Carrying device

Abstract

The utility model belongs to the technical field of plate material transportation equipment, and provides a carrying device which comprises a movable rack, a space displacement module installed on the rack and a suction cup device installed on the space displacement module. And the movable gas path system comprises a track, a gas path switching piece, a first telescopic pipe, a second telescopic pipe and a vacuum generation assembly. The track is arranged above a carrying advancing path, the gas path switching piece is arranged on the track in a sliding mode, the gas source connector is arranged on the upper side close to the middle position of the whole stroke of the track, the first telescopic pipe is located on the upper side of the track and connected with the gas source connector and the gas path switching piece, and the second telescopic pipe is located on the lower side of the track and connected with the gas path switching piece and the vacuum generation assembly. The vacuum generating assembly is connected with the sucker device. The gas circuit switching piece comprises a driving walking mechanism and a pipeline adapter installed on the driving walking mechanism. Existing compressed air resources of a factory can be utilized, continuous supply of compressed air can still be guaranteed during long-stroke movement, and negative pressure is stably manufactured.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of plate material conveying equipment, and in particular to a conveying device for conveying plate materials by means of a suction cup device. BACKGROUND

[0002] In the field of metal plate processing, especially in the pressure forming process of aluminum single plate components for building, the automation level of the feeding and discharging and material transfer procedures directly affects the comprehensive efficiency of the production system.

[0003] For some large plate processing plants, they generally use a nearly fully automatic assembly line, and the plate to be processed can be placed on the assembly line by a multi-degree-of-freedom mechanical arm. The plate is automatically conveyed to the press by the assembly line, automatically discharged after stamping, and conveyed out by the assembly line, and then taken out, stacked, and the like by a multi-degree-of-freedom mechanical hand.

[0004] However, for small production lines or small plate processing plants, they cannot afford the cost of a fully automatic assembly line, and therefore still use a semi-automatic processing mode. For example, some processing plants use a suction cup device to assist manual plate conveying. For example, an operator uses a vacuum suction cup to transfer the plate. In addition to the manual suction cup, the generation of negative pressure of the electric suction cup generally relies on a vacuum pump to achieve vacuum pumping, or uses an air compressor to cooperate with a vacuum generator to generate negative pressure, so that the suction cup can adsorb the plate.

[0005] Since the vacuum pump needs a continuous power supply, the vacuum pump cannot be easily moved with the suction cup device. Moreover, if the suction cup device is used at multiple locations far apart, multiple vacuum pumps are generally needed, which undoubtedly greatly increases the production cost. In addition, in the mode of using an air compressor to cooperate with a vacuum generator to generate negative pressure of the suction cup, multiple air source interfaces are arranged at multiple required locations in the factory. These air source interfaces are connected with the air compressor through pipelines arranged in the factory, and the air source interfaces are connected with the vacuum generating assembly through air pipes to generate negative pressure. However, the length of the connecting pipeline between the air source interface and the vacuum generating assembly is limited, and the suction cup device can only be used within a small range. Moreover, the air pipe connecting the air source interface and the vacuum generating assembly is prone to winding, folding, and even breaking during reciprocating movement, which causes fluctuations in the vacuum degree and affects the stability of the suction force of the suction cup device. CONTENT OF THE UTILITY MODEL

[0006] In view of the above-mentioned shortcomings of the prior art, the purpose of the present application is to provide a conveying device which can utilize the existing compressed air resources in the factory, and during the long-stroke movement of the conveying device adsorbing the materials, the compressed air in the factory can still be continuously and stably supplied to stably generate negative pressure for the suction cup device.

