Sucker manipulator

Abstract

The invention discloses a suction cup mechanical arm, and relates to the technical field of mechanical arms. The two material taking mechanisms are oppositely arranged, each material taking mechanism comprises a support and a suction cup, and the suction cups are arranged on the supports and used for adsorbing a carrier plate; the transverse moving module comprises two moving seats and a linear guide rail, the linear guide rail is arranged on the fixed seat, the two moving seats are respectively connected with the linear guide rail, and the two supports are respectively connected with the corresponding moving seats. The transverse moving module is used for driving the two material taking mechanisms to move face to face or back to back. According to the technical scheme, the suction cup mechanical arm can adapt to and carry circuit boards of different sizes, and diversified requirements are met.

Description

Technical Field

[0001] The present invention relates to the technical field of manipulators, and in particular to a suction cup manipulator. Background Art

[0002] With the rapid development of the electronics industry, the manufacturing and assembly processes of circuit boards have become increasingly mature. In the production process of circuit boards, the application of various automation equipment has greatly improved production efficiency. As an important part of automation equipment, manipulators are widely used in the handling, assembly, welding and other links of circuit boards.

[0003] However, current robots cannot adapt to circuit boards of different sizes when handling circuit boards, and it is difficult to meet diverse needs in actual production processes. Summary of the invention

[0004] The main purpose of the present invention is to provide a suction cup manipulator, which aims to solve the technical problem that the current manipulator cannot adapt to circuit boards of different sizes and is difficult to meet diversified needs when carrying circuit boards.

[0005] To achieve the above object, the suction cup manipulator proposed by the present invention comprises: Fixed seat; Two material taking mechanisms, the two material taking mechanisms are arranged opposite to each other, the material taking mechanisms include a bracket and a suction cup, the suction cup is arranged on the bracket and is used to adsorb the carrier; and The transverse movement module includes a moving seat and a linear guide rail. The linear guide rail is arranged on the fixed seat. Two moving seats are provided and are respectively connected to the linear guide rails. The two brackets are respectively connected to the corresponding moving seats. The transverse movement module is used to drive the two material picking mechanisms to move toward or away from each other.

[0006] In one embodiment, the material taking mechanism further includes a buffer component and a mounting plate, wherein the buffer component is disposed on the bracket, and the buffer component is respectively connected to the mounting plate and the bracket to buffer the impact force of the mounting plate.

[0007] In one embodiment, the suction cup includes a plurality of suction nozzles, and the suction nozzles are disposed on the mounting plate, and the plurality of suction nozzles are sequentially arranged along an extension direction of the mounting plate.

[0008] In one embodiment, the suction cup robot further includes a visual device and a controller. The visual device is disposed on the fixed seat and is used to detect the carrier. The visual device, the transverse movement module and the material picking mechanism are respectively connected to the controller for communication.

[0009] In one embodiment, the suction cup manipulator also includes a sensing mechanism, which includes a first trigger member and a first sensing switch. The first sensing switches are provided in plurality and are arranged at intervals along the linear guide rail. The first sensing switch is communicatively connected to the controller. The first trigger member cooperates with the first sensing switch for sensing, and the first trigger member is arranged on one of the two movable seats.

[0010] In one embodiment, the sensing mechanism further includes a second trigger member and a second sensing switch, wherein a plurality of the second sensing switches are provided and are spaced apart along the linear guide rail, the second sensing switch is communicatively connected to the controller, the second trigger member cooperates with the second sensing switch for sensing, and the second trigger member is provided at the other one of the two movable seats.

[0011] In one embodiment, the bracket is T-shaped, and the bracket includes a mounting portion and a connecting portion. The extending direction of the mounting portion is consistent with the extending direction of the transverse module, and the extending direction of the connecting portion is consistent with the extending direction of the mounting plate. The mounting portion is connected to the transverse module, and the connecting portion is connected to the buffer assembly, and the two ends of the connecting portion are respectively connected to a buffer assembly.

[0012] In one embodiment, the material picking mechanism includes a blocking assembly, the blocking assembly includes a blocking drive and a baffle, the blocking drive is arranged on the mounting plate, the blocking drive is connected to the baffle, and drives the baffle to rotate and have a blocking position, in which the baffle is located on one side of the carrier plate.

[0013] In one embodiment, the suction cup robot also includes a limit assembly, the limit assembly includes a limit rod and a limit drive component, the limit drive component is arranged in the middle of the linear guide rail, the limit drive component is connected to the limit rod and drives the limit rod to approach or move away from the carrier plate.

