Vacuum chuck manipulator

Abstract

The invention discloses a vacuum chuck manipulator, and relates to the field of clamping equipment, the vacuum chuck manipulator comprises a center mounting plate, a manipulator connecting frame, first guide rail rods and second guide rail rods, the manipulator connecting frame is fixedly mounted at the upper end of the center mounting plate, and the first guide rail rods and the second guide rail rods are respectively positioned at the front end and the rear end of the center mounting plate. According to the vacuum suction cup mechanical arm, the distance between the vacuum suction cups below the first guide rail rod and the second guide rail rod is increased or decreased so as to be matched with glass of different sizes for adsorption connection use, and the number of the suction cup mounting plates and the number of the vacuum suction cups can be increased or decreased; the two adjusting screw rods are used for being matched with glass of different weights for adsorption connection, the angles of the vacuum suction cups on the two sides are changed, the vacuum suction cups on the two sides are used for being matched with glass of different angle planes for adsorption connection, and after the two adjusting screw rods are bent, the distance between the vacuum suction cups on the two sides can be adjusted.

Description

Technical Field

[0001] The invention relates to the field of clamping equipment, in particular to a vacuum suction cup manipulator. Background Art

[0002] The vacuum suction cup manipulator is a clamping device based on vacuum adsorption technology to connect and fix flat objects such as glass. It uses the negative pressure generated inside the suction cup to fit tightly with the glass surface to form a sealed adsorption force, and then transport the glass. Therefore, it is widely used in glass production occasions;

[0003] The Chinese patent with application number "CN202011218397.3" discloses "an individually controllable vacuum suction cup manipulator mechanism, comprising a base, on which a rotating mechanism is installed, the rotating axis of the rotating mechanism extends out of the top surface of the base and is fixed with a circular rotating plate, and the top surface of the circular rotating plate is fixed with an upper support frame". Although it can achieve the effect of "it can automatically absorb and grasp parts and directly rotate and transport them to other positions, which is convenient for subsequent operations of equipment at other positions, which is very convenient", when the vacuum suction cup manipulator is in use, the installation position of the suction cup is generally fixed, so only glass of fixed size can be adsorbed and connected. When adjusting the position of the suction cup, the suction cup adjustment structure is complicated, and the suction cup position cannot be changed quickly, which is not convenient for adsorption and connection of glass of different sizes. When using, the number of suction cups installed is generally fixed. When adsorbing and connecting glasses of different weights, only the entire robot can be replaced, and the number of suction cups cannot be adjusted quickly, which also brings inconvenience to the adsorption and connection of glasses of different weights. When adsorbing flat glasses and curved glasses at different angles, the installation angle of the suction cup is also fixed, and the angle of the suction cup cannot be quickly changed according to the angle of the glass, resulting in the inability to adsorb and connect flat glasses and curved glasses of different angles. At the same time, when the suction cup is adjusted, only a single position adjustment can be made, and the angle and position cannot be adjusted at the same time. Therefore, the robot has a single function when in use, and can only be used for transporting one type of glass. It cannot be quickly adjusted according to changes in the glass, and is not suitable for transporting different glasses. Summary of the invention

[0004] The main purpose of the present invention is to provide a vacuum suction cup manipulator, which can effectively solve the technical problems raised by the background technology.

[0005] To achieve the above object, the technical solution adopted by the present invention is:

[0006] A vacuum suction cup manipulator comprises a central mounting plate, a manipulator connecting frame, a first guide rail rod and a second guide rail rod, wherein the manipulator connecting frame is fixedly mounted on the upper end of the central mounting plate, the two first guide rail rods and the second guide rail rods are respectively located at the front end and the rear end of the central mounting plate, the front end and the rear end of the central mounting plate are both welded with a rotating shaft mounting plate, the front end and the rear end of the two rotating shaft mounting plates are both movably mounted with a guide rail connecting rotating shaft, and the first guide rail rod and the second guide rail rod are fixedly connected to the outer sides of the guide rail connecting rotating shaft, and an angle is set between the first guide rail rod and the second guide rail rod The cam is an angular movement arrangement of the camshafts which are arranged on the side panels of the second support brackets and the side panels of the second support brackets, the cam being arranged on a rotation basis to move the camshafts along the length of the second support brackets.

