Manipulator carrying device and equipment

Abstract

The utility model belongs to the related technical field of automatic carrying equipment, and particularly relates to a manipulator carrying device and equipment. A multi-axis manipulator mechanism is arranged on a manipulator carrying device and comprises an adsorption assembly, the adsorption assembly is arranged at the free end of the multi-axis manipulator mechanism, and the multi-axis manipulator mechanism adsorbs workpieces through the adsorption assembly; an alignment mechanism is arranged and comprises an alignment table, and the alignment table is provided with a first limiting part and a second limiting part; the first limiting part and the second limiting part are vertically arranged; the cutting mechanism is used for blanking the workpiece; after the multi-axis manipulator mechanism carries a workpiece to the alignment table, the alignment angle of the workpiece is aligned through the first limiting part and the second limiting part, and the aligned workpiece is adsorbed to the cutting mechanism through the adsorption assembly. By arranging the alignment mechanism, the workpieces are adsorbed to the cutting mechanism after being aligned by the alignment mechanism, so that the workpieces on the cutting mechanism are consistent in pose.

Description

TECHNICAL FIELD

[0001] The utility model belongs to the related technical field of automatic handling equipment, especially relates to a mechanical hand handling device and equipment. BACKGROUND

[0002] After the fireproof door plate is formed, the fireproof door plate needs to be cut to meet the shape requirements of the finished product. The formed fireproof door plate is usually very large in size and cannot be carried by manpower. The texture of the just-formed fireproof door plate is soft, and even if a multi-person carrying method is used, the middle part of the fireproof door plate will still be collapsed and bent.

[0003] Therefore, in the prior art, large fireproof door plates usually need to be automatically mechanically carried so that the fireproof door plates can be fed from a forming line to a cutting device to cut the finished product.

[0004] However, in the automatic mechanical carrying process, the mechanical hand carrying usually does not have a positioning alignment structure, which causes the poses of the fireproof door plate workpieces to be inconsistent when the workpieces are automatically fed by the machine to the cutting mechanism. This requires additional mechanical adjustment or manual adjustment, otherwise the finished product cut by the cutting mechanism will not meet the delivery requirements, which further increases the production cost. UTILITY MODEL CONTENTS

[0005] Based on the above problems, the utility model provides a mechanical hand carrying device and equipment. The workpiece in transit is positioned by the positioning mechanism, and then placed on the cutting mechanism by the multi-axis mechanical hand mechanism, so that the poses of the large fireproof door plates on the cutting mechanism are basically consistent when the plates are stacked.

[0006] The utility model achieves the following technical solutions:

[0007] In a first aspect, the utility model provides a mechanical hand carrying device, which includes:

[0008] The multi-axis mechanical hand mechanism includes a suction assembly, which is arranged at the free end of the multi-axis mechanical hand mechanism. The multi-axis mechanical hand mechanism sucks the workpiece through the suction assembly.

[0009] The positioning mechanism includes a positioning table, which is provided with a first limiting part and a second limiting part. The first limiting part and the second limiting part are arranged perpendicularly.

[0010] The cutting mechanism cuts the workpiece.

[0011] After the multi-axis mechanical hand mechanism carries the workpiece to the positioning table, the first limiting part and the second limiting part position the workpiece, and the suction assembly sucks the positioned workpiece to the cutting mechanism.

[0012] By setting a multi-axis robot mechanism on the mechanical hand carrying device, including a suction assembly, the suction assembly is set on the free end of the multi-axis robot mechanism, and the multi-axis robot mechanism sucks the workpiece through the suction assembly; and a positioning mechanism is set, including a positioning table, the positioning table is provided with a first limiting part and a second limiting part; the first limiting part and the second limiting part are vertically arranged; and a cutting mechanism, the cutting mechanism cuts the workpiece; wherein the multi-axis robot mechanism carries the workpiece to the positioning table, and the first limiting part and the second limiting part are used to position the positioning angle of the workpiece, and the suction assembly is used to suck the well-positioned workpiece to the cutting mechanism. By setting the positioning mechanism, the workpiece is sucked onto the cutting mechanism after being positioned on the positioning mechanism, so as to realize the consistent pose of the workpiece on the cutting mechanism.

