CN117945321A - Multi-degree-of-freedom compact self-adaptive intelligent cover plate loading and unloading device - Google Patents

Abstract

The invention relates to a multi-degree-of-freedom compact self-adaptive intelligent cover plate loading and unloading device which comprises a linear module, a scissor lifting platform, a clamping jaw mechanism and a sucker module. The linear module comprises two synchronous belt linear guide rails; a scissor lifting platform is arranged between the two synchronous belt linear guide rails; the shear fork lifting platform comprises a beam base, a lifting mechanism and a receiving plate; the middle part of the lower side of the bearing plate is connected with the clamping jaw mechanism through a bolt; and two sides of the lower part of the bearing plate are connected with the clamping jaw mechanism through bolts. The invention has a multi-degree-of-freedom motion structure, so that the mechanism can flexibly cope with various cover plate loading and unloading requirements in a complex industrial environment. In addition, by integrating each component, the invention ensures that the loading and unloading work is finished in the industrial environment with high cleanliness requirement, simultaneously greatly reduces the labor cost and improves the time efficiency of the operation.

Description

Multi-degree-of-freedom compact self-adaptive intelligent cover plate loading and unloading device

Technical Field

The invention relates to the technical field of loading, unloading and transporting, in particular to a multi-degree-of-freedom compact self-adaptive intelligent cover plate loading and unloading device.

Background

The scissor type working platform structure mainly comprises a working platform, a lifting support arm, a driving mechanism and a chassis, is working equipment with wide application, can be widely applied to working occasions such as logistics systems, workshop assembly and the like, and has the characteristics of strong bearing capacity, large working face, stable performance, wide application range and the like. However, the existing scissor type working platform has the disadvantages of complex and heavy structure, low automation degree, low motion precision and poor motion stability, and can only perform lifting motion control in the vertical direction. At present, a plurality of domestic institutions all have structural designs related to a scissor type working platform, and the requirements are solved to a certain extent.

In industrial environments, many box structures require the use of cover plates for sealing, and these environments often require high levels of cleanliness and freedom. In order to ensure the cleanness of the internal environment of the box body, the traditional manual loading and unloading process of the cover plate is very tedious and easily causes the problem of environmental pollution. Problems with conventional manual operations include cumbersome process, error prone, large human resources occupation, and difficulty in adapting to the 24 hour uninterrupted operation.

Disclosure of Invention

The invention aims to overcome the defects of the prior art and provide the multi-degree-of-freedom compact self-adaptive intelligent cover plate loading and unloading device.

The aim of the invention can be achieved by the following technical scheme:

the invention provides a multi-freedom-degree compact self-adaptive intelligent cover plate loading and unloading device, which comprises: the device comprises a linear module, a scissor lifting platform, a clamping jaw mechanism and a sucker module.

The linear module comprises two synchronous belt linear guide rails and an industrial CCD camera; and a scissor lifting platform is arranged between the two synchronous belt linear guide rails, and the industrial CCD camera is arranged on the scissor lifting platform.

The shear fork lifting platform comprises a beam base, a lifting mechanism and a receiving plate; the lower part of the lifting mechanism is connected with the beam base, and the upper part of the lifting mechanism is connected with the bearing plate; the lifting mechanism can drive the bearing plate to lift up and down; the bearing plate is provided with a groove; the shear fork lifting platform can slide along the synchronous belt linear guide rail; the groove is used for the clamping jaw mechanism to pass through.

The clamping jaw mechanism is connected to the lower side of the bearing plate and comprises clamping jaws, and the clamping jaws extend out through the grooves to clamp or release the cover plate.

The sucking disc module is connected to the downside of the bearing plate, the sucking disc module comprises a sucking disc, and the sucking disc (stretching out through the groove to adsorb the cover plate).

Further, the linear module further comprises a first slewing bearing, a stepping motor, a cross beam, a second slewing bearing and a cross roller guide rail; the stepping motor is arranged at the end part of the synchronous belt linear guide rail; the synchronous belt linear guide rail is provided with a synchronous belt sliding block, and the stepping motor provides power for the synchronous belt sliding block; the cross beam is arranged on the synchronous belt sliding block.

