A mechanical arm convenient for replacing suction cups

Abstract

The present invention belongs to the technical field of vacuum chucks of manipulators, and discloses a manipulator that is convenient for replacing suction cups, including a base, a manipulator body is arranged at the top of the base, a control box is arranged at the front end of the base, a connecting plate is arranged at the right end of the manipulator body, a fixed disk is arranged at the bottom end of the connecting plate, and holes are opened on both sides of the surface of the fixed disk, and a contact disk is arranged at the bottom end of the fixed disk. The present invention places a matching suction cup assembly at the bottom end of the fixed disk, and then reinserts the plug block into the inside of the hole. When the top end of the contact disk contacts the bottom end of the fixed disk, the motor can be driven again to make the two gears rotate in the opposite direction, and then the limit block can be made to enter the inside of the plug block again, so as to fix the suction cup assembly. Finally, by driving the limit block to move toward or relative to each other, it is convenient for the operator to replace the suction cup assembly, thereby improving the working efficiency of the device.

Description

Technical Field

[0001] The invention belongs to the technical field of vacuum chucks of manipulators, in particular to a manipulator which is convenient for replacing a suction cup. Background Art

[0002] In the process of workpiece production, workpiece defect detection robots play an important role in modern industrial production. They combine machine vision technology to achieve efficient and accurate detection of workpiece products and automatically remove defective products.

[0003] At present, the traditional workpiece defect robot uses advanced industrial camera technology and machine vision software to capture the image of the workpiece surface with high precision and use complex algorithms to deeply process and analyze the image. When the defects on the workpiece surface are identified, the controller will drive the robot arm to work, and then the suction cup component of one section of the robot arm will be adsorbed on the surface of the workpiece, thereby removing the defective workpiece.

[0004] However, when dealing with workpieces of different specifications, especially large sizes, existing robot systems face a challenge: the adaptability and replacement efficiency of the suction cup assembly. Since large-sized workpieces require suction cup assemblies with larger areas and stronger adsorption forces to ensure stable grasping, in actual operations, it is often necessary to frequently replace the suction cup assemblies that match the workpiece size. At present, many systems use bolt fixing to install the suction cup assemblies. Although this method is stable, it has significant disadvantages - the replacement process is cumbersome and time-consuming, and the operator needs to manually tighten or loosen multiple bolts, which not only increases the labor intensity, but also significantly reduces the working efficiency of the equipment and affects the overall smoothness of the production line. Summary of the invention

[0005] In order to solve the problem of inconvenience in replacing the suction cup assembly mentioned in the above background technology, the present invention provides a robot arm that is convenient for replacing the suction cup.

[0006] To achieve the above-mentioned purpose, the present invention provides the following technical solutions: a manipulator for convenient replacement of suction cups, comprising a base, a manipulator body is arranged at the top of the base, a control box is arranged at the front end of the base, a connecting plate is arranged at the right end of the manipulator body, a fixing plate is arranged at the bottom end of the connecting plate, both sides of the surface of the fixing plate are provided with plug holes, a contact plate is arranged at the bottom end of the fixing plate, a suction cup assembly is fixedly installed at the bottom end of the contact plate, and an insert block located inside the plug hole is fixedly installed at the top end of the suction cup assembly;

[0007] A fixing mechanism is arranged on the top end of the fixing disk, the fixing mechanism includes a square plate, the square plate is fixedly connected to the top end of the fixing disk, the opposite sides of the square plate are fixedly installed with spring 1, the opposite sides of the spring 1 are fixedly installed with a limit block, a fixing cylinder is fixedly installed inside the connecting plate, the opposite sides of the fixing cylinder are rotatably connected to a limit ring, the opposite sides of the limit ring are fixedly installed with gear 1, the inside of the fixing cylinder is slidably connected with an internal threaded rod located at gear 1, the gear 1 is threadedly connected to the threaded rod, the inside of the connecting plate is rotatably connected with a rotating rod, the front and rear ends of the rotating rod are fixedly installed with gear 2 meshing with gear 1, the rear end of the connecting plate is fixedly installed with a motor, and the output end of the motor is fixedly connected to the rear end gear 2.

[0008] Preferably, a square hole is opened on the left side of the control box, and a filter plate is fixedly installed inside the square hole.

[0009] Preferably, it also includes: a cleaning mechanism, which is arranged at the top end of the square hole, the cleaning mechanism includes a screw rod, the front end of the screw rod is fixedly installed with a grip rod located on the front side of the control box, the screw rod is rotatably connected to the top end of the square hole, the surface of the screw rod is threadedly connected with a threaded block, the bottom end of the threaded block is fixedly installed with a connecting shell, and the interior of the connecting shell is fixedly installed with a scraper.