[0013] In some embodiments, the suction assembly includes a plurality of suction components, and the suction components suck the workpiece from the side.

[0014] The suction components suck the workpiece from the side.

[0015] In some embodiments, the suction assembly further includes a suction frame, the suction frame is provided with suction components on the side, the free end of the multi-axis robot mechanism is provided with a fixing plate to fix the suction assembly, the fixing plate is provided with a first side and a second side, and the midpoint of the first side and the second side is a first symmetry axis, and the suction components are symmetrically arranged on both sides of the first symmetry axis.

[0016] The suction frame is set on the suction assembly, the size of the suction frame is consistent with the shape of the workpiece, so as to be positioned and sucked, and the suction components on both sides are symmetrical, so as to prevent the workpiece from falling due to the asymmetric suction force when sucking the workpiece.

[0017] In some embodiments, the suction assembly further includes a first positioning component, and the first positioning component is set on the suction assembly to position the workpiece, so as to position and suck the workpiece.

[0018] The first positioning component is set on the suction assembly, and the workpiece is positioned by the first positioning component, so as to preliminarily position the workpiece by the suction assembly.

[0019] In some embodiments, a second positioning component is set on the positioning table, and the second positioning component positions the first positioning component to position and suck the workpiece.

[0020] The first positioning component is positioned by the second positioning component, so that when the first positioning component and the second positioning component are positioned, the positioning angle of the workpiece can be positioned on the first limiting part and the second limiting part.

[0021] In some embodiments, the first limiting part and the second limiting part can be connected to form an included angle, or the first limiting part and the second limiting part are not connected, and one end of the first limiting part and one end of the second limiting part are extended to intersect to form an included angle.

[0022] The first limiting part and the second limiting part can intersect or be separated to adapt to different workpieces.

[0023] In some embodiments, the periphery of the positioning table is further provided with a first baffle, a second baffle, a third baffle and a fourth baffle; the first limiting part is arranged on one side of the first baffle, and the second limiting part is arranged on one side of the second baffle; the third baffle is arranged opposite to the first baffle, and the fourth baffle is arranged opposite to the second baffle.

[0024] The periphery of the positioning table is further provided with a first baffle, a second baffle, a third baffle and a fourth baffle, so that the support area of the positioning table for the workpiece is larger, and the workpiece can be prevented from falling off when arranged on the positioning table.

[0025] In some embodiments, the free end of the multi-axis mechanical hand mechanism is provided with a third positioning assembly.

[0026] The center point of the first baffle and the third baffle is taken as a second symmetry axis, the center point of the second baffle and the fourth baffle is taken as a third symmetry axis, and a fourth positioning assembly is arranged at the intersection of the second symmetry axis and the third symmetry axis on the positioning table.

[0027] The free end of the multi-axis mechanical hand mechanism is provided with a third positioning assembly, and the third positioning assembly is positioned with a fourth positioning assembly arranged at the center of the positioning table, so that after positioning, the multi-axis mechanical hand mechanism can accurately grasp the workpiece on the positioning table when grasping the workpiece again, and the workpiece placed on the cutting mechanism can be prevented from having inconsistent poses.

[0028] In some embodiments, the cutting mechanism is provided with a first limiting edge and a second limiting edge, and the first limiting edge and the second limiting edge limit the two side edges of the workpiece.

[0029] The first limiting edge and the second limiting edge limit the two sides of the workpiece.

[0030] In the second aspect, a mechanical hand carrying device includes any one of the mechanical hand carrying devices of the second aspect, an automatic feeding device and a control console; the automatic feeding device moves the workpiece to the free end of the multi-axis mechanical hand mechanism for adsorption, and the control console controls the operation of the mechanical hand carrying device.

