A negative pressure transfer device

Abstract

The utility model discloses a kind of negative pressure transfer devices, it is related to the technical field of transfer device, including translation mechanism, lifting mechanism and negative pressure adsorption mechanism, lifting mechanism is connected on translation mechanism, negative pressure adsorption mechanism is connected on lifting mechanism, suction disc is arranged on negative pressure adsorption mechanism, suction disc is used to transport granular material after adsorption positioning to positioning fixture.The utility model in the granular material is realized by negative pressure adsorption mechanism nondestructive adsorption, and there is no appearance damage in process;The position of granular material is transferred using translation mechanism and lifting mechanism, can be applied in betel nut processing equipment field, especially suitable for betel nut core automatic processing equipment, can be realized nondestructive transfer of betel nut.

Description

Technical Field

[0001] This utility model relates to the technical field of transfer devices, and in particular to a negative pressure transfer device. Background Technology

[0002] Areca catechu L., a member of the Arecaceae family in the order Arecales, is an evergreen tree with an erect, tree-like stem, reaching heights of over 10 meters, sometimes up to 30 meters. It has distinct annular leaf scars, is monoecious, and has multi-branched inflorescences. The ovary is oblong, the fruit is oblong or ovoid, and the seeds are ovoid. Flowering and fruiting occur from March to April. Areca catechu contains over 20 trace elements, 11 of which are essential for the human body. It also possesses pharmacological effects such as anthelmintic properties, stimulant effects, gastrointestinal motility enhancement, antioxidant and anti-aging properties, antidepressant effects, anti-inflammatory effects, and antibacterial effects. It can be used to treat malaria, depression, hypertension, hyperlipidemia, diabetes, and other diseases.

[0003] Areca nut has high economic value, with approximately 1,500-2,000 trees planted per hectare. In many areas, people have a long-standing tradition of consuming areca nut, making it a primary chewing food. The processing industry alone generates 3.5 billion yuan in output value and provides 200,000 jobs. The market potential is significant, and with the infusion of science and technology, the variety of processed products is increasing, the consumer market is gradually expanding, and the market prospects are even better.

[0004] Peeling and removing the pits are core processes in the deep processing of areca nuts, directly affecting the shaping of areca nut slices and the overall processing effect. Currently, most areca nut pitting is done manually, resulting in slow processing efficiency and a large workforce. Since areca nuts are naturally grown fruits, each one has a unique shape, making it difficult to ensure a uniform, upward-facing cut. Therefore, achieving directional handling during transport is a key aspect of automating the pitting and core removal process for areca nuts.

[0005] Currently, most equipment for handling sliced ​​areca nuts uses needles to pierce the areca nut shells. Since areca nuts are naturally grown fruits, each one is different in shape. While handling with fine-diameter needles can minimize damage to the pulp, long-term use can lead to material wear or breakage, and metal residue can affect food safety. Handling with coarse-diameter needles significantly damages the pulp, affecting product processing and damaging the pulp fibers, resulting in defective products and affecting the taste of the areca nut fiber layer. Needle handling cannot place the cut surface of the areca nut flat, making it impossible to perform the pitting process properly and also failing to achieve damage-free handling during the process. Utility Model Content

[0006] The purpose of this invention is to provide a negative pressure transfer device to solve the problems existing in the prior art, so that particulate materials can be transferred through negative pressure adsorption without any damage to their shape during the process.

[0007] To achieve the above objectives, this utility model provides the following solution: This utility model provides a negative pressure transfer device, including a translation mechanism, a lifting mechanism and a negative pressure adsorption mechanism. The translation mechanism is connected to the lifting mechanism, and the lifting mechanism is connected to the negative pressure adsorption mechanism. The negative pressure adsorption mechanism is provided with a suction cup, which is used to adsorb and transport the positioned particulate material to the positioning fixture.

[0008] Preferably, a longitudinal movement mechanism is connected to the lifting mechanism, the longitudinal movement mechanism is arranged perpendicularly to the translation mechanism, and the lifting mechanism is connected to the longitudinal movement mechanism.

