A suction cup type automatic loading and unloading gripper device

Abstract

The present invention discloses a suction cup type automatic loading and unloading gripper device, which relates to the technical field of manipulator chucks. The suction cup type automatic loading and unloading gripper device comprises a turntable arranged between two groups of conveyors and can be rotated between the two groups of conveyors. The turntable is connected to a mechanical arm for material transportation and loading and unloading operations between the two groups of conveyors by a mounting frame, and a mounting plate is arranged on the front side of the mechanical arm. Each group of material-picking grippers of the present invention can quickly perform material-picking operations on workpiece materials in the form of suction cups, thereby avoiding damage to the materials by clamping and picking up the materials. In the process of picking up materials with unevenly arranged protrusions on the surface, each group of material-picking grippers is adapted to the shape of the materials through a control component, thereby ensuring the adsorption force of the material-picking grippers and the protrusions on the materials, fully adsorbing the materials, and further completing the stable grabbing operation of the materials with unevenly arranged protrusions.

Description

Technical Field

[0001] The invention relates to the technical field of material transportation, in particular to a suction cup type gripper device for automatic loading and unloading of materials. Background Art

[0002] In the process of loading and unloading the workpieces transported between two groups of conveyors by means of a gripper device, in order to avoid damage to the workpieces caused by direct gripping by the gripper, a suction cup is provided on the gripper, and the workpieces are loaded and unloaded by means of a suction cup. However, there are unevenly arranged protrusions on the surfaces of some workpieces. In the process of adsorbing and grasping the workpieces by means of the suction cup, the support of the protrusions causes a gap to exist between the suction cup and the material, making it difficult to fully adsorb and grasp the workpiece, affecting the stability of the workpiece during loading and unloading. Therefore, we propose a suction cup type automatic loading and unloading gripper device. Summary of the invention

[0003] The object of the present invention is to provide a suction cup type automatic loading and unloading gripper device to solve the problems raised in the above background technology.

[0004] To achieve the above-mentioned purpose, the present invention provides the following technical solutions: a suction cup type automatic loading and unloading gripper device, comprising a turntable arranged between two groups of conveyors and capable of rotating between the two groups of conveyors, a mechanical arm for material transportation and loading and unloading operations between the two groups of conveyors being liftably connected to the turntable through a mounting frame, a mounting plate being arranged at the front side of the mechanical arm, a plurality of groups of material grabbing grippers being arranged on the mounting plate, the plurality of groups of material grabbing grippers being arranged in a circular array on the mounting plate, and further comprising:

[0005] A mounting frame is fixed to the front end of the mechanical arm, two groups of L-shaped frames are symmetrically fixed on both sides of the mounting plate, one end of the L-shaped frame is fixed to the mounting frame, a sliding component for assisting the sliding connection of the material grabbing gripper is arranged on the mounting plate, and an adjustment component for adjusting the position of each group of material grabbing grippers is arranged above the mounting plate;

[0006] An adsorption component is arranged on the material picking gripper for suction cup material picking, the adsorption component includes an installation cavity opened inside the material picking gripper, a plurality of through holes are opened at the lower end of the material picking gripper, each group of through holes is communicated with the interior of the installation cavity, an air pump is installed at the lower end of the installation plate through a mounting seat, a hose is connected between the air suction end of the air pump and the material picking gripper, the hose is communicated with the interior of the installation cavity, and a control component for controlling the blocking and opening of the through holes during the adsorption process is arranged inside the installation cavity.

[0007] The control component includes a blocking rod slidably connected to the through hole, and the through hole is set in a blocked state under the action of the blocking rod, a transmission pin is fixed to the lower end of the blocking rod, and the transmission pin is located outside the material picking gripper, and an elastic component for elastically pushing the blocking rod is provided inside the installation cavity, a positioning ring is fixed to the outer side of the blocking rod, and the positioning ring is abutted against the inner wall of the installation cavity when the elastic component pushes the blocking rod, and a limit component is provided on the elastic component for limiting the position of the blocking rod after being contracted and pushed.

[0008] The elastic component includes a piston cylinder fixed inside the installation cavity, the blocking rod is slidably connected to the piston cylinder, and the blocking rod and the inside of the piston cylinder are matched with each other, and a first spring for connecting to one end of the blocking rod is installed inside the piston cylinder.