[0007] As a further solution of the present invention, the first guide rail rod and the second guide rail rod have the same size and are symmetrically arranged around the center of the guide rail connecting shaft, and the first guide rail rod and the second guide rail rod rotate around the guide rail connecting shaft.

[0008] As a further solution of the present invention, the angle adjustment structure includes an adjusting motor, an adjusting gear, a first mounting plate, a first rack, a second mounting plate and a second rack, the adjusting motor is fixedly mounted on the upper end of the central mounting plate, the adjusting gear is fixedly mounted on the rotating shaft end of the adjusting motor, the first mounting plate is fixedly mounted on the upper end of the first guide rod, the first rack is fixedly mounted on the upper end of the first mounting plate, the second mounting plate is fixedly mounted on the upper end of the second guide rod, and the second rack is fixedly mounted on the upper end of the second mounting plate.

[0009] As a further solution of the present invention, the first rack and the second rack are both arranged in an arc shape, the first rack is located above the second rack, the adjusting gear is located between the first rack and the second rack and is meshed with them, and the first rack and the second rack are arranged concentrically with the guide rail connecting shaft.

[0010] As a further solution of the present invention, a mounting frame connecting block is fixedly installed on the upper end of the screw mounting frame, the mounting frame connecting block is embedded in the slots of the first guide rail rod and the second guide rail rod and fixedly connected, the telescopic spline rod is inserted into the adjusting screw for telescopic movement, the universal shaft is located below the guide rail connecting shaft, and the thread directions of the adjusting screws on both sides are opposite.

[0011] As a further solution of the present invention, the suction cup structure includes a suction cup mounting plate, a mounting plate connecting block, a suction cup joint, a vacuum suction cup and an internal threaded sleeve. The suction cup mounting plate is arranged below the first guide rod and the second guide rod. The mounting plate connecting block is fixedly installed on the upper end of the suction cup mounting plate. The two suction cup joints pass through the front and rear of the suction cup mounting plate. The vacuum suction cup is fixedly installed on the lower end of the suction cup joint, and the internal threaded sleeve is fixedly installed on the lower end of the suction cup mounting plate.

[0012] As a further solution of the present invention, the mounting plate connecting block is embedded in the slots of the first guide rail and the second guide rail for sliding connection, and the internal threaded sleeve is located in the middle of the two vacuum suction cups.

[0013] As a further solution of the present invention, the adjusting screw passes through the internal threaded sleeve and is threadedly connected thereto, and the suction cup mounting plate slides around the first guide rail rod and the second guide rail rod through the mounting plate connecting block.

[0014] As a further solution of the present invention, the rotary drive structure includes a driving motor, a driving pulley, a driven pulley and a transmission belt. The driving motor is fixedly mounted above one end of the second guide rod, the driving pulley is fixedly mounted on the rotating shaft end of the driving motor, the driven pulley is fixedly mounted on the end of the adjusting screw adjacent to the second guide rod, and the transmission belt is sleeved on the outside of the driving pulley and the driven pulley.

[0015] As a further solution of the present invention, the driving pulley and the driven pulley have the same size, and the driving pulley and the driven pulley rotate synchronously via a transmission belt.

[0016] Compared with the prior art, the present invention has the following beneficial effects: when glass of different sizes is adsorbed and connected, the operation of the driving motor can make the adjusting screw drive the suction cup mounting plate to slide left and right, so that the distance between the vacuum suction cups under the first guide rod and the second guide rod is expanded or reduced, so as to cooperate with glass of different sizes for adsorption and connection, and realize the rapid position adjustment of all vacuum suction cups, and the structure is simple, which is more convenient for the use of adsorption size adjustment;

[0017] When adsorbing and connecting glasses of different weights, the number of suction cup mounting plates and vacuum cups can be increased or decreased. Different numbers of vacuum cups have different adsorption weights, which can be used to adsorb and connect glasses of different weights, so that the weight of adsorption and clamping can be adjusted quickly, making it more convenient to carry and use glasses of different weights.

