End picker and end picker suction cup for industrial robot

Abstract

The present invention relates to the technical field of end pickers, and specifically discloses an end picker and an end picker suction cup for an industrial robot, comprising a mechanical arm, an electric mounting turntable is provided at the end of the mechanical arm, and also comprises a first adjusting mechanism and two second adjusting mechanisms, the first adjusting mechanism is fixedly connected to the electric mounting turntable, the two second adjusting mechanisms are symmetrically mounted at the end of the first adjusting mechanism, and the second adjusting mechanism is rotatably connected to the first adjusting mechanism, a suction cup and a suction cup connecting seat, the suction cup connecting seat is used to connect the suction cup, and the suction cup is installed on the second adjusting mechanism through the suction cup connecting seat; the present invention adjusts the positions of the two connecting plates according to the center of gravity of the object to be grasped through the movement of a slider on the second adjusting mechanism and the mutual cooperation of the two connecting plates, thereby facilitating the adjustment of the force point of the suction cup to increase the stability during transportation.

Description

Technical Field

[0001] The present invention relates to the technical field of end pickers, and in particular to an end picker and an end picker suction cup for an industrial robot. Background Art

[0002] An end picker is a device installed on an industrial robot or manipulator to assist the industrial robot or manipulator in picking up and moving workpieces. It usually uses a vacuum suction cup to be touched by the grasped object and move it from one position to a specified position. The end picker mainly includes a connecting rod, one end of which is provided with a quick-change joint connected to the robot arm, and a number of branch rods are provided on the connecting rod, and suction cups are installed on the branch rods to suck and fix the goods through the suction cups to achieve the purpose of transportation.

[0003] Most of the existing end pickers only have a simple carrying function, that is, to carry an item from one place to another. When the item needs to be turned over, a secondary auxiliary turning operation is required by manual or device, which reduces production efficiency. Chinese patent No. 201910431216.6 discloses a turning end picker, which can turn over parts on the production line through a gripping device, but because it is fixed by suction cups, the items are easily separated from the suction cups during turning, causing the items to fall off and cause safety accidents.

[0004] At the same time, since most of the end pickers are fixed, when transporting objects of different sizes, the position of the suction cups can only be adjusted by moving the suction cups laterally to change the force points of the suction cups and transport the objects. However, when transporting irregular objects, even if the suction cups are moved laterally, the force points of the suction cups on the objects are not easy to adjust, resulting in an unstable center of gravity during transportation, which can easily cause the objects to fall off during transportation.

[0005] In addition, due to the different specifications of the suction cups, the suction cups need to be replaced when transporting different items, and the suction cup connector and the suction cup are mostly matched. When replacing the suction cup, the suction cup connector needs to be replaced together, which makes the operation very troublesome and wastes a lot of time during the replacement, causing delays in the construction period. Summary of the invention

[0006] The object of the present invention is to provide an end picker and an end picker suction cup for an industrial robot, so as to solve the problems faced in the above-mentioned background technology.

[0007] The purpose of the present invention can be achieved through the following technical solutions:

[0008] An end picker and an end picker suction cup for an industrial robot, comprising a mechanical arm, wherein an electric mounting turntable is provided at the end of the mechanical arm;

[0009] It also includes a first adjustment mechanism and two second adjustment mechanisms, wherein the first adjustment mechanism is fixedly connected to the electric mounting turntable, and the two second adjustment mechanisms are symmetrically mounted at the ends of the first adjustment mechanism, and the second adjustment mechanisms are rotationally connected to the first adjustment mechanisms;

[0010] A suction cup and a suction cup connecting seat, wherein the suction cup connecting seat is used to connect the suction cup, and the suction cup is installed on the second adjustment mechanism through the suction cup connecting seat;

[0011] With the cooperation of the first adjustment mechanism and the second adjustment mechanism, the position of the suction cup connecting seat is adjusted to adsorb and fix the goods to be grasped, and the electric mounting turntable is combined to realize the flipping and transportation of the goods.