[0010] Preferably, an ash discharge hole located at the bottom of the connecting shell and the scraper is opened at the bottom end of the square hole, a sealing shell located on the surface of the ash discharge hole is fixedly installed on the left side of the control box, and the bottom end of the sealing shell is slidably connected to a collecting trough located at the bottom of the ash discharge hole.

[0011] Preferably, a door panel is provided at the front end of the control box, and the control box and the door panel are hingedly connected via a hinge chain.

[0012] Preferably, a chassis is fixedly mounted on the bottom end of the base, and a threaded hole is provided on the surface of the chassis. The threaded hole is designed to be longitudinally symmetrical about the center of the chassis.

[0013] Preferably, fixing rings located at the front and rear sides of the connecting plate are fixedly mounted on the surface of the rotating rod, and there are two fixing rings, and opposite sides of the two fixing rings are in contact with the surface of the connecting plate.

[0014] Preferably, the surface of the grip is provided with bumps, and the bumps are made of rubber material.

[0015] Preferably, a limiting groove is provided at the top of the fixed plate, the number of the limiting grooves is two, the insides of the two limiting grooves are slidably connected with sliders, and the top ends of the sliders are in contact with the bottom ends of the two limiting blocks.

[0016] Preferably, the limiting ring is T-shaped and longitudinally symmetrical about the center of the fixing tube, the inner diameter of the limiting ring is larger than the outer diameter of the threaded rod, and the surface of the threaded rod does not contact the inner wall of the limiting ring.

[0017] Compared with the prior art, the present invention has the following beneficial effects:

[0018] The present invention drives the motor to rotate the two gears 2, and then the two gears 2 will drive the two gears 1 and the threaded rod to rotate. During the rotation of the two threaded rods, the threaded rods will move relative to each other, and then the ends of the threaded rods facing each other will move away from the surface of the limit block, and then the stretched spring 1 will pull the limit block away from the inside of the plug block, and then the contact plate, the suction cup assembly and the plug block can be removed, and then the matching suction cup assembly can be placed on the bottom end of the fixed plate, and then the plug block can be reinserted into the inside of the socket, and when the top end of the contact plate contacts the bottom end of the fixed plate, the motor can be driven again to make the two gears 2 rotate in the opposite direction, and then the limit block can be made to enter the inside of the plug block again, so as to fix the suction cup assembly, and finally by driving the limit blocks to move toward each other or relative to each other, it is convenient for operators to replace the suction cup assembly, thereby improving the working efficiency of the device;

[0019] The present invention rotates the screw rod by rotating the grip rod. When the screw rod rotates, the threaded block moves, and then the threaded block drives the connecting shell and the scraper to move. Since the right side of the scraper contacts the surface of the filter plate, the dust attached to the surface of the filter plate is scraped off when the scraper moves. The scraped dust then moves downward, and then the dust enters the inside of the ash discharge hole. Then the dust passes through the ash discharge hole and falls into the inside of the collecting tank. Finally, the scraper is moved by rotating the screw rod, so that the surface of the filter plate can be cleaned, and the filter holes on the surface of the filter plate are prevented from being blocked by dust, ensuring that the air can flow smoothly and the heat can be dissipated more effectively. BRIEF DESCRIPTION OF THE DRAWINGS

[0020] Figure 1 It is a schematic diagram of the structure of the present invention;

[0021] Figure 2 It is a schematic diagram showing the fixing mechanism of the present invention;

[0022] Figure 3 A schematic diagram showing the jack of the present invention;

[0023] Figure 4 It is a schematic diagram of a cross-section of a fixing cylinder of the present invention;

[0024] Figure 5 This is a schematic diagram of a cross-sectional control box of the present invention;

[0025] Figure 6 This is a schematic diagram of a sectional sealing shell of the present invention;

[0026] Figure 7 This is a schematic diagram of a cross-sectional connection shell of the present invention.