[0031] The mechanical hand carrying device and the equipment have the following beneficial effects:

[0032] By setting up the multi-axis manipulator mechanism on the mechanical arm carrying device, including the adsorption assembly, the adsorption assembly is set at the free end of the multi-axis manipulator mechanism, the multi-axis manipulator mechanism adsorbs the workpiece through the adsorption assembly; and setting the alignment mechanism, including the alignment table, the alignment table is provided with the first limiting part, the second limiting part; the first limiting part and the second limiting part are vertically arranged; and the cutting mechanism, the cutting mechanism discharges the workpiece; wherein the multi-axis manipulator mechanism carries the workpiece to the alignment table, and the alignment angle of the workpiece is aligned through the first limiting part and the second limiting part, and the well-aligned workpiece is adsorbed to the cutting mechanism through the adsorption assembly. By setting the alignment mechanism, the workpiece is adsorbed on the cutting mechanism after being aligned on the alignment mechanism, so that the workpiece on the cutting mechanism is consistent in pose. BRIEF DESCRIPTION OF DRAWINGS

[0033] Figure 1 It is a three-dimensional view of the mechanical arm carrying device of the utility model Figure 1 ;

[0034] Figure 2 It is a part of the a enlarged view Figure 1 ;

[0035] Figure 3 It is a part of the b enlarged view Figure 1 ;

[0036] Figure 4 It is the adsorption assembly plan view of the mechanical arm carrying device of the utility model

[0037] Figure 5 It is the alignment table plan view of the mechanical arm carrying device of the utility model

[0038] Figure 6 It is a three-dimensional view of the mechanical arm carrying device of the utility model Figure 1 ;

[0039] Figure 7 It is the frame diagram of the mechanical arm carrying device of the utility model.

[0040] Markings in the figure:

[0041] 1, multi-axis manipulator mechanism; 11, adsorption assembly; 111, adsorption part; 112, adsorption frame; 12, first positioning assembly; 13, third positioning assembly; X1, first symmetry axis;

[0042] 2, alignment mechanism; 21, alignment table; 211, first limiting part; 212, second limiting part; 213, first baffle; 214, second baffle; 215, third baffle; 216, fourth baffle; 22, second positioning assembly; X2, second symmetry axis; X3, third symmetry axis;

[0043] 3, cutting mechanism; 31, first limiting edge; 32, second limiting edge. DETAILED DESCRIPTION

[0044] In order to make the purposes, technical solutions and advantages of the embodiments of the present application clearer, the technical solutions in the embodiments of the present application will be described clearly and completely below with reference to the drawings in the embodiments of the present application. The described embodiments are part of the embodiments of the present application, but not all the embodiments of the present application.

[0045] Therefore, the following detailed description of the embodiments of the present application provided in the drawings is not intended to limit the scope of the claimed present application, but only represents selected embodiments of the present application. All other embodiments obtained by those of ordinary skill in the art based on the embodiments in the present application without creative labor are within the scope of protection of the present application.

[0046] Example 1

[0047] As shown in the drawings, the present embodiment proposes a mechanical hand carrying device, comprising: Figures 1-2

[0048] Multi-axis mechanical hand mechanism 1, comprising an adsorption assembly 11, the adsorption assembly 11 is arranged at the free end of the multi-axis mechanical hand mechanism 1, and the multi-axis mechanical hand mechanism 1 adsorbs the workpiece through the adsorption assembly 11;

[0049] Alignment mechanism 2, comprising an alignment table 21, the alignment table 21 is provided with a first limiting part 211 and a second limiting part 212; the first limiting part 211 and the second limiting part 212 are arranged vertically;

[0050] And a cutting mechanism 3, the cutting mechanism 3 discharges the workpiece;

[0051] Among them, the multi-axis mechanical hand mechanism 1 carries the workpiece to the alignment table 21, and then aligns the alignment angle of the workpiece through the first limiting part 211 and the second limiting part 212, and then adsorbs the aligned workpiece to the cutting mechanism 3 through the adsorption assembly 11.

