1) and away from one side of the fixed end guide rail assembly (4-1); The movable end synchronous pulley (4-2-5) is arranged at each end of the movable end assembly mounting frame (4-2-1), and the two movable end synchronous pulleys (4-2-5) are transmissionally connected through the movable end synchronous belt (4-2-6); The movable end rack (4-2-4) is arranged on the movable end assembly mounting frame (4-2-1) below the movable end synchronous belt (4-2-6) and is engaged with the middle layer gear (4-3-4); the movable end rack (4-2-4) moves through gear transmission, so that the moving stroke of the movable end rack (4-2-4) is twice the length of the fixed end rack (4-1-4), and the movable end rack (4-2-4) cooperates with the fixed end rack (4-1-4) to provide a first two-stroke; during the movement, the movement is transmitted to the movable end synchronous belt (4-2-6).

9. The cube 2-DOF attitude adjustment device according to claim 6, wherein The middle layer slider assembly (4-3) comprises a middle layer slider mounting plate (4-3-1), a fixed guide rail slider (4-3-2), a movable guide rail slider (4-3-3), a middle layer gear (4-3-4), a fixed end synchronous belt tooth plate (4-3-5) and a movable end synchronous belt tooth plate A (4-3-6); The fixed guide rail slider (4-3-2) is arranged at each end of the first side of the middle layer slider mounting plate (4-3-1) and is slidably arranged on the fixed end linear guide rail (4-1-2) and cooperates with the fixed end linear guide rail (4-1-2); The fixed end synchronous belt tooth plate (4-3-5) is arranged at the center of the first side of the middle layer slider mounting plate (4-3-1) and has the same tooth shape as the fixed end synchronous belt (4-1-3) to clamp the fixed end synchronous belt (4-1-3); the fixed end synchronous belt tooth plate (4-3-5) is arranged at the bottom of the fixed end synchronous belt (4-1-3) and fixes the middle layer slider assembly (4-3) on the fixed end synchronous belt (4-1-3) through the fixed end synchronous belt tooth plate (4-3-5), and transmits the movement of the fixed end synchronous belt (4-1-3) to the middle layer slider assembly (4-3); The second side of the middle layer slider mounting plate (4-3-1) is provided with movable guide rail sliders (4-3-3) at both ends, which are slidingly arranged on the movable section linear guide rail A (4-2-2) and cooperate with the movable section linear guide rail A (4-2-2); The movable end synchronous belt tooth plate A (4-3-6) is arranged at the center of the second side of the middle layer slider mounting plate (4-3-1), and is clamped at the bottom of the movable end synchronous belt (4-2-6). The movable end synchronous belt tooth plate A (4-3-6) clamps the movable end synchronous belt (4-2-6) to fix the middle layer slider assembly (4-3) on the movable end synchronous belt (4-2-6), and transmits the movement of the middle layer slider assembly (4-3) to the movable end guide rail assembly (4-2); The middle layer gear (4-3-4) is arranged at the geometric center of the top of the middle layer slider mounting plate (4-3-1), and is engaged with the fixed end rack (4-1-4) and the movable end rack (4-2-4) respectively. The fixed end rack (4-1-4) and the movable end rack (4-2-4) are opposite in tooth surface. The middle layer gear (4-3-4) drives the end slider assembly (4-4) to move relative to the middle layer slider assembly (4-3) through cooperation with the movable end rack (4-2-4). At this time, the synchronous belt drives the middle layer slider assembly (4-3) to move and transmit to the movable end synchronous belt (4-2-6) through the middle layer gear (4-3-4), and the transmission of two-stage double-stroke is realized by the middle layer gear (4-3-4).

10. The cube 2-DOF attitude adjustment device according to claim 6, wherein The end slider assembly (4-4) includes an end slider mounting plate (4-4-1), an end slider (4-4-2), and a movable end synchronous belt tooth plate B (4-4-3); The inner side of the end slider mounting plate (4-4-1) is provided with end sliders (4-4-2) at both ends, which are slidingly arranged on the movable end linear guide rail B (4-2-3); The movable end synchronous belt tooth plate B (4-4-3) is arranged at the center line position of the inner side of the end slider mounting plate (4-4-1), and is symmetrically arranged with the movable end synchronous belt tooth plate A (4-3-6). The movable end synchronous belt tooth plate B (4-4-3) is clamped at the bottom of the movable end synchronous belt (4-2-6), and the movable end synchronous belt (4-2-6) is pressed on the end slider mounting plate (4-4-1).

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