[0018] When the flat glass at different angles is adsorbed and connected, the operation of the regulating motor is used to drive the first guide rod and the second guide rod to rotate around the guide connection shaft, and the angle between the first guide rod and the second guide rod is adjusted, and then the angle of the vacuum suction cups under the first guide rod and the second guide rod is adjusted, so that the angles of the vacuum suction cups on both sides are changed to cooperate with the adsorption connection of the glass at different angles, so as to realize the rapid change of the vacuum suction cup angle, and make it more convenient to carry and use the glass at different angles and curved surfaces;

[0019] When the gap between the vacuum suction cups needs to be adjusted after the first guide rod and the second guide rod are bent, the two adjusting screws are rotated while still maintaining synchronous rotation transmission through the universal shaft, so that after the two adjusting screws are bent, the distance between the vacuum suction cups on both sides can be adjusted, and the glass of different angles, planes and sizes can be adsorbed and connected for use. The adsorption angle and position can be quickly adjusted according to the changes in the glass, which is more suitable for the transportation of different glasses. BRIEF DESCRIPTION OF THE DRAWINGS

[0020] Figure 1 This is a schematic diagram of the overall structure of a vacuum suction cup manipulator of the present invention;

[0021] Figure 2 This is a bottom view of a vacuum suction cup manipulator of the present invention;

[0022] Figure 3 It is a partial enlarged view of a vacuum suction cup manipulator of the present invention;

[0023] Figure 4 It is a partial structural schematic diagram of an angle adjustment structure in a vacuum suction cup manipulator of the present invention;

[0024] Figure 5 It is a partial structural schematic diagram of a rotary drive structure in a vacuum suction cup manipulator of the present invention;

[0025] Figure 6 It is a partial structural schematic diagram of a suction cup structure in a vacuum suction cup manipulator of the present invention;

[0026] Figure 7 It is a schematic structural diagram of a vacuum suction cup manipulator of the present invention after the first guide rod and the second guide rod are bent.

[0027] In the figure: 1. center mounting plate; 2. manipulator connecting frame; 3. shaft mounting plate; 4. guide rail connecting shaft; 5. first guide rail rod; 6. second guide rail rod; 7. angle adjustment structure; 8. adjustment motor; 9. adjustment gear; 10. first mounting plate; 11. first rack; 12. second mounting plate; 13. second rack; 14. screw mounting frame; 15. mounting frame connecting block; 16. adjustment screw; 17. telescopic spline rod; 18. universal shaft; 19. suction cup structure; 20. suction cup mounting plate; 21. mounting plate connecting block; 22. suction cup joint; 23. vacuum suction cup; 24. internal thread sleeve; 25. rotation drive structure; 26. drive motor; 27. drive pulley; 28. driven pulley; 29. ​​transmission belt. DETAILED DESCRIPTION

[0028] In order to make the technical means, creative features, objectives and effects achieved by the present invention easy to understand, the present invention is further explained below in conjunction with specific implementation methods.