[0027] In the figure: 1. base; 2. robot arm body; 3. connecting plate; 4. fixing plate; 5. contact plate; 6. suction cup assembly; 7. plug block; 8. socket; 9. square plate; 10. spring 1; 11. limit block; 12. fixing cylinder; 13. limit ring; 14. gear 1; 15. threaded rod; 16. rotating rod; 17. gear 2; 18. motor; 19. limit groove; 20. slider; 21. control box; 22. grip rod; 23. square hole; 24. filter plate; 25. screw rod; 26. threaded block; 27. connecting shell; 28. scraper; 29. ​​ash discharge hole; 30. sealing shell; 31. collecting tank; 32. hinge chain; 33. door panel; 34. chassis; 35. threaded hole; 36. fixing ring. 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] like Figures 1 to 7 As shown, the present invention provides a manipulator for facilitating replacement of a suction cup, comprising a base 1, a manipulator body 2 is arranged at the top of the base 1, a control box 21 is arranged at the front end of the base 1, a connecting plate 3 is arranged at the right end of the manipulator body 2, a fixing plate 4 is arranged at the bottom end of the connecting plate 3, both sides of the surface of the fixing plate 4 are provided with plug holes 8, a contact plate 5 is arranged at the bottom end of the fixing plate 4, a suction cup assembly 6 is fixedly installed at the bottom end of the contact plate 5, and an insert block 7 located inside the plug hole 8 is fixedly installed at the top end of the suction cup assembly 6;

[0030] A fixing mechanism is arranged at the top of the fixing disk 4, and the fixing mechanism includes a square plate 9, which is fixedly connected to the top of the fixing disk 4, and a spring 10 is fixedly installed on the opposite side of the square plate 9, and a limit block 11 is fixedly installed on the opposite side of the spring 10, and a fixing cylinder 12 is fixedly installed inside the connecting plate 3, and a limit ring 13 is rotatably connected inside the opposite side of the fixing cylinder 12, and a gear 14 is fixedly installed on the opposite side of the limit ring 13, and an internal threaded rod 15 located at the gear 14 is slidably connected inside the fixing cylinder 12, and the gear 14 is threadedly connected to the threaded rod 15, and a rotating rod 16 is rotatably connected inside the connecting plate 3, and a gear 2 17 meshing with the gear 14 is fixedly installed at the front and rear ends of the rotating rod 16, and a motor 18 is fixedly installed at the rear end of the connecting plate 3, and the output end of the motor 18 is fixedly connected to the rear end gear 2 17.

[0031] The above scheme is adopted: the workpiece image is collected by an industrial camera, and the image is processed and analyzed by machine vision detection software to identify the defects on the workpiece surface. Once the workpiece defect is identified, the control box 21 will control the robot arm body 2 and the connecting plate 3 to move, and then the connecting plate 3 will drive the fixed plate 4, the contact plate 5 and the suction cup assembly 6 to move. When the suction cup assembly 6 moves, the control box 21 will start the suction cup assembly 6 to generate negative pressure and adsorb it on the workpiece surface, and then remove the defective workpiece to prevent it from entering the next production link;

[0032] During the operation, when it is necessary to replace the suction cup assembly 6 that matches the workpiece, the motor 18 can be driven to rotate the gear 2 17 at the rear end, and then the gear 2 17 at the rear end will drive the rotating rod 16 and the gear 2 17 at the front end to rotate. Since the two gears 2 17 are meshed with the two gears 14, the two gears 2 17 will drive the two gears 14 to rotate, and then the two gears 14 will simultaneously drive the threaded rod 15 to rotate. Since the threaded rod 15 is threadedly connected to the gear 14, when the threaded rod 15 rotates, they will move relative to each other, and then the opposite side of the threaded rod 15 will move away from the surface of the limit block 11, and then the stretched spring 10 will pull the limit block 11 to move relative to each other, and then the limit block 11 will move away from the inside of the plug block 7, and then the limit on the plug block 7 will be cancelled, and then the operator can remove the contact plate 5, the suction cup assembly 6 and the plug block 7.

[0033] Then, the suction cup assembly 6 that matches the workpiece can be placed on the bottom end of the fixed plate 4, and then the plug block 7 can be inserted into the inside of the socket 8 again. When the top of the contact plate 5 contacts the bottom end of the fixed plate 4, the motor 18 can be driven again to make the two gears 17 rotate in the opposite direction. Then, the two gears 17 will drive the two gears 14 and the threaded rod 15 to rotate in the opposite direction. Then, the threaded rod 15 will move toward each other during the rotation. Then, the opposite sides of the threaded rod 15 will contact the surface of the limit block 11, and then the limit block 11 will be pushed to move toward each other. When the limit block 11 moves toward each other, the spring 10 will be stretched, and then the limit block 11 will enter the inside of the plug block 7 again, so that the contact plate 5 and the suction cup assembly 6 can be fixed at the bottom end of the fixed plate 4, and then the suction cup assembly 6 can continue to be driven to adsorb the workpiece, thereby removing the defective workpiece.