Still further, hold-in range linear guide both sides bottom is provided with the support, the sharp module passes through the support is installed on outside organism frame.

Further, the first side cross beam is connected with the synchronous belt sliding block through a first slewing bearing; the second side cross beam is connected with the cross roller guide rail and the synchronous belt sliding block through a second slewing bearing.

Further, when the two stepping motors do differential motion, the two synchronous belt sliding blocks do reverse motion to drive the first slewing bearing and the second slewing bearing to rotate, and the cross beam deflects and tilts; the cross roller guide rail slides and stretches due to the inclination of the cross beam, so that deflection is realized, and the deflection angle is-10 degrees to 10 degrees. The linear module can realize two degrees of freedom of translation and rotation in the horizontal direction.

Furthermore, the industrial CCD camera can identify the marker attached to the cover plate, and the posture of the self-adaptive adjusting device enables the bearing plate to be aligned to the cover plate.

Further, the lifting mechanism also comprises an electric push rod mounting seat metal plate, an electric push rod, a bolt type roller bearing, a roller seat and a scissor fork; the beam base is connected with the beam, and two beam bases are arranged in parallel; each beam base is provided with two scissors; the electric push rod is connected with the scissors on two sides through the metal plate of the electric push rod mounting seat; the shearing fork is fixed with the beam base and the bearing plate through the bearing seat and the bolt type roller bearing.

Furthermore, the bolt type roller bearing can roll in the roller seat to realize the lifting of the scissor fork; the roller seats are respectively arranged on the beam base and the bearing plate.

Further, the lower end of the bearing seat at the lower side of the bar is fixedly connected with the beam base, and the upper end of the bearing seat at the upper side is fixedly connected with the bearing plate; the bolt-type roller bearing on the lower side is arranged on the beam base, and the bolt-type roller bearing on the upper side is arranged on the bearing plate.

Further, the bearing plate is provided with a first groove and a second groove; the first grooves are four in shape and are circular; the second groove is provided with one groove and is in a strip shape; the sucker extends out through the first groove to adsorb the cover plate; the clamping jaw stretches out through the second groove to clamp or release the cover plate.

Furthermore, when the electric push rod stretches, the scissors on two sides can be synchronously pushed to rise, so that the bearing plate can be lifted and attached to the cover plate to bear the cover plate. Similarly, when the electric push rod is contracted, the bearing plate can be lowered, and the cover plate which is completely detached can be removed or is far away from the installed cover plate. The scissor lifting platform can realize the freedom degree of translation in the vertical direction.

Further, the clamping jaw mechanism also comprises a clamping jaw linear guide rail, a clamping jaw sliding block and a screw motor; the clamping jaw mechanisms are provided with two groups, and the two groups of clamping jaw mechanisms are arranged in a staggered manner; the clamping jaw is connected with a screw of the screw motor; the clamping jaw is also connected with a clamping jaw linear guide rail through a clamping jaw sliding block.

Further, the two groups of clamping jaw mechanisms share one clamping jaw linear guide rail so that the two clamping jaws slide on the same clamping jaw linear guide rail.

Furthermore, the two clamping jaws can move reversely to clamp the cover plate or clamp the quick-release bayonet on the cover plate, so that the function of installing or detaching the cover plate is completed. The two clamping jaws move in the same direction, so that the transverse position of the cover plate can be adjusted, namely, the degree of freedom in the other horizontal direction is provided. 4

Further, the sucker module further comprises a sucker shaft, a spring, a linear sliding bearing, a proximity switch and a bracket. The bracket is provided with a sucker, a sucker shaft, a spring, a linear sliding bearing and a proximity switch; the sucker is arranged on a sucker shaft, and the sucker shaft is arranged on a linear sliding bearing; the bottom of the bracket is provided with a notch, and the sucker shaft can extend out of the notch; the bottom of the sucker shaft is provided with a spring, and the proximity switch is arranged at the bottom of the inner cavity of the bracket; the support is fixedly arranged on the bearing plate.