[0052] ​Specifically, the multi-axis mechanical hand mechanism 1 includes a suction assembly 11, which is arranged at the free end of the multi-axis mechanical hand mechanism 1. The multi-axis mechanical hand is a multi-axis mechanical hand commonly used in the prior art, which will not be described here. The suction assembly 11 is transferred to the suction workpiece or sent to the cutting mechanism 3 for unloading through the free end of the multi-axis mechanical hand to realize the transfer of the workpiece. The suction assembly 11 can be a suction disc structure to suction and carry the workpiece surface, or a mechanical claw structure to grab and place the workpiece periphery. A positioning mechanism 2 is arranged, which can include a positioning table 21 provided with a first limiting part 211 and a second limiting part 212. The workpiece is limited by the two limiting parts, and the limiting angle of the workpiece is further limited. More specifically, in the transfer of large fireproof door plates, the positioning angle of each large fireproof door plate is consistent, such as the lower left corner of the large fireproof door plate when placed in the correct position. The first limiting part 211 and the second limiting part 212 are vertically arranged to position the workpiece. When positioning, the suction assembly 11 is stopped to suction, so that the workpiece is freely arranged on the positioning table 21 for positioning. Thus, when the suction assembly 11 is suctioned to the cutting mechanism 3, the pose of each large fireproof door plate placed on the cutting mechanism 3 is consistent. The cutting mechanism 3 can be a unloading conveying mechanism provided with a conveying member to convey the workpiece. The conveying member can be a conveying belt structure.

[0053] By arranging the multi-axis mechanical hand mechanism 1 on the mechanical hand carrying device, the suction assembly 11 is arranged at the free end of the multi-axis mechanical hand mechanism 1, and the multi-axis mechanical hand mechanism 1 sucks the workpiece through the suction assembly 11. A positioning mechanism 2 is arranged, which includes a positioning table 21 provided with a first limiting part 211 and a second limiting part 212. The first limiting part 211 and the second limiting part 212 are vertically arranged. A cutting mechanism 3 is arranged to unload the workpiece. After the multi-axis mechanical hand mechanism 1 carries the workpiece to the positioning table 21, the first limiting part 211 and the second limiting part 212 are used to position the workpiece at the positioning angle, and the suction assembly 11 is used to suction the positioned workpiece to the cutting mechanism 3. By arranging the positioning mechanism 2, the workpiece is suctioned to the cutting mechanism 3 after being positioned on the positioning mechanism 2, so that the poses of the workpieces on the cutting mechanism 3 are consistent.

[0054] Embodiment 2:

[0055] Please refer to Figures 1-2 , and Figures 3-6 , the embodiment further describes and optimizes part of the structure proposed in embodiment 1, the difference lies in:

[0056] In some embodiments, the suction assembly 11 includes a plurality of suction members 111, which suction the periphery of the workpiece.

[0057] Specifically, the suction accessory 111 can be a suction chuck, and is provided with a vacuum mechanism to provide suction force of the suction accessory 111, and a vacuum is generated between the suction accessory 111 and the workpiece by a vacuum pump, so that the workpiece is adsorbed, and the workpiece can also be released by turning off the vacuum pump.

[0058] In some embodiments, the suction assembly 11 further comprises a suction frame 112, the suction frame 112 is provided with suction accessories 111 on the periphery, and the free end of the multi-axis mechanical hand mechanism 1 is provided with a fixing plate to fix the suction assembly 11, the fixing plate is provided with a first side edge and a second side edge, the midpoint of the first side edge and the second side edge is a first symmetry axis X1, and the suction accessories 111 are symmetrically arranged on both sides of the first symmetry axis X1.

[0059] Specifically, the suction assembly 11 further comprises a suction frame 112, the suction frame 112 is provided with suction accessories 111 on the periphery, and the free end of the multi-axis mechanical hand mechanism 1 is provided with a fixing plate to fix the suction assembly 11, the fixing plate is provided with a first side edge and a second side edge, the midpoint of the first side edge and the second side edge is a first symmetry axis X1, and the suction accessories 111 are symmetrically arranged on both sides of the first symmetry axis X1.

[0060] By providing the suction frame 112 on the suction assembly 11, the suction frame 112 is consistent with the shape and size of the workpiece to perform positioning and suction, and the suction accessories 111 on both sides are symmetrical to avoid the workpiece from falling due to asymmetric suction force when the workpiece is suctioned.