[0014] In one embodiment, the limiting rod includes a fixing portion and a limiting portion, the fixing portion is respectively connected to the limiting driving member and the limiting portion, and the limiting portion is provided with a flexible pad.

[0015] The technical solution of the present invention adapts to circuit boards of different sizes by using a transverse movement module to drive the two picking mechanisms to move closer to or farther from each other, thereby meeting diverse needs. In the specific implementation process, the transverse movement module includes two moving seats, and the linear guide rail drives the two moving seats to move synchronously. Each moving seat is connected to a corresponding picking mechanism. The picking mechanism uses a suction cup to suck the part of the carrier close to the edge. When facing carriers of different sizes, the linear guide rail drives the two moving seats to move and adjusts the distance between the two picking mechanisms so that the picking mechanism moves to a suitable position to suck the carrier. In this way, the suction cup manipulator proposed by the present invention can adapt to carriers of different sizes when transporting circuit boards, which improves the applicability of the suction cup manipulator and meets the diverse needs of handling work. BRIEF DESCRIPTION OF THE DRAWINGS

[0016] In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings required for use in the embodiments or the description of the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on the structures shown in these drawings without paying creative work.

[0017] Figure 1 A schematic structural diagram of a first angle embodiment of the subject suction cup manipulator provided by the present invention; Figure 2 A schematic structural diagram of another angle of an embodiment of the subject suction cup manipulator provided by the present invention; Figure 3 A schematic diagram of the exploded structure of an embodiment of the subject suction cup manipulator provided by the present invention.

[0018] Description of Figure Numbers: 100, fixed seat; 200, material taking mechanism; 210, bracket; 211, mounting portion; 212, connecting portion; 220, suction cup; 221, suction nozzle; 230, buffer assembly; 240, mounting plate; 300, moving module; 310, moving seat; 320, linear guide rail; 400, visual device; 500, a first trigger; 510, a first induction switch; 600, second triggering member; 610, second induction switch; 700, blocking assembly; 710, blocking driving member; 720, baffle; 800, limit assembly; 810, limit driving member; 820, limit rod; 821, fixing part; 822, limit part; 900, carrier board.

[0019] The realization of the purpose, functional features and advantages of the present invention will be further explained in conjunction with embodiments and with reference to the accompanying drawings. DETAILED DESCRIPTION

[0020] 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.

[0021] It should be noted that if the embodiments of the present invention involve directional indications (such as up, down, left, right, front, back, etc.), the directional indications are only used to explain the relative position relationship, movement status, etc. between the components in a certain specific posture. If the specific posture changes, the directional indication will also change accordingly.

[0022] In addition, if there are descriptions involving "first", "second", etc. in the embodiments of the present invention, the descriptions of "first", "second", etc. are only used for descriptive purposes and cannot be understood as indicating or implying their relative importance or implicitly indicating the number of technical features indicated. Therefore, the features limited to "first" and "second" may explicitly or implicitly include at least one of the features. In addition, if "and / or" or "and / or" appears in the full text, its meaning includes three parallel solutions. Taking "A and / or B" as an example, it includes solution A, solution B, or solutions that satisfy both A and B. In addition, the technical solutions between the various embodiments can be combined with each other, but it must be based on the ability of ordinary technicians in this field to implement. When the combination of technical solutions is contradictory or cannot be implemented, it should be deemed that such combination of technical solutions does not exist and is not within the scope of protection required by the present invention.

[0023] In the prior art, the current manipulator cannot adapt to different sizes of circuit boards when carrying circuit boards, and it is difficult to meet the diversified needs in the actual production process. In addition, the carrier board needs to be picked up and placed on the curved surface, and the current suction cup manipulator cannot achieve the corresponding action.

[0024] The present invention provides a disk robot.

[0025] See also Figures 1 to 3As shown, in one embodiment of the present invention, the suction cup manipulator includes: a fixed seat 100, two material picking mechanisms 200 and a transverse movement module, wherein the two material picking mechanisms 200 are arranged opposite to each other, the material picking mechanism 200 includes a bracket 210 and a suction cup 220, the suction cup 220 is arranged on the bracket 210, and is used to adsorb the carrier 900; the transverse movement module includes a moving seat 310 and a linear guide rail 320, the linear guide rail 320 is arranged on the fixed seat 100, two moving seats 310 are provided, and are respectively connected to the linear guide rails 320, the two brackets 210 are respectively connected to the corresponding moving seats 310, and the transverse movement module is used to drive the two material picking mechanisms 200 to move toward or away from each other.