Furthermore, the bottom of the sucker shaft is provided with a spring, so that the sucker shaft is in an extending state in a normal state. When the cover plate is attached to the bearing plate, the cover plate can squeeze the sucker shaft and the sucker, so that the sucker can adsorb the cover plate. Meanwhile, the spring is extruded and contracted by the cover plate, and the sucker shaft is retracted. The proximity switch can be triggered when the sucker shaft is retracted, and the relative position and the gesture of the cover plate and the bearing plate can be judged according to the trigger.

Compared with the prior art, the invention has the following advantages:

(1) The invention has a multi-degree-of-freedom motion structure, so that the mechanism can flexibly cope with various cover plate loading and unloading requirements in a complex industrial environment. In addition, by integrating each component, the invention ensures that the loading and unloading work is finished in the industrial environment with high cleanliness requirement, simultaneously greatly reduces the labor cost and improves the time efficiency of the operation.

(2) The invention can realize multiple degrees of freedom in smaller space height, and the height of the whole set of compact type self-adaptive intelligent cover plate loading and unloading device with multiple degrees of freedom can reach 136mm at the lowest.

(3) The invention provides an advanced, efficient and reliable solution for the industrial field, not only can meet the environment with higher requirement on cleanliness, but also provides a more convenient and economical automatic loading and unloading solution for related industries.

Drawings

FIG. 1 is a schematic diagram of the overall structure of a multi-degree-of-freedom compact-type self-adaptive intelligent cover plate loading and unloading device according to an embodiment of the invention;

FIG. 2 is a schematic diagram of a linear module according to an embodiment of the present invention;

FIG. 3 is a schematic structural view of a scissor lift platform according to an embodiment of the invention;

FIG. 4 is a schematic view of a supporting plate according to an embodiment of the present invention;

FIG. 5 is a schematic view of a jaw mechanism according to an embodiment of the present invention;

FIG. 6 is a schematic structural view of a chuck module according to an embodiment of the present invention;

FIG. 7 is a schematic diagram of a stepping motor according to an embodiment of the present invention during differential motion;

FIG. 8 is an enlarged view of a portion of FIG. 7;

FIG. 9 is a schematic diagram of an overall application scenario according to an embodiment of the present invention;

fig. 10 is a schematic diagram of an upper layer application scenario according to an embodiment of the present invention.

Reference numerals in the drawings: 1. a linear module; 101. a synchronous belt linear guide rail; 102. a first slewing bearing; 103. a stepping motor; 104. a cross beam; 105. a second slewing bearing; 106. a cross roller guide; 107. an industrial CCD camera; 2. a scissors lifting platform; 201. a beam base; 202. a receiving plate; 2021. a first groove; 2022. a second groove; 203. sheet metal of an electric push rod mounting seat; 204. an electric push rod; 205. bolt type roller bearing; 206. a roller seat; 207. cutting fork; 3. a jaw mechanism; 301. clamping jaw linear guide rail; 302. a clamping jaw; 303. a jaw slider; 304. a lead screw motor; 4. a suction cup module; 401. a suction cup; 402. a suction cup shaft; 403; a spring; 404. a linear sliding bearing; 405. a proximity switch; 406. a bracket; 5. an outer body frame.

Detailed Description

The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings in the embodiments of the present invention.

In order that the above-recited objects, features and advantages of the present invention will be more clearly understood, a more particular description of the invention will be rendered by reference to the appended drawings and appended detailed description. The embodiments of the present invention and the features in the embodiments may be combined with each other without collision.

In the following description, numerous specific details are set forth in order to provide a thorough understanding of the present invention, and the described embodiments are merely some, rather than all, embodiments of the present invention. All other embodiments, which can be made by those skilled in the art based on the embodiments of the present invention without making any inventive effort, are intended to fall within the scope of the present invention.

Furthermore, the following description of the embodiments refers to the accompanying drawings, which illustrate specific embodiments in which the invention may be practiced. Directional terms, such as "long", "right and left", "up and down", etc., in the present invention are merely directions referring to the attached drawings, and thus, directional terms are used for better and more clearly explaining and understanding the present invention, rather than indicating or implying that the apparatus or element being referred to must have a specific orientation, be constructed and operated in a specific orientation, and thus should not be construed as limiting the present invention. Unless specifically stated or limited otherwise, the terms "mounted," "connected," and "coupled" are to be construed broadly, and may be, for example, fixedly connected, detachably connected, or integrally connected; may be a mechanical connection; can be directly connected or indirectly connected through an intermediate medium, and can be communication between two elements. It will be apparent to those skilled in the art that the foregoing terms have the meanings given herein for the specific description of the present invention.

