Adsorption device and unboxing equipment

Abstract

The utility model discloses an adsorption device and unpacking equipment, the adsorption device comprises a frame body, a first clamping structure and a plurality of second clamping structures, specifically, the frame body comprises a top frame and a side frame, the side frame and the top frame are connected and enclose to form an unpacking space, and the unpacking space is used for accommodating a box body to be disassembled; the first clamping structure is connected with the top frame, and the first clamping structure is used for clamping the top surface of a to-be-disassembled box body; the multiple second clamping structures are connected with the side frame, the at least two second clamping structures are oppositely arranged, and the multiple second clamping structures are used for clamping at least two opposite side faces of the box body to be disassembled. Compared with the prior art, the adsorption device provided by the utility model exerts force from the top surface and the side surface of the box body at the same time, and can still provide enough clamping force to realize the lifting of the top cover under the condition that the box is inconvenient to disassemble manually, so that the labor cost is reduced.

Description

TECHNICAL FIELD

[0001] The utility model relates to mechanical processing technical field especially, relates to a kind of suction device and unpacking equipment. BACKGROUND

[0002] In the production of lithium battery, workshop dust content is one of the environmental parameters that need to be monitored, and currently the industry reduces the influence of dust on the process by using circulating packaging to transport structural parts, which requires a large amount of manual unpacking, i.e., manually removing the adhesive paper and the film covering the packaging, then the worker takes the blister tray of the top cover aluminum shell and places it on the buffer rack, and finally the AGV transports it. Since the raw material packaging is mostly a combination of a coaming and a top plate, the unpacking operation requires lifting the entire top cover made of aluminum, which is a large workload and low in efficiency. SUMMARY

[0003] One object of the present utility model is to provide a suction device and unpacking equipment that aims to solve the technical problems of large workload and low efficiency of manual unpacking.

[0004] To achieve the above-mentioned purpose, the utility model provides a scheme: a suction device, which comprises a frame body, a first clamping structure, and a plurality of second clamping structures. Specifically, the frame body comprises a top frame and a side frame, the side frame is connected to the top frame and forms a unpacking space, the unpacking space is used to accommodate a box to be unpacked; the first clamping structure is connected to the top frame and is used to clamp the top surface of the box to be unpacked; the plurality of second clamping structures are connected to the side frame, at least two of the second clamping structures are oppositely arranged, and the plurality of second clamping structures are used to clamp at least two opposite side surfaces of the box to be unpacked.

[0005] In some embodiments of the present application, the first clamping structure comprises a first base plate, a first suction member, and a first driving member, the first base plate is connected to the top frame; the first suction member is arranged in the unpacking space; the first driving member is used to drive the first suction member to approach or move away from the first base plate, and the first suction member is connected to the first base plate through the first driving member.

[0006] In some embodiments of the present application, the first clamping structure further comprises a first guide column, a first guide hole is formed in the first base plate, one end of the first guide column is connected to the first suction member, and the other end of the first guide column extends towards the first base plate and passes through the first guide hole.

[0007] In some embodiments of the present application, there are a plurality of first guide columns, and the first guide columns are symmetrically arranged relative to the first driving member.

[0008] In some embodiments of this application, the second clamping structure includes a second substrate, a second adsorption member, and a second driving member. The second substrate is connected to a side frame; the second adsorption member is disposed in the unpacking space; and the second driving member is used to drive the second adsorption member to approach or move away from the second substrate. The second adsorption member is connected to the second substrate through the second driving member.

[0009] In some embodiments of this application, the second clamping structure further includes a second guide post, a second guide hole is provided on the second substrate, one end of the second guide post is connected to the second adsorption member, and the other end of the second guide post extends toward the second substrate and passes through the second guide hole.

[0010] In some embodiments of this application, there are multiple second guide posts, and the second guide posts are symmetrically arranged relative to the second driving member.

[0011] In some embodiments of this application, the adsorption device further includes a probe, which includes: a needle sleeve connected to the top frame, with a needle hole formed on the needle sleeve facing the unpacking space; a needle tip inserted into the needle hole; and a trigger connected to the needle sleeve and spaced apart from the needle tip, wherein when the needle tip abuts against the box to be unpacked, the needle tip slides relative to the needle sleeve and contacts the trigger.