[0061] In some embodiments, the suction assembly 11 further comprises a first positioning assembly 12, which is arranged on the suction assembly 11 to position the workpiece and thereby position and suction the workpiece.

[0062] Specifically, the first positioning assembly 12 is arranged on the suction assembly 11 to position the workpiece, and more specifically, on the suction frame 112, and the first positioning assembly 12 can be an infrared sensing assembly, a distance sensing assembly, or other sensor assemblies, so that when the mechanical hand performs secondary suction on the workpiece on the positioning table, positioning and suction can be performed.

[0063] By providing the positioning assembly on the suction assembly 11, the workpiece is positioned by the first positioning assembly 12 to achieve preliminary positioning of the workpiece by the suction assembly 11.

[0064] In some embodiments, the positioning table 21 is provided with a second positioning assembly 22, which positions the first positioning assembly 12 to achieve positioning and suction of the workpiece.

[0065] Specifically, the alignment table 21 is provided with a second positioning assembly 22. If the second positioning assembly 22 is provided, the first positioning assembly 12 and the second positioning assembly 22 can be positioned with each other, and a matching sensor can be provided to realize the mutual positioning, so that the pose of each workpiece is consistent when the workpiece is adsorbed.

[0066] The first positioning assembly 12 is positioned by the second positioning assembly 22, so that when the first positioning assembly 12 and the second positioning assembly 22 are positioned with each other, the alignment angle of the workpiece can be ensured to be aligned on the first limiting part 211 and the second limiting part 212.

[0067] In some embodiments, the first limiting part 211 and the second limiting part 212 can be connected to form an included angle, or the first limiting part 211 and the second limiting part 212 are not connected, and one end of the first limiting part 211 and one end of the second limiting part 212 are extended to intersect to form an included angle.

[0068] Specifically, the first limiting part 211 and the second limiting part 212 can be connected to form an included angle, or the first limiting part 211 and the second limiting part 212 are not connected, and one end of the first limiting part 211 and one end of the second limiting part 212 are extended to intersect to form an included angle.

[0069] Preferably, the first limiting part 211 and the second limiting part 212 are not connected, and one end of the first limiting part 211 and one end of the second limiting part 212 are extended to intersect to form an included angle, so as to avoid damage to the workpiece caused by stress due to free falling when the workpiece is placed.

[0070] The first limiting part 211 and the second limiting part 212 can be intersected or separated, and are adapted to different workpieces.

[0071] In some embodiments, the alignment table 21 is further provided with a first baffle 213, a second baffle 214, a third baffle 215 and a fourth baffle 216 on the side; the first limiting part 211 is arranged on one side of the first baffle 213, and the second limiting part 212 is arranged on one side of the second baffle 214; the third baffle 215 is arranged opposite to the first baffle 213, and the fourth baffle 216 is arranged opposite to the second baffle 214.

[0072] Specifically, the alignment table 21 is rectangular, and more specifically can be square. The alignment table 21 is provided with a first baffle 213, a second baffle 214, a third baffle 215, and a fourth baffle 216 connected to the four sides of the square, and more specifically the third baffle 215 is opposite the first baffle 213, and the fourth baffle 216 is opposite the second baffle 214, so that the alignment table 21 presents a cross shape, which can increase the area of the alignment table 21 abutting the workpiece, and avoid the workpiece from falling backward when the workpiece is freely placed on the alignment table 21 due to the weight. More specifically, the cross shape can be used for workpiece positioning, so that the robot hand can more accurately find the suction position.

[0073] The first baffle 213, the second baffle 214, the third baffle 215, and the fourth baffle 216 are further provided on the side of the alignment table 21; so that the alignment table 21 can support a larger area of the workpiece, and avoid the workpiece from falling when placed on the alignment table 21.

[0074] In some embodiments, the free end of the multi-axis robot hand structure 1 is provided with a third positioning assembly 13;

[0075] The center point of the first baffle 213 and the third baffle 215 is the second symmetry axis X2, the center point of the second baffle 214 and the fourth baffle 216 is the third symmetry axis X3, and the second symmetry axis X2 and the third symmetry axis X3 intersect on the alignment table 21 to set the fourth positioning assembly.