[0026] It should be noted that the fixing seat 100 is fixedly connected to the outer shell of the linear guide rail 320 and is used to connect the external structure to drive the suction cup manipulator to move.

[0027] In the specific implementation process, the linear guide rail 320 of the traverse module is fixedly connected to the fixed seat 100, wherein the linear guide rail 320 also drives the two moving seats 310 to move, and the two moving seats 310 are respectively connected to the material picking mechanism 200. The material picking mechanism 200 includes a bracket 210 and a suction cup 220, the bracket 210 is connected to the moving seat 310, and the suction cup 220 is arranged below the moving seat 310 for sucking the semiconductor carrier 900. It can be understood that the suction cup 220 is connected to the air circuit system to provide adsorption force for the suction cup 220.

[0028] It can be understood that the semiconductor carrier 900 has circuit structures on most of its surface and cannot be adsorbed. The suction cup 220 is used to adsorb the position of the carrier 900 near the edge. In this embodiment, the two material-retrieving mechanisms 200 are driven to move closer or farther away synchronously by setting a transverse movement module to adapt to carriers 900 of different sizes. In addition, the carrier 900 needs to be placed on a specific tray with an arc surface so that the carrier 900 presents a complete arc shape. In this embodiment, the two sets of material-retrieving mechanisms are adjusted to move closer by the transverse movement module to adapt to the absorption of the carrier 900 on the arc surface carrier 900.

[0029] The technical solution of the present invention adapts to circuit boards of different sizes by using a transverse movement module to drive the two material picking mechanisms 200 to move closer to or farther from each other, thereby meeting diverse needs. In the specific implementation process, the transverse movement module includes two moving seats 310, and the linear guide 320 drives the two moving seats 310 to move synchronously. Each moving seat 310 is connected to a corresponding material picking mechanism 200. The material picking mechanism 200 uses a suction cup 220 to suck the portion of the carrier 900 close to the edge. When facing carriers 900 of different sizes, the linear guide 320 drives the two moving seats 310 to move and adjust the distance between the two material picking mechanisms 200 so that the material picking mechanism 200 moves to a suitable position to suck the carrier 900. In this way, the suction cup manipulator proposed by the present invention can adapt to carriers 900 of different sizes when transporting circuit boards, improves the applicability of the suction cup manipulator, and meets the diverse needs of transportation work.

[0030] In one embodiment, the material taking mechanism 200 further includes a buffer assembly 230 and a mounting plate 240 . The buffer assembly 230 is disposed on the bracket 210 . The buffer assembly 230 is respectively connected to the mounting plate 240 and the bracket 210 to buffer the impact of the mounting plate 240 .

[0031] In the specific implementation process, one end of the buffer assembly 230 is connected to the bracket 210, and the other end is connected to the mounting plate 240. The suction cups 220 are arranged in parallel in the extension direction of the mounting plate 240 to absorb the carrier 900. The buffer assembly 230 includes a buffer sleeve and a buffer connecting rod. One end of the buffer connecting rod is connected to the buffer sleeve, and the other end is connected to the mounting plate 240. The buffer sleeve is connected to the bracket 210. When the material picking assembly descends to absorb the carrier 900, the buffer assembly 230 buffers the impact transmitted by the mounting plate 240 to reduce damage to the carrier 900 and improve the stability of the suction cup manipulator.

[0032] Furthermore, the suction cup 220 includes a plurality of suction nozzles 221, which are arranged on the mounting plate 240, and the plurality of suction nozzles 221 are arranged in sequence along the extension direction of the mounting plate 240. In the specific implementation process, the extension direction of the mounting plate 240 is perpendicular to the direction in which the lateral movement module drives the bracket 210 to move. The mounting plate 240 is also provided with a sensing switch, and a trigger plate is provided on the bracket 210. After the buffer assembly 230 drives the mounting plate 240 to rise to the moving position, the trigger plate triggers the sensing switch to indicate that the jacking is in place. In addition, sensors are also provided at both ends of the mounting plate 240 for sensing the carrier 900. After the buffer assembly 230 drives the mounting plate 240 to descend until the carrier 900 is sensed, the suction cup 220 has adsorbed the carrier 900, and the buffer assembly 230 drives the mounting plate 240 to lift and transport the carrier 900.