[0034] like Figure 6 As shown, a square hole 23 is opened on the left side of the control box 21, and a filter plate 24 is fixedly installed inside the square hole 23.

[0035] The above scheme is adopted: through the design of the square hole 23 and the filter plate 24, when the controller control device inside the control box 21 is working, the external air can pass through the square hole 23 into the interior of the control box 21, and then the controller inside the control box 21 can be cooled. In the process of air entering the interior of the control box 21, the filter plate 24 can filter dust in the air to prevent dust from entering the interior of the control box 21, thereby increasing the service life of the controller.

[0036] like Figure 5 and Figure 7 As shown, it also includes: a cleaning mechanism, which is arranged at the top end of the square hole 23, and the cleaning mechanism includes a screw rod 25, and the front end of the screw rod 25 is fixedly installed with a grip rod 22 located on the front side of the control box 21, and the screw rod 25 is rotatably connected to the top end of the square hole 23. The surface of the screw rod 25 is threadedly connected with a threaded block 26, and the bottom end of the threaded block 26 is fixedly installed with a connecting shell 27, and the interior of the connecting shell 27 is fixedly installed with a scraper 28.

[0037] The above scheme is adopted: through the design of the cleaning mechanism, when the filter plate 24 filters the dust in the air for a long time, the grip 22 can be rotated, and then the grip 22 will drive the screw rod 25 to rotate. Since the screw rod 25 is threadedly connected to the threaded block 26, when the screw rod 25 rotates, the threaded block 26 will move on the surface of the screw rod 25, and then the threaded block 26 will drive the connecting shell 27 and the scraper 28 to move. Since the right side of the scraper 28 is in contact with the left side of the filter plate 24, when the scraper 28 moves, the dust attached to the left side of the filter plate 24 can be scraped off to prevent the dust from clogging the filter holes on the surface of the filter plate 24, thereby ensuring the normal heat dissipation of the control box 21.

[0038] like Figure 6 and Figure 7 As shown, the bottom end of the square hole 23 is provided with an ash discharge hole 29 located at the bottom of the connecting shell 27 and the scraper 28, and a sealing shell 30 located on the surface of the ash discharge hole 29 is fixedly installed on the left side of the control box 21, and the bottom end of the sealing shell 30 is slidably connected to a collecting trough 31 located at the bottom of the ash discharge hole 29.

[0039] The above scheme is adopted: through the design of the ash discharge hole 29, the sealing shell 30 and the collecting groove 31, when the scraper 28 scrapes the dust attached to the surface of the filter plate 24, the scraped dust will float downward, and then the dust will fall into the inside of the ash discharge hole 29. Since the ash discharge hole 29 is designed to be inclined, the dust falling into the ash discharge hole 29 will fall into the inside of the collecting groove 31, and then the collecting groove 31 can collect the dust.

[0040] like Figure 1As shown, a door panel 33 is provided at the front end of the control box 21, and the control box 21 and the door panel 33 are hinged by a hinge chain 32. A chassis 34 is fixedly installed at the bottom end of the base 1, and a threaded hole 35 is opened on the surface of the chassis 34. The threaded hole 35 is designed to be longitudinally symmetrical about the center of the chassis 34.

[0041] The above scheme is adopted: through the design of the hinge chain 32 and the door panel 33, since the control box 21 and the door panel 33 are hinged by the hinge chain 32, the door panel 33 can be rotated. During the rotation of the door panel 33, the control box 21 will be opened, so that it is convenient for the operator to maintain the controller inside the control box 21. Through the design of the chassis 34 and the threaded hole 35, the fixing bolt can be inserted into the threaded hole 35, and then the equipment can be fixed in the specified position, thereby improving the stability of the equipment operation.

[0042] like Figure 3 and Figure 5 As shown, the surface of the rotating rod 16 is fixedly installed with fixing rings 36 located on the front and rear sides of the connecting plate 3. There are two fixing rings 36, and the opposite sides of the two fixing rings 36 are in contact with the surface of the connecting plate 3. The surface of the handle 22 is provided with bumps, and the bumps are made of rubber material.