[0012] In some embodiments of this application, the adsorption device further includes a vision control structure, which includes: a first base having a plurality of first positioning holes formed on the first base along a first direction; a first connector having a portion of the first connector passing through the first positioning holes and connected to the frame; a second base having a plurality of second positioning holes formed on the second base along a second direction, wherein the first direction is perpendicular to the second direction; a second connector having a portion of the second connector passing through the second positioning holes and connected to the first base; and a vision probe connected to the second base.

[0013] To achieve the above objectives, another solution provided by this utility model is: a box unpacking device, which includes: a conveyor belt and an adsorption device of any of the above, wherein the conveyor belt is used to transport the box to be unpacked; and the adsorption device is suspended above the conveyor belt.

[0014] In some embodiments of this application, the conveyor belt is used to transport the box to be disassembled in a third direction; the unpacking equipment also includes a lifting device, which includes a truss and a lifting claw, the truss spanning over the conveyor belt, the lifting claw being slidably connected to the truss in a fourth direction, the third direction being perpendicular to the fourth direction, and an adsorption device being connected to the lifting claw and suspended above the conveyor belt.

[0015] The beneficial effects of this utility model are as follows:

[0016] The adsorption device provided in this application includes a frame, a first clamping structure, and multiple second clamping structures. Specifically, the frame includes a top frame and side frames, the side frames are connected to the top frame and enclose a disassembly space for accommodating the box to be disassembled; the first clamping structure is connected to the top frame and is used to clamp the top surface of the box to be disassembled; multiple second clamping structures are connected to the side frames, at least two second clamping structures are arranged opposite to each other, and the multiple second clamping structures are used to clamp at least two opposite sides of the box to be disassembled.

[0017] When using the adsorption device provided in this application for unpacking, the first clamping structure and the second clamping structure respectively clamp the top and side surfaces of the box to be disassembled. As the frame is lifted, the top cover of the box to be disassembled is removed, exposing the internal equipment or materials. Compared with the prior art, the adsorption device provided in this application applies force from both the top and side surfaces of the box, providing sufficient clamping force to lift the top cover even when manual unpacking is inconvenient, thus reducing labor costs. Attached Figure Description

[0018] To more clearly illustrate the technical solutions in the embodiments of this utility model or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of this utility model. For those skilled in the art, other drawings can be obtained based on the structures shown in these drawings without creative effort.

[0019] Figure 1 This is a schematic diagram of the overall structure of the adsorption device provided in this embodiment of the utility model;

[0020] Figure 2 This is a schematic diagram showing the cooperation relationship between the top frame and the first clamping structure provided in this embodiment of the utility model;

[0021] Figure 3 This is a cross-sectional schematic diagram of the adsorption device provided in an embodiment of the present invention;

[0022] Figure 4 This is a schematic diagram showing the cooperation relationship between the side frame and the second clamping structure provided in this embodiment of the utility model;

[0023] Figure 5 This is a cross-sectional schematic diagram of the adsorption device provided in an embodiment of the present invention;

[0024] Figure 6 yes Figure 1 A magnified view of a portion of region A in the middle;

[0025] Figure 7 yes Figure 1 A magnified view of a portion of region B in the middle;

[0026] Figure 8 This is a schematic diagram of the overall structure of the unpacking device provided in this embodiment of the utility model.

[0027] Explanation of icon numbers:

[0028] 10. Frame; 11. Top frame; 12. Side frame; 13. Unpacking space; 20. First clamping structure; 21. First base plate; 211. First guide hole; 22. First suction element; 23. First driving element; 24. First guide post; 30. Second clamping structure; 31. Second base plate; 311. Second guide hole; 32. Second suction element; 33. Second driving element; 34. Second guide post; 40. Probe; 41. Needle sleeve; 411. Needle hole; 42. Needle tip; 43. Trigger; 50. Vision control structure; 51. First base; 511. First positioning hole; 52. First connector; 53. Second base; 531. Second positioning hole; 54. Second connector; 55. Vision probe; 60. Conveyor belt; 70. Lifting device; 71. Truss; 72. Lifting claw. Detailed Implementation

[0029] The technical solutions of the present utility model will be clearly and completely described below with reference to the accompanying drawings of the embodiments. Obviously, the described embodiments are only some embodiments of the present utility model, and not all embodiments. Based on the embodiments of the present utility model, all other embodiments obtained by those of ordinary skill in the art without creative effort are within the protection scope of the present utility model.