[0009] The limiting assembly includes a one-way valve installed on the material picking gripper, the one-way valve is connected to the interior of the piston cylinder, the conduction direction of the one-way valve is from the interior of the piston cylinder to the outside of the material picking gripper, an air intake pipe is installed at the upper end of the material picking gripper, the air intake pipe is connected to the interior of the piston cylinder, a blocking plate for blocking the end of the air intake pipe is arranged above the mounting plate, and a lifting assembly for lifting and lowering the sealing plate is arranged on the mounting plate.

[0010] The lifting assembly includes a strip plate arranged above the mounting plate, one end of the blocking plate is fixed to the strip plate, the strip plate is connected to the L-shaped frame via a connecting assembly, an iron block is installed on the side of the strip plate facing the mounting plate, and an electromagnet for magnetic attraction with the iron block is installed on the upper end of the mounting plate.

[0011] The connecting assembly includes a sleeve fixed to the upper end of the L-shaped frame, a sliding rod is slidably connected to the sleeve, one end of the sliding rod is fixed to the strip plate, a second spring is sleeved on the outer side of the sleeve, and the two ends of the second spring are respectively connected to the strip plate and the L-shaped frame.

[0012] The sliding assembly includes a mounting groove opened on the mounting plate, the material grabbing gripper is arranged inside the mounting groove, two groups of T-slots are opened on the inner wall of the mounting groove, and T-blocks are slidably connected to the two groups of T-slots, and the T-blocks are fixed to the outer side of the material grabber.

[0013] The adjustment component includes a driving disk arranged above the mounting disk, and a plurality of groups of inclined grooves are provided on the driving disk. A transmission rod is slidably connected to each of the inclined grooves, and one end of each of the transmission rods is respectively fixed to the upper end of each group of material grabbers. A rotating component for rotating the driving disk is provided on the mounting frame.

[0014] The rotating assembly comprises a driving shaft fixed to the upper end of the driving disc, and a driving motor for driving the driving shaft is mounted on the mounting frame.

[0015] Compared with the prior art, the present invention has the following beneficial effects:

[0016] Each group of material picking grippers of the present invention can quickly pick up workpiece materials in the manner of suction cups, thereby avoiding damage to the materials by clamping and picking up materials. In the process of picking up materials with unevenly arranged protrusions on the surface, each group of material picking grippers is adapted to the shape of the materials through control components, thereby ensuring the adsorption force between the material picking grippers and the protrusions on the materials, fully adsorbing the materials, and further completing the stable grabbing operation of the materials with unevenly arranged protrusions. BRIEF DESCRIPTION OF THE DRAWINGS

[0017] Figure 1 It is a schematic diagram of the overall appearance structure of the present invention;

[0018] Figure 2 It is a schematic diagram of the installation frame and L-shaped frame structure of the present invention;

[0019] Figure 3 It is a schematic diagram of the connection between the mounting plate and the L-shaped frame of the present invention;

[0020] Figure 4 It is a schematic diagram of the structure of the sliding assembly, the adjusting assembly and the rotating assembly of the present invention;

[0021] Figure 5 This is a schematic diagram of the connection between the blocking plate and the strip plate of the present invention;

[0022] Figure 6 It is a schematic diagram of the structure of the lifting assembly and the connecting assembly of the present invention;

[0023] Figure 7 It is a schematic diagram of the structure of the adsorption component of the present invention;

[0024] Figure 8 It is a schematic diagram of the structure of the material grabber of the present invention;

[0025] Fig. 9 It is a schematic diagram of the control component structure of the present invention;

[0026] Fig.10 It is a structural diagram of the elastic component and the limiting component of the present invention.

[0027] In the figure: 101, conveyor; 102, turntable; 103, mounting frame; 104, mechanical arm; 105, mounting plate; 106, material grabber; 2, mounting frame; 3, L-shaped frame; 401, mounting slot; 402, T-shaped slot; 403, T-shaped block; 501, driving plate; 502, inclined slot; 503, transmission rod; 601, driving shaft; 602, driving motor; 701, through hole; 702, Mounting seat; 703, vacuum pump; 704, hose; 801, blocking rod; 802, transmission pin; 803, positioning ring; 901, piston cylinder; 902, first spring; 1001, one-way valve; 1002, air inlet pipe; 1003, blocking plate; 1101, strip plate; 1102, iron block; 1103, electromagnet; 1201, sleeve; 1202, slide rod; 1203, second spring. DETAILED DESCRIPTION

[0028] 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.