[0029] like Figure 1-Figure 7 As shown, a vacuum suction cup manipulator comprises a central mounting plate 1, a manipulator connecting frame 2, a first guide rail rod 5 and a second guide rail rod 6. The manipulator connecting frame 2 is fixedly mounted on the upper end of the central mounting plate 1. The two first guide rail rods 5 and the second guide rail rods 6 are respectively located at the front end and the rear end of the central mounting plate 1. The front end and the rear end of the central mounting plate 1 are both welded with a rotating shaft mounting plate 3. The front ends and the rear ends of the two rotating shaft mounting plates 3 are both movably mounted with a guide rail connecting rotating shaft 4. The first guide rail rod 5 and the second guide rail rod 6 are fixedly connected to the outer sides of the guide rail connecting rotating shaft 4. An angle adjustment mechanism is provided between the first guide rail rod 5 and the second guide rail rod 6. Structure 7, two screw mounting frames 14 are provided at the lower ends of the first guide rod 5 and the second guide rod 6, an adjusting screw 16 is movably mounted on the inner side of the screw mounting frame 14, and the number of the adjusting screws 16 is two and they are located below the first guide rod 5 and the second guide rod 6, adjacent ends of the two adjusting screws 16 are movably mounted with telescopic spline rods 17, a universal joint 18 is fixedly mounted between the two telescopic spline rods 17, the lower ends of the first guide rod 5 and the second guide rod 6 are located in the middle of the two screw mounting frames 14 and a plurality of suction cup structures 19 are movably mounted thereon, and a rotation driving structure 25 is fixedly mounted at one end of the second guide rod 6.

[0030] In this embodiment, the first guide rail rod 5 and the second guide rail rod 6 have the same size and are symmetrically arranged around the center of the guide rail connecting shaft 4. The first guide rail rod 5 and the second guide rail rod 6 rotate around the guide rail connecting shaft 4, and the guide rail connecting shaft 4 serves the effect of movably installing the first guide rail rod 5 and the second guide rail rod 6.

[0031] In this embodiment, the angle adjustment structure 7 includes an adjusting motor 8, an adjusting gear 9, a first mounting plate 10, a first rack 11, a second mounting plate 12 and a second rack 13. The adjusting motor 8 is fixedly mounted on the upper end of the central mounting plate 1, the adjusting gear 9 is fixedly mounted on the rotating shaft end of the adjusting motor 8, the first mounting plate 10 is fixedly mounted on the upper end of the first guide rod 5, the first rack 11 is fixedly mounted on the upper end of the first mounting plate 10, the second mounting plate 12 is fixedly mounted on the upper end of the second guide rod 6, and the second rack 13 is fixedly mounted on the upper end of the second mounting plate 12. The first mounting plate 10 and the second mounting plate 12 have the effect of installing the first rack 11 and the second rack 13.

[0032] In this embodiment, the first rack 11 and the second rack 13 are both arranged in an arc shape. The first rack 11 is located above the second rack 13. The adjusting gear 9 is located between the first rack 11 and the second rack 13 and is meshed with them. The first rack 11 and the second rack 13 are arranged concentrically with the guide rail connecting shaft 4. When the adjusting gear 9 rotates, it drives the first rack 11 and the second rack 13 to move in opposite directions, and then the first rack 11 and the second rack 13 drive the first guide rail rod 5 and the second guide rail rod 6 to rotate around the guide rail connecting shaft 4.

[0033] In this embodiment, a mounting frame connecting block 15 is fixedly installed on the upper end of the screw mounting frame 14, and the mounting frame connecting block 15 is embedded in the slots of the first guide rail rod 5 and the second guide rail rod 6 and fixedly connected. The telescopic spline rod 17 is inserted into the adjusting screw 16 for telescopic movement. The universal shaft 18 is located below the guide rail connecting shaft 4. The thread directions of the adjusting screws 16 on both sides are opposite. The opposite thread directions can drive the threaded sleeves 24 on both sides to move in opposite directions. When the adjusting screws 16 on both sides rotate, the telescopic movement of the telescopic spline rod 17 and the adjusting screw 16 is used to offset the angle difference.

[0034] In this embodiment, the suction cup structure 19 includes a suction cup mounting plate 20, a mounting plate connecting block 21, a suction cup joint 22, a vacuum suction cup 23 and an internal threaded sleeve 24. The suction cup mounting plate 20 is arranged below the first guide rail rod 5 and the second guide rail rod 6. The mounting plate connecting block 21 is fixedly installed on the upper end of the suction cup mounting plate 20. The two suction cup joints 22 pass through the front and rear of the suction cup mounting plate 20. The vacuum suction cup 23 is fixedly installed on the lower end of the suction cup joint 22. The internal threaded sleeve 24 is fixedly installed on the lower end of the suction cup mounting plate 20.

