A clamp and handling system

Abstract

The present invention provides a clamp, which includes a sponge suction cup structure and a material drop detection structure; the sponge suction cup structure includes a mounting piece and a sponge suction cup assembly; the mounting piece is used to be installed on a multi-axis robotic arm; the sponge suction cup assembly includes a fixing piece and a sponge suction cup piece, the sponge suction cup piece is arranged on the fixing piece, and the fixing piece is arranged on the mounting piece; the material drop detection structure is used to detect a workpiece detached from the suction space of the sponge suction cup piece; the material drop detection structure includes a mounting bracket, a material drop detection sensor and a controller; the mounting bracket is arranged on the fixing piece, and the controller is electrically connected to the material drop detection sensor; the material drop detection sensor is arranged on the mounting bracket. A handling system provided by the present invention includes a multi-axis robotic arm and the above-mentioned clamp, and the mounting piece is fixed on the movable part of the multi-axis robotic arm, so as to achieve the effect of timely detecting whether the workpiece adsorbed on the sponge suction cup piece has dropped.

Description

Technical Field

[0001] The invention belongs to the field of transportation technology, and more specifically, relates to a clamp and a transportation system. Background Art

[0002] At present, in the operation of woodworking industry, sponge suction cup manipulator is usually used to suck up the wood board to facilitate the movement of the wood board. However, the existing sponge suction cup manipulator may drop the wood board during the process of moving the wood board. If the staff cannot find it in time, it is inconvenient to adjust or even maintain the sponge suction cup manipulator, thus affecting the production efficiency. Summary of the invention

[0003] One of the purposes of the present invention is to provide a clamp to solve the technical problem in the prior art that it is not possible to timely detect whether a workpiece adsorbed on a sponge suction cup manipulator has fallen off.

[0004] To achieve one of the above purposes, the technical solution adopted by the present invention is: to provide a clamp, the clamp comprising a sponge suction cup structure and a material drop detection structure;

[0005] The sponge suction cup structure comprises a mounting piece and a sponge suction cup assembly;

[0006] The mounting piece is used to be mounted on a multi-axis robotic arm;

[0007] The sponge suction cup assembly comprises a fixing part and a sponge suction cup part, wherein the sponge suction cup part is arranged on the fixing part, and the fixing part is arranged on the mounting part;

[0008] The material drop detection structure is used to detect the workpiece that is separated from the suction space of the sponge suction cup;

[0009] The material drop detection structure includes a mounting bracket, a material drop detection sensor and a controller;

[0010] The mounting bracket is arranged on the fixing member, and the controller is electrically connected to the material drop detection sensor;

[0011] The material drop detection sensor is arranged on the mounting bracket.

[0012] Furthermore, the sponge suction cup assembly also includes an adjusting part, which includes a fixed part and an adjusting part arranged on the fixed part, the fixed part is arranged on the mounting bracket, the material drop detection sensor is fixed on the adjusting part, and the adjusting part is used to drive the sponge suction cup component to leave the suction space or drive the sponge suction cup component to be located on one side of the suction space.

[0013] Furthermore, the sponge suction cup assembly also includes an air blowing device, the air blowing part of the air blowing device is installed on the fixing member, and the air blowing end of the air blowing device faces the suction space.

[0014] Furthermore, the clamp further comprises a buffer mechanism, the buffer mechanism comprises a guide mechanism and an elastic member, and the guide mechanism is fixed to the fixing member or to the mounting member;

[0015] When the guide mechanism is fixed on the fixing member, the guide mechanism is slidably arranged on the mounting member;

[0016] When the guide mechanism is fixed on the mounting member, the guide mechanism is slidably arranged on the fixing member;

[0017] The elastic member is arranged between the fixing member and the mounting member, and is used for providing a buffer between the mounting member and the fixing member.

[0018] Furthermore, the clamp also includes a check valve assembly, which is arranged on the sponge suction cup structure and avoids the suction space. The check valve assembly includes multiple check valves, which correspond one-to-one to the multiple suction holes of the sponge suction cup. The check valve is used to control the opening or closing of the corresponding suction hole.