[0029] Example 1: Please refer to Figure 1-Figure 10 , a suction cup type automatic loading and unloading gripper device shown in the figure includes a turntable 102 arranged between two groups of conveyors 101 and capable of rotating between the two groups of conveyors 101, a mechanical arm 104 for material transportation and loading and unloading operations between the two groups of conveyors 101 can be lifted and connected to the turntable 102 through a mounting frame 103, a mounting plate 105 is arranged at the front side of the mechanical arm 104, a plurality of groups of material grabbing grippers 106 are arranged on the mounting plate 105, and the plurality of groups of material grabbing grippers 106 are arranged in a circular array on the mounting plate 105;

[0030] It should be noted here that: by rotating the turntable 102 between the two groups of conveyors 101, the material adsorbed and grabbed on the conveyor 101 can be placed on the other group of conveyors 101 to complete the transportation of the material;

[0031] It is worth noting here that the mechanical arm 104 on the mounting frame 103 and the lifting principle of the mechanical arm 104 are used as conventional operating means in the application, and no further details are given here;

[0032] Also includes:

[0033] The mounting frame 2 is fixed to the front end of the mechanical arm 104, and two groups of L-shaped frames 3 are symmetrically fixed on both sides of the mounting plate 105. One end of the L-shaped frame 3 is fixed to the mounting frame 2. A sliding component for assisting the sliding connection of the material grabbing gripper 106 is provided on the mounting plate 105. An adjustment component for adjusting the position of each group of material grabbing grippers 106 is provided above the mounting plate 105.

[0034] An adsorption component for the material grabbing gripper 106 used for suction cup material adsorption is arranged on the material grabbing gripper 106, and the adsorption component includes a mounting cavity opened inside the material grabbing gripper 106, and a plurality of through holes 701 are opened at the lower end of the material grabbing gripper 106, and each group of through holes 701 is connected to the inside of the mounting cavity, and an air pump 703 is installed at the lower end of the mounting plate 105 through a mounting seat 702, and a hose 704 is connected between the air suction end of the air pump 703 and the material grabbing gripper 106, and the hose 704 is connected to the inside of the mounting cavity, and a control component for controlling the blocking and opening of the through holes 701 during the adsorption process is arranged inside the mounting cavity;

[0035] It should be noted here that each group of material picking grippers 106 can quickly pick up the workpiece material in the manner of a suction cup to avoid damage to the material by clamping and picking up the material, and in the process of picking up materials with unevenly arranged protrusions on the surface, the control components are used to make each group of material picking grippers 106 adapt to the shape of the material, thereby ensuring the adsorption force between the material picking grippers 106 and the protrusions on the material, fully adsorbing the material, and further completing the stable grabbing operation of the material with unevenly arranged protrusions.

[0036] Preferably, the control component includes a blocking rod 801 slidably connected to the through hole 701, and the through hole 701 is set in a blocked state under the action of the blocking rod 801, a transmission pin 802 is fixed to the lower end of the blocking rod 801, and the transmission pin 802 is located outside the material grabber 106, and an elastic component for elastically pushing the blocking rod 801 is provided inside the installation cavity, and a positioning ring 803 is fixed to the outer side of the blocking rod 801, and the positioning ring 803 is against the inner wall of the installation cavity when the elastic component pushes the blocking rod 801, and a limiting component is provided on the elastic component for limiting the blocking rod 801 after being contracted and pushed;

[0037] It should be noted here that: when there are unevenly arranged protrusions on the surface of the workpiece material to be grasped, in the process of adsorbing and picking up the material by moving the mounting plate 105, the transmission pins 802 at different positions on the multiple groups of material grabbers 106 are abutted against the protrusions at different positions on the material as the mounting plate 105 moves. In the process of abutting, the blocking rod 801 is pushed to shrink and limit and connect the through hole 701 so that the protrusion is abutted against the bottom of the through hole 701, and the other parts on the material grabber 106 are The blocking rod 801 on the transmission pin 802 at other positions that are not in contact with the protrusions does not shrink or shrinks only slightly, and the through hole 701 remains blocked. Therefore, in the process of taking materials with unevenly arranged protrusions on the surface, each group of protrusions on the material is pushed so that they are respectively in contact with and connected with the through holes 701 at corresponding positions on the material taking gripper 106, and the through holes 701 at other positions remain blocked, so that each group of material taking grippers 106 is adapted to the shape of the material.