[0035] In this embodiment, the mounting plate connecting block 21 is embedded in the slots of the first guide rail rod 5 and the second guide rail rod 6 for sliding connection, and the internal threaded sleeve 24 is located in the middle of the two vacuum suction cups 23, so that the mounting plate connecting block 21 has the effect of being movably installed with the first guide rail rod 5 and the second guide rail rod 6.

[0036] In this embodiment, the adjusting screw 16 passes through the internal threaded sleeve 24 and is threadedly connected thereto, and the suction cup mounting plate 20 slides around the first guide rail rod 5 and the second guide rail rod 6 through the mounting plate connecting block 21, and the adjusting screw 16 drives the internal threaded sleeve 24 to move left and right.

[0037] In this embodiment, the rotation drive structure 25 includes a driving motor 26, a driving pulley 27, a driven pulley 28 and a transmission belt 29. The driving motor 26 is fixedly mounted above one end of the second guide rod 6, the driving pulley 27 is fixedly mounted on the rotating shaft end of the driving motor 26, and the driven pulley 28 is fixedly mounted on the end of the adjusting screw 16 adjacent to the second guide rod 6. The transmission belt 29 is sleeved on the outside of the driving pulley 27 and the driven pulley 28. The driving pulley 27 and the driven pulley 28 have the same size. The driving pulley 27 and the driven pulley 28 rotate synchronously through the transmission belt 29. The operation of the driving motor 26 drives the adjusting screw 16 to rotate through the driving pulley 27, the driven pulley 28 and the transmission belt 29.

[0038] It should be noted that the present invention is a vacuum suction cup manipulator. When in use, the manipulator connecting frame 2 is used to connect the manipulator arm to move the manipulator as a whole. The suction cup joint 22 is used to connect the air pipe. When the manipulator moves to the top of the glass, the vacuum suction cup 23 contacts the glass. After the air pipe is evacuated, the air between the vacuum suction cup 23 and the glass is extracted from the suction cup joint 22, so that a vacuum negative pressure state is formed between the vacuum suction cup 23 and the glass, so that the vacuum suction cup 23 is firmly connected to the glass to achieve the adsorption and clamping of the glass. Therefore, when the manipulator moves, the glass can be moved. After the glass is moved to the specified position, the air pipe is ventilated, and then the pressure between the vacuum suction cup 23 and the glass is restored to normal pressure, so as to loosen the glass and complete the transportation and movement of the glass.

[0039] When the glasses of different sizes are adsorbed and connected, the driving pulley 27 is driven to rotate by the operation of the driving motor 26, and the driving pulley 27 drives the driven pulley 28 and the adjusting screw 16 to rotate through the transmission belt 29, and the adjusting screw 16 rotates around the inner side of the screw mounting frame 14. When a single adjusting screw 16 rotates, another adjusting screw 16 is also driven to rotate through the telescopic spline rod 17 and the universal shaft 18, and then the adjusting screw 16 is threadedly connected with the internal thread sleeve 24 to drive the internal thread sleeve 24 to move left and right, so that the suction cup mounting plate 20 slides around the first guide rail rod 5 and the second guide rail rod 6 through the mounting plate connecting block 21, and the left and right adjusting screws 16 have opposite thread directions, so that the suction cup mounting plates 20 under the first guide rail rod 5 and the second guide rail rod 6 move in opposite directions, so that the distance between the vacuum suction cups 23 under the first guide rail rod 5 and the second guide rail rod 6 is expanded or reduced, so as to cooperate with the glasses of different sizes for adsorption and connection;

[0040] When glass of different weights is adsorbed and connected, the mounting plate connection block 21 is connected to the card slot at the bottom of the first guide rail 5 and the second guide rail 6 by means of a card connection. Therefore, by quickly disassembling and assembling the mounting plate connection block 21, the number of the suction cup mounting plate 20 and the vacuum suction cup 23 can be increased or decreased. Different numbers of vacuum suction cups 23 have different adsorption weights, so as to be used for adsorption and connection of glass of different weights.