[0007] To achieve the above object and other related objects, the present application provides a carrying device, which comprises a movable frame, a space displacement module installed on the frame, and a suction cup device installed on the space displacement module, wherein the space displacement module drives the suction cup device to displace in space. The carrying device further comprises a movable air path system, which comprises a track, an air path switching piece, a first telescopic pipe, a second telescopic pipe, and a vacuum generating assembly. The track is arranged at a predetermined height and along a carrying movement path. The air path switching piece is slidably arranged on the track. An air source interface is arranged at a predetermined height on the upper side of the track. The first telescopic pipe is arranged on the upper side of the track and connects the air source interface and the air path switching piece. The second telescopic pipe is arranged on the lower side of the track and connects the air path switching piece and the air inlet of the vacuum generating assembly. The negative pressure port of the vacuum generating assembly is connected to the suction cup device. The air source interface is arranged close to the middle position of the entire stroke of the track. The air path switching piece comprises a driving walking mechanism and a pipe switching piece installed on the driving walking mechanism. The driving walking mechanism is configured to actively walk along the track. The pipe switching piece is installed on the driving walking mechanism.

[0008] In an implementable scheme, the frame comprises a vertical frame having opposite first and second sides. The space displacement module comprises a vertical displacement module and an extension arm. The stator of the vertical displacement module is installed on the first side of the vertical frame. The extension arm is horizontally arranged and comprises a first end and a second end. The first end is installed on the rotor of the vertical displacement module. The suction cup device is installed on the second end of the extension arm. The second side of the vertical frame is further provided with an operation part.

[0009] In an implementable scheme, the suction cup device of the carrying device comprises a suction cup mounting rack installed on the space displacement module and at least three suction cup assemblies not in a straight line and installed on the suction cup mounting rack.

[0010] In an implementable scheme, the suction cup mounting rack of the carrying device is provided with a vertical mounting hole. Each suction cup assembly comprises a suction cup head, a communication pipe, a stop block, and a spring. The communication pipe is slidably arranged in the mounting hole. The lower end of the communication pipe is connected to the suction cup head. The upper end of the communication pipe is used to communicate with a device for generating vacuum. The outer periphery of the upper end of the communication pipe is provided with the stop block. The spring is sleeved on the communication pipe and located between the suction cup head and the suction cup mounting rack. The spring gives the suction cup head and the suction cup mounting rack an action force away from each other.

[0011] In an implementable scheme, the suction cup assembly and the suction cup mounting rack of the carrying device are connected through a spherical pair structure.

[0012] In an implementable scheme, the suction cup device of the carrying device further comprises a rotating device installed on the space displacement module and connected to the suction cup mounting rack, so as to drive the suction cup mounting rack to rotate by a predetermined angle in a horizontal plane.

[0013] In an implementable solution, the extension arm of the carrying device comprises a fixed arm, a transverse movement module and a movable arm; the fixed arm is mounted on the mover of the vertical displacement module, the stator of the transverse movement module is mounted on the fixed arm, and the movable arm is mounted on the mover of the transverse movement module.

[0014] In an implementable solution, the frame of the carrying device further comprises a bottom support frame for supporting the board, and the bottom support frame is arranged below the extension arm.

[0015] In an implementable solution, the carrying device further comprises a control device mounted near the operating part, and the control device is electrically connected with the vertical displacement module and the transverse movement module.

[0016] In an implementable solution, the vacuum generating assembly comprises a second electromagnetic valve and a vacuum generator; the second electromagnetic valve and the vacuum generator are mounted on the frame; the second telescopic pipe connects one end of the air path switch with the second electromagnetic valve, the other end of the second electromagnetic valve is connected with the air inlet of the vacuum generator, and the negative pressure port of the vacuum generator is connected with the suction cup device.

[0017] As described above, compared with the prior art, the carrying device provided by the present application has at least the following beneficial effects:

[0018] When carrying the material, the carrying device of the present application uses the movable air path system to make the suction cup device adsorb the material, and then moves the frame to the target position, and then uses the movable air path system to release the material. During the movement of the frame, the second telescopic pipe will be stretched under the pulling force to adapt to the movement of the frame, at the same time, the air path switch will slide along the track under the pulling force of the second telescopic pipe, and at the same time, the first telescopic pipe will be stretched under the pulling force of the air path switch to adapt to the position change of the air path switch. Therefore, under the cooperation of the first telescopic pipe, the second telescopic pipe and the slidable air path switch, the movable distance of the frame can be significantly increased, and the carrying device of the present application can still ensure that the compressed air in the factory is continuously and stably supplied to the vacuum generating assembly during the long-stroke movement of the adsorbed material, effectively ensuring the adsorption capacity and adsorption effect of the suction cup device.