[0009] Preferably, the translation mechanism, the longitudinal translation mechanism, and the lifting mechanism are all selected from any one of the following: belt conveyor, chain conveyor, linear motor, lead screw and slider mechanism, electric push rod, cylinder, or hydraulic cylinder; a guide assembly is provided on one side of the lifting mechanism, the guide assembly includes a guide seat and a slide seat, the guide seat is connected to the housing of the lifting mechanism, the slide seat is connected to the moving part of the lifting mechanism, a slide rail is provided on the guide seat, a slide groove is provided on the slide seat, the slide rail and the slide groove are slidably matched, and the negative pressure adsorption mechanism is connected to the slide seat.

[0010] Preferably, a rotating mechanism is connected to the lifting mechanism. The rotating mechanism includes any one of a rotary cylinder, a motor, or a positioning swing mechanism, and the swing mechanism is capable of swinging at least 30°.

[0011] Preferably, the positioning swing mechanism includes a telescopic rod and a fixed plate hinged together. One end of the fixed plate is hinged to the outer shell of the telescopic rod via a pin, and the other end is connected to the negative pressure adsorption mechanism via a pin. The outer shell of the telescopic rod is connected to the lifting mechanism. The pin is fixedly connected to the negative pressure adsorption mechanism. A swing rod is fixedly connected to the pin. The swing rod is hinged to the top rod of the telescopic rod. The pin can swing at least 30° under the drive of the telescopic rod.

[0012] Preferably, the telescopic rod is any one of an electric push rod, a pneumatic cylinder, or a hydraulic cylinder.

[0013] Preferably, the negative pressure adsorption mechanism includes a compressed air source, a negative pressure generating device, and the suction cup. The negative pressure generating device is connected to the lower end of the pin shaft. The negative pressure generating device is connected to the compressed air source through an air pipe. The upper opening of the suction cup is connected to the lower opening of the negative pressure generating device by a radially arranged bolt.

[0014] Preferably, the negative pressure generating device includes any one of a high-flow-rate vacuum conveyor, a high-speed fan, a turbine fan, a vacuum pump, and a high-flow-rate vacuum generator; the flow rate of the negative pressure airflow of the negative pressure generating device is at least 200 NL / min.

[0015] Preferably, the suction cup has an inverted T-shaped cross-section, a flat bottom surface with an opening that allows airflow through a negative pressure suction port, and gripper grooves on both sides. The gripper grooves match the grippers of the positioning fixture. The gripper grooves are inverted U-shaped grooves, and the grippers slide within the gripper grooves.

[0016] Preferably, the positioning fixture includes a fixed base, a bidirectional telescopic mechanism, and a telescopic gripper assembly. A pair of bidirectional telescopic mechanisms are symmetrically connected to both sides of the fixed base, and a set of telescopic gripper assemblies are connected to both ends of the bidirectional telescopic mechanism to form a hexahedral space.

[0017] Preferably, the telescopic gripper assembly includes a housing, grippers, and a spring. The spring is disposed inside the housing. One end of the gripper is fitted with the spring, and the other end extends out of the housing and can be inserted into the gripper groove. The spring is located between the limiting protrusion of the gripper and the housing. The bottom surface of the outer end of the gripper is provided with a stepped surface for clamping granular materials. The stepped surface is used to clamp the edge of the granular materials. The horizontal plane of the stepped surface is not lower than the bottom surface of the suction cup. The distance between the two grippers arranged opposite each other is not greater than the width of the smallest granular material. The bottom of the fixing base is provided with a V-shaped telescopic top block or an array of telescopic pins.

[0018] The present invention achieves the following technical advantages over the prior art: This invention enables non-destructive adsorption of particulate materials through a negative pressure adsorption mechanism, without any damage to the material's shape during the process. It utilizes a translation mechanism and a lifting mechanism to achieve the positional transfer of particulate materials, making it applicable to the field of areca nut processing equipment, especially suitable for automatic areca nut pitting and core removal processing equipment, ensuring non-destructive transfer of areca nuts. Attached Figure Description

[0019] To more clearly illustrate the technical solutions in the embodiments of this utility model or the prior art, the drawings used in the embodiments 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 these drawings without creative effort.