[0076] Specifically, the free end of the multi-axis robot hand structure 1 is provided with a third positioning assembly 13; the center point of the first baffle 213 and the third baffle 215 is the second symmetry axis X2, the center point of the second baffle 214 and the fourth baffle 216 is the third symmetry axis X3, and the second symmetry axis X2 and the third symmetry axis X3 intersect on the alignment table 21 to set the fourth positioning assembly, that is, the fourth positioning assembly is set at the center point of the cross shape in the above description. Through the relative sensing of the third positioning assembly 13 and the fourth positioning assembly, the accuracy of the suction assembly 11 on the positioning table can be improved, and the different positions of each suction can be avoided, so that the workpiece placed on the cutting mechanism 3 has different poses.

[0077] The free end of the multi-axis robot hand structure 1 is provided with a third positioning assembly 13, and the fourth positioning assembly is positioned at the center of the positioning table, so that after positioning, the multi-axis robot hand structure 1 can more accurately grasp the workpiece on the positioning table when grasping for the second time, and the workpiece placed on the cutting mechanism 3 can have inconsistent poses.

[0078] In some embodiments, the cutting mechanism 3 is provided with a first limiting edge 31 and a second limiting edge 32, which limit the two side edges of the workpiece.

[0079] Specifically, the first limiting edge 31 and the second limiting edge 32 are arranged to prevent the workpiece from being positioned on the cutting mechanism 3 in a non-uniform manner by limiting the two sides of the workpiece through the first limiting edge 31 and the second limiting edge 32.

[0080] The first limiting edge 31 and the second limiting edge 32 are arranged to limit the two sides of the workpiece.

[0081] Embodiment 3:

[0082] As shown in Figure 7 The embodiment provides a mechanical hand carrying device, which comprises the mechanical hand carrying device of any one of the second aspect, an automatic feeding device, and a control console. The automatic feeding device moves the workpiece to the free end of the multi-axis mechanical hand mechanism 1 for adsorption, and the control console controls the operation of the mechanical hand carrying device.

[0083] Specifically, the automatic feeding device is arranged to enable the workpiece to be moved to the multi-axis mechanical hand mechanism 1 by the automatic feeding device, carried to the alignment mechanism 2 for alignment by the multi-axis mechanical hand mechanism 1, and carried to the cutting mechanism 3 for unloading by the multi-axis mechanical hand mechanism 1, and the whole process is controlled by the control console. Further, a vacuum source is arranged to provide the adsorption vacuum source of the adsorption assembly 11.

[0084] In the present application, unless otherwise explicitly specified and limited, the terms "mounting", "connection", "connecting", "fixing" and the like should be understood in a broad sense, for example, can be fixed connection, can also be detachable connection, or can be integrated; can be mechanical connection, or can be electrical connection; can be directly connected, or can be indirectly connected through an intermediate medium; can be the internal communication of two elements or the interaction relationship between 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.

[0085] In the description of the present application, it should be noted that the orientation or positional relationship indicated by the terms "center", "upper", "lower", "left", "right", "vertical", "horizontal", "inner", "outer" and the like is based on the orientation or positional relationship shown in the drawings, or the orientation or positional relationship of the product of the present application when it is usually placed, and is only for the convenience of describing the present application and simplifying the description, and therefore cannot be understood as indicating or implying 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 limiting the present application. In addition, the terms "first", "second", "third" and the like are only used for differentiation and description, and cannot be understood as indicating or implying relative importance.

[0086] Furthermore, terms such as "horizontal," "vertical," "up," "down," "upper," "lower," and the like are used herein for the convenience of the reader in relation to the illustrations given. They do not, however, imply absolute, relative directional or positional relationships between the structures illustrated and / or described.

[0087] In the present application, unless specifically stated and limited otherwise, the first feature being on, above or below the second feature can include the first and second features being in direct contact, or can include the first and second features not being in direct contact but being in contact through another feature therebetween. Also, the first feature being on, above and over the second feature includes the first feature being directly above and obliquely above the second feature, or simply means that the first feature is horizontally higher than the second feature. The first feature being under, below and under the second feature includes the first feature being directly below and obliquely below the second feature, or simply means that the first feature is horizontally lower than the second feature.