[0033] In one embodiment, four groups of suction nozzles 221 are arranged along the extension direction of the mounting plate 240, each group is provided with a plurality of suction nozzles 221, and the four groups of suction nozzles 221 are symmetrically arranged in pairs about the middle of the mounting plate 240. The suction nozzles 221 are made of soft materials such as rubber or silicone, and are provided with threaded rings, which can stably adsorb the surface of the carrier plate 900 when the carrier plate 900 is curved, and can also play a role of shock absorption and buffering to avoid damage to the carrier plate 900.

[0034] In one embodiment, the bracket 210 is T-shaped, and the bracket 210 includes a mounting portion 211 and a connecting portion 212. The extending direction of the mounting portion 211 is consistent with the extending direction of the transverse moving module, and the extending direction of the connecting portion 212 is consistent with the extending direction of the mounting plate 240. The mounting portion 211 is connected to the transverse moving module, and the connecting portion 212 is connected to the buffer assembly 230, and a buffer assembly 230 is respectively connected to both ends of the connecting portion 212.

[0035] During the specific implementation process, the bracket 210 is integrally formed, the extension direction of the mounting portion 211 is consistent with the movement direction of the transverse movement module, and is connected to the movable seat 310, the extension direction of the connecting portion 212 is perpendicular to the extension direction of the mounting portion 211, and a buffer component 230 is respectively provided near the two ends of the connecting portion 212, and the telescopic rod of the buffer component 230 is connected to the mounting plate 240, and the extension length of the mounting plate 240 is greater than the extension length of the connecting portion 212.

[0036] Furthermore, the material picking mechanism 200 includes a blocking assembly 700, which includes a blocking drive 710 and a baffle 720. The blocking drive 710 is disposed on the mounting plate 240. The blocking drive 710 is connected to the baffle 720 and drives the baffle 720 to rotate and have a blocking position. In the blocking position, the baffle 720 is located on one side of the carrier 900.

[0037] It should be noted that when the carrier 900 is placed on an arc-shaped pallet, it is necessary to first bend the carrier 900 using a suction cup manipulator to form an arc that is compatible with the pallet. In the specific implementation process, the blocking assembly 700 is used to block the movement of the carrier 900 when the carrier 900 is bent, so that the carrier 900 can be effectively bent while preventing the carrier 900 from falling off. Specifically, the blocking drive 710 can be a rotating cylinder or a motor, etc., and is installed on the mounting plate 240. The mounting plate 240 is provided with a notch in the part close to both ends, and the baffle 720 is located at the notch. When the carrier 900 is bent, the blocking drive 710 drives the baffle 720 to rotate to the edge of the contact carrier 900 and contact the edge. A sensor is also provided on the baffle 720, which controls the blocking drive 710 to stop the action after sensing the carrier 900.

[0038] The moving module 300 drives the two material-retrieving mechanisms 200 that adsorb the carrier 900 to approach each other. Under the action of its own gravity, the middle part of the carrier 900 bends downward in an arc shape, thereby achieving the bending of the carrier 900, so as to facilitate the placement of the carrier 900 on the arc-shaped pallet. In the process of bending the carrier 900, the baffle 720 abuts against the edge of the carrier 900 to prevent the carrier 900 from loosening due to the force of overcoming the bending. When the carrier 900 is driven to be placed on the pallet, the blocking driving member 710 drives the baffle 720 to rotate in the opposite direction to avoid interfering with the storage of the carrier 900.

[0039] refer to Figure 2 and Figure 3 As shown, in one embodiment, the suction cup manipulator also includes a limit assembly 800, the limit assembly 800 includes a limit rod 820 and a limit drive 810, the limit drive 810 is arranged in the middle of the linear guide rail 320, the limit drive 810 is connected to the limit rod 820 and drives the limit rod 820 to approach or move away from the carrier 900.

[0040] It is understandable that when the carrier 900 is bent, the middle of the carrier 900 still protrudes upward, thereby affecting the handling process of the carrier 900. In this embodiment, the limit assembly 800 contacts the carrier 900 to limit the upward protrusion and bending. Specifically, the limit drive 810 adopts a cylinder structure and is installed near the middle of the transverse module. The limit drive 810 drives the limit rod 820 to descend and contact the carrier 900. Then, the transverse module drives the two material-retrieving mechanisms 200 to approach each other so that the carrier 900 is bent. Since the limit rod 820 is provided above the carrier 900, the carrier 900 protrudes downward and bends during the bending process, thereby adapting to the contour of the pallet and facilitating the storage of the carrier 900. It is understandable that after the carrier 900 protrudes downward and bends, the limit drive 810 drives the limit rod 820 to rise to avoid interfering with the transportation of the carrier 900.