[0019] In addition, since the first telescopic pipe and the second telescopic pipe have the telescopic property and are suspended, the problems of winding and folding basically do not occur.

[0020] At the same time, the use of air compressor combined with vacuum generating assembly can also effectively utilize the existing compressed air resources in the factory, saving costs. BRIEF DESCRIPTION OF DRAWINGS

[0021] In order to more clearly illustrate the technical solutions of the embodiments of the present application, the drawings needed to be used in the embodiments will be briefly introduced as follows. It should be understood that the following drawings only show some of the embodiments of the present application, and therefore should not be considered as a limitation to the scope. For those skilled in the art, other related drawings can also be obtained without creative labor on the basis of these drawings.

[0022] Figure 1 A first perspective structural schematic view of a carrying device provided by the embodiments of the present application is shown.

[0023] Figure 2 A second perspective structural schematic view of a carrying device provided by the embodiments of the present application is shown.

[0024] Figure 3 A use state schematic view of a carrying device provided by the embodiments of the present application is shown.

[0025] Figure 4 A structural schematic view of a suction cup device provided by the embodiments of the present application is shown.

[0026] Figure 5 An exploded structural schematic view of a suction cup device provided by the embodiments of the present application is shown.

[0027] Figure 6 A sectional structural schematic view of a suction cup assembly installation position provided by the embodiments of the present application is shown.

[0028] Figure 7 A structural schematic view of a carrying device provided by the embodiments of the present application with a bottom supporting frame is shown.

[0029] Figure 8 A structural schematic view of a carrying device provided by the embodiments of the present application with a movable air path system is shown.

[0030] Figure 9 A structural schematic view of a carrying device provided by the embodiments of the present application with a vacuum pump is shown.

[0031] In the figure: 1, rack; 11, vertical frame; 12, bottom support frame; 2, walking wheel; 3, vertical displacement module; 4, extension arm; 41, fixed arm; 42, horizontal displacement module; 43, movable arm; 5, suction cup device; 51, suction cup assembly; 511, suction cup head; 512, communication pipe; 513, stop block; 514, spring; 52, suction cup mounting frame; 521, mounting hole; 522, spherical body; 523, through hole; 53, rotating device; 6, operation part; 7, vacuum pump; 71, first electromagnetic valve; 8, mobile air path system; 81, track; 82, first telescopic pipe; 83, air path switching piece; 84, second telescopic pipe; 85, second electromagnetic valve; 86, vacuum generator; 9, control device; 10, punch; 100, plate; 200, air source interface. DETAILED DESCRIPTION

[0032] To make the objectives, technical solutions, and advantages of the embodiments of the present application clearer, the following will be combined with the accompanying drawings for the embodiments of the present application to make a clear and complete description of the technical solutions in the embodiments of the present application. Obviously, the described embodiments are only some of the embodiments of the present application, rather than all the embodiments. The components of the embodiments of the present application described and shown in the accompanying drawings can be arranged and designed in various different configurations.

[0033] Therefore, the following detailed description of the embodiments of the present application is not intended to limit the scope of the claimed present application, but only represents selected embodiments of the present application. Based on the embodiments in the present application, all other embodiments obtained by those of ordinary skill in the art without creative work are within the scope of protection of the present application. In addition, the terms “first”, “second” are only for the purpose of description, and cannot be understood as indicating or implying relative importance.

[0034] In the description of the present application, it should be noted that the orientations or positional relationships indicated by the terms “center”, “longitudinal”, “transverse”, “upper”, “lower”, “front”, “rear”, “left”, “right”, “vertical”, “horizontal”, “top”, “bottom”, “inner”, “outer” and the like are based on the orientations or positional relationships shown in the drawings, and are only for the convenience of describing the present application and simplifying the description, and therefore cannot be understood as indicating or implying that the devices or elements 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.

[0035] Reference Figure 8 The embodiments of the present application provide a carrying device, which comprises a movable rack 1, a space displacement module installed on the rack 1, and a suction cup device 5 installed on the space displacement module, and the space displacement module drives the suction cup device 5 to displace in space.