[0020] Figure 1 This is a schematic diagram of the negative pressure transfer device in the first embodiment of this utility model. Figure 1 ; Figure 2This is a schematic diagram of the negative pressure transfer device in the first embodiment of this utility model. Figure 2 ; Figure 3 This is a schematic diagram of the negative pressure transfer device in the first embodiment of this utility model. Figure 3 ; Figure 4 This is a schematic diagram of the exploded structure of the negative pressure transfer device in Embodiment 1 of this utility model; Figure 5 This is a schematic diagram of the positioning swing mechanism in Embodiment 1 of this utility model; Figure 6 This is a schematic diagram showing the rotational changes of the positioning swing mechanism in an embodiment of this utility model; Figure 7 This is a schematic diagram of the positioning clamp in an embodiment of the present utility model; Figure 8 This is a schematic diagram of the telescopic gripper assembly in an embodiment of the present invention; Figure 9 This is a schematic diagram of the negative pressure adsorption mechanism in an embodiment of the present invention; Figure 10 This is a schematic diagram of the suction cup structure in an embodiment of the present invention; Figure 11 This is a schematic diagram of the assembly structure of the rotary cylinder in Embodiment 2 of this utility model; In the diagram: 1-Translation mechanism, 2-Lifting mechanism, 3-Guide seat, 4-Slide seat, 5-Slide rail, 6-Rotation mechanism, 7-Telescopic rod, 8-Fixed plate, 9-Swing rod, 10-Pin shaft, 11-Negative pressure generating device, 12-Suction cup, 13-Negative pressure adsorption port, 14-Claw groove, 15-Fixed seat, 16-Housing shell, 17-Claw, 18-Spring, 19-Step surface, 20-Positioning conveying device, 21-Positioning fixture, 22-High-speed fan. Detailed Implementation

[0021] 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.

[0022] It should be noted that in the description of this utility model, the terms "upper," "lower," "left," "right," "inner," "outer," "front," "rear," "clockwise," and "counterclockwise," etc., indicating directions or positional relationships, are based on the directions or positional relationships shown in the accompanying drawings. These are merely for ease of description and do not indicate or imply that the device or element must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, they should not be construed as limitations on this utility model. Furthermore, the terms "first," "second," "third," and "fourth" are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of indicated technical features. Thus, features defined with "first," "second," "third," and "fourth" may explicitly or implicitly include one or more of the stated features. In the description of this utility model, "a plurality of" means two or more, unless otherwise explicitly specified.

[0023] Furthermore, it should be noted that, in the description of this utility model, unless otherwise explicitly specified and limited, the terms "set," "connected," and "linked" should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral connection; they can refer to a mechanical connection or an electrical connection; they can refer to a direct connection or an indirect connection through an intermediate medium; and they can refer to the internal connection of two components. Those skilled in the art can understand the specific meaning of the above terms in this utility model according to the specific circumstances.

[0024] The purpose of this invention is to provide a negative pressure transfer device to solve the problems existing in the prior art, so that particulate materials can be transferred through negative pressure adsorption without any damage to their shape during the process.

[0025] To make the above-mentioned objectives, features and advantages of this utility model more apparent and understandable, the utility model will be further described in detail below with reference to the accompanying drawings and specific embodiments.

[0026] Example 1 like Figures 1 to 10 As shown, this embodiment provides a negative pressure transfer device, including a translation mechanism 1, a lifting mechanism 2, and a negative pressure adsorption mechanism. The translation mechanism 1 is connected to the lifting mechanism 2, and the lifting mechanism 2 is connected to the negative pressure adsorption mechanism. The negative pressure adsorption mechanism is equipped with a suction cup 12, which is used to adsorb and transport the positioned granular material to the positioning fixture 21. In this embodiment, the negative pressure adsorption mechanism enables the granular material to be adsorbed without damage to its shape during the process. The translation mechanism 1 and the lifting mechanism 2 are used to realize the position transfer of the granular material, which can be applied in the field of areca nut processing equipment, especially suitable for automatic areca nut pitting and core removal processing equipment, and can ensure the non-destructive transfer of areca nuts.