[0043] The above scheme is adopted: through the design of the fixing ring 36, during the rotation of the rotating rod 16, the fixing ring 36 will rotate along with it, because the opposite side of the fixing ring 36 is in contact with the surface of the connecting plate 3, the rotating rod 16 can be limited to avoid the position of the rotating rod 16 being shifted when it rotates, and through the design of the grip 22, since the surface of the grip 22 is provided with a bump, the friction between the palm can be increased, and the bump is made of rubber material, so when holding the grip 22, the bump will be deformed, which can increase the comfort of rotation.

[0044] like Figure 4 As shown, a limiting groove 19 is provided at the top of the fixed disk 4, and the number of the limiting grooves 19 is two. The two limiting grooves 19 are internally slidably connected with a slider 20, and the top of the slider 20 contacts the bottom ends of the two limiting blocks 11. The limiting ring 13 is T-shaped, and the limiting ring 13 is longitudinally symmetrically designed about the center of the fixed tube 12. The inner wall of the limiting ring 13 is larger than the surface of the threaded rod 15, and the surface of the threaded rod 15 does not contact the inner wall of the limiting ring 13.

[0045] The above scheme is adopted: through the design of the limit groove 19 and the slider 20, when the two limit blocks 11 move toward or relative to each other, the limit block 11 will drive the slider 20 to move inside the limit groove 19. Since the surface of the slider 20 fits the inner wall of the limit groove 19, the movement direction of the limit block 11 can be limited, thereby ensuring that the limit block 11 can accurately enter the interior of the plug block 7. Through the design of the limit ring 13, when the gear 14 rotates, the limit ring 13 will rotate inside the fixed cylinder 12. Since the fixed cylinder 12 is a T-shaped design and the surface is fully fitted with the interior of the fixed cylinder 12, the limit ring 13 can be limited, and the inner wall of the limit ring 13 does not contact the surface of the threaded rod 15, so when the threaded rod 15 moves, the limit ring 13 will not interfere with its movement.

[0046] The working principle and use process of the present invention:

[0047] First, the operator can use an industrial camera to capture the workpiece image, use machine vision inspection software to process and analyze the image, and identify the defects on the workpiece surface. Once the workpiece defect is identified, the controller inside the control box 21 will drive the robot arm body 2, the connecting plate 3 and the fixed plate 4 to move, and will start the suction cup assembly 6 to generate negative pressure and adsorb on the workpiece surface, and then remove the defective workpiece to prevent it from entering the next production link;

[0048] During the operation, when the suction cup assembly 6 that matches the workpiece needs to be replaced, the motor 18 can be driven to rotate the two gears 17, and then the two gears 17 will drive the two gears 14 and the threaded rod 15 to rotate. During the rotation of the two threaded rods 15, the threaded rods 15 will move relative to each other, and then the ends of the threaded rods 15 that face each other will move away from the surface of the limit block 11, and then the stretched spring 10 will pull the limit block 11 away from the inside of the plug block 7, and then the contact plate 5, the suction cup assembly 6 and the plug block 7 can be removed, and then the appropriate The matched suction cup assembly 6 is placed at the bottom end of the fixed plate 4, and the insert block 7 is reinserted into the inside of the socket 8. When the top end of the contact plate 5 contacts the bottom end of the fixed plate 4, the motor 18 can be driven again to make the two gears 17 rotate in the opposite direction, and then the two gears 17 will drive the gear 14 and the threaded rod 15 to rotate, and then the threaded rod 15 will push the limit block 11 to move towards each other, and then the limit block 11 will enter the inside of the insert block 7 again, so that the contact plate 5 and the suction cup assembly 6 can be fixed, and then the device can be driven again to perform the removal work;

[0049] When the controller control device inside the control box 21 is working, the external air will enter the interior of the control box 21 through the square hole 23, so as to dissipate the heat of the controller, and the filter plate 24 will filter the dust in the air. During the long filtering process, the dust may adhere to the surface of the filter plate 24. At this time, the grip 22 can be rotated to rotate the screw rod 25. When the screw rod 25 rotates, the threaded block 26 will move, and then the threaded block 26 will drive the connecting shell 27 and the scraper 28 to move. Since the right side of the scraper 28 is in contact with the surface of the filter plate 24, the dust attached to the surface of the filter plate 24 will be scraped off when the scraper 28 moves, and then the scraped dust will move downward, and then the dust will enter the interior of the ash discharge hole 29, and then the dust will pass through the ash discharge hole 29 and fall into the interior of the collection tank 31, so that the dust can be collected and the operation process is finally completed.

[0050] 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.