Examples

The embodiment provides a multi-degree-of-freedom compact self-adaptive intelligent cover plate loading and unloading device, which comprises a linear module 1, a scissor lifting platform 2, a clamping jaw mechanism 3 and a sucker module 4 which are arranged on an external machine body frame 5 as shown in fig. 1.

As shown in fig. 2, the linear module 1 includes two synchronous belt linear guide rails 101, and a scissor lifting platform 2 is disposed between the two synchronous belt linear guide rails 101.

As shown in fig. 3, the scissor lift platform 2 includes a beam base 201, a lifting mechanism, and a receiving plate 202, the lower part of the lifting mechanism is connected with the beam base 201, the upper part of the lifting mechanism is connected with the receiving plate 202, the lifting mechanism can drive the upper receiving plate 202 to lift up and down, the receiving plate 202 is provided with a groove, and the groove is provided for the jaw mechanism 3 to pass through. The scissor lift platform 2 is slidable along the timing belt linear guide 101.

As shown in fig. 5, jaw mechanism 3 is attached to the underside of carrier plate 202, jaw mechanism 3 including jaws 302, jaws 302 extending through the grooves to effect gripping or release of the cover plate.

As shown in fig. 6, the suction cup module 4 is connected to the lower side of the receiving plate 202, the suction cup module 4 includes a suction cup 401, and the suction cup 401 protrudes through the groove to adsorb the cover plate.

More specifically, the linear module 1 includes two timing belt linear guides 101, a first slewing bearing 102, two stepping motors 103, two crossbeams 104, a second slewing bearing 105, and a cross roller guide 106. And supports are arranged below the end parts of the two sides of the synchronous belt linear guide rail 101. The timing belt linear guide 101 is mounted on the outer machine body frame 5 through a mount. The stepping motor 103 is disposed at an end of the timing belt linear guide 101 and provides power for the timing belt linear guide 101.

A synchronous belt slider is arranged on the synchronous belt linear guide rail 101, and a cross beam 104 is arranged on the synchronous belt slider; when the two stepping motors 103 synchronously rotate, the cross beam 104 can be driven to move back and forth along the direction of the synchronous belt linear guide rail 101. The cross beam 104 is not rigidly connected with the synchronous belt slider, and the first side cross beam 104 is connected with the synchronous belt slider through the first slewing bearing 102; the second side rail 104 is connected to the cross roller guide 106 and the timing belt slider via a second slewing bearing 105. The first slewing bearing 102, the second slewing bearing 105 and the cross-roller guide 106 provide an additional degree of rotational freedom for the cross-beam 104. As shown in fig. 7 and 8, when the two stepping motors 103 move in a differential motion, the two synchronous belt sliders move in opposite directions, driving the first slewing bearing 102 and the second slewing bearing 105 to rotate, and the cross beam 104 deflects and tilts. The cross roller guide 106 slides and stretches due to the inclination of the cross beam 104, achieving a deflection of-10 deg.. The linear module 1 can realize two degrees of freedom of translation and rotation in the horizontal direction. The industrial CCD camera 107 can identify the markers attached to the cover plate and adaptively adjust the posture of the device so that the receiving plate is aligned with the cover plate.

More specifically, the scissors lift platform 2 includes a beam base 201, a receiving plate 202, an electric push rod mount sheet metal 203, an electric push rod 204, a bolt-type roller bearing 205, a roller seat 206, and a scissors 207.