[0038] Preferably, the elastic component includes a piston cylinder 901 fixed inside the installation cavity, the blocking rod 801 is slidably connected to the piston cylinder 901, and the blocking rod 801 and the inside of the piston cylinder 901 are matched with each other, and a first spring 902 for connecting with one end of the blocking rod 801 is installed inside the piston cylinder 901;

[0039] It should be noted here that: the blocking rod 801 is pushed by the first spring 902 inside the piston cylinder 901 so that the positioning ring 803 is pressed against the inner wall of the installation cavity, thereby maintaining the blocking state of the through hole 701 .

[0040] Preferably, the limit assembly includes a one-way valve 1001 installed on the material grabbing gripper 106, the one-way valve 1001 is arranged in communication with the interior of the piston cylinder 901, the conduction direction of the one-way valve 1001 is from the interior of the piston cylinder 901 to the outside of the material grabbing gripper 106, an air inlet pipe 1002 is installed at the upper end of the material grabbing gripper 106, the air inlet pipe 1002 is arranged in communication with the interior of the piston cylinder 901, a blocking plate 1003 for abutting and blocking the end of the air inlet pipe 1002 is arranged above the mounting plate 105, and a lifting assembly for lifting and lowering the blocking plate 1003 is arranged on the mounting plate 105;

[0041] It should be noted here that: in the process of pushing the blocking rod 801 to retract inside the installation cavity through the movement of the transmission pin 802, the blocking rod 801 moves inside the piston cylinder 901. Since the conduction direction of the one-way valve 1001 is from the inside of the piston cylinder 901 to the outside of the material picking gripper 106, and the end of the air inlet pipe 1002 is blocked, the blocking rod 801 moves toward the inside of the piston cylinder 901, and part of the gas inside the piston cylinder 901 is discharged outward through the one-way valve 1001. After the discharge is completed, since the piston cylinder 901 cannot normally intake air, the blocking rod 801 cannot be reset under the action of the internal pressure of the piston cylinder 901, thereby realizing the limiting operation of the blocking rod 801.

[0042] Preferably, the lifting assembly includes a strip plate 1101 arranged above the mounting plate 105, one end of the blocking plate 1003 is fixed to the strip plate 1101, the strip plate 1101 is connected to the L-shaped frame 3 through a connecting assembly, an iron block 1102 is installed on the side of the strip plate 1101 close to the mounting plate 105, and an electromagnet 1103 for magnetic attraction with the iron block 1102 is installed on the upper end of the mounting plate 105;

[0043] It should be noted here that: the electromagnet 1103 is energized, and the energized electromagnet 1103 causes the strip plate 1101 to move downward toward the mounting plate 105 under the action of the magnetic force of the iron block 1102 .

[0044] Preferably, the connecting assembly includes a sleeve 1201 fixed to the upper end of the L-shaped frame 3, a sliding rod 1202 is slidably connected to the sleeve 1201, one end of the sliding rod 1202 is fixed to the strip plate 1101, and a second spring 1203 is sleeved on the outer side of the sleeve 1201, and the two ends of the second spring 1203 are respectively connected to the strip plate 1101 and the L-shaped frame 3;

[0045] It should be noted here that the movement of the strip plate 1101 after being subjected to force is guided by the sleeve 1201 and the slide rod 1202 , and the telescopic connection of the strip plate 1101 is facilitated by the second spring 1203 .

[0046] Preferably, the sliding assembly includes a mounting groove 401 provided on the mounting plate 105, the material grabbing gripper 106 is arranged inside the mounting groove 401, two groups of T-shaped grooves 402 are provided on the inner wall of the mounting groove 401, and T-shaped blocks 403 are slidably connected to the two groups of T-shaped grooves 402, and the T-shaped blocks 403 are fixed to the outer side of the material grabbing gripper 106;

[0047] It should be noted here that: the material grabbing gripper 106 is slidably connected through the mounting groove 401, the T-shaped groove 402 and the T-shaped block 403, so as to facilitate the sliding guidance of the material grabbing gripper 106 after being subjected to force.