[0036] The carrying device further comprises a movable air path system 8, which comprises a track 81, an air path switching piece 83, a first telescopic pipe 82, a second telescopic pipe 84, and a vacuum generating assembly. The track 81 is arranged at a predetermined height along the carrying advancing path, the air path switching piece 83 is slidably arranged on the track 81, an air source interface 200 is arranged at the upper side of the track 81 at the predetermined height, the first telescopic pipe 82 is arranged at the upper side of the track 81 and connects the air source interface 200 and the air path switching piece 83, the second telescopic pipe 84 is arranged at the lower side of the track 81 and connects the air path switching piece 83 and the air inlet of the vacuum generating assembly, and the negative pressure outlet of the vacuum generating assembly is connected with the suction cup device 5.

[0037] When the carrying device carries the material, the suction cup device 5 is used to adsorb the material by the action of the movable air path system 8, and then the rack 1 is moved to the target position, and the suction cup device 5 is used to release the material by the action of the movable air path system 8. During the movement of the rack 1, the second telescopic pipe 84 is stretched under the pulling force to adapt to the movement of the rack 1, the air path switching piece 83 is also slid along the track 81 under the pulling force of the second telescopic pipe 84, and the first telescopic pipe 82 is also stretched under the pulling force of the air path switching piece 83 to adapt to the position change of the air path switching piece 83. Therefore, under the cooperation of the first telescopic pipe 82, the second telescopic pipe 84 and the slidable air path switching piece 83, the movable distance of the rack 1 can be significantly increased, and the compressed air in the factory can be continuously and stably supplied to the vacuum generating assembly during the long-stroke movement of the carrying device adsorbing the material, so as to effectively ensure the adsorption capacity and effect of the suction cup device 5.

[0038] In addition, since the first telescopic pipe 82 and the second telescopic pipe 84 have the telescopic property and are suspended, the problems such as winding and folding basically do not occur.

[0039] At the same time, the air compressor and the vacuum generating assembly can also effectively utilize the existing compressed air resources in the factory and save costs.

[0040] In an alternative embodiment, the gas path switcher 83 can comprise a self-propelled mechanism (not shown in the figure) and a pipe adapter installed on the self-propelled mechanism, the self-propelled mechanism being capable of self-propelled movement along the track 81, the pipe adapter being installed on the self-propelled mechanism, the pipe adapter having two interfaces, one above the other, for connecting the first telescopic pipe 82 and the second telescopic pipe 84, respectively. Meanwhile, the action of the self-propelled mechanism can be controlled by a wireless control module installed on the frame 1. Thus, when the frame 1 is moved, the action of the self-propelled mechanism can be controlled to make the gas path switcher 83 closer to the upper side of the frame 1, thereby reducing the mutual traction force of the second telescopic pipe 84 on the frame 1 to maintain the stability of the movement. In addition, the action of the self-propelled mechanism can also be controlled to move to a relatively appropriate position, which can balance the extension of the first telescopic pipe 82 and the second telescopic pipe 84 while ensuring the increase of the moving distance as much as possible.

[0041] For example, as shown in Figure 8 , it is assumed that the frame 1 is moved to the right, which will pull the second telescopic pipe 84. At this time, the gas path switcher 83 can be controlled to move to the right along the track 81 and close to the right end of the track 81, while pulling the first telescopic pipe 82 to stretch. At this time, the maximum displacement distance of the frame 1 to the right is the sum of the extension lengths of the first telescopic pipe 82 and the second telescopic pipe 84. In this way, the frame 1 can achieve a longer displacement distance.

[0042] In an alternative embodiment, the gas source interface 200 on the upper side of the track 81 can be arranged near the middle position of the entire stroke of the track 81 to take into account the reciprocating movement along the track 81 and reduce the maximum extension of the first telescopic pipe 82. Meanwhile, since the first telescopic pipe 82 is located on the upper side of the track 81, its extension process will not interfere with the structure on the lower side of the track 81, so the extension length of the first telescopic pipe 82 can be much longer than that of the second telescopic pipe 84. It should be noted that the gas source interface 200 arranged near the middle position of the entire stroke of the track 81 can be understood as being arranged above the center position of the entire length of the track 81, or it can be understood as being arranged at a predetermined position above the middle section of the track 81, which includes a middle section.

