Air suction type multi-stage pickup device

Abstract

The invention discloses an air suction type multi-stage pickup device which comprises a clamp holder, an air delivery pipe, an air chamber, an air tap connector and an air tap, the clamp holder is located above the air chamber and connected with the air chamber through a screw, the air delivery pipe is located outside the air chamber and communicated with the air chamber through threads, the air tap connector penetrates through a working hole in the lower portion of the air chamber, and the air tap connector is connected with the air chamber through a screw. The air tap connector part outside the air chamber is wrapped by the air tap, a plurality of holes with the same specification are formed in the lower portion of the air chamber, and one or more air tap connectors and the air tap can be connected. According to the picking device, the gas nozzle connector is provided with the gas channels which are mutually crossed in the axial direction and the radial direction, gas communication in two or more directions can be achieved, the lower plate and the hole below the gas chamber can rotate around the center axis z of the gas chamber, and picking of products of different numbers and different intervals is achieved; when the number, the distance and the position of products needing to be picked are changed, multi-stage picking can be achieved only by replacing the rubber gaskets of the air chambers, and certain universality and good economical efficiency are achieved.

Description

Technical Field

[0001] The invention relates to the technical field of powder metallurgy, and in particular to an air suction type multi-stage picking device. Background Art

[0002] In powder forming technology, compression molding is still the most important and widely used forming method at this stage due to its high efficiency, high precision and high economy. In recent years, with the increase in production efficiency and the demand for further compression of production costs, Chinese invention patent CN106141175A discloses a one-mold multi-hole forming die for powder metallurgy bar blank products to improve production efficiency. The one-mold multi-hole forming method will replace the one-mold one-hole pressing method, thereby maintaining product competitiveness.

[0003] At present, the picking of green compacts produced by the one-mold multi-hole pressing method is usually done by manual picking, pushing out with a push plate, or picking up with a robot. Manual picking undoubtedly increases the labor intensity of workers. Pushing out with a push plate is easy to achieve for single-row products with a flat bottom surface, but it also requires manual placement of the green compacts on the sintering boat. Only by using a robot to pick up can the labor intensity of workers not be increased, and automatic placement can be achieved. At the same time, green compacts of multi-row products can also be easily picked up.

[0004] The current robot picking device often adopts the method of replacing special mechanical claws, that is, for each set of molds with inconsistent hole positions, corresponding mechanical claws need to be designed and manufactured, which not only increases the design burden and production costs, but also makes the production site management more difficult. Therefore, there is an urgent need for a universal and economical picking device to meet the needs of picking up pressed blanks in production of molds with different hole numbers and spacings. Summary of the invention

[0005] The technical problem to be solved by the present invention is to overcome the deficiencies of the prior art and provide a mold that can meet the needs of single-hole and multi-hole molds, and can also adapt to molds with different numbers and spacings of holes for picking up pressed blanks during production, that is, an air suction multi-stage picking device.

[0006] In order to solve the above technical problems, the present invention adopts the following technical solutions:

[0007] A multi-stage air suction picking device includes a clamp, a gas delivery pipe, an air chamber, a gas nozzle joint and a gas nozzle, wherein the clamp is located above the air chamber and is connected to the air chamber by screws and is sealed with a rubber gasket; the gas delivery pipe is located outside the air chamber and is connected to the air chamber by threads and is sealed with a rubber gasket; the gas nozzle joint passes through a working hole at the bottom of the air chamber and is covered inside the gas nozzle on the outside of the air chamber.

[0008] As a further improvement of the above technical solution:

[0009] The air chamber is respectively connected to the gas delivery pipe and the gas nozzle to form a gas channel; a plurality of holes of the same specifications are opened on the lower plate below the air chamber, which can connect one or more gas nozzle joints and the gas nozzle; the gas nozzle joint has axial and radial gas channels that intersect each other, and can realize gas communication in two or more directions; the lower plate and the hole below the air chamber can rotate around the central axis z of the air chamber.

[0010] The air chamber includes an upper plate, a lower plate, a side plate, a third rubber gasket, a fourth rubber gasket and a bushing. The upper plate, the lower plate and the side plate are clearance-fitted. The side plate can rotate around the central axis z of the air chamber. The lower plate can rotate around the central axis z of the air chamber in the side plate. The third rubber gasket, the fourth rubber gasket, the upper plate, the lower plate, the side plate and the bushing together form a closed air cavity.