[0088] While the present application has been described in connection with the above specific embodiments, it will be readily apparent to those skilled in the art that numerous substitutions, modifications and changes can be made thereto without departing from the spirit and scope of the application as set forth in the appended claims.

Claims

1. A robot handling device, characterized in that The utility model relates to a multi-axis mechanical hand mechanism (1) including adsorption subassembly (11), adsorption subassembly (11) is arranged at the free end of multi-axis mechanical hand mechanism (1), and multi-axis mechanical hand mechanism (1) is adsorbed workpiece through adsorption subassembly (11); Alignment mechanism (2) including alignment table (21), alignment table (21) is provided with first limiting portion (211), second limiting portion (212);The first limiting portion (211) and the second limiting portion (212) are vertically arranged; And cutting mechanism (3), cutting mechanism (3) cuts workpiece blanking; Wherein, after multi-axis mechanical hand mechanism (1) carries workpiece to alignment table (21), the alignment angle of workpiece is aligned through the first limiting portion (211) and the second limiting portion (212), and the workpiece that is aligned is adsorbed to cutting mechanism (3) through adsorption subassembly (11). The adsorption subassembly (11) includes a plurality of suction members (111) that adsorb the periphery of the workpiece.

2. The robot handling device according to claim 1, characterized in that The adsorption subassembly (11) further includes an adsorption frame (112) provided with suction members (111) on the periphery thereof, and the free end of the multi-axis mechanical hand mechanism (1) is provided with a fixing plate to fix the adsorption subassembly (11), the fixing plate is provided with a first side edge and a second side edge, and the midpoint of the first side edge and the second side edge is a first symmetry axis (X1), and the suction members (111) are symmetrically arranged on both sides of the first symmetry axis (X1).

3. The robot handling device according to claim 2, characterized in that The adsorption subassembly (11) further includes a first positioning assembly (12) arranged thereon to position the workpiece and thereby align and adsorb the workpiece.

4. The robot handling device according to claim 1, characterized in that The alignment table (21) is provided with a second positioning assembly (22) arranged thereon to position the first positioning assembly (12) and thereby align and adsorb the workpiece.

5. The robot handling device according to claim 4, characterized in that The first limiting portion (211) and the second limiting portion (212) can be connected to form an included angle, or the first limiting portion (211) and the second limiting portion (212) are not connected, and one end of the first limiting portion (211) and one end of the second limiting portion (212) are extended to intersect to form an included angle.

6. The robot handling device according to claim 1, characterized in that The alignment table (21) is further provided with a first baffle (213), a second baffle (214), a third baffle (215), and a fourth baffle (216) on the periphery thereof; the first limiting portion (211) is arranged on one side of the first baffle (213), and the second limiting portion (212) is arranged on one side of the second baffle (214); the third baffle (215) is arranged opposite to the first baffle (213), and the fourth baffle (216) is arranged opposite to the second baffle (214).

7. The mechanical hand carrying device of claim 1, wherein The free end of the multi-axis mechanical hand mechanism (1) is provided with a third positioning assembly (13).

8. The robot handling device according to claim 7, characterized in that ​ A fourth positioning assembly is arranged at the intersection of the second symmetry axis (X2) and the third symmetry axis (X3) on the alignment table (21), with the center points of the first baffle (213) and the third baffle (215) as the second symmetry axis (X2), and with the center points of the second baffle (214) and the fourth baffle (216) as the third symmetry axis (X3).

9. The mechanical hand carrying device of claim 1, wherein The cutting mechanism (3) is provided with a first limiting edge (31) and a second limiting edge (32), which limit the two side edges of the workpiece.

10. A robot handling apparatus, characterized by The mechanical hand carrying device comprises an automatic feeding device and a control console, the automatic feeding device moves the workpiece to the free end of the multi-axis mechanical hand mechanism (1) for adsorption, and the control console controls the operation of the mechanical hand carrying device.

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