[0027] As an optional solution, a guide assembly is provided on one side of the lifting mechanism 2. The guide assembly includes a guide seat 3 and a slide 4. The guide seat 3 is connected to the outer shell of the lifting mechanism 2, and the slide 4 is connected to the moving part of the lifting mechanism 2. A slide rail 5 is provided on the guide seat 3, and a slide groove is provided on the slide 4. The slide rail 5 and the slide groove slide and match. A negative pressure adsorption mechanism is connected to the slide 4 to prevent the negative pressure adsorption mechanism from rotating during the lifting process. Especially when the lifting mechanism 2 is an electric push rod, a cylinder or a hydraulic cylinder, it can realize the limited lifting of the negative pressure adsorption mechanism.

[0028] As an optional solution, in this embodiment, a rotating mechanism 6 is connected to the lifting mechanism 2. The rotating mechanism 6 includes any one of a rotary cylinder 22, a motor, or a positioning swing mechanism. The swing mechanism can swing at least 30°. In this embodiment, the swing mechanism is set to swing 90°±10°. The swing angle can be finely adjusted (by error) through the external thread of the hydraulic buffer. It can realize the directional rotation of the granular material according to the spatial layout, ensuring that the material can reach the designated position. The translation mechanism 1, the lifting mechanism 2, and the rotating mechanism 6 are all connected to a control unit. The control unit can set the movement trajectory and stroke of the suction cup 12. The translation mechanism 1 and the lifting mechanism 2 can be any one of a belt conveyor mechanism, a chain conveyor mechanism, a linear motor, a lead screw and slider mechanism, an electric push rod, a cylinder, or a hydraulic cylinder, as long as translation can be achieved.

[0029] As an optional solution, the positioning swing mechanism in this embodiment includes a telescopic rod 7 and a fixed plate 8 hinged together. One end of the fixed plate 8 is hinged to the outer shell of the telescopic rod 7 via a pin 10, and the other end is connected to a negative pressure adsorption mechanism via a pin 10. The outer shell of the telescopic rod 7 is connected to the lifting mechanism 2. The pin 10 is fixedly connected to the negative pressure adsorption mechanism. A swing rod 9 is fixedly connected to the pin 10. The swing rod 9 is hinged to the top rod of the telescopic rod 7. The pin 10 can swing at least 30° under the drive of the telescopic rod 7. In this embodiment, the swing mechanism is set to swing 90°±10°. The swing angle can be finely adjusted (error) through the external thread of the hydraulic buffer to realize the directional rotation of the granular material and ensure that the material can reach the designated position. In this embodiment, the telescopic rod 7 is preferably a cylinder. The fixed plate 8 is L-shaped. One end of the swing rod 9 is a pipe clamp and is fixedly sleeved on the pin 10 by bolts. The other end is hinged to the top rod of the cylinder. The positioning swing mechanism and the rotation mechanism 6 can be set or not according to the site space requirements.

[0030] As an alternative, in this embodiment, the telescopic rod 7 can be any one of an electric push rod, a pneumatic cylinder, or a hydraulic cylinder, as long as it can drive the swing rod 9 to rotate.

[0031] As an optional solution, the negative pressure adsorption mechanism in this embodiment includes a compressed air source, a negative pressure generating device 11, and a suction cup 12. The negative pressure generating device 11 is connected to the lower end of the pin 10 and is connected to the compressed air source through an air pipe. The upper opening of the suction cup 12 is connected to the lower opening of the negative pressure generating device 11 by a radially arranged bolt. The gas outlet of the negative pressure generating device 11 can be connected to a collection container through a pipe. Since there will be debris or small dust particles during the adsorption process of areca nut, they need to be collected and discharged into the collection container. Alternatively, the negative pressure generating device 11 can be an integral structure with the pin 10. The rotation of the pin 10 drives the negative pressure generating device 11 and the suction cup 12 to rotate synchronously to adjust the direction of the particulate material. If no direction adjustment is required, the rotation mechanism 6 can be omitted.