[0030] Please see Figures 1 to 5 As shown, Figure 1 This is a schematic diagram of the overall structure of the adsorption device provided in this embodiment of the utility model; Figure 2 This is a schematic diagram showing the cooperation relationship between the top frame 11 and the first clamping structure 20 provided in this embodiment of the utility model; Figure 3 This is a cross-sectional schematic diagram of the adsorption device provided in an embodiment of the present invention; Figure 4 This is a schematic diagram showing the cooperation relationship between the side frame 12 and the second clamping structure 30 provided in this embodiment of the utility model; Figure 5 This is a cross-sectional schematic diagram of the adsorption device provided in an embodiment of the present invention.

[0031] To address the various drawbacks of manual unpacking in existing production processes, this utility model discloses an adsorption device. The adsorption device includes a frame 10, a first clamping structure 20, and multiple second clamping structures 30. Specifically, the frame 10 includes a top frame 11 and side frames 12, with the side frames 12 connected to the top frame 11 and forming an unpacking space 13 for accommodating the box to be disassembled. The first clamping structure 20 is connected to the top frame 11 and is used to clamp the top surface of the box to be disassembled. Multiple second clamping structures 30 are connected to the side frames 12, with at least two second clamping structures 30 arranged opposite each other, and are used to clamp at least two opposite sides of the box to be disassembled.

[0032] In this embodiment, the first clamping structure 20 clamps the top surface of the box to be disassembled, and the second clamping structure 30 clamps the side surface of the box to be disassembled. As the frame 10 is lifted, the top cover of the box to be disassembled is removed, exposing the internal equipment or materials. Compared with the prior art, the adsorption device provided in this application exerts force from the top and side surfaces of the box simultaneously, providing sufficient clamping force to lift the top cover even when manual disassembly is inconvenient, reducing labor costs and significantly improving disassembly efficiency, especially suitable for large-sized or heavy boxes. In addition, through the design of coordinated clamping from the top and side surfaces, the adsorption device disclosed in this embodiment also solves the problem of uneven force distribution during traditional manual disassembly with single-point lifting, enabling stable lifting of the integrated panel top cover through the mechanical balance of multi-point clamping.

[0033] It should be noted that the clamping structure 20 and the clamping structure 30 are not limited to applying pressure to the opposite sides of the box to achieve fixation. The clamping structure 20 and the clamping structure 30 can also be configured with vacuum sponge suction cups or electromagnets to pick up the outer surface of the box. Therefore, the scope of protection of this application should not be limited based on this.

[0034] In some embodiments of this application, the first clamping structure 20 includes a first substrate 21, a first adsorption member 22, and a first driving member 23. The first substrate 21 is connected to the top frame 11. The first adsorption member 22 is disposed in the unpacking space 13. The first driving member 23 is used to drive the first adsorption member 22 to approach or move away from the first substrate 21. The first adsorption member 22 is connected to the first substrate 21 through the first driving member 23.

[0035] This embodiment provides a specific structure of the first clamping structure 20, namely, the first clamping structure 20 includes a first substrate 21, a first adsorption member 22, and a first driving member 23. The first driving member 23 drives the adsorption member to move closer to or further away from the substrate, realizing dynamic adsorption and release of the top surface of the box to be disassembled. Specifically, the first substrate 21 serves as a rigid support platform and is fixedly connected to the top frame 11 to ensure the overall structural stability. The dynamic driving of the first driving member 23 can adjust the clamping stroke, ensuring stable contact between the first adsorption member 22 and the top surface of the box to be disassembled. This avoids deformation of the box due to excessive local pressure or insufficient adsorption force due to gaps between the first adsorption member 22 and the top surface. It also allows for adaptation to boxes of different sizes by changing the relative position of the first adsorption member 22 and the first substrate 21.

[0036] Furthermore, the first clamping structure 20 also includes a first guide post 24, a first guide hole 211 is provided on the first substrate 21, one end of the first guide post 24 is connected to the first adsorption member 22, and the other end of the first guide post 24 extends toward the first substrate 21 and passes through the first guide hole 211.