[0011] The lower plate of the air chamber includes an upper plate, a rubber gasket and a lower plate, wherein the upper plate is located above the rubber gasket and fits therewith, and the lower plate is located below the rubber gasket and fits therewith. The upper plate and the lower plate are both provided with a plurality of holes of the same size, namely, the upper plate holes and the lower plate holes, and the upper plate and its upper plate holes have the same size as the lower plate and its lower plate holes, and the upper plate holes and the lower plate holes are connected to form a hole below the air chamber.

[0012] The rubber gasket is provided with a gasket hole, the size of which is consistent with the single hole of the upper plate hole and the lower plate hole, and the position and number can be configured differently according to needs, and is connected with the upper plate hole and the lower plate hole to form a working hole in the lower part of the air chamber.

[0013] The gas nozzle joint has an upper plane, a limiting surface, a lower plane, an upper peripheral surface, a limiting peripheral surface, an interface surface, a through hole and a connecting hole. The upper plane contacts the upper plate, the limiting surface contacts the upper plate, the limiting peripheral surface passes through the working hole at the lower part of the gas chamber, the through hole is connected with the connecting hole and forms a gas channel that intersects axially and radially, and can connect the gas cavity of the gas chamber with the gas nozzle.

[0014] As a further improvement of the above technical solution:

[0015] The shapes of the upper plate, the lower plate, the side plate, the rubber gasket three and the rubber gasket four are strip, square, circular or ring-shaped, preferably circular or ring-shaped.

[0016] The upper plate, the lower plate and the side plate are connected in a threaded connection, an adhesive connection, a snap ring connection, or a spring pin connection, preferably a snap ring connection.

[0017] The gas nozzle has an inner diameter size and outer diameter in

[0018] The single hole of the upper plate hole, the single hole of the lower plate hole, the gasket hole and the limiting outer peripheral surface of the air nozzle joint have the same size in

[0019] The holes in the upper plate and the holes in the lower plate are arranged equidistantly in the transverse and longitudinal directions, and the number is m and n respectively, wherein the longitudinal spacing is H and the transverse spacing is H=kW, where k is an integer.

[0020] Compared with the prior art, the invention has the advantages of:

[0021] ① Strong functionality and wide application range. A closed air chamber is formed by the combination of the upper plate, the lower plate, the side plate and the gasket. Almost all powder metallurgy products can be picked up by air suction. There are multiple holes of the same size arranged at the bottom of the device. The picking up of the pressed green sheets produced by the one-die single-hole and one-die multi-hole method can be realized by installing suction nozzles at one or more positions. At the same time, since the multiple holes arranged at the bottom of the device can rotate around the center of the air chamber, the hole position adjustment level is increased, so that the device has the versatility of picking up the pressed green sheets produced by the one-die multi-hole method within a certain range.

[0022] ②Easy to install and easy to operate. The air chamber and the holder, as well as the air chamber and the gas delivery pipe are fastened by threaded connection; the various parts of the air chamber are connected by snaps, which makes installation more convenient while adjusting the working hole position; rubber washers and rubber gaskets are used for sealing, which reduces the operating requirements.

[0023] ③Simple structure and good economy. The lower plate of the lower air chamber of this device is designed as a rubber gasket sandwich type, which ensures good sealing performance. When the hole position of the actual application changes, only the rubber gasket needs to be replaced instead of the entire device, which has good economy.

[0024] ④Easy to manufacture and highly available. The parts used are basically simple shaft parts, some of which are standard parts, easy to manufacture and highly available. BRIEF DESCRIPTION OF THE DRAWINGS

[0025] Figure 1 It is a schematic diagram of the three-dimensional structure of the air suction multi-stage picking device of the present invention.

[0026] Figure 2 It is a cross-sectional view of the air chamber of the air suction multi-stage picking device of the present invention.

[0027] Figure 3 It is a schematic diagram of the structure of the upper and lower plates of the air chamber of the air suction multi-stage pickup device of the present invention.

[0028] Figure 4 It is a schematic diagram of the structure of the air nozzle joint of the air suction multi-stage picking device of the present invention.

[0029] Figure 5 It is a schematic diagram of the air nozzle structure of the air suction multi-stage picking device of the present invention.

[0030] Figure 6 It is a schematic diagram of the rubber gasket structure of the first embodiment of the air suction multi-stage picking device of the present invention.

[0031] Figure 7 It is a schematic diagram of the rubber gasket structure of the second embodiment of the air suction multi-stage picking device of the present invention.

[0032] Figure 8 It is a schematic diagram of the rubber gasket structure of the third embodiment of the air suction multi-stage picking device of the present invention.