[0019] Furthermore, the sponge suction cup structure also includes a first vacuum control device, which is arranged on the sponge suction cup structure and avoids the suction space. The first vacuum control device includes a first vacuum air-controlled valve and a first electric control box. The first vacuum air-controlled valve is connected to the suction hole of the sponge suction cup, and the first vacuum air hole valve is electrically connected to the first electric control box. The first vacuum control device is used to control the opening or closing of the suction hole.

[0020] Furthermore, the sponge suction cup assembly is provided with at least two, the sponge suction cup structure also includes a second vacuum control device, the second vacuum control device is arranged on the sponge suction cup structure and avoids the suction space, the second vacuum control device includes a connecting pipe, a second vacuum air-controlled valve and a second electric control box, the connecting pipe is simultaneously connected to the suction holes of all the sponge suction cup components, any of the sponge suction cup components is provided with a connecting hole, the connecting hole is connected to the ventilation end of the second vacuum air-controlled valve, and the second vacuum air-controlled valve is electrically connected to the second electric control box.

[0021] The beneficial effect of a clamp provided by the present invention is that: compared with the prior art, when the sponge suction cup structure is working, the sponge suction cup member contacts the workpiece, the sponge suction cup member adsorbs the workpiece on its surface, and the adsorbed workpiece is located in the suction space. The fixing member plays the role of installing the sponge suction cup member. When the fixing member is installed on the mounting member, the sponge suction cup member can be installed on the mounting member, which plays the role of facilitating the installation of the sponge suction cup member. The material drop detection sensor is installed on the fixing member through the mounting bracket, which improves the convenience of installing the material drop detection sensor on the fixing member. When the workpiece is adsorbed on the sponge suction cup member, the user can turn on the material drop detection sensor. At this time, the sensing end of the material drop detection sensor is located on one side of the workpiece. If the workpiece is detached from the sponge suction cup member, that is, the sponge suction cup member is detached from the suction space, the detached workpiece passes through the material drop detection sensor, and the material drop detection sensor sends a drop signal and sends it to the controller. The controller receives the drop signal to remind the user, thereby achieving the effect of reminding the user when the workpiece falls from the sponge suction cup member. If the workpiece does not detach from the sponge suction cup after the material drop detection sensor is turned on, the material drop detection sensor does not send a drop signal.

[0022] The second object of the present invention is to provide a handling system. In order to achieve the second object, the technical solution adopted by the present invention is: to provide a handling system, including a multi-axis robotic arm and a clamp, and the mounting part is fixed on the movable part of the multi-axis robotic arm.

[0023] Furthermore, the transport system also includes a vacuum blowing assembly, which includes a vacuum blower and a suction pipe, wherein one end of the suction pipe is connected to the sponge suction cup structure, and the other end of the suction pipe is connected to the exhaust end of the vacuum blowing assembly, and the vacuum blower exhausts air from the sponge suction cup structure through the suction pipe.

[0024] Furthermore, the vacuum blowing assembly also includes a filtering device, and the end of the suction pipe away from the sponge suction cup is connected to the air extraction end of the vacuum blowing assembly through the filtering device. BRIEF DESCRIPTION OF THE DRAWINGS

[0025] In order to more clearly illustrate the technical solutions in the embodiments of the present invention, the drawings required for use in the embodiments or the description of the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative labor.

[0026] Figure 1 A schematic diagram of a clamp structure provided by an embodiment of the present invention Figure 1 ;

[0027] Figure 2A schematic diagram of a clamp structure provided by an embodiment of the present invention Figure 2 .

[0028] Among them, the reference numerals in the figure are:

[0029] 1. Sponge suction cup structure; 11. Mounting part; 12. Sponge suction cup assembly; 121. Fixing part; 122. Sponge suction cup member; 1221. Suction space; 1222. Adjusting part; 1223. Exhaust hole; 1224. Connecting hole; 2. Material drop detection structure; 21. Mounting bracket; 22. Material drop detection sensor; 3. Multi-axis robotic arm; 31. Moving part; 4. Buffer mechanism; 5. Second vacuum control device; 51. Connecting pipe; 52. Second vacuum air-controlled valve; 53. Second electric control box; 6. Vacuum blower assembly; 61. Vacuum blower; 62. Suction pipe; 63. Filter device. DETAILED DESCRIPTION

[0030] In order to make the technical problems, technical solutions and beneficial effects to be solved by the present invention more clearly understood, the present invention is further described in detail below in conjunction with the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are only used to explain the present invention and are not intended to limit the present invention.