The beam 104 is connected with the beam base 201, and the beam base 201 is provided with two and parallel arrangement. The scissors 207 are arranged on the beam bases 201, and each beam base 201 is provided with two scissors 207; the two sides of the scissors 207, which are close to the cross beam 104, are fixed through bearing blocks, the lower end of the bearing block at the lower side is fixedly connected with the cross beam base 201, and the upper end of the bearing block at the upper side is fixedly connected with the bearing plate 202. The adjacent end of the scissors 207 on the same beam base 201 is provided with a bolt type roller bearing 205, the bolt type roller bearing 205 on the lower side is arranged on the beam base 201, and the bolt type roller bearing 205 on the upper side is arranged on the bearing plate 202. As shown in fig. 4, the socket plate 202 is provided with four first grooves 2021 and one second groove 2022. The first groove 2021 is circular in shape, and the second groove 2022 is elongated in shape. Suction cup 401 extends through first recess 2021 to realize the absorption to the apron, and clamping jaw 302 extends through second recess 2022 to realize the clamp of apron and get or release.

The electric push rod 204 is connected with the scissors 207 on the two sides through the metal plate 203 of the electric push rod mounting seat. The bolt-type roller bearing 205 may roll in the roller seat to effect lifting and lowering of the scissors 207. When the electric push rod 204 extends, the scissors 207 at two sides can be synchronously pushed to rise, so that the bearing plate 202 can be lifted and attached to the cover plate to bear the cover plate. Similarly, when the electric push rod 204 is retracted, the receiving plate 202 can be lowered, and the cover plate that has completed disassembly can be removed, or moved away from the installed cover plate. The scissors lifting platform 2 can realize the freedom degree of translation in the vertical direction.

More specifically, the jaw mechanism 3 includes a jaw linear guide 301, a jaw 302, a jaw slider 303, and a lead screw motor 304. Wherein a first side of the clamping jaw 302 is connected to a lead screw motor 304; the second side of jaw 302 is connected to jaw linear guide 301 by slider 303. The clamping jaw mechanisms 3 are provided with two groups, and the two groups of clamping jaw mechanisms 3 are arranged in parallel and staggered mode. The two groups of jaw mechanisms 3 share a jaw linear guide 301 so that two jaws 302 slide on the same jaw linear guide 301. The two clamping jaws 302 move reversely to clamp the cover plate or clamp the quick-release bayonet on the cover plate so as to complete the function of installing or detaching the cover plate. The co-directional movement of the two jaws 302 allows for adjustment of the lateral position of the cover plate, i.e., provides another degree of freedom in the horizontal direction.

More specifically, the suction cup module 4 includes a suction cup 401, a suction cup shaft 402, a spring 403, a linear slide bearing 404, a proximity switch 405, and a bracket 406. The suction cup modules 4 are provided with four groups, and the four groups of suction cup modules 4 are distributed at four corners of the bearing plate 202. The bracket 406 is provided with a sucker 401, a sucker shaft 402, a spring 403, a linear sliding bearing 404 and a proximity switch 405; the sucker 401 is mounted on the sucker shaft 402 through bolts, and the sucker shaft 402 is mounted on the linear sliding bearing 404; the bottom of the sucker shaft 402 is provided with a spring 403, and the proximity switch 405 is arranged at the bottom of the inner cavity of the bracket 406. The bracket 406 is fixedly disposed on the receiving plate 202 by bolts. The spring 403 is installed at the bottom of the sucker shaft 402, so that the sucker shaft 402 is in a stretched state in a normal state. When the cover plate is attached to the receiving plate 202, the cover plate presses the sucker shaft 402 and the sucker 401, so that the sucker 401 can adsorb the cover plate. While the spring 403 is compressed by the cover plate and the chuck shaft 402 is retracted. The proximity switch 405 detects whether metal is approaching, and when the suction cup shaft 402 is pressed down, the protrusion of the suction cup shaft 402 approaches to the trigger proximity switch 405,4, and after all the proximity switches 405 are triggered, the cover plate is regarded as being accurately received by the receiving plate.

The process for disassembling the cover plate by using the invention is as follows: the industrial CCD camera 107 recognizes the position of the marker positioning cover plate, and the synchronous belt linear guide rail 101 and the stepping motor 103 in the linear module 1 drive the cross beam 104 to move to the position; when the beam base 201 moves to a specified position, the electric push rod 204 stretches to drive the shear fork 207 to lift the bearing plate 202, and the bearing plate 202 is attached to the cover plate; in the process of lifting and attaching the cover plate 202 by the bearing plate, suction cups 401 in the 4 suction cup modules are used for completing suction of the cover plate, and meanwhile, a suction cup shaft 402 is contracted to trigger a proximity switch 405; after the fitting is completed, the two clamping jaws 302 move to the quick-release fastening position of the cover plate and approach each other to complete clamping of the cover plate. The disassembling work of the cover plate is finished, then the scissor lifting platform 2 descends, and the linear module 1 moves horizontally to move the cover plate out of the original position.