[0048] Preferably, the adjustment assembly includes a driving disk 501 disposed above the mounting disk 105, and a plurality of groups of inclined slots 502 are provided on the driving disk 501, and a transmission rod 503 is slidably connected to each inclined slot 502, and one end of each transmission rod 503 is respectively fixed to the upper end of each group of material grabbers 106, and a rotating assembly for rotating the driving disk 501 is provided on the mounting frame 2;

[0049] It should be noted here that: in the process of loading and unloading materials by each group of material picking grippers 106 in a suction cup manner, the driving disk 501 is driven to rotate through the rotating component. During the rotation of the driving disk 501, each group of inclined grooves 502 and each group of transmission rods 503 are respectively offset and transmitted to drive each group of material picking grippers 106 to move under force. During the movement of the material picking grippers 106, the sliding guide components of the sliding components are used to make the multiple groups of material picking grippers 106 move closer to or away from each other after being subjected to force, and the spacing between the groups of material picking grippers 106 is adjusted. By adjusting the spacing between the groups of material picking grippers 106, it is convenient to load and unload materials of different areas in a suction cup manner.

[0050] Preferably, the rotating assembly includes a driving shaft 601 fixed to the upper end of the driving disk 501, and a driving motor 602 for driving the driving shaft 601 is installed on the mounting frame 2;

[0051] It should be noted here that the driving motor 602 drives the driving shaft 601 so as to make the driving disk 501 rotate.

[0052] In this scheme: a suction cup type automatic loading and unloading gripper device comprises the following steps:

[0053] During the loading and unloading operation of the conveyed workpiece by the gripper device, the mounting plate 105 on the front side of the mechanical arm 104 is driven by the mounting frame 103 to move toward the workpiece and make the lower end of the material-grabbing gripper 106 abut against the workpiece. During the movement, the transmission pins 802 on each group of material-grabbing grippers 106 abut against the outer surface of the workpiece. During the abutment process, the blocking rod 801 is pushed by the transmission pin 802 to retract toward the inside of the mounting cavity of the material-grabbing gripper 106. In the process of the retraction movement of the blocking rod 801, the blocking rod 801 is moved by the limit assembly. The blocking rod 801 is limited in position to keep the blocking rod 801 in the retracted state. The through hole 701 is no longer blocked by the retracted position of the blocking rod 801. At this time, the inside of the material grabbing gripper 106 is evacuated and pressed by the driving action of the vacuum pump 703 and the connecting action of the hose 704. During the evacuation and pressing process, the mutually communicating action of each group of through holes 701 causes the workpieces that are against each other to be adsorbed on the lower end of the material grabbing gripper 106, so that each group of material grabbing grippers 106 can quickly perform material picking operation on the workpiece material in a suction cup manner, thereby avoiding damage to the material by clamping and picking.

[0054] When there are unevenly arranged protrusions on the surface of the workpiece material to be grasped, in the process of adsorbing and picking up the material by moving the mounting plate 105, the transmission pins 802 at different positions on the multiple groups of material grabbing grippers 106 are abutted against the protrusions at different positions on the material as the mounting plate 105 moves. In the process of abutting, the blocking rod 801 is pushed to shrink and limit, connect the through hole 701, and make the protrusion abut against the bottom of the through hole 701, while the blocking rod 801 on the transmission pin 802 at other positions on the material grabbing gripper 106 that are not abutted against the protrusion does not shrink or shrinks slightly, and the through hole 701 is kept abutted and blocked. Therefore, when there are materials with unevenly arranged protrusions on the surface, During the process of taking materials, by pushing, each group of protrusions on the material is respectively abutted and communicated with the through holes 701 at the corresponding positions on the material taking gripper 106, and the through holes 701 at other positions remain blocked, so that each group of material taking grippers 106 are adapted to the shape of the material. At this time, through the driving action of the vacuum pump 703 and the connecting action of the hose 704, the inside of the material taking gripper 106 is evacuated and pressed. Because the protrusions on the material are abutted and communicated with the through holes 701 on the material taking gripper 106, and the other positions remain blocked, the adsorption force between the material taking gripper 106 and the protrusions on the material is ensured, the material is fully adsorbed, and the stable grabbing operation of the material with unevenly arranged protrusions is further completed;