[0012] Through the above technical solution, the first adjustment mechanism can be used to adjust the distance between the two second adjustment mechanisms, so that the object to be moved can be sucked by the suction cup, and the object can be clamped and fixed according to the size of the object to be moved, so as to prevent the danger of the object falling out when the robot arm and the electric mounting turntable flip the object; and the second adjustment mechanism can adjust the position of the suction cup according to the volume of the object to be moved, thereby adjusting the force point of the suction cup according to the center of gravity of the object to be moved, thereby increasing the stability of the object during transportation and reducing the occurrence of safety accidents.

[0013] As a further solution of the present invention: the second adjusting mechanism includes a mounting plate, a slide groove is opened on the mounting plate, a threaded shaft is arranged in the slide groove, a first driving motor for driving is arranged at one end of the threaded shaft, a slider is threadedly fitted on the threaded shaft, the slider is slidably connected to the slide groove, two first fixed piles are symmetrically arranged on one side of the slide groove on the mounting plate, a first connecting plate is rotatably connected to the first fixed pile, two second fixed piles are symmetrically arranged on the slider, a second connecting plate is rotatably connected to the second fixed pile, and the end of the second connecting plate is rotatably connected to the end of the first connecting plate.

[0014] Through the above technical solution, the rotation of the first drive motor drives the threaded shaft to rotate, thereby driving the slider to slide back and forth in the slide groove. Through the mutual cooperation between the first connecting plate and the second connecting plate, the angle between the first connecting plate and the second connecting plate is changed, so as to change the position of the first connecting plate and the second connecting plate to cooperate with objects of different volumes, thereby facilitating the finding of the force point of the suction cup.

[0015] As a further solution of the present invention: the first connecting plate and the second connecting plate have the same structure, a slot is provided on the first connecting plate, a rotating column is provided in the slot, one end of the rotating column is rotatably connected to the inner wall of the slot, the other end of the rotating column passes through the slot and is connected to a second driving motor for driving, two screw grooves with opposite thread directions are symmetrically provided on the rotating column, a connecting block is matched on the screw groove, the connecting block is slidably connected to the slot, and the suction cup connecting seat is fixedly set on the connecting block.

[0016] Through the above technical solution, the rotation of the second drive motor can drive the two connecting blocks to move in the same direction or opposite directions in the slot, so as to adjust the position of the suction cup and find the best force point, thereby increasing the stability during transportation.

[0017] As a further solution of the present invention: the first adjustment mechanism includes a mounting groove fixedly connected to the electric mounting turntable, the bottom end of the mounting groove is symmetrically provided with a first connecting column arranged obliquely, the end of the first connecting column is fixedly connected to a slide cylinder, a slide rod is slidably connected in the slide cylinder, the end of the slide rod is fixedly connected to a second connecting column, and the second adjustment mechanism is rotatably connected to the second connecting column;

[0018] A hydraulic push rod is arranged in the installation groove, and a cylindrical connecting seat is arranged at the output end of the hydraulic push rod. The two ends of the cylindrical connecting seat are movably connected with a third connecting plate, and the other ends of the two third connecting plates are rotatably connected with two sliding rods respectively.

[0019] Through the above technical solution, through the extension and retraction of the hydraulic push rod and the mutual cooperation of the two third connecting plates, the sliding rod can be driven to move in the sliding cylinder, thereby changing the distance between the two second connecting columns, and then changing the position and distance between the two second adjustment mechanisms, which is convenient for clamping and fixing objects of different sizes. It can be operated only with a hydraulic push rod, which saves time and effort and is more convenient.

[0020] As a further solution of the present invention: the suction cup connecting seat includes a telescopic adjustment rod, an air cavity is provided at the bottom of the telescopic adjustment rod, an air suction port is provided on one side of the air cavity, a first electrically-controlled valve is provided on the air suction port, an air inlet is provided on the other side of the air cavity, a second electrically-controlled valve is provided on the air inlet, an air pressure sensor is provided in the air cavity, the air pressure sensor is electrically connected to an external air pump, a base is provided at the bottom of the air cavity, a first mounting ring is provided on the base, a second mounting ring is provided on the first mounting ring, a third mounting ring is provided on the second mounting ring, and a fourth mounting ring is provided on the third mounting ring.