The process for installing the cover plate by using the invention is as follows: the industrial CCD camera 107 identifies the position where the marker position positioning cover plate needs to be installed, and the synchronous belt linear guide rail 101 and the stepping motor 103 in the linear module 1 drive the cross beam 104 to move to the position; when the beam base 201 moves to a designated position, the electric push rod 204 stretches to drive the scissor 207 to lift the bearing plate 202, and the cover plate on the bearing plate 202 is attached to the box body; after the attachment is completed, the two clamping jaws 302 are moved away from each other to complete release of the cover, which is now installed back into the case. The scissor lift platform 2 is then lowered away from the cover plate. During the descent of the receiving plate 202 away from the cover plate, the suction cups 401 of the 4 suction cup modules are moved away from the cover plate and are desorbed, while the suction cup shafts 402 are extended and the proximity switch 405 is deactivated. Finally, the linear module 1 moves horizontally to move the cover plate loading and unloading mechanism out of the cover plate area.

The overall application scene is shown in fig. 9 and 10, and the practical use field Jing Huiyou of the multi-degree-of-freedom compact self-adaptive intelligent cover plate loading and unloading device provided by the embodiment has the limit on the height, the height of the whole set of mechanism needs to be limited below 140mm, in the embodiment, the height of the whole set of mechanism is 136mm, through intelligent operation, the cleanliness of a sealed environment is ensured, and the problems that the flow is complicated, errors are easy to cause and a large amount of human resources are occupied in the traditional manual operation are solved.

The foregoing is a preferred embodiment of the present invention and it should be noted that modifications and adaptations to those skilled in the art may be made without departing from the principles of the present invention and are intended to be comprehended within the scope of the present invention.

Claims (10)

1. The utility model provides a multi freedom compact self-adaptation intelligent apron handling device which characterized in that includes: the device comprises a linear module (1), a scissor lifting platform (2), a clamping jaw mechanism (3) and a sucker module (4);

The linear module (1) comprises two synchronous belt linear guide rails (101); a scissor lifting platform (2) is arranged between the two synchronous belt linear guide rails (101);

The scissor lifting platform (2) comprises a beam base (201), a lifting mechanism and a bearing plate (202); the lower part of the lifting mechanism is connected with a beam base (201), and the upper part of the lifting mechanism is connected with a bearing plate (202); the lifting mechanism can drive the bearing plate (202) to lift up and down; the bearing plate (202) is provided with a groove; the shear fork lifting platform (2) can slide along the synchronous belt linear guide rail (101); the groove is used for the clamping jaw mechanism (3) to pass through;

the clamping jaw mechanism (3) is connected to the lower side of the bearing plate (202), the clamping jaw mechanism (3) comprises clamping jaws (302), and the clamping jaws (302) extend out through the grooves to clamp or release the cover plate;

The sucking disc module (4) is connected to the lower side of the bearing plate (202), the sucking disc module (4) comprises a sucking disc (401), and the sucking disc (401) stretches out through the groove to adsorb the cover plate.

2. The multi-degree-of-freedom compact self-adaptive intelligent cover plate loading and unloading device according to claim 1, wherein the linear module (1) further comprises a first slewing bearing (102), a stepping motor (103), a cross beam (104), a second slewing bearing (105) and a cross roller guide rail (106); the stepping motor (103) is arranged at the end part of the synchronous belt linear guide rail (101); the synchronous belt linear guide rail (101) is provided with a synchronous belt sliding block, and the stepping motor (103) provides power for the synchronous belt sliding block; the cross beam (104) is arranged on the synchronous belt sliding block.