[0051] 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 manipulator for facilitating replacement of a suction cup, comprising a base (1), characterized in that: A mechanical arm body (2) is arranged at the top of the base (1), a control box (21) is arranged at the front end of the base (1), a connecting plate (3) is arranged at the right end of the mechanical arm body (2), a fixing plate (4) is arranged at the bottom end of the connecting plate (3), both sides of the surface of the fixing plate (4) are provided with plug holes (8), a contact plate (5) is arranged at the bottom end of the fixing plate (4), a suction cup assembly (6) is fixedly installed at the bottom end of the contact plate (5), an insert block (7) located inside the plug hole (8) is fixedly installed at the top end of the suction cup assembly (6), a square hole (23) is opened on the left side of the control box (21), and a filter plate (24) is fixedly installed inside the square hole (23); A fixing mechanism is arranged at the top of the fixing disk (4), the fixing mechanism comprising a square plate (9), the square plate (9) being fixedly connected to the top of the fixing disk (4), a spring 1 (10) being fixedly installed on one side of the square plate (9) facing each other, a limit block (11) being fixedly installed on one side of the spring 1 (10), a fixing cylinder (12) being fixedly installed inside the connecting plate (3), a limit ring (13) being rotatably connected inside the one side of the fixing cylinder (12), and a limit ring (13) being fixedly installed on one side of the limit ring (13) facing each other. A gear 1 (14) is fixedly installed, the interior of the fixed cylinder (12) is slidably connected to an internal threaded rod (15) located in the gear 1 (14), the gear 1 (14) is threadedly connected to the threaded rod (15), the interior of the connecting plate (3) is rotatably connected to a rotating rod (16), the front and rear ends of the rotating rod (16) are fixedly installed with a gear 2 (17) meshing with the gear 1 (14), the rear end of the connecting plate (3) is fixedly installed with a motor (18), the output end of the motor (18) is fixedly connected to the rear end gear 2 (17); A cleaning mechanism is arranged at the top end of the square hole (23), the cleaning mechanism comprising a screw rod (25), the front end of the screw rod (25) being fixedly mounted with a grip rod (22) located at the front side of the control box (21), the screw rod (25) being rotatably connected to the top end of the square hole (23), the surface of the screw rod (25) being threadedly connected with a threaded block (26), the bottom end of the threaded block (26) being fixedly mounted with a connecting shell (27), and the interior of the connecting shell (27) being fixedly mounted with a scraper (28).

2. The robot for facilitating the replacement of suction cups according to claim 1 is characterized in that: The bottom end of the square hole (23) is provided with an ash discharge hole (29) located at the bottom of the connecting shell (27) and the scraper (28); a sealing shell (30) located on the surface of the ash discharge hole (29) is fixedly installed on the left side of the control box (21); and the bottom end of the sealing shell (30) is slidably connected to a collecting trough (31) located at the bottom of the ash discharge hole (29).

3. The robot for facilitating replacement of suction cups according to claim 1 is characterized in that: A door panel (33) is provided at the front end of the control box (21), and the control box (21) and the door panel (33) are hingedly connected via a hinge chain (32).

4. The robot for facilitating replacement of suction cups according to claim 1, characterized in that: A chassis (34) is fixedly mounted on the bottom end of the base (1), a threaded hole (35) is provided on the surface of the chassis (34), and the threaded hole (35) is designed to be longitudinally symmetrical with respect to the center of the chassis (34).

5. The robot for facilitating replacement of suction cups according to claim 1, characterized in that: The surface of the rotating rod (16) is fixedly mounted with fixing rings (36) located at the front and rear sides of the connecting plate (3), and there are two fixing rings (36), and opposite sides of the two fixing rings (36) are in contact with the surface of the connecting plate (3).

6. The robot for facilitating replacement of suction cups according to claim 1, characterized in that: The surface of the grip rod (22) is provided with bumps, and the bumps are all made of rubber material.

7. The robot for facilitating replacement of suction cups according to claim 1, characterized in that: A limiting groove (19) is provided at the top of the fixed plate (4), the limiting grooves (19) being two in number, and sliders (20) are slidably connected inside the two limiting grooves (19), the tops of the sliders (20) being in contact with the bottoms of the two limiting blocks (11).

8. The robot for facilitating replacement of suction cups according to claim 1, characterized in that: The limiting ring (13) is of T-shaped design and is longitudinally symmetrically designed with respect to the center of the fixing tube (12). The inner diameter of the limiting ring (13) is greater than the outer diameter of the threaded rod (15), and the surface of the threaded rod (15) does not contact the inner wall of the limiting ring (13).

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