[0032] As an optional solution, the negative pressure generating device 11 in this embodiment includes any one of the following: a high-flow-rate vacuum conveyor, a high-speed fan, a turbine fan, a vacuum pump, or a high-flow-rate vacuum generator, as long as it satisfies the requirement of adsorption through a high-flow-rate airflow negative pressure method. The flow rate of the negative pressure airflow of the negative pressure generating device 11 is at least 200 NL / min, which is sufficient to adsorb particulate material by overcoming its gravity through the negative pressure airflow. In this embodiment, the negative pressure generating device 11 is a high-flow-rate vacuum generator. Compressed air flows into the annular high-pressure chamber through the side air port of the high-flow-rate vacuum generator and then flows out at high speed through the top exhaust port of the high-flow-rate vacuum generator. This high-speed airflow will generate a low-pressure zone (or vacuum zone) at the negative pressure adsorption port 13. As a result, the material at the negative pressure adsorption port 13 will be adsorbed by the high-pressure airflow below the suction cup 12 until it is input to the designated position, at which point the negative pressure adsorption stops.

[0033] As an alternative, in this embodiment, the suction cup 12 has an inverted T-shaped cross-section, and the bottom surface of the suction cup 12 is flat and has an opening that allows airflow to pass through the negative pressure suction port 13. Several through gripper grooves 14 are opened on both sides. The gripper grooves 14 match the grippers 17 of a positioning fixture 21. The gripper grooves 14 are inverted U-shaped grooves, and the grippers 17 are slidably disposed in the gripper grooves 14. In this embodiment, the shape of the suction cup 12 can be designed as boat-shaped, square, round, elliptical, etc., depending on the actual working conditions. The number of gripper grooves 14 can be set as one or more depending on the working conditions. The cross-sectional shape of the gripper groove 14 is inverted U-shaped or other shapes, as long as it can avoid the shape of the gripper 17. The bottom of the suction cup 12 is provided with a negative pressure adsorption port 13, which is not limited to the shape and number of holes, as long as it can connect to the negative pressure airflow. Taking the adsorption of areca nut as an example, the rectangular suction cup 12 used in this embodiment has areca nut slices placed along the length direction. Four gripper grooves 14 are set along the width direction through the long side, corresponding to four pairs of grippers 17. The width and depth of the gripper grooves 14 are slightly larger than the outer dimensions of the grippers 17 to allow for operation error and avoid movement interference. The bottom surface of the suction cup 12 is almost flush with the stepped bottom surface of the gripper 17, and the gripper 17 can pass through the gripper grooves 14 and be engaged with the top and side of the areca nut slice, which facilitates the transfer of the particulate material in the process.

[0034] As an optional solution, in this embodiment, the positioning fixture 21 includes a fixed base 15, a bidirectional telescopic mechanism, and a telescopic gripper assembly. A pair of bidirectional telescopic mechanisms are symmetrically connected to both sides of the fixed base 15, and a set of telescopic gripper assemblies are connected to each end of the bidirectional telescopic mechanism, forming a hexahedral space. In this embodiment, a cuboid space is formed to accommodate at least one granular material, while simultaneously performing mechanical contour positioning of the granular material. The number of sliced ​​areca nuts that can be accommodated can match the requirements of the subsequent pitting process.

[0035] As an optional solution, in this embodiment, the telescopic gripper assembly includes a housing 16, a gripper 17, and a spring 18. The spring 18 is disposed inside the housing 16. One end of the gripper 17 is fitted with the spring 18, and the other end extends out of the housing 16 and can be inserted into the gripper groove 14. The spring 18 is located between the limiting protrusion of the gripper 17 and the housing 16. The limiting protrusion of the gripper 17 can prevent the gripper 17 from slipping out of the housing 16. The bottom surface of the outer end of the gripper is provided with a stepped surface 19 for clamping materials. The stepped surface 19 is used to clamp the edge of the granular material. The horizontal plane of the step surface 19 is not lower than the bottom surface of the suction cup, which is used to limit the cut surface of the sliced ​​areca nut. At the same time, the length of the horizontal section of the step surface 19 is not greater than the wall thickness of the sliced ​​areca nut to avoid affecting the subsequent pitting process. The distance between the two relatively set grippers 17 is not greater than the width of the minimum material. The bottom of the fixed seat 15 is provided with a V-shaped top block or an array of telescopic pins, as long as it can achieve flexible positioning of the granular material (with telescopic function), which is used to receive the bottom of the granular material and perform contour positioning.