[0031] It should be noted that when an element is referred to as being "fixed to" or "disposed on" another element, it can be directly on the other element or indirectly on the other element. When an element is referred to as being "connected to" another element, it can be directly connected to the other element or indirectly connected to the other element.

[0032] It should be understood that the orientation or position relationship indicated by terms such as "length", "width", "up", "down", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inside" and "outside" are based on the orientation or position relationship shown in the drawings, and are only for the convenience of describing the present invention and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, be constructed and operate in a specific orientation, and therefore cannot be understood as a limitation on the present invention.

[0033] In addition, the terms "first" and "second" are used for descriptive purposes only and should not be understood as indicating or implying relative importance or implicitly indicating the number of the indicated technical features. Therefore, the features defined as "first" and "second" may explicitly or implicitly include one or more of the features. In the description of the present invention, the meaning of "plurality" is two or more, unless otherwise clearly and specifically defined.

[0034] See also Figure 1Now, a clamp provided by the present invention is described. A clamp comprises a sponge suction cup structure 1 and a material drop detection structure 2;

[0035] The sponge suction cup structure 1 comprises a mounting member 11 and a sponge suction cup assembly 12;

[0036] The mounting member 11 is used to be mounted on the multi-axis robot arm 3;

[0037] The sponge suction cup assembly 12 includes a fixing member 121 and a sponge suction cup member 122. The sponge suction cup member 122 is arranged on the fixing member 121, and the fixing member 121 is arranged on the mounting member 11.

[0038] The material drop detection structure 2 is used to detect the workpiece that is separated from the suction space 1221 of the sponge suction cup member 122;

[0039] The material drop detection structure 2 includes a mounting bracket 21, a material drop detection sensor 22 and a controller (not shown);

[0040] The mounting bracket 21 is disposed on the fixing member 121, and the controller is electrically connected to the material drop detection sensor 22;

[0041] The material drop detection sensor 22 is arranged on the mounting bracket 21 .

[0042] Compared with the prior art, the clamp provided by the present invention has the following characteristics: when the sponge suction cup structure 1 is working, the sponge suction cup member 122 contacts the workpiece, and the sponge suction cup member 122 adsorbs the workpiece on its surface, and the adsorbed workpiece is located in the adsorption space 1221. The fixing member 121 plays the role of installing the sponge suction cup member 122. When the fixing member 121 is installed on the mounting member 11, the sponge suction cup member 122 can be installed on the mounting member 11, which plays the role of facilitating the installation of the sponge suction cup member 122. The material drop detection sensor 22 is installed on the fixing member 121 through the mounting bracket 21, which improves the convenience of installing the material drop detection sensor 22 on the fixing member 121. When the workpiece is adsorbed on the sponge suction cup 122, the user can turn on the material drop detection sensor 22. At this time, the sensing end of the material drop detection sensor 22 is located on one side of the workpiece. If the workpiece is detached from the sponge suction cup 122, that is, the sponge suction cup 122 is detached from the suction space 1221, the detached workpiece passes through the material drop detection sensor 22, and the material drop detection sensor 22 sends a drop signal and sends it to the controller. The controller receives the drop signal to remind the user, thereby achieving the effect of reminding the user when the workpiece falls from the sponge suction cup 122. If the workpiece does not detach from the sponge suction cup 122 after the material drop detection sensor 22 is turned on, the material drop detection sensor 22 does not send a drop signal.

[0043] Specifically, the controller is a single chip microcomputer or MCU.

[0044] Specifically, the clamp further includes an alarm device (not shown), which is electrically connected to the controller. Preferably, the alarm device and the controller are fixed on the fixing member 121.

[0045] Specifically, the sponge suction cup member 122 is screwed to the fixing member 121 , and the fixing member 121 is screwed to the mounting member 11 .

[0046] Specifically, the mounting bracket 21 is screwed to the fixing piece 121 , and the material drop detection sensor 22 is screwed to the mounting bracket 21 .

[0047] Specifically, the workpiece is a strip.

[0048] Specifically, the workpiece is a metal piece or a wooden piece.