[0037] In this embodiment, a first guide post 24 is added to the first clamping structure 20, and the movement trajectory of the guide post is constrained by the guide hole on the first substrate 21, so that the first adsorption member 22 always moves in a straight line along a preset path when it moves under the action of the driving member. The cooperation between the guide post and the guide hole effectively suppresses the shaking or deflection of the adsorption member during the movement. Especially when adsorbing a top cover with a large weight, it can avoid clamping failure caused by lateral displacement and improve the repeatability and positioning accuracy of the clamping action.

[0038] Furthermore, there are multiple first guide posts 24, and the first guide posts 24 are symmetrically arranged relative to the first driving member 23.

[0039] Multiple first guide posts 24 are symmetrically arranged relative to the first driving component 23, forming a symmetrical guiding structure. This design balances the torque generated by uneven load during the movement of the adsorption component by dispersing the guiding force at multiple points, preventing wear caused by overload on one side of the guide post. The symmetrical layout also further enhances the system rigidity, ensuring that the adsorption component maintains vertical movement stability under high-speed lifting conditions, thus extending the service life of the device.

[0040] In some embodiments of this application, the second clamping structure 30 includes a second substrate 31, a second adsorption member 32, and a second driving member 33. The second substrate 31 is connected to the side frame 12. The second adsorption member 32 is disposed in the unpacking space 13. The second driving member 33 is used to drive the second adsorption member 32 to approach or move away from the second substrate 31. The second adsorption member 32 is connected to the second substrate 31 through the second driving member 33.

[0041] This embodiment provides a specific structure of the second clamping structure 30, which includes a second substrate 31, a second adsorption member 32, and a second driving member 33. The second driving member 33 drives the adsorption member to move closer to or further away from the substrate, realizing dynamic adsorption and release of the side of the box to be disassembled. Specifically, the second substrate 31 serves as a rigid support platform and is fixedly connected to the top frame 11 to ensure the overall structural stability. The dynamic driving of the second driving member 33 can adjust the clamping stroke, ensuring stable contact between the second adsorption member 32 and the side of the box to be disassembled. This avoids deformation of the box due to excessive local pressure or insufficient adsorption force due to gaps between the second adsorption member 32 and the side. It also allows for adaptation to boxes of different sizes by changing the relative position of the second adsorption member 32 and the second substrate 31.

[0042] Furthermore, the second clamping structure 30 also includes a second guide post 34, a second guide hole 311 is provided on the second substrate 31, one end of the second guide post 34 is connected to the second adsorption member 32, and the other end of the second guide post 34 extends toward the second substrate 31 and passes through the second guide hole 311.

[0043] In this embodiment, a second guide post 34 is further added to the second clamping structure 30, and the movement trajectory of the guide post is constrained by the guide hole on the second substrate 31, so that the second adsorption member 32 always moves in a straight line along a preset path when it moves under the action of the driving member. The cooperation between the guide post and the guide hole effectively suppresses the shaking or deflection of the adsorption member during the movement. Especially when adsorbing a top cover with a large weight, it can avoid clamping failure caused by lateral displacement and improve the repeatability and positioning accuracy of the clamping action.

[0044] Furthermore, there are multiple second guide posts 34, and the second guide posts 34 are symmetrically arranged relative to the second driving member 33.

[0045] Multiple second guide posts 34 are symmetrically arranged relative to the second drive component 33, forming a symmetrical guiding structure. This design balances the torque generated by uneven load during the movement of the adsorption component by dispersing the guiding force at multiple points, preventing wear caused by overload on one side of the guide post. The symmetrical layout also further enhances the system rigidity, ensuring that the adsorption component maintains vertical movement stability under high-speed lifting conditions, thus extending the service life of the device.

[0046] Please refer to the following: Figure 6 , Figure 6 yes Figure 1 The enlarged view of region A in the middle shows the structure of probe 40.

[0047] In some embodiments of this application, the adsorption device further includes a probe 40, which includes: a needle sleeve 41 connected to the top frame 11, with a needle hole 411 formed on the needle sleeve 41 facing the unpacking space; a needle tip 42 inserted into the needle hole 411; and a trigger 43 connected to the needle sleeve 41 and spaced apart from the needle tip 42. When the needle tip 42 abuts against the box to be unpacked, the needle tip 42 slides relative to the needle sleeve 41 and contacts the trigger 43.