[0055] When the blocking rod 801 is pushed to retract in the installation cavity by the movement of the transmission pin 802, the blocking rod 801 moves inside the piston cylinder 901. Since the conducting direction of the one-way valve 1001 is from the inside of the piston cylinder 901 to the outside of the material picking gripper 106, and the end of the air inlet pipe 1002 is blocked, the blocking rod 801 moves toward the inside of the piston cylinder 901, and part of the gas in the piston cylinder 901 is discharged outward through the one-way valve 1001. After the discharge is completed, since the piston cylinder 901 cannot normally intake air, the blocking rod 801 cannot be reset under the action of the internal pressure of the piston cylinder 901, thereby achieving the goal of sealing the blocking rod 80 1 is performed, and after the material is adsorbed and moved to the specified position, when the material is to be unloaded, the suction and pressure inside the material grabber 106 is stopped and the strip plate 1101 is driven to move downward through the lifting assembly. The descending of the strip plate 1101 drives each group of blocking plates 1003 to no longer block the air inlet pipe 1002. At this time, the interior of the piston cylinder 901 can be normally inlet and the blocking rod 801 is pushed to reset under the elastic force of the first spring 902. During the resetting process of the blocking rod 801, the transmission pin 802 at the front end of the blocking rod 801 pushes the material, and the pushing action facilitates the rapid unloading operation of the material.

[0056] In the process of loading and unloading materials by each group of material grabbing grippers 106 in a suction cup manner, the driving disk 501 is driven to rotate through the rotating component. During the rotation of the driving disk 501, each group of inclined grooves 502 and each group of transmission rods 503 are respectively offset and transmitted to drive each group of material grabbing grippers 106 to move under force. During the movement of the material grabbing grippers 106, the sliding guide components of the sliding components are used to make the multiple groups of material grabbing grippers 106 move closer to or away from each other after being subjected to force, and the spacing between the groups of material grabbing grippers 106 is adjusted. By adjusting the spacing between the groups of material grabbing grippers 106, it is convenient to load and unload materials of different areas in a suction cup manner.

[0057] It should be noted that, in this article, relational terms such as first and second, etc. are only used to distinguish one entity or operation from another entity or operation, and do not necessarily require or imply any such actual relationship or order between these entities or operations. Moreover, the terms "include", "comprise" or any other variants thereof are intended to cover non-exclusive inclusion, so that a process, method, article or device including a series of elements includes not only those elements, but also other elements not explicitly listed, or also includes elements inherent to such process, method, article or device.

[0058] Although embodiments of the present invention have been shown and described, it will be appreciated by those skilled in the art that various changes, modifications, substitutions and variations may be made to the embodiments without departing from the principles and spirit of the present invention, and that the scope of the present invention is defined by the appended claims and their equivalents.

Claims

1. A suction cup type automatic loading and unloading gripper device, comprising: A turntable (102) is arranged between two groups of conveyors (101) and can be rotated between the two groups of conveyors (101); a mechanical arm (104) is connected to the turntable (102) via a mounting frame (103) and can be lifted and lowered for loading and unloading operations of materials between the two groups of conveyors (101); a mounting plate (105) is arranged on the front side of the mechanical arm (104); a plurality of groups of material grabbing grippers (106) are arranged on the mounting plate (105); and the plurality of groups of material grabbing grippers (106) are arranged in a ring array on the mounting plate (105); It is characterized by further comprising: A mounting frame (2) is fixed to the front end of the mechanical arm (104), two groups of L-shaped frames (3) are symmetrically fixed on both sides of the mounting plate (105), one end of the L-shaped frame (3) is fixed to the mounting frame (2), a sliding component for assisting the sliding connection of the material grabbing gripper (106) is arranged on the mounting plate (105), and an adjustment component for adjusting the position of each group of material grabbing grippers (106) is arranged above the mounting plate (105); An adsorption component for suction cup-type material adsorption of the material picking gripper (106) is arranged on the material picking gripper (106), the adsorption component comprising an installation cavity opened inside the material picking gripper (106), a plurality of groups of through holes (701) are opened at the lower end of the material picking gripper (106), each group of through holes (701) is arranged in communication with the interior of the installation cavity, an air pump (703) is installed at the lower end of the installation plate (105) through a mounting seat (702), a hose (704) is connected between the air suction end of the air pump (703) and the material picking gripper (106), the hose (704) is in communication with the interior of the installation cavity, and a control component for controlling the blocking and opening of the through holes (701) during the adsorption process is arranged inside the installation cavity; The control component comprises a blocking rod (801) slidably connected to the through hole (701), and the through hole (701) is set in a blocked state under the action of the blocking rod (801), a transmission pin (802) is fixed to the lower end of the blocking rod (801), and the transmission pin (802) is located outside the material grabber (106), and an elastic component for elastically pushing the blocking rod (801) is arranged inside the installation cavity, and a positioning ring (803) is fixed to the outer side of the blocking rod (801), and the positioning ring (803) is abutted against the inner wall of the installation cavity when the elastic component pushes the blocking rod (801), and a limiting component for limiting the position of the blocking rod (801) after being contracted and pushed is arranged on the elastic component; The adjustment assembly comprises a driving disk (501) arranged above the mounting disk (105); a plurality of groups of inclined slots (502) are provided on the driving disk (501); each of the inclined slots (502) is slidably connected to a transmission rod (503); one end of each of the transmission rods (503) is respectively fixed to the upper end of each group of material grabbing grippers (106); and a rotating assembly for rotating the driving disk (501) is provided on the mounting frame (2).