[0041] In one embodiment, the limiting rod 820 includes a fixing portion 821 and a limiting portion 822, wherein the fixing portion 821 is respectively connected to the limiting driving member 810 and the limiting portion 822, and the limiting portion 822 is provided with a flexible pad. The fixing portion 821 is connected to the limiting driving member 810, the limiting portion 822 is used to contact the carrier 900, and the flexible pad is wrapped around the outer periphery of the limiting portion 822 to avoid scratching the carrier 900. The flexible pad is made of rubber or silicone.

[0042] refer to Figure 1 and Figure 3 As shown, in one embodiment, the suction cup robot also includes a visual device 400 and a controller. The visual device 400 is arranged on the fixed seat 100 and is used to detect the carrier 900. The visual device 400, the transverse movement module and the material picking mechanism 200 are respectively connected to the controller for communication.

[0043] Specifically, in the process of picking up and placing the carrier 900, the visual device 400 is used to detect the quality of the carrier 900, such as detecting whether the carrier 900 has scratches and creases, etc., and transmits a signal to the controller, and the controller controls the transfer position of the carrier 900, such as transferring unqualified carriers 900 to a recycling tray.

[0044] It should be noted that the visual device 400 is also used to collect the size of the carrier 900 and transmit the size information to the controller, so as to control the moving position of the transverse shift module, and in combination with the sensor for sensing the carrier 900 on the mounting plate 240, the suction nozzle 221 can be accurately adsorbed on the corresponding position of the carrier 900. When picking up materials on the curved pallet, the visual device 400 can quickly collect the size, and then control the transverse shift module to drive the movement direction of the picking mechanism 200 to avoid the distance between the two picking mechanisms 200 being less than the size of the carrier 900 and adsorbing the carrier 900, causing damage to the carrier 900. In addition, during the adjustment process of the suction cup manipulator, the two picking mechanisms 200 can be moved first to improve efficiency. In this way, the suction cup manipulator can be quickly adjusted to absorb carriers 900 of different sizes, thereby improving transportation efficiency.

[0045] In one embodiment, the suction cup manipulator also includes a sensing mechanism, which includes a first trigger member 500 and a first sensing switch 510. The first sensing switch 510 is provided in plurality and is arranged at intervals along the linear guide rail 320. The first sensing switch 510 is communicatively connected to the controller. The first trigger member 500 cooperates with the first sensing switch 510 for sensing. The first trigger member 500 is arranged on one of the two movable seats 310.

[0046] In the specific implementation process, the first trigger member 500 is arranged on one of the moving seats 310, and a plurality of first induction switches 510 are arranged on the outer shell of the linear guide rail 320, and are arranged at intervals from the middle of the linear guide rail 320 to one end. The first trigger member 500 and the first induction switch 510 are triggered and cooperated. After the visual device 400 obtains the size of the carrier 900, the controller calculates the corresponding position of the material picking mechanism 200 in the transverse movement module, and controls the first induction switch 510 at the corresponding position to cooperate with the first trigger member 500. During the movement process, there is no induction trigger between the other first induction switches 510 and the first trigger member 500. When the transverse movement module drives the material picking mechanism 200 to the corresponding position, the first trigger member 500 cooperates with the corresponding first induction switch 510 to trigger, indicating that the material picking mechanism 200 has reached the corresponding position, and performs adsorption and picking, further improving the efficiency of the material picking mechanism 200. In addition, it should be noted that since the two material picking mechanisms 200 move synchronously, it is sufficient to set a first trigger member 500 on the moving seat 310 corresponding to one of the material picking structures and set a first induction switch 510 on the travel of this moving seat 310, which can improve the applicability of the suction cup manipulator.

[0047] In one embodiment, the sensing mechanism further includes a second trigger member 600 and a second sensing switch 610. A plurality of second sensing switches 610 are provided and are spaced apart along the linear guide rail 320. The second sensing switch 610 is communicatively connected to the controller. The second trigger member 600 cooperates with the second sensing switch 610 for sensing. The second trigger member 600 is provided on the other one of the two movable seats 310.