[0048] In this embodiment, the probe 40 structure achieves precise positioning before gripping by triggering a contact signal between the needle tip 42 and the top surface of the housing. Specifically, when the needle tip 42 abuts against the housing, it slides relative to the needle sleeve 41 and contacts the trigger 43, generating a position feedback signal. The control system uses this signal to calibrate the spatial coordinates of the adsorption device. This mechanical contact detection compensates for potential errors in purely visual positioning. Especially in reflective or low-contrast environments, the direct physical contact of the probe 40 provides a reliable zero-point positioning reference, ensuring the accuracy of the starting position of the gripping action.

[0049] Please refer to the following: Figure 7 , Figure 7 yes Figure 1 The enlarged view of region B shows the overall structure of the visual control structure 50.

[0050] In some embodiments of this application, the adsorption device further includes a visual control structure 50, which includes: a first base 51, on which a plurality of first positioning holes 511 are formed along a first direction; a first connector 52, which passes through a portion of the first positioning holes 511 and is connected to the frame 10; a second base 53, on which a plurality of second positioning holes 531 are formed along a second direction, the first direction being perpendicular to the second direction; a second connector 54, which passes through a portion of the second positioning holes 531 and is connected to the first base 51; and a visual probe 55, which is connected to the second base 53.

[0051] The vision control structure 50 adopts a series base design. The first base 51 is adjustable in the first direction through multiple first positioning holes 511, and the second base 53 is adjusted in the second direction through multiple second positioning holes 531, allowing the vision probe 55 to freely adjust its observation angle and position in space. By selecting different combinations of positioning holes, the vision system can quickly adapt to the feature recognition needs of boxes of different sizes. For example, for small boxes, the observation distance of the vision probe 55 can be shortened to improve resolution, or for irregularly shaped boxes, the viewing angle can be adjusted to avoid obstructed areas, greatly improving the versatility of vision positioning.

[0052] Please refer to the following: Figure 8 , Figure 8 This is a schematic diagram of the overall structure of the unpacking device provided in this embodiment of the utility model.

[0053] To solve the above-mentioned technical problems, this utility model also discloses a box unpacking device, which includes: a conveyor belt 60 and an adsorption device of any of the above-mentioned components. The conveyor belt 60 is used to transport the box to be unpacked; the adsorption device is suspended above the conveyor belt 60.

[0054] The unpacking equipment disclosed in this embodiment includes the aforementioned adsorption device; therefore, this unpacking equipment also possesses the technical effects of the aforementioned embodiments. Specifically, the unpacking equipment integrates the adsorption device above the conveyor belt 60, forming an assembly line operation system. The conveyor belt 60 continuously transports the boxes to be unpacked to the positioning area below the adsorption device. After the adsorption device performs a clamping action, the top cover is removed by hoisting, exposing the material inside the box. This adsorption device achieves seamless integration of the unpacking process and logistics transportation, avoiding production line interruptions caused by box transfers. It is particularly suitable for high-frequency, high-volume industrial production scenarios.

[0055] In some embodiments of this application, the conveyor belt 60 is used to transport the box to be disassembled in a third direction; the unpacking equipment also includes a lifting device 70, which includes a truss 71 and a lifting claw 72. The truss 71 spans over the conveyor belt 60, and the lifting claw 72 is slidably connected to the truss 71 in a fourth direction. The third direction is perpendicular to the fourth direction, and an adsorption device is connected to the lifting claw 72 and suspended above the conveyor belt 60.

[0056] The truss 71 of the hoisting device 70 spans the conveyor belt 60, and the lifting claw 72 moves along a fourth direction perpendicular to the conveying direction. Combined with the vertical movement of the lifting claw 72, this enables the adsorption device to have two-dimensional motion capabilities within a plane. Combined with the third-dimensional conveying of the conveyor belt 60, a three-dimensional motion space is formed, allowing for dynamic tracking and unpacking operations of multiple continuously conveyed boxes.

[0057] It should be noted that all directional indicators (such as up, down, left, right, front, back, etc.) in this utility model embodiment are only used to explain the relative positional relationship and movement of each component in a specific posture. If the specific posture changes, the directional indicator will also change accordingly.

[0058] It should also be noted that when a component is referred to as being "fixed to" or "set on" another component, it can be directly on the other component or may be connected to an intermediary component. When a component is referred to as being "connected to" another component, it can be directly connected to the other component or indirectly connected to the other component through an intermediary component.