[0033] The symbols in the figure represent:

[0034] 1. Clamp; 2. Gas delivery pipe; 3. Air chamber; 31. Thread; 32. Hole; 321. Working hole; 33. Upper plate; 34. Lower plate; 341. Upper plate; 3411. Upper plate hole; 342. Rubber gasket; 3421. Gasket hole; 343. Lower plate; 3431. Lower plate hole; 35. Side plate; 36. Rubber gasket three; 37. Rubber gasket four; 38. Bushing; 39. Air cavity; 4. Air nozzle joint; 41. Upper plane; 42. Limiting surface; 43. Lower plane; 44. Upper peripheral surface; 45. Limiting peripheral surface; 46. Interface surface; 47. Through hole; 48. Connecting hole; 5. Air nozzle; 6. Screw; 7. Rubber gasket one; 8. Rubber gasket two. DETAILED DESCRIPTION

[0035] The present invention will be further described in detail below with reference to the accompanying drawings and specific embodiments.

[0036] In the description of the present application, it should be understood that the terms "length", "width", "up", "down", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inside", "outside", etc., indicating the orientation or position relationship, are based on the orientation or position relationship shown in the drawings, and are only for the convenience of describing the present application and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore should not be understood as a limitation on the present application.

[0037] In addition, the terms "first" and "second" are used for descriptive purposes only and should not be understood as indicating or implying relative importance or implicitly indicating the number of the indicated technical features. Thus, a feature defined as "first" or "second" may explicitly or implicitly include one or more of the features. In the description of this application, the meaning of "plurality" is two or more, unless otherwise clearly and specifically defined.

[0038] In this application, unless otherwise clearly specified and limited, the terms "assemble", "connect", "connect", "fix" and the like should be understood in a broad sense, for example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be a direct connection or an indirect connection through an intermediate medium, it can be the internal connection of two elements or the interaction relationship between two elements. For ordinary technicians in this field, the specific meanings of the above terms in this application can be understood according to specific circumstances.

[0039] Figures 1 to 8 Three embodiments of the present invention are shown. The device includes a holder 1, a gas delivery pipe 2, an air chamber 3, a gas nozzle joint 4 and a gas nozzle 5. The holder 1 is located above the air chamber 3 and is connected to the air chamber 3 by a screw 6 and sealed with a gasket 7. The gas delivery pipe 2 is located outside the air chamber 3 and is connected to the air chamber 3 by a thread 31 and sealed with a gasket 8. The gas nozzle joint 4 penetrates the hole 321 at the lower part of the air chamber 3 and is covered on the inside of the gas nozzle 5 on the outside of the air chamber 3. The air chamber 3 is connected to the gas delivery pipe 2 and the gas nozzle 5 to form a gas passage. A plurality of holes 32 of the same specifications are opened on the lower plate 34 below the air chamber 3, which can connect one or more gas nozzle joints 4 and gas nozzles 5. The gas nozzle joint 4 has gas passages that intersect axially and radially, and can realize gas communication in more than two directions. The lower plate 34 and the hole 32 below the air chamber 3 can rotate around the central axis z of the air chamber 3.

[0040] The air chamber 3 includes an upper plate 33, a lower plate 34, a side plate 35, a rubber gasket 36, a rubber gasket 4 37 and a bushing 38. The upper plate 33, the lower plate 34 and the side plate 35 are clearance-fitted, the side plate 35 can rotate around the central axis z of the air chamber 3, and the lower plate 34 can rotate around the central axis z of the air chamber 3 in the side plate 35. The rubber gasket 36, the rubber gasket 4 37, the upper plate 33, the lower plate 34, the side plate 35 and the bushing 38 together form a closed air cavity 39.

[0041] The lower plate 34 of the air chamber 3 includes an upper plate 341, a rubber gasket 342 and a lower plate 343. The upper plate 341 is located above the rubber gasket 342 and fits therewith, and the lower plate 343 is located below the rubber gasket 342 and fits therewith. The upper plate 341 is provided with a plurality of holes of the same size, namely, the upper plate holes 3411, and the lower plate 343 is provided with a plurality of holes of the same size, namely, the lower plate holes 3431. The upper plate 341 and its upper plate holes 3411 have the same size as the lower plate 343 and its lower plate holes 3431. The upper plate holes 3411 and the lower plate holes 3431 are connected to form the hole 32 below the air chamber 3.

[0042] A gasket hole 3421 is opened on the rubber gasket 342 of the lower plate 34 of the air chamber 3, and its size is consistent with the single hole of the upper plate hole 3411 and the lower plate hole 3431. The position and number can be configured differently according to needs, and it is connected with the upper plate hole 3411 and the lower plate hole 3431 to form the working hole 321 in the lower part of the air chamber 3.