[0036] This embodiment also includes a control unit. The longitudinal movement mechanism, translation mechanism 1, lifting mechanism 2, rotating mechanism 6, and negative pressure adsorption mechanism are all connected to the control unit. Taking the transfer of sliced ​​areca nuts as an example, the negative pressure transfer device requires a positioning and conveying device 20 for the sliced ​​areca nuts to ensure that the cut surfaces of the sliced ​​areca nuts are evenly arranged with the cut surfaces facing upwards. The suction cup 12 enables the granular material to be adsorbed without damage, and there is no damage to the shape during the process. The translation mechanism 1, lifting mechanism 2, and rotating mechanism 6 are then used to realize the spatial transfer of the granular material. This device can be applied in the field of areca nut processing equipment, especially suitable for automatic areca nut pitting and core removal processing equipment. It can ensure the non-destructive transfer of areca nuts and is worthy of large-scale promotion and use in the areca nut pitting and core removal processing equipment industry.

[0037] Example 2 like Figure 11 As shown, this embodiment provides a negative pressure transfer device. Unlike the first embodiment, this embodiment does not have a rotating mechanism 6. The lifting mechanism 2 is directly connected to the negative pressure generating device 11 through the connecting arm. The negative pressure generating device 11 is a high-speed fan 22, and the airflow of the high-speed fan 22 is at least 200 NL / min.

[0038] Example 3 This embodiment provides a negative pressure transfer device. Unlike the first embodiment, in this embodiment, a longitudinal movement mechanism can be connected to the lifting mechanism 2. The longitudinal movement mechanism is set perpendicularly to the translation mechanism 1. The lifting mechanism 2 is connected to the longitudinal movement mechanism to form a three-dimensional spatial movement mechanism, so that the negative pressure adsorption mechanism can move arbitrarily in three-dimensional space.

[0039] As an optional solution, in this embodiment, the translation mechanism 1, the longitudinal movement mechanism, and the lifting mechanism 2 can all be any one of the following: belt conveyor, chain conveyor, linear motor, screw and slider mechanism, electric push rod, cylinder, or hydraulic cylinder, as long as it can achieve three-dimensional spatial movement and meet the needs of on-site spatial transfer. The translation mechanism 1, the longitudinal movement mechanism, and the lifting mechanism 2 can also be provided with only one or two of them.

[0040] In the description of this specification, the references to terms such as "one embodiment," "some embodiments," "illustrative embodiment," "this embodiment," "specific example," or "some examples," etc., refer to specific features, structures, materials, or characteristics described in connection with the described embodiment or example, which are included in at least one embodiment or example of this utility model. In this specification, the illustrative expressions of the above terms do not necessarily refer to the same embodiment or example. Furthermore, the specific features, structures, materials, or characteristics described may be combined in any suitable manner in one or more embodiments or examples.

[0041] This utility model uses specific examples to illustrate its principles and implementation methods. The above description of the embodiments is only for the purpose of helping to understand the method and core idea of ​​this utility model. At the same time, for those skilled in the art, there will be changes in the specific implementation methods and application scope based on the idea of ​​this utility model. In summary, the content of this specification should not be construed as a limitation of this utility model.

Claims

1. A negative pressure transport device, characterized by: It includes a translation mechanism, a lifting mechanism, and a negative pressure adsorption mechanism. The translation mechanism is connected to the lifting mechanism, and the lifting mechanism is connected to the negative pressure adsorption mechanism. The negative pressure adsorption mechanism is equipped with a suction cup, which is used to adsorb and transport the positioned particulate material to the positioning fixture.