[0041] When the flat glass at different angles is adsorbed and connected, the operation of the adjustment motor 8 is used to drive the adjustment gear 9 to rotate. The rotation of the adjustment gear 9 is driven to rotate by meshing with the first rack 11 and the second rack 13. Then the first rack 11 and the second rack 13 drive the first guide rod 5 and the second guide rod 6 to rotate around the guide connection shaft 4, and the angle between the first guide rod 5 and the second guide rod 6 is adjusted, and then the angle of the vacuum suction cup 23 under the first guide rod 5 and the second guide rod 6 is adjusted, so that the angle of the vacuum suction cup 23 on both sides changes, so as to cooperate with the glass at different angles for adsorption and connection;

[0042] When the gap between the vacuum suction cup 23 needs to be adjusted after the first guide rod 5 and the second guide rod 6 are bent, the first guide rod 5 and the second guide rod 6 are bent, and the adjusting screw 16 below is bent at the same time, and the universal shaft 18 between the two adjusting screws 16 rotates, and the angular difference between the two adjusting screws 16 is offset by the telescopic spline rod 17 extending and retracting in the adjusting screw 16, and then when the two adjusting screws 16 rotate, they still maintain synchronous rotation transmission through the universal shaft 18, so that after the two adjusting screws 16 are bent, the spacing between the vacuum suction cups 23 on both sides can be adjusted, and glass of different angles and planes and different sizes can be adsorbed and connected for use.

[0043] The above shows and describes the basic principles and main features of the present invention and the advantages of the present invention. It should be understood by those skilled in the art that the present invention is not limited to the above embodiments. The above embodiments and descriptions are only for explaining the principles of the present invention. Without departing from the spirit and scope of the present invention, the present invention may have various changes and improvements, which fall within the scope of the present invention to be protected. The scope of protection of the present invention is defined by the attached claims and their equivalents.

Claims

1. A vacuum suction cup manipulator, characterized in that: The invention comprises a central mounting plate (1), a manipulator connecting frame (2), a first guide rail rod (5) and a second guide rail rod (6), wherein the manipulator connecting frame (2) is fixedly mounted on the upper end of the central mounting plate (1), and the two first guide rail rods (5) and the second guide rail rods (6) are respectively located at the front end and the rear end of the central mounting plate (1), and is characterized in that: the front end and the rear end of the central mounting plate (1) are both welded with a rotating shaft mounting plate (3), the front end and the rear end of the two rotating shaft mounting plates (3) are both movably mounted with a guide rail connecting rotating shaft (4), and the first guide rail rod (5) and the second guide rail rod (6) are fixedly connected to the outer sides of the guide rail connecting rotating shaft (4), and an angle adjustment structure (7) is arranged between the first guide rail rod (5) and the second guide rail rod (6), Two screw mounting frames (14) are arranged at the lower ends of the first guide rail rod (5) and the second guide rail rod (6); an adjusting screw (16) is movably mounted inside the screw mounting frames (14); and the number of the adjusting screws (16) is two and they are located below the first guide rail rod (5) and the second guide rail rod (6); telescopic spline rods (17) are movably mounted at the adjacent ends of the two adjusting screws (16); a universal shaft (18) is fixedly mounted between the two telescopic spline rods (17); a plurality of suction cup structures (19) are movably mounted at the lower ends of the first guide rail rod (5) and the second guide rail rod (6) in the middle of the two screw mounting frames (14); and a rotating drive structure (25) is fixedly mounted at one end of the second guide rail rod (6).

2. A vacuum suction cup manipulator according to claim 1, characterized in that: The first guide rail rod (5) and the second guide rail rod (6) have the same size and are symmetrically arranged around the center of the guide rail connecting rotating shaft (4). The first guide rail rod (5) and the second guide rail rod (6) rotate around the guide rail connecting rotating shaft (4).