[0048] The second trigger member 600 is arranged on another movable seat 310, and correspondingly, a plurality of second sensing switches 610 are arranged at intervals in the direction from the middle of the linear guide 320 to the other end. The controller calculates the distance that the movable seat 310 needs to move for the carrier plate 900 to be bent to the corresponding arc of the pallet based on the size of the carrier plate 900 collected by the visual device 400, and controls the corresponding second sensing switch 610 to sense the second trigger member 600, while there is no trigger sensing between the other second sensing switches 610 and the second trigger member 600. When the second trigger member 600 and the second sensing switch 610 are triggered by induction, it indicates that the carrier plate 900 has been bent into place, and the next step of transfer and placement on the pallet is carried out. Referring to the above embodiment, since the two material picking mechanisms 200 move synchronously, it is sufficient to set the second trigger member 600 on the other movable seat 310, and set the second sensing switch 610 on the stroke on the other movable seat 310, which can improve the applicability of the suction cup manipulator.

[0049] The above description is only an exemplary embodiment of the present invention, and does not limit the patent scope of the present invention. All equivalent structural changes made by using the contents of the present invention specification and drawings under the inventive concept of the present invention, or directly / indirectly applied in other related technical fields are included in the patent protection scope of the present invention.

Claims

1. A suction cup manipulator, characterized in that: include: Fixed seat; Two material taking mechanisms, the two material taking mechanisms are arranged opposite to each other, the material taking mechanisms include a bracket and a suction cup, the suction cup is arranged on the bracket and is used to adsorb the carrier; as well as The transverse movement module includes a moving seat and a linear guide rail. The linear guide rail is arranged on the fixed seat. Two moving seats are provided and are respectively connected to the linear guide rails. The two brackets are respectively connected to the corresponding moving seats. The transverse movement module is used to drive the two material picking mechanisms to move toward or away from each other.

2. The suction cup manipulator according to claim 1, characterized in that: The material taking mechanism also includes a buffer component and a mounting plate. The buffer component is arranged on the bracket. The buffer component is respectively connected to the mounting plate and the bracket to buffer the impact force of the mounting plate.

3. The suction cup manipulator according to claim 2, characterized in that: The suction cup includes a plurality of suction nozzles, and the suction nozzles are arranged on the mounting plate, and the plurality of suction nozzles are arranged in sequence along the extension direction of the mounting plate.

4. The suction cup manipulator according to claim 1, characterized in that: The suction cup robot also includes a visual device and a controller. The visual device is arranged on the fixing seat and is used to detect the carrier. The visual device, the transverse movement module and the material picking mechanism are respectively connected to the controller for communication.

5. The suction cup robot according to claim 4, characterized in that: The suction cup manipulator also includes a sensing mechanism, which includes a first trigger member and a first sensing switch. The first sensing switches are provided in plurality and are arranged at intervals along the linear guide rail. The first sensing switch is communicatively connected to the controller. The first trigger member cooperates with the first sensing switch for sensing. The first trigger member is arranged on one of the two moving seats.

6. The suction cup robot according to claim 5, characterized in that: The sensing mechanism also includes a second trigger member and a second sensing switch. The second sensing switches are provided in plurality and are arranged at intervals along the linear guide rail. The second sensing switch is communicatively connected to the controller. The second trigger member cooperates with the second sensing switch for sensing. The second trigger member is arranged on the other one of the two moving seats.

7. The suction cup robot according to claim 2, characterized in that: The bracket is T-shaped, and includes a mounting portion and a connecting portion. The extending direction of the mounting portion is consistent with the extending direction of the transverse module, and the extending direction of the connecting portion is consistent with the extending direction of the mounting plate. The mounting portion is connected to the transverse module, and the connecting portion is connected to the buffer assembly, and the two ends of the connecting portion are respectively connected to a buffer assembly.

8. The suction cup robot according to claim 7, characterized in that: The material picking mechanism includes a blocking component, which includes a blocking drive and a baffle. The blocking drive is arranged on the mounting plate. The blocking drive is connected to the baffle and drives the baffle to rotate to have a blocking position. In the blocking position, the baffle is located on one side of the carrier plate.

9. The suction cup robot according to claim 1, characterized in that: The suction cup manipulator also includes a limit assembly, which includes a limit rod and a limit drive component. The limit drive component is arranged in the middle of the linear guide rail, and the limit drive component is connected to the limit rod and drives the limit rod to approach or move away from the carrier plate.

10. The suction cup robot according to claim 9, characterized in that: The limiting rod comprises a fixing portion and a limiting portion, the fixing portion is respectively connected to the limiting driving member and the limiting portion, and the limiting portion is provided with a flexible pad.

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