[0059] Furthermore, the use of terms such as "first" and "second" in this utility model is for descriptive purposes only and should not be construed as indicating or implying their relative importance or implicitly specifying the number of technical features indicated. Therefore, a feature defined as "first" or "second" may explicitly or implicitly include at least one of that feature. Additionally, the technical solutions of the various embodiments can be combined with each other, but only on the basis of being achievable by those skilled in the art. When the combination of technical solutions is contradictory or impossible to implement, such a combination of technical solutions should be considered non-existent and not within the scope of protection claimed by this utility model.

[0060] The above description is only a preferred embodiment of the present utility model and does not limit the patent scope of the present utility model. All equivalent structural transformations made under the design concept of the present utility model using the contents of the present utility model specification and drawings, or direct / indirect applications in other related technical fields, are included within the patent protection scope of the present utility model.

Claims

1. An adsorption device, characterized by, The application relates to an adsorption device for a box body, which comprises the following parts: a frame body, which comprises a top frame and side frames, the side frames being connected with the top frame and surrounding a box disassembling space for accommodating a box body to be disassembled; a first clamping structure connected with the top frame, the first clamping structure being used for clamping the top surface of the box body to be disassembled; a plurality of second clamping structures connected with the side frames, at least two of the second clamping structures being oppositely arranged, and the plurality of second clamping structures being used for clamping at least two opposite side surfaces of the box body to be disassembled; a probe, which comprises a needle sleeve connected with the top frame, a needle hole being formed in the needle sleeve and facing the box disassembling space; a needle head arranged in the needle hole; and a trigger connected with the needle sleeve and oppositely arranged with the needle head, the needle head being in contact with the trigger when the needle head abuts against the box body to be disassembled.

2. The adsorption device of claim 1, wherein The first clamping structure comprises: a first base plate connected with the top frame; a first suction accessory arranged in the box disassembling space; a first driving member for driving the first suction accessory to move close to or away from the first base plate, the first suction accessory being connected with the first base plate through the first driving member.

3. The adsorption device of claim 2, wherein The first clamping structure further comprises a first guide column, a first guide hole being formed in the first base plate, one end of the first guide column being connected with the first suction accessory, and the other end of the first guide column extending towards the first base plate and penetrating through the first guide hole.

4. The adsorption device of claim 3, wherein The first guide column has a plurality of first guide columns, and the first guide columns are symmetrically arranged relative to the first driving member.

5. The adsorption device of claim 1, wherein The second clamping structure comprises: a second base plate connected with the side frame; a second suction accessory arranged in the box disassembling space; a second driving member for driving the second suction accessory to move close to or away from the second base plate, the second suction accessory being connected with the second base plate through the second driving member.

6. The adsorption device of claim 5, wherein The second clamping structure further comprises a second guide column, a second guide hole being formed in the second base plate, one end of the second guide column being connected with the second suction accessory, and the other end of the second guide column extending towards the second base plate and penetrating through the second guide hole.

7. The adsorption device of claim 6, wherein The second guide column has a plurality of second guide columns, and the second guide columns are symmetrically arranged relative to the second driving member.

8. The adsorption device according to any one of claims 1 to 6, characterized in that The adsorption device further comprises a visual control structure, which comprises: a first base, a plurality of first positioning holes being formed in the first base along a first direction; a first connecting member, the first connecting member penetrating through part of the first positioning holes and being connected with the frame body; a second base, a plurality of second positioning holes being formed in the second base along a second direction, the first direction being perpendicular to the second direction; a second connecting member, the second connecting member penetrating through part of the second positioning holes and being connected with the first base; a visual probe connected with the second base.

9. A de-boxing apparatus characterized by, The application further relates to a box disassembling system, which comprises the following parts: a conveying belt for conveying a box body to be disassembled; the adsorption device according to any one of claims 1-8, the adsorption device being suspended above the conveying belt.

10. The de-boxing apparatus of claim 9, wherein, The conveying belt is used for transporting the box to be disassembled in a third direction; the box disassembling device further comprises a hoisting device, the hoisting device comprises a truss and a lifting claw, the truss is transverse above the conveying belt, the lifting claw is in sliding connection with the truss in a fourth direction, the third direction is perpendicular to the fourth direction, and the adsorbing device is connected with the lifting claw and is suspended above the conveying belt.

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