[0049] For further information, see Figure 1 As a specific embodiment of a clamp provided by the present invention, the sponge suction cup assembly 12 also includes an adjusting part 1222, the adjusting part 1222 includes a fixed part and an adjusting part arranged on the fixed part, the fixed part is arranged on the mounting bracket 21, the material drop detection sensor 22 is fixed on the adjusting part, and the adjusting part is used to drive the sponge suction cup member 122 to separate from the suction space 1221 or drive the sponge suction cup member 122 to be located on one side of the suction space 1221.

[0050] When the material drop detection sensor 22 needs to be used, the adjusting member 1222 drives the material drop detection sensor 22 to move to one side of the suction space 1221. When the material drop detection sensor 22 is not needed, the adjusting member 1222 drives the material drop detection sensor 22 away from one side of the suction space 1221. When the workpiece is long, the adjusting member 1222 drives the material drop detection sensor 22 away from one side of the suction space 1221, thereby enlarging the suction space 1221.

[0051] Specifically, the adjusting member 1222 is a pneumatic cylinder or an electric cylinder.

[0052] For further information, see Figure 1 As a specific embodiment of a clamp provided by the present invention, the sponge suction cup assembly 12 also includes a blowing device (not shown in the figure), the blowing part of the blowing device is installed on the fixing member 121, and the blowing end of the blowing device faces the suction space 1221.

[0053] When the workpiece is a wooden piece, the air blowing device blows away the wood chips and dust on the wooden piece. When the workpiece is a metal piece, the air blowing device blows away the dust on the workpiece. The air blowing device cleans the surface of the workpiece, which facilitates the workpiece to be adsorbed on the sponge suction cup 122 and ensures the stability of the workpiece being adsorbed on the sponge suction cup 122.

[0054] Specifically, the blowing device includes a fixed bracket, an air nozzle, a ventilation pipe and a blower, wherein the fixed bracket is fixed to the fixing member 121, the air nozzle is fixed to the fixed bracket, the end of the air nozzle is connected to one end of the ventilation pipe, and the other end of the ventilation pipe is connected to the blower. The blowing part of the blowing device includes the fixed bracket and the air nozzle.

[0055] For further information, see Figure 1 As a specific embodiment of a clamp provided by the present invention, the clamp further includes a buffer mechanism 4, the buffer mechanism 4 includes a guide mechanism and an elastic member, and the guide mechanism is fixed to the fixing member 121 or fixed to the mounting member 11;

[0056] When the guide mechanism is fixed on the fixing member 121, the guide mechanism is slidably mounted on the mounting member 11.

[0057] When the guide mechanism is fixed on the mounting member 11, the guide mechanism is slidably mounted on the fixing member 121;

[0058] The elastic member is disposed between the fixing member 121 and the mounting member 11 , and is used for providing a buffer between the mounting member 11 and the fixing member 121 .

[0059] When the sponge suction cup component 122 contacts the workpiece, the sponge suction cup component 122 will drive the mounting component 11 to move toward the fixing component 121. The guide mechanism ensures that the sponge suction cup component 122 moves in a straight line. The elastic component plays a role in buffering the sponge suction cup assembly 12, protecting the sponge suction cup assembly 12, and increasing the service life of the sponge suction cup assembly 12.

[0060] Specifically, the elastic member is sleeved on the guide mechanism.

[0061] Specifically, a plurality of guide mechanisms are provided, and the plurality of guide mechanisms ensure that the fixing member 121 is stably slidably arranged on the mounting member 11 .

[0062] For further information, see Figure 1 As a specific embodiment of a clamp provided by the present invention, the clamp also includes a check valve assembly (not shown in the figure), which is arranged on the sponge suction cup structure 1 and avoids the suction space 1221. The check valve assembly includes a plurality of check valves, and the check valves correspond one by one to the plurality of suction holes of the sponge suction cup member 122. The check valves are used to control the opening or closing of the corresponding suction holes.

[0063] The check valve is used to close the suction hole of the sponge suction cup 122 that has not sucked the workpiece or is leaking, to prevent insufficient vacuum pressure in the sponge suction cup 122 due to leakage of the sponge suction cup 122; the check valve automatically opens or closes the suction hole by gravity and does not require electrical control.

[0064] Specifically, the check valve is disposed in the sponge suction cup member 122 .