3. A vacuum suction cup manipulator according to claim 1, characterized in that: The angle adjustment structure (7) comprises an adjustment motor (8), an adjustment gear (9), a first mounting plate (10), a first rack (11), a second mounting plate (12) and a second rack (13); the adjustment motor (8) is fixedly mounted on the upper end of the central mounting plate (1); the adjustment gear (9) is fixedly mounted on the rotating shaft end of the adjustment motor (8); the first mounting plate (10) is fixedly mounted on the upper end of the first guide rail rod (5); the first rack (11) is fixedly mounted on the upper end of the first mounting plate (10); the second mounting plate (12) is fixedly mounted on the upper end of the second guide rail rod (6); and the second rack (13) is fixedly mounted on the upper end of the second mounting plate (12).

4. A vacuum suction cup manipulator according to claim 3, characterized in that: The first rack (11) and the second rack (13) are both arranged in an arc shape, the first rack (11) is located above the second rack (13), the adjustment gear (9) is located between the first rack (11) and the second rack (13) and is meshedly connected therewith, and the first rack (11) and the second rack (13) are arranged concentrically with the guide rail connecting shaft (4).

5. The vacuum suction cup manipulator according to claim 1, characterized in that: A mounting frame connecting block (15) is fixedly mounted on the upper end of the screw mounting frame (14); the mounting frame connecting block (15) is embedded in the slots of the first guide rail rod (5) and the second guide rail rod (6) for fixed connection; the telescopic spline rod (17) is inserted into the adjusting screw rod (16) for telescopic movement; the universal shaft (18) is located below the guide rail connecting shaft (4); and the screw threads of the adjusting screw rods (16) on both sides are in opposite directions.

6. The vacuum suction cup manipulator according to claim 1, characterized in that: The suction cup structure (19) comprises a suction cup mounting plate (20), a mounting plate connecting block (21), a suction cup joint (22), a vacuum suction cup (23) and an internal threaded sleeve (24); the suction cup mounting plate (20) is arranged below the first guide rail rod (5) and the second guide rail rod (6); the mounting plate connecting block (21) is fixedly mounted on the upper end of the suction cup mounting plate (20); two suction cup joints (22) penetrate the front and rear of the suction cup mounting plate (20); the vacuum suction cup (23) is fixedly mounted on the lower end of the suction cup joint (22); and the internal threaded sleeve (24) is fixedly mounted on the lower end of the suction cup mounting plate (20).

7. A vacuum suction cup manipulator according to claim 6, characterized in that: The mounting plate connecting block (21) is embedded in the slots of the first guide rail rod (5) and the second guide rail rod (6) for sliding connection, and the internal thread sleeve (24) is located between the two vacuum suction cups (23).

8. The vacuum suction cup manipulator according to claim 6, characterized in that: The adjusting screw rod (16) passes through the internal thread sleeve (24) and is threadedly connected thereto, and the suction cup mounting plate (20) slides around the first guide rail rod (5) and the second guide rail rod (6) through the mounting plate connecting block (21).

9. The vacuum suction cup manipulator according to claim 1, characterized in that: The rotary drive structure (25) comprises a driving motor (26), a driving pulley (27), a driven pulley (28) and a transmission belt (29), wherein the driving motor (26) is fixedly mounted above one end of the second guide rail rod (6), the driving pulley (27) is fixedly mounted on the rotating shaft end of the driving motor (26), the driven pulley (28) is fixedly mounted on one end of the adjusting screw (16) adjacent to the second guide rail rod (6), and the transmission belt (29) is sleeved on the outer sides of the driving pulley (27) and the driven pulley (28).

10. A vacuum suction cup manipulator according to claim 9, characterized in that: The driving pulley (27) and the driven pulley (28) have the same size, and the driving pulley (27) and the driven pulley (28) rotate synchronously via a transmission belt (29).

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