[0021] Through the above technical solution, the telescopic connecting rod can adjust the height of the suction cup, and the air inlet and air intake are used to blow air and inhale air. Through the cooperation between the electric control valve and the air pressure sensor, the vacuum degree in the air cavity is adjusted, thereby adjusting the vacuum suction force of the suction cup to increase the suction force of the suction cup.

[0022] As a further solution of the present invention: the ring diameters of the first mounting ring, the second mounting ring, the third mounting ring and the fourth mounting ring are not equal, and the first mounting ring, the second mounting ring, the third mounting ring and the fourth mounting ring increase successively from the inside to the outside, and airtight gaskets are also provided at the connection between each of the mounting rings.

[0023] Through the above technical solution, four mounting rings with different diameters can be matched with suction cup connecting tubes of different thicknesses to increase the matching degree, reduce the trouble during installation, and save a lot of time. The airtight pad increases the air density when the suction cup connecting tube is connected to each mounting ring, ensuring the vacuum degree in the suction cup, thereby increasing the suction force.

[0024] As a further solution of the present invention: the suction cup includes a suction cup body, a suction cup connecting tube is provided on the top of the suction cup body, a circle of magnets is provided on the bottom end of the suction cup body, and a plurality of anti-slip spikes are provided on the inner wall of the suction cup body.

[0025] Through the above technical solution, the anti-slip studs can increase the friction between the suction cup and the object, which is suitable for objects with large curvature and rough surface, to increase the stability during suction, and the magnets can attract and cooperate with each other when the two second adjustment mechanisms clamp and fix the object up and down, thereby increasing the stability during clamping and fixing.

[0026] Beneficial effects of the present invention:

[0027] (1) The present invention can not only carry objects, but also flip them. The two second adjustment mechanisms are provided to clamp the objects during flipping, thereby reducing the possibility of objects falling off due to insufficient suction of the suction cups during flipping.

[0028] (2) The present invention adjusts the positions of the two connecting plates according to the center of gravity of the object to be grasped by moving the slider on the second adjusting mechanism and cooperating with the two connecting plates, thereby facilitating the adjustment of the force point of the suction cup to increase the stability during handling;

[0029] (3) The present invention provides different types of mounting rings for cooperation with the suction cup connecting pipe, which makes it easy for workers to replace suction cups of different types, thus saving a lot of time during installation. BRIEF DESCRIPTION OF THE DRAWINGS

[0030] The present invention will be further described below in conjunction with the accompanying drawings.

[0031] Figure 1 It is a schematic diagram of the overall structure of the present invention;

[0032] Figure 2 It is a schematic diagram of the structure on the electric installation turntable;

[0033] Figure 3 is a structural schematic diagram of a first regulating mechanism;

[0034] Figure 4 is a structural schematic diagram of the second regulating mechanism;

[0035] Figure 5 is a schematic diagram of the structure of the first connecting plate or the second connecting plate;

[0036] Figure 6 is a schematic diagram of the structure of the suction cup;

[0037] Figure 7 It is a structural schematic diagram of the suction cup connecting seat;

[0038] Figure 8 A cross-sectional view of the suction cup connector.

[0039] Description of the drawings: 1. Robotic arm; 2. Electric mounting turntable; 3. First adjusting mechanism; 4. Second adjusting mechanism; 5. Suction cup; 6. Suction cup connecting seat; 301. Mounting groove; 302. First connecting column; 303. Slide cylinder; 304. Slide rod; 305. Second connecting column; 306. Hydraulic push rod; 307. Cylindrical connecting seat; 308. Third connecting plate; 401. Mounting plate; 402. Slide groove; 403. Threaded shaft; 404. First driving motor; 405. Sliding block; 406. First fixing pile; 407. First connecting plate; 408. Second fixing pile; 409. Two connecting plates; 410, slots; 411, rotating columns; 412, second drive motors; 413, screw grooves; 414, connecting blocks; 501, suction cup bodies; 502, suction cup connecting tubes; 503, magnets; 504, anti-slip spikes; 601, telescopic adjustment rods; 602, air cavity bodies; 603, air inlets; 604, first electrically controlled valves; 605, air inlets; 606, second electrically controlled valves; 607, bases; 608, first mounting rings; 609, second mounting rings; 610, third mounting rings; 611, fourth mounting rings; 612, airtight pads; 613, air pressure sensors. DETAILED DESCRIPTION