[0065] For further information, see Figure 1 As a specific embodiment of a clamp provided by the present invention, the sponge suction cup structure 1 also includes a first vacuum control device (not shown in the figure), which is arranged on the sponge suction cup structure 1 and avoids the suction space 1221. The first vacuum control device includes a first vacuum air-controlled valve and a first electric control box. The first vacuum air-controlled valve is connected to the suction hole 1223 of the sponge suction cup member 122, and the first vacuum air hole valve is electrically connected to the first electric control box. The first vacuum control device is used to control the opening or closing of the suction hole 1223.

[0066] The opening or closing of the air suction hole 1223 is controlled by the cooperation of the first vacuum air-controlled valve and the first electric control box. When the air suction hole 1223 is opened, the user can use the adsorption hole of the sponge suction cup 122 to adsorb the workpiece; when the air suction hole 1223 is closed, the user cannot use the adsorption hole of the sponge suction cup 122 to adsorb the workpiece.

[0067] Specifically, the user controls the opening or closing of the first vacuum air-controlled valve through the first electric control box.

[0068] Further, see Figure 1 As a specific embodiment of a clamp provided by the present invention, at least two sponge suction cup assemblies 12 are provided, and the sponge suction cup structure 1 also includes a second vacuum control device 5, which is arranged on the sponge suction cup structure 1 and avoids the suction space 1221. The second vacuum control device 5 includes a connecting pipe 51, a second vacuum air-controlled valve 52 and a second electric control box 53. The connecting pipe 51 is simultaneously connected to the suction holes 1223 of all sponge suction cup components 122. Any sponge suction cup component 122 is provided with a connecting hole 1224, and the connecting hole 1224 is connected to the ventilation end of the second vacuum air-controlled valve 52. The second vacuum air-controlled valve 52 is electrically connected to the second electric control box 53.

[0069] The connecting pipe 51 connects the sponge suckers 122. When the connecting hole 1224 is open, the user can use the suction holes of all the sponge suckers 122 to suck the workpiece at the same time; when the air extraction hole 1223 is closed, the user cannot use the suction holes of each sponge sucker 122 to suck the workpiece. Through the cooperation of a second vacuum air-controlled valve 52 and a second electric control box 53, it is possible to achieve simultaneous suction or non-operation of each sponge sucker 122.

[0070] See also Figure 1 and Figure 2 The present invention further provides a handling system, which includes a multi-axis robot arm 3 and the above-mentioned clamp, wherein the mounting member 11 is fixed on the movable part 31 of the multi-axis robot arm 3 .

[0071] The present invention provides a handling system that drives the clamp to move through the multi-axis mechanical arm 3, thereby improving the convenience of using the clamp. The mounting member 11 facilitates the clamp to be fixed on the movable part 31 of the multi-axis mechanical arm 3.

[0072] Specifically, the mounting member 11 is screwed to the movable part 31 of the multi-axis robot arm 3 .

[0073] Specifically, the movable part 31 of the multi-axis robot arm 3 is a plate structure.

[0074] For further information, see Figure 1 and Figure 2 As a specific embodiment of a transport system provided by the present invention, the transport system also includes a vacuum blowing assembly 6, the vacuum blowing assembly 6 includes a vacuum blower 61 and a suction pipe 62, the end of the suction pipe 62 is connected to the sponge suction cup structure 1, and the other end of the suction pipe 62 is connected to the exhaust end of the vacuum blowing assembly 6, and the vacuum blower 61 exhausts the sponge suction cup structure 1 through the suction pipe 62.

[0075] The sponge suction cup 122 generates suction or loses suction through the vacuum blowing assembly 6, ensuring that the sponge suction cup 122 can absorb or release the workpiece.

[0076] For further information, see Figure 1 and Figure 2 As a specific embodiment of a transport system provided by the present invention, the vacuum blowing assembly 6 also includes a filtering device 63, and the end of the suction pipe 62 away from the sponge suction cup 122 is connected to the suction end of the vacuum blowing assembly 6 through the filtering device 63.

[0077] When the sponge suction cup 122 generates suction through the vacuum blowing assembly 6, dust, wood chips and debris on the workpiece or in the environment will be sucked into the suction pipe 62. The filtering device 63 prevents the dust, wood chips and debris in the suction pipe 62 from entering the vacuum blower 61, thereby protecting the vacuum blower 61.

[0078] Specifically, the filter device 63 and the vacuum blower 61 are arranged on one side of the multi-axis robot arm 3 .