[0043] The gas nozzle joint 4 has an upper plane 41, a limiting surface 42, a lower plane 43, an upper peripheral surface 44, a limiting peripheral surface 45, an interface surface 46, a through hole 47 and a connecting hole 48. The upper plane 41 contacts the upper plate 33, and the limiting surface 42 contacts the upper plate 341; the limiting peripheral surface 45 passes through the working hole 321 at the lower part of the gas chamber 3. The through hole 47 is connected with the connecting hole 48 to form a gas passage that intersects axially and radially, and can connect the gas cavity 39 of the gas chamber 3 with the gas nozzle 5.

[0044] The gas nozzle 5 has an inner diameter size and outer diameter in

[0045] Preferably, the upper plate 33, the lower plate 34, the rubber gasket three 36, and the rubber gasket four 37 of the air chamber 3 are circular in shape, and the side plate 35 and the bushing 38 are annular in shape.

[0046] Preferably, the upper plate 33, the lower plate 34 and the side plate 35 are connected by a snap ring.

[0047] The upper plate hole 3411, the lower plate hole 3431, the gasket hole 3421 and the limiting outer peripheral surface 45 of the air nozzle joint 4 have the same size. in

[0048] The arrangement of the upper plate holes 3411 and the lower plate holes 3431 is equidistant in the horizontal and vertical directions, and the number is m and n respectively, wherein the vertical spacing is H and the horizontal spacing is H=kW, where k is an integer.

[0049] Embodiment 1:

[0050] In this embodiment, the outer diameter of the buckle of the upper plate 33, the outer diameter of the lower plate 34 and the inner diameter of the side plate 35 are the same, which is According to the use requirements, the arrangement number of holes on the upper plate 341 and the lower plate 343 is selected to be m=5, n=9, and the longitudinal spacing H=2W. For the convenience of description, the horizontal rows are named A, B, C, D, E, and the vertical columns are named a, b, c, d, e, f, g, h, i. The names of the holes on the upper and lower plates are listed in row and column combinations as shown in Table 1. Among them, Ce is the center hole.

[0051] Table 1 The names of the holes on the upper and lower boards are listed in rows and columns

[0052]

[0053] In this embodiment, the adapted mold is a mold with a single mold hole. Any hole position of the hole 32 of the air chamber 3 can be selected as the working hole position, but considering symmetry, the center hole position Ce is selected as the working hole position. Correspondingly, a hole is opened at the center position of the rubber gasket 342, and the size is the same as the upper plate hole 3411 and the lower plate hole 3431, that is, The upper plate 341, the rubber gasket 342 and the lower plate 343 are sequentially attached to form the lower plate 34 of the air chamber according to the large surface, so that the upper plate hole 3411 and the lower plate hole 3431 are connected to form the hole 32 below the air chamber 3, and the gasket hole 3421 is connected with the upper plate hole 3411 and the lower plate hole 3431 to form the through working hole 321 at the lower part of the air chamber 3. A gas nozzle joint 4 is installed at the position of the working hole 321, so that the upper plane 41 contacts the upper plate 33, the limiting surface 42 contacts the upper plate 341, the limiting outer peripheral surface 45 passes through the working hole 321 at the lower part of the air chamber 3, and the connecting hole 48 connects the air cavity 38 of the air chamber 3 with the through hole 47 of the gas nozzle joint 4, and then a gas nozzle 5 is covered on the outside of the gas nozzle joint 4.

[0054] Fix the gripper 1 on the mechanical arm used by the pressing equipment, ventilate the gas delivery pipe 2, and connect the gas valve. After the press completes a pressing action, the mechanical arm reaches the designated position, and the gas nozzle 5 is attached to the surface of the green compact to be picked up, and the gas is pumped. At this time, the green compact to be inspected is adsorbed on the gas nozzle 5 due to the negative pressure state of the gas. The mechanical arm transports the green compact to the designated position and inflates it. At this time, the green compact is separated from the gas nozzle 5 under the action of the gas pressure and is placed at the designated position, thereby completing the entire green compact picking process.

[0055] Embodiment 2:

[0056] This embodiment is mainly suitable for picking up pressed blanks during production of a mold with two holes in one mold and a hole spacing of 4W.

[0057] For the hole 32 of the air chamber 3, based on the above embodiment 1, according to the trigonometric function relationship, taking the hole position Aa as the starting point, the spacing with another hole position can achieve different values ​​in the following Table 2 according to different methods.

[0058] Table 2 List of distance values ​​between two holes with Aa hole as the starting point and different end points

[0059]

[0060] As can be seen from Table 2, for a one-mold double-hole mold, the device has multiple levels of hole positions to meet the needs of different spacings. For this embodiment, the Aa-Ae hole position, the Aa-Ca hole position and two other hole positions with the same spacing can be used