[0040] The following will be combined with the drawings in the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0041] See also Figure 1 , Figure 2 As shown, an end picker and an end picker suction cup for an industrial robot include a robot arm 1, which is installed on the industrial robot to control the operation of the entire end picker. An electric mounting turntable 2 is provided at the end of the robot arm 1, and also includes a first adjustment mechanism 3 and two second adjustment mechanisms 4. The first adjustment mechanism 3 is fixedly connected to the electric mounting turntable 2, and the two second adjustment mechanisms 4 are symmetrically installed at the ends of the first adjustment mechanism 3, and the second adjustment mechanisms 4 are rotatably connected to the first adjustment mechanism 3, a suction cup 5 and a suction cup connecting seat 6, the suction cup connecting seat 6 is used to connect the suction cup 5, and the suction cup 5 is installed on the second adjustment mechanism 4 through the suction cup connecting seat 6. The second adjustment mechanism 4 is rotatably arranged on the first adjustment mechanism 3, and the angles of the two second adjustment mechanisms 4 can be changed by electrical control to be used according to different needs. For example, when only an item needs to be transported, only one second adjustment mechanism 4 is needed to be adsorbed on the top of the item. The angle of the second adjustment mechanism 4 below can be adjusted, and the second adjustment mechanism 4 can be removed from the bottom without hindering the use of the second adjustment mechanism 4 above. When the transported item needs to be turned over, the two second adjustment mechanisms 4 are adjusted to the same angle, and the item is clamped between the two second adjustment mechanisms 4 to be fixed, so as to turn the item over, which is simple and convenient to use. The first adjustment mechanism 3 is used to adjust the distance between the two second adjustment mechanisms 4, so that when the second adjustment mechanism 4 can absorb the item through the suction cup 5, it can also fix items of different sizes through the mutual clamping between the two second adjustment mechanisms 4 to increase the stability of the item when it is moved, and the second adjustment mechanism 4 can adjust the position of the suction cup 5 according to the size of the item to be moved, so as to adjust the force point of the suction cup 5 according to the center of gravity of the item to be moved, increase the stability of the item during transportation, and reduce the occurrence of safety accidents. With the cooperation of the first adjustment mechanism 3 and the second adjustment mechanism 4, the position of the suction cup 5 is adjusted to adsorb and fix the grabbed goods, and the electric mounting turntable 2 and the mechanical arm 1 are used in coordination to realize the flipping and transportation of the goods.

[0042] like Figure 3As shown, the first adjusting mechanism 3 includes a mounting groove 301 fixedly connected to the electric mounting turntable 2, and the bottom end of the mounting groove 301 is symmetrically provided with an obliquely arranged first connecting column 302, and the end of the first connecting column 302 is fixedly connected with a slide cylinder 303, and a slide rod 304 is slidably connected in the slide cylinder 303, and the end of the slide rod 304 is fixedly connected with a second connecting column 305, and the second adjusting mechanism 4 is rotatably connected to the second connecting column 305, and a hydraulic push rod 306 is provided in the mounting groove 301, and a cylindrical connecting seat 307 is provided at the output end of the hydraulic push rod 306, and the two ends of the cylindrical connecting seat 307 are movably connected with a third connecting plate 308, and the other ends of the two third connecting plates 308 are rotatably connected to the two slide rods 304 respectively. The extension and retraction of the hydraulic push rod 306 drives the cylindrical connecting seat 307 to move back and forth. In conjunction with the connection of the two third connecting plates 308, it drives the two sliding rods 304 to move back and forth in the slide tube 303, thereby driving the two second connecting columns 305 to move back and forth. The second adjustment mechanism 4 installed on the second connecting column 305 can adjust the distance between the two second adjustment mechanisms 4, so that objects of different sizes can be clamped and fixed when flipping objects.