[0079] The above description is only a preferred embodiment of the present invention and is not intended to limit the present invention. Any modifications, equivalent substitutions and improvements made within the spirit and principles of the present invention should be included in the protection scope of the present invention.

Claims

1. A clamp, characterized in that: The fixture comprises a sponge suction cup structure and a material drop detection structure; the sponge suction cup structure comprises a mounting piece and a sponge suction cup assembly; The mounting piece is used to be mounted on a multi-axis robotic arm; The sponge suction cup assembly comprises a fixing part and a sponge suction cup part, wherein the sponge suction cup part is arranged on the fixing part, and the fixing part is arranged on the mounting part; The material drop detection structure is used to detect the workpiece that is separated from the suction space of the sponge suction cup; The material drop detection structure includes a mounting bracket, a material drop detection sensor and a controller; The mounting bracket is arranged on the fixing member, and the controller is electrically connected to the material drop detection sensor; The material drop detection sensor is arranged on the mounting bracket; The sponge suction cup assembly also includes an adjusting member, the adjusting member includes a fixed portion and an adjusting portion arranged on the fixed portion, the fixed portion is arranged on the mounting bracket, the material drop detection sensor is fixed on the adjusting portion, and the adjusting portion is used to drive the sponge suction cup member to leave the suction space or drive the sponge suction cup member to be located on one side of the suction space; The sponge suction cup assembly also includes an air blowing device, a blowing part of the air blowing device is installed on the fixing member, and a blowing end of the air blowing device faces the suction space.

2. The clamp according to claim 1, characterized in that The clamp further comprises a buffer mechanism, the buffer mechanism comprises a guide mechanism and an elastic member, and the guide mechanism is fixed to the fixing member or to the mounting member; When the guide mechanism is fixed on the fixing member, the guide mechanism is slidably arranged on the mounting member; When the guide mechanism is fixed on the mounting member, the guide mechanism is slidably arranged on the fixing member; The elastic member is arranged between the fixing member and the mounting member, and is used for providing a buffer between the mounting member and the fixing member.

3. The clamp according to claim 1, characterized in that The clamp also includes a check valve assembly, which is arranged on the sponge suction cup structure and avoids the suction space. The check valve assembly includes multiple check valves, which correspond one-to-one to the multiple suction holes of the sponge suction cup. The check valve is used to control the opening or closing of the corresponding suction hole.

4. The clamp according to claim 1, characterized in that The sponge suction cup structure also includes a first vacuum control device, which is arranged on the sponge suction cup structure and avoids the suction space. The first vacuum control device includes a first vacuum air-controlled valve and a first electric control box. The first vacuum air-controlled valve is connected to the suction hole of the sponge suction cup, and the first vacuum air hole valve is electrically connected to the first electric control box. The first vacuum control device is used to control the opening or closing of the suction hole.

5. The clamp according to claim 1, characterized in that The sponge suction cup assembly is provided with at least two, the sponge suction cup structure also includes a second vacuum control device, the second vacuum control device is arranged on the sponge suction cup structure and avoids the suction space, the second vacuum control device includes a connecting pipe, a second vacuum air-controlled valve and a second electric control box, the connecting pipe is simultaneously connected to the suction holes of all the sponge suction cup components, any of the sponge suction cup components is provided with a connecting hole, the connecting hole is connected to the ventilation end of the second vacuum air-controlled valve, and the second vacuum air-controlled valve is electrically connected to the second electric control box.

6. A transport system, characterized in that: It comprises a multi-axis robotic arm and a clamp as described in any one of claims 1 to 5, wherein the mounting piece is fixed on the movable part of the multi-axis robotic arm.

7. The transport system according to claim 6, characterized in that: The transport system also includes a vacuum blowing assembly, which includes a vacuum blower and a suction pipe. One end of the suction pipe is connected to the sponge suction cup structure, and the other end of the suction pipe is connected to the exhaust end of the vacuum blowing assembly. The vacuum blower exhausts air from the sponge suction cup structure through the suction pipe.

8. The transport system according to claim 7, characterized in that: The vacuum blower assembly also includes a filtering device, and one end of the suction pipe away from the sponge suction cup is connected to the air extraction end of the vacuum blower assembly through the filtering device.

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