3. The multiple degree of freedom compact self-adapting intelligent cover plate loading and unloading device of claim 2, wherein the first side beam (104) is connected with the synchronous belt slide block through the first slewing bearing (102); the second side cross beam (104) is connected with the cross roller guide rail (106) and the synchronous belt sliding block through a second slewing bearing (105); when the two stepping motors (103) do differential motion, the two synchronous belt sliding blocks do reverse motion to drive the first slewing bearing (102) and the second slewing bearing (105) to rotate, and the cross beam (104) deflects and tilts; the cross roller guide rail (106) slides and stretches due to the inclination of the cross beam (104), so that deflection is realized, and the deflection angle is-10 degrees to 10 degrees.

4. The multi-degree-of-freedom compact self-adaptive intelligent cover plate assembling and disassembling device according to claim 1, wherein the lifting mechanism further comprises an electric push rod installation seat metal plate (203), an electric push rod (204), a bolt type roller bearing (205), a roller seat (206) and a scissor fork (207); the beam base (201) is connected with the beam (104), and the two beam bases (201) are arranged in parallel; each beam base (201) is provided with two scissors (207); the electric push rod (204) is connected with the scissors (207) at the two sides through the metal plate (203) of the electric push rod mounting seat; the shear fork (207) is fixed with the beam base (201) and the receiving plate (202) through a bearing seat and a bolt type roller bearing (205).

5. The multi-degree-of-freedom compact self-adaptive intelligent cover plate assembling and disassembling device according to claim 4, wherein the bolt type roller bearing (205) rolls in the roller seat (206) to realize the lifting of the scissor fork (207); the roller seat (206) is respectively arranged on the beam base (201) and the bearing plate (202).

6. The multi-degree-of-freedom compact type self-adaptive intelligent cover plate assembling and disassembling device according to claim 5, wherein the lower end of a bearing seat on the lower side is fixedly connected with a beam base (201), and the upper end of a bearing seat on the upper side is fixedly connected with a bearing plate (202); a lower bolt type roller bearing (205) is arranged on the beam base (201), and an upper bolt type roller bearing (205) is arranged on the bearing plate (202).

7. The multiple degree of freedom compact self-adapting intelligent cover plate handling device of claim 4 wherein the receiving plate (202) is provided with a first recess (2021) and a second recess (2022); the first grooves (2021) are provided with four and are circular in shape; the second groove (2022) is provided with one groove and is long-strip-shaped; the sucker (401) extends out through the first groove (2021) to adsorb the cover plate; the clamping jaw (302) protrudes through the second groove (2022) to clamp or release the cover plate.

8. The multi-degree-of-freedom compact self-adaptive intelligent cover plate assembling and disassembling device according to claim 1, wherein the clamping jaw mechanism (3) further comprises a clamping jaw linear guide rail (301), a clamping jaw sliding block (303) and a screw motor (304); the clamping jaw mechanisms (3) are provided with two groups, and the two groups of clamping jaw mechanisms (3) are arranged in a staggered manner; the clamping jaw (302) is connected with a screw of a screw motor (304); the clamping jaw (302) is also connected with the clamping jaw linear guide rail (301) through a clamping jaw sliding block (303).

9. A multiple degree of freedom compact self-adapting intelligent cover plate handling device according to claim 8, wherein two groups of jaw mechanisms (3) share a jaw linear guide (301) to slide two jaws (302) on the same jaw linear guide (301).

10. The multi-degree-of-freedom compact self-adaptive intelligent cover plate assembling and disassembling device according to claim 1, wherein the sucker module (4) further comprises a sucker shaft (402), a spring (403), a linear sliding bearing (404), a proximity switch (405) and a bracket (406); the bracket (406) is provided with a sucker (401), a sucker shaft (402), a spring (403), a linear sliding bearing (404) and a proximity switch (405); the sucker (401) is arranged on a sucker shaft (402), and the sucker shaft (402) is arranged on a linear sliding bearing (404); a notch is formed in the bottom of the support (406), and the sucker shaft (402) can extend out of the notch; the bottom of the sucker shaft (402) is provided with a spring (403), and the proximity switch (405) is arranged at the bottom of an inner cavity of the bracket (406); the support (406) is fixedly arranged on the bearing plate (202).