[0043] like Figure 4 , Figure 5As shown, the second adjustment mechanism 4 includes a mounting plate 401, a slide groove 402 is provided on the mounting plate 401, a threaded shaft 403 is provided in the slide groove 402, one end of the threaded shaft 403 is provided with a first driving motor 404 for driving, a slider 405 is threadedly matched on the threaded shaft 403, the slider 405 is slidably connected to the slide groove 402, two first fixed piles 406 are symmetrically provided on one side of the slide groove 402 on the mounting plate 401, a first connecting plate 407 is rotatably connected to the first fixed pile 406, two second fixed piles 408 are symmetrically provided on the slider 405, the second fixed pile 408 is rotatably connected to the second connecting plate 409, the end of the second connecting plate 409 is rotatably connected to the end of the first connecting plate 407, and the second fixing pile 408 is symmetrically provided on the slider 405. A driving motor 404 drives the threaded shaft 403 to rotate, thereby driving the slider 405 to move back and forth in the slide groove 402. Due to the cooperation between the first connecting plate 407 and the second connecting plate 409, when the slider 405 moves, the corresponding positions of the first connecting plate 407 and the second connecting plate 409 will also change, so that the positions of the first connecting plate 407 and the second connecting plate 409 are adjusted according to the size of the object to be moved. When the object to be moved is relatively long, the angle between the first connecting plate 407 and the second connecting plate 409 can be increased to fit the object. When the object to be moved is relatively wide, the angle between the first connecting plate 407 and the second connecting plate 409 can be reduced to fit the object for use, which is convenient for subsequent finding of the force point of the suction cup. The first connecting plate 407 has the same structure as the second connecting plate 409. The first connecting plate 407 is provided with a slot 410, and a rotating column 411 is provided in the slot 410. One end of the rotating column 411 is rotatably connected to the inner wall of the slot 410, and the other end of the rotating column 411 penetrates the slot 410 and is connected to a second driving motor 412 for driving. The rotating column 411 is symmetrically provided with two screw grooves 413 with opposite thread directions, and a connecting block 414 is matched on the screw groove 413. The connecting block 414 is slidably connected with the slot 410, and the suction cup connecting seat 6 is fixedly arranged on the connecting block 414. The second driving motor 412 drives the rotating column 411 to rotate, and the rotation of the rotating column 411 drives the two connecting blocks 414 to move in the same direction or in the opposite direction on the slot 410 to adjust the distance between the two connecting blocks 414, and the suction cup connecting seat 6 is fixedly arranged on the connecting block 414, so that the position of the suction cup can be adjusted as needed to adjust the force point of the suction cup.

[0044] like Figure 7 , Figure 8As shown, the suction cup connection seat 6 includes a telescopic adjustment rod 601, a gas cavity 602 is provided at the bottom of the telescopic adjustment rod 601, a suction port 603 is provided on one side of the gas cavity 602, a first electric-controlled valve 604 is provided on the suction port 603, an air inlet 605 is provided on the other side of the gas cavity 602, a second electric-controlled valve 606 is provided on the air inlet 605, an air pressure sensor 613 is provided in the gas cavity 602, the air pressure sensor 613 is electrically connected to an external air pump, a base 607 is provided at the bottom of the gas cavity 602, and a valve 607 is provided on the base 607 There is a first mounting ring 608, a second mounting ring 609 is arranged on the first mounting ring 608, a third mounting ring 610 is arranged on the second mounting ring 609, and a fourth mounting ring 611 is arranged on the third mounting ring 610. The diameters of the first mounting ring 608, the second mounting ring 609, the third mounting ring 610 and the fourth mounting ring 611 are not equal, and the first mounting ring 608, the second mounting ring 609, the third mounting ring 610 and the fourth mounting ring 611 are increased from the inside to the outside, and an airtight pad 612 is also arranged at the connection of each mounting ring. The telescopic adjustment rod 601 can adjust the height of the suction cup, the suction port 603 is used for suction and fixing, and the air inlet 605 is used for blowing air to change the suction force of the suction cup. The cooperation between the electric control valve and the air pressure sensor 613 can adjust the vacuum degree in the air cavity 602, thereby adjusting the vacuum suction force of the suction cup 5 to increase the suction force of the suction cup 5.