[0043] In addition, the first telescopic pipe 82, the second telescopic pipe 84, the movable gas path switcher 83, and the gas source interface 200 arranged at the middle position of the entire stroke are matched, the gas path switcher 83 can move along the track 81 in both directions with the gas source interface 200 as the starting point, rather than moving in a single direction. Thus, with relatively small lengths of the first telescopic pipe 82 and the second telescopic pipe 84, a longer range of movement can be taken into account.

[0044] In an alternative embodiment, referring to Figure 8The vacuum generating assembly can include a second electromagnetic valve 85 and a vacuum generator 86. The second electromagnetic valve 85 and the vacuum generator 86 are installed on the rack 1. The second telescopic pipe 84 connects the air path switching piece 83 and one end of the second electromagnetic valve 85. The other end of the second electromagnetic valve 85 is connected to the air inlet of the vacuum generator 86. The negative pressure port of the vacuum generator 86 is connected to the suction cup device 5.

[0045] In an optional embodiment, referring to Figure 1 and Figure 2 , the rack 1 can include a vertical frame 11 having opposite first and second sides. The spatial displacement module can include a vertical displacement module 3 and an extension arm 4. The stator of the vertical displacement module 3 is installed on the first side of the vertical frame 11. The extension arm 4 is horizontally arranged and includes a first end and a second end. The first end is installed on the rotor of the vertical displacement module 3. The suction cup device 5 is installed on the second end of the extension arm 4. The second side of the vertical frame 11 is further provided with an operation part 6, which facilitates the pushing of the device by the worker.

[0046] Referring to Figure 3 , when carrying the plate 100 (for example, an aluminum veneer), the worker pushes the device to the material taking place, so that the suction cup device 5 is above the plate. Then, the extension arm 4 is lowered by the vertical displacement module 3, so that the suction cup device 5 is attached to the surface of the plate. After the suction cup device 5 adsorbs the plate, the worker moves the carrying device to the target position (for example, the punching position of the punching machine 10 in Figure 3 ). According to the height of the material placing position, the height of the extension arm 4 is adjusted by the vertical displacement module 3, so that the plate adsorbed by the suction cup device 5 stays at the desired height. Then, the suction force of the suction cup device 5 is released to place the plate, and the plate carrying is completed. As can be seen, by using the carrying device of the embodiment, one worker can complete the plate specified height taking and placing process and the transfer process, improve the carrying efficiency, reduce the safety hidden danger, and save labor at the same time.

[0047] In an optional embodiment, referring to Figure 4 , the suction cup device 5 includes a suction cup mounting frame 52 installed on the second end of the extension arm 4 and at least three suction cup assemblies 51 not in a straight line installed on the suction cup mounting frame 52, so as to improve the balance of the adsorbed plate.

[0048] In an optional embodiment, referring to Figure 4 and Figure 5The vertical mounting hole 521 can be formed on the suction disc mounting frame 52. Each suction disc assembly 51 comprises a suction disc head 511, a communication pipe 512, a stop block 513 and a spring 514. The communication pipe 512 is slidably arranged in the mounting hole 521. The lower end of the communication pipe 512 is connected to the suction disc head 511. The upper end of the communication pipe 512 is connected to a device for creating vacuum. The stop block 513 is arranged on the outer periphery of the upper end of the communication pipe 512. The spring 514 is sleeved on the communication pipe 512 and is arranged between the suction disc head 511 and the suction disc mounting frame 52. The spring 514 provides a force for moving the suction disc head 511 away from the suction disc mounting frame 52.

[0049] When the vertical displacement module 3 lowers the extension arm 4 and the suction disc head 511 is pressed against the plate, the extension arm 4 can continue to lower for a certain distance due to the buffering effect of the spring 514. The suction disc head 511 can be tightly attached to the surface of the plate under the action of the spring 514. At the same time, the suction disc assembly 51 can be protected from excessive impact due to the buffering effect of the compression of the spring 514, thereby protecting the suction disc head 511 and other components.