2. A suction cup type automatic loading and unloading gripper device according to claim 1, characterized in that: The elastic component comprises a piston cylinder (901) fixed inside the installation cavity, the blocking rod (801) is slidably connected to the piston cylinder (901), and the blocking rod (801) and the interior of the piston cylinder (901) are matched with each other, and a first spring (902) for connecting to one end of the blocking rod (801) is installed inside the piston cylinder (901).

3. A suction cup type automatic loading and unloading gripper device according to claim 2, characterized in that: The limit assembly comprises a one-way valve (1001) mounted on the material picking gripper (106), the one-way valve (1001) being arranged in communication with the interior of the piston cylinder (901), the conduction direction of the one-way valve (1001) being from the interior of the piston cylinder (901) to the exterior of the material picking gripper (106), an air intake pipe (1002) being mounted on the upper end of the material picking gripper (106), the air intake pipe (1002) being arranged in communication with the interior of the piston cylinder (901), a blocking plate (1003) for abutting and blocking the end of the air intake pipe (1002) being arranged above the mounting plate (105), and a lifting assembly for lifting and lowering the blocking plate (1003) being arranged on the mounting plate (105).

4. A suction cup type automatic loading and unloading gripper device according to claim 3, characterized in that: The lifting assembly comprises a strip plate (1101) arranged above the mounting plate (105); one end of the blocking plate (1003) is fixed to the strip plate (1101); the strip plate (1101) is connected to the L-shaped frame (3) via a connecting assembly; an iron block (1102) is installed on the side of the strip plate (1101) facing the mounting plate (105); and an electromagnet (1103) for magnetic attraction with the iron block (1102) is installed on the upper end of the mounting plate (105).

5. A suction cup type automatic loading and unloading gripper device according to claim 4, characterized in that: The connection assembly comprises a sleeve (1201) fixed to the upper end of the L-shaped frame (3), a sliding rod (1202) being slidably connected to the sleeve (1201), one end of the sliding rod (1202) being fixed to the strip plate (1101), a second spring (1203) being sleeved on the outer side of the sleeve (1201), and two ends of the second spring (1203) being respectively connected to the strip plate (1101) and the L-shaped frame (3).

6. A suction cup type automatic loading and unloading gripper device according to claim 1, characterized in that: The sliding assembly comprises a mounting groove (401) provided on the mounting plate (105); the material grabbing gripper (106) is arranged inside the mounting groove (401); two groups of T-shaped grooves (402) are provided on the inner wall of the mounting groove (401); T-shaped blocks (403) are slidably connected to the two groups of T-shaped grooves (402); and the T-shaped blocks (403) are fixed to the outer side of the material grabbing gripper (106).

7. A suction cup type automatic loading and unloading gripper device according to claim 1, characterized in that: The rotating assembly comprises a driving shaft (601) fixed to the upper end of the driving disk (501), and a driving motor (602) for driving the driving shaft (601) is mounted on the mounting frame (2).

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