[0045] like Figure 6 As shown, the suction cup 5 includes a suction cup body 501, a suction cup connecting tube 502 is provided on the top of the suction cup body 501, a circle of magnets 503 is provided on the bottom end of the suction cup body 501, and a plurality of anti-slip nails 504 are provided on the inner wall of the suction cup body 501. The magnets 503 opposing each other above and below have different magnetic properties, so that the magnets 503 can attract and cooperate with each other when the two second adjustment mechanisms 4 clamp and fix the object up and down, thereby increasing the stability during clamping and fixing. The anti-slip nails 504 can increase the friction between the suction cup and the object, and are suitable for objects with large curvature and rough surfaces to increase the stability during suction. The thickness of the suction cup connecting tube 502 of suction cups of different specifications is different. In order to facilitate installation, four installation rings with different diameters are provided, which can cooperate with the suction cup connecting tubes 502 of different thicknesses to increase the matching degree, reduce the trouble during installation, and save a lot of installation time.

[0046] When in use, according to the specifications of the suction cup to be used, a suitable mounting ring is selected to cooperate with the suction cup connecting tube 502 for installation and fixing. Then, according to the size of the object to be grasped, the positions of the two second adjusting mechanisms 4 are adjusted. The positions of the first connecting plate 407 and the second connecting plate 409 are indirectly changed by the first driving motor 404, so that the four connecting plates can be more closely fitted to the object to be grasped. Then, according to the size of the object, the position of the suction cup is adjusted. The two connecting blocks 414 are driven by the second driving motor 412 to move in the same direction or in the opposite direction on the slot 410 to adjust the distance between the two connecting blocks 414. The suction cup connecting seat 6 is fixedly arranged on the connecting block 414, so that the position of the suction cup can be adjusted as needed to adjust the force point of the suction cup. When the position adjustment of the second adjusting mechanism 4 is completed, the extension and contraction of the hydraulic push rod 306 and the cooperation of the third connecting plate 308 will drive the second connecting column 305 The two second adjustment mechanisms 4 on the upper and lower parts move in the same direction, so that the two second adjustment mechanisms 4 are respectively attached to the upper and lower parts of the object to be grasped, so as to clamp and fix the object to be grasped; then the air pump is started, the first electrically controlled valve 604 is opened, and the air inlet 603 is inhaled. Under the action of suction, the air in the air cavity 602 is gradually drawn out, so that the suction cup is tightly sucked on the object, and then the goods are turned over and transported by the coordinated use of the electric mounting turntable 2 and the robot arm 1. If during transportation, the air pressure sensor 613 in the air cavity 602 senses that the air pressure is different from the preset value, it will be transmitted to the external air pump, so as to open the first electrically controlled valve 604, and continue to inhale the air cavity 602 through the air inlet 603 to maintain the suction force and ensure the stability of the object during transportation; after the transportation is completed, the second electrically controlled valve 606 is opened, the air inlet 605 is inhaled, the air pressure in the air cavity 602 is restored, and the suction cup can be separated from the object.

[0047] The above is a detailed description of an embodiment of the present invention, but the content is only a preferred embodiment of the present invention and cannot be considered to limit the scope of implementation of the present invention. All equivalent changes and improvements made within the scope of the present invention should still fall within the scope of the patent coverage of the present invention.

Claims

1. An end picker with an end picker suction cup for an industrial robot, comprising a robot arm (1), characterized in that: An electric mounting turntable (2) is provided at the end of the mechanical arm (1); It also comprises a first adjustment mechanism (3) and two second adjustment mechanisms (4), wherein the first adjustment mechanism (3) is fixedly connected to the electric mounting turntable (2), the two second adjustment mechanisms (4) are symmetrically mounted at the ends of the first adjustment mechanism (3), and the second adjustment mechanisms (4) are rotationally connected to the first adjustment mechanism (3); A suction cup (5) and a suction cup connecting seat (6), wherein the suction cup connecting seat (6) is used to connect the suction cup (5), and the suction cup (5) is mounted on the second adjustment mechanism (4) via the suction cup connecting seat (6); With the cooperation of the first adjustment mechanism (3) and the second adjustment mechanism (4), the position of the suction cup connection seat (6) is adjusted to adsorb and fix the goods to be grasped, and the goods can be turned over and transported in combination with the cooperation of the electric mounting turntable (2).