[0050] In optional embodiments, the suction disc assembly 51 and the suction disc mounting frame 52 can be connected by a spherical pair structure. In this way, when the curved plate or the plate with an arc surface is adsorbed, each suction disc assembly 51 is attached to the surface of the curved plate. Due to the action of the spherical pair structure, the angle of each suction disc assembly 51 can be adaptively adjusted, thereby effectively attaching to the surface of the curved or arc plate, and facilitating the adsorption and transportation of the curved or arc plate.

[0051] Specifically, in optional embodiments, referring to Figure 6 A spherical cavity can be arranged in the mounting hole 521. A spherical body 522 that can rotate within a predetermined angle is arranged in the spherical cavity. The spherical body 522 is provided with a through hole 523. The communication pipe 512 is slidably arranged in the through hole 523. When the suction disc head 511 is attached to the arc surface, the communication pipe 512 is adaptively tilted, thereby driving the spherical body 522 to adaptively rotate in the spherical cavity of the mounting hole 521.

[0052] In optional embodiments, referring to Figure 1 and Figure 2 The suction disc device 5 can further comprise a rotating device 53 arranged on the second end of the extension arm 4 and connected to the suction disc mounting frame 52, so as to drive the suction disc mounting frame 52 to rotate within a horizontal plane by a predetermined angle, thereby facilitating the adjustment of the position and posture of the adsorbed plate within the horizontal plane.

[0053] In optional embodiments, referring to Figure 1 , Figure 2 and Figure 7, the extension arm 4 of the carrying device can include a fixed arm 41, a transverse movement module 42 and a movable arm 43. The fixed arm 41 is mounted on the mover of the vertical displacement module 3, the stator of the transverse movement module 42 is mounted on the fixed arm 41, and the movable arm 43 is mounted on the mover of the transverse movement module 42. The fixed arm 41 can be in a triangular frame structure, thereby increasing the stability of the cantilever structure. At the same time, the transverse movement module 42 can drive the movable arm 43 to extend forward or backward, thereby adapting to different feeding positions and improving the application range.

[0054] In an optional embodiment, referring to Figure 7 , the rack 1 can further include a bottom support frame 12 for supporting the plates, and the bottom support frame 12 is arranged below the extension arm 4. The plates 100 to be fed or the plates 100 that have been fed can be stored in the bottom support frame 12, and then the suction cup device 5 can be moved close to the bottom support frame 12 through the combined movement of the vertical displacement module 3 and the transverse movement module 42 to perform the feeding and discharging operation.

[0055] In an optional embodiment, the second side (i.e., the side of the operation part 6) of the vertical frame 11 of the rack 1 can be provided with a counterweight structure (not shown in the figure), and the counterweight structure can add or reduce counterweight blocks to balance the center of gravity of the overall device to prevent overturning.

[0056] In an optional embodiment, referring to Figure 1 , a control device 9 can be further included, which is installed near the operation part 6 and is electrically connected with the vertical displacement module 3, the transverse movement module 42, the rotating device 53, etc. to control the operation thereof.

[0057] In an optional embodiment, referring to Figure 9 , the carrying device can not include the movable air path system 8 in Figure 8 , and can be replaced by a vacuum pump 7 and a first electromagnetic valve 71. The vacuum pump 7 can be installed at the bottom of the rack 1 and connected with the suction cup device 5, and at least one first electromagnetic valve 71 is arranged on the pipeline connected with the suction cup device 5, and the vacuum suction of the suction cup device 5 is realized by the vacuum pump 7.

[0058] The above only describes some embodiments of the present application and is not used to limit the present application. For those skilled in the art, the present application can have various changes and modifications. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present application shall be included in the protection scope of the present application.