2. The negative pressure transfer device according to claim 1, characterized in that: A longitudinal movement mechanism is connected to the lifting mechanism. The longitudinal movement mechanism is perpendicular to the translation mechanism. The lifting mechanism is connected to the longitudinal movement mechanism. The translation mechanism, the longitudinal movement mechanism, and the lifting mechanism are all any one of the following: belt conveyor mechanism, chain conveyor mechanism, linear motor, lead screw and slider mechanism, electric push rod, cylinder, or hydraulic cylinder.

3. The negative pressure transfer device according to claim 1, characterized in that: A guide assembly is provided on one side of the lifting mechanism. The guide assembly includes a guide seat and a slide. The guide seat is connected to the housing of the lifting mechanism, and the slide is connected to the moving part of the lifting mechanism. A slide rail is provided on the guide seat, and a slide groove is provided on the slide. The slide rail and the slide groove slide together. The negative pressure adsorption mechanism is connected to the slide.

4. The negative pressure transfer device according to claim 1, characterized in that: The lifting mechanism is connected to a rotating mechanism, which includes any one of a rotary cylinder, a motor, or a positioning swing mechanism, and the swing mechanism is capable of swinging at least 30°.

5. The negative pressure transfer device according to claim 4, characterized in that: The positioning swing mechanism includes a telescopic rod and a fixed plate hinged together. One end of the fixed plate is hinged to the outer shell of the telescopic rod via a pin, and the other end is connected to the negative pressure adsorption mechanism via a pin. The outer shell of the telescopic rod is connected to the lifting mechanism. The pin is fixedly connected to the negative pressure adsorption mechanism. A swing rod is fixedly connected to the pin. The swing rod is hinged to the top rod of the telescopic rod. The pin can swing at least 30° under the drive of the telescopic rod. The telescopic rod includes any one of an electric push rod, a pneumatic cylinder, or a hydraulic cylinder.

6. The negative pressure transfer device according to claim 5, characterized in that: The negative pressure adsorption mechanism includes a compressed air source, a negative pressure generating device, and a suction cup. The negative pressure generating device is connected to the lower end of the pin shaft and is connected to the compressed air source through an air pipe. The upper opening of the suction cup is connected to the lower opening of the negative pressure generating device by a radially arranged bolt.

7. The negative pressure transfer device according to claim 6, characterized in that: The negative pressure generating device includes any one of a high-flow-rate vacuum conveyor, a high-speed fan, a turbine fan, a vacuum pump, and a high-flow-rate vacuum generator; the flow rate of the negative pressure airflow of the negative pressure generating device is at least 200 NL / min.

8. The negative pressure transfer device according to claim 1, characterized in that: The suction cup has an inverted T-shaped cross-section. The bottom surface of the suction cup is flat and has an opening that allows airflow to pass through the negative pressure suction port. Several through gripper grooves are opened on both sides. The gripper grooves match the grippers of the positioning fixture. The gripper grooves are inverted U-shaped grooves, and the grippers slide within the gripper grooves.

9. The negative pressure transfer device according to claim 8, characterized in that: The positioning fixture includes a fixed base, a bidirectional telescopic mechanism, and a telescopic gripper assembly. A pair of bidirectional telescopic mechanisms are symmetrically connected to both sides of the fixed base, and a set of telescopic gripper assemblies are connected to both ends of the bidirectional telescopic mechanism to form a hexahedral space.

10. The negative pressure transfer device according to claim 9, characterized in that: The telescopic gripper assembly includes a housing, grippers, and a spring. The spring is installed inside the housing. One end of the gripper is fitted with the spring, and the other end extends out of the housing and can be inserted into the gripper groove. The spring is located between the limiting protrusion of the gripper and the housing. The bottom surface of the outer end of the gripper is provided with a stepped surface. The stepped surface is used to clamp the edge of the granular material. The horizontal plane of the stepped surface is not lower than the bottom surface of the suction cup. The distance between two grippers arranged opposite each other is not greater than the width of the smallest granular material. The bottom of the fixing base is provided with a V-shaped telescopic top block or an array of telescopic pins.

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