2. The end picker with an end picker suction cup for an industrial robot according to claim 1, characterized in that: The second adjustment mechanism (4) comprises a mounting plate (401), a slide groove (402) is provided on the mounting plate (401), a threaded shaft (403) is provided in the slide groove (402), a first driving motor (404) for driving is provided at one end of the threaded shaft (403), a slider (405) is threadedly engaged on the threaded shaft (403), the slider (405) is slidably connected to the slide groove (402), two first fixing piles (406) are symmetrically provided on one side of the slide groove (402) on the mounting plate (401), a first connecting plate (407) is rotatably connected to the first fixing pile (406), two second fixing piles (408) are symmetrically provided on the slider (405), a second connecting plate (409) is rotatably connected to the second fixing pile (408), and a terminal end of the second connecting plate (409) is rotatably connected to a terminal end of the first connecting plate (407).

3. The end picker with an end picker suction cup for an industrial robot according to claim 2, characterized in that: The first connecting plate (407) and the second connecting plate (409) have the same structure. A slot (410) is provided on the first connecting plate (407). A rotating column (411) is provided in the slot (410). One end of the rotating column (411) is rotatably connected to the inner wall of the slot (410). The other end of the rotating column (411) passes through the slot (410) and is connected to a second driving motor (412) for driving. Two screw grooves (413) with opposite thread directions are symmetrically provided on the rotating column (411). A connecting block (414) is matched on the screw groove (413). The connecting block (414) is slidably connected to the slot (410). The suction cup connecting seat (6) is fixedly arranged on the connecting block (414).

4. The end picker with an end picker suction cup for an industrial robot according to claim 1, characterized in that: The first adjustment mechanism (3) comprises a mounting groove (301) fixedly connected to the electric mounting turntable (2); a first connecting column (302) arranged obliquely and symmetrically is provided at the bottom end of the mounting groove (301); a slide cylinder (303) is fixedly connected to the end of the first connecting column (302); a slide rod (304) is slidably connected inside the slide cylinder (303); a second connecting column (305) is fixedly connected to the end of the slide rod (304); and the second adjustment mechanism (4) is rotatably connected to the second connecting column (305).

5. The end picker with an end picker suction cup for an industrial robot according to claim 4, characterized in that: A hydraulic push rod (306) is provided in the installation groove (301), and a cylindrical connecting seat (307) is provided at the output end of the hydraulic push rod (306). The two ends of the cylindrical connecting seat (307) are movably connected to third connecting plates (308), and the other ends of the two third connecting plates (308) are rotatably connected to the two sliding rods (304) respectively.

6. The end picker with an end picker suction cup for an industrial robot according to claim 1, characterized in that: The suction cup connection seat (6) comprises a telescopic adjustment rod (601), a gas cavity (602) is provided at the bottom of the telescopic adjustment rod (601), a suction port (603) is provided on one side of the gas cavity (602), a first electrically controlled valve (604) is provided on the suction port (603), an air inlet (605) is provided on the other side of the gas cavity (602), a second electrically controlled valve (606) is provided on the air inlet (605), and a gas inlet (606) is provided inside the gas cavity (602). An air pressure sensor (613) is provided, and the air pressure sensor (613) is electrically connected to an external air pump. A base (607) is provided at the bottom of the air cavity (602), a first mounting ring (608) is provided on the base (607), a second mounting ring (609) is provided on the first mounting ring (608), a third mounting ring (610) is provided on the second mounting ring (609), and a fourth mounting ring (611) is provided on the third mounting ring (610).

7. The end picker with an end picker suction cup for an industrial robot according to claim 6, characterized in that: The ring diameters of the first mounting ring (608), the second mounting ring (609), the third mounting ring (610) and the fourth mounting ring (611) are all unequal, and the diameters of the first mounting ring (608), the second mounting ring (609), the third mounting ring (610) and the fourth mounting ring (611) increase in size from the inside to the outside, and airtight pads (612) are also provided at the connection points of the mounting rings.

8. The end picker with an end picker suction cup for an industrial robot according to claim 1, characterized in that: The suction cup (5) comprises a suction cup body (501), a suction cup connecting tube (502) is provided on the top of the suction cup body (501), a circle of magnets (503) is provided on the bottom end of the suction cup body (501), and a plurality of anti-slip spikes (504) are provided on the inner wall of the suction cup body (501).

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