Claims

1. A carrying device, comprising a movable frame (1) and a space displacement module installed on the frame (1), and a suction cup device (5) installed on the space displacement module, the space displacement module driving the suction cup device (5) to displace in space; characterized in that Further comprising a mobile gas circuit system (8), comprising a track (81), a gas circuit switching piece (83), a first telescopic pipe (82), a second telescopic pipe (84), and a vacuum generating assembly; the track (81) is arranged at a predetermined height and along a carrying running path, the gas circuit switching piece (83) is slidably arranged on the track (81), a gas source interface (200) is arranged at a predetermined height on the upper side of the track (81), the first telescopic pipe (82) is on the upper side of the track (81) and connects the gas source interface (200) with the gas circuit switching piece (83), the second telescopic pipe (84) is on the lower side of the track (81) and connects the gas circuit switching piece (83) with the gas inlet of the vacuum generating assembly, and the negative pressure outlet of the vacuum generating assembly is connected with the suction cup device (5); wherein the gas source interface (200) is arranged close to the middle position of the entire stroke of the track (81); The gas circuit switching piece (83) comprises a driven walking mechanism and a pipe switching piece installed on the driven walking mechanism, the driven walking mechanism is configured to be able to actively walk along the track (81), and the pipe switching piece is installed on the driven walking mechanism.

2. The handling device of claim 1, wherein The frame (1) comprises a vertical frame (11) having opposite first and second sides; The space displacement module comprises a vertical displacement module (3) and an extension arm (4), and the stator of the vertical displacement module (3) is installed on the first side of the vertical frame (11); The extension arm (4) is horizontally arranged and comprises a first end and a second end, the first end is installed on the rotor of the vertical displacement module (3), and the suction cup device (5) is installed on the second end of the extension arm (4); The second side of the vertical frame (11) is further provided with an operation part (6).

3. The handling device of claim 1, wherein The suction cup device (5) comprises a suction cup mounting rack (52) installed on the space displacement module and at least three suction cup assemblies (51) not in a straight line installed on the suction cup mounting rack (52).

4. The handling device of claim 3, wherein A vertical mounting hole (521) is formed in the suction cup mounting rack (52), and each suction cup assembly (51) comprises a suction cup head (511), a communication pipe (512), a stop block (513), and a spring (514); The communication pipe (512) is slidably arranged in the mounting hole (521), the lower end of the communication pipe (512) is connected with the suction cup head (511), the upper end of the communication pipe (512) is used for being connected with a device for generating vacuum, and the stop block (513) is arranged on the outer periphery of the upper end of the communication pipe (512). The spring (514) is sleeved on the communicating pipe (512) and is between the suction cup head (511) and the suction cup mounting frame (52), and the spring (514) gives the suction cup head (511) and the suction cup mounting frame (52) a force away from each other.

5. The handling device of claim 3, wherein The suction cup assembly (51) and the suction cup mounting frame (52) are connected through a spherical pair structure.

6. The handling device of claim 3, wherein The suction cup device (5) further comprises a rotating device (53) installed on the spatial displacement module and connected to the suction cup mounting frame (52) to drive the suction cup mounting frame (52) to rotate a predetermined angle in a horizontal plane.

7. The handling device of claim 2, wherein The extension arm (4) comprises a fixed arm (41), a horizontal displacement module (42) and a movable arm (43). The fixed arm (41) is installed on the mover of the vertical displacement module (3), the stator of the horizontal displacement module (42) is installed on the fixed arm (41), and the movable arm (43) is installed on the mover of the horizontal displacement module (42).

8. The handling device of claim 7, wherein, The rack (1) further comprises a bottom supporting frame (12) for supporting the plate, and the bottom supporting frame (12) is arranged below the extension arm (4).

9. The handling device of claim 7, wherein, Further comprising a control device (9) installed near the operation part (6), and the control device (9) is electrically connected with the vertical displacement module (3) and the horizontal displacement module (42).

10. The handling device of claim 1, wherein, The vacuum generating assembly comprises a second electromagnetic valve (85) and a vacuum generator (86), the second electromagnetic valve (85) and the vacuum generator (86) are installed on the rack (1), one end of the second telescopic pipe (84) is connected with the air path switch (83) and the second electromagnetic valve (85), the other end of the second electromagnetic valve (85) is connected with the air inlet of the vacuum generator (86), and the negative pressure port of the vacuum generator (86) is connected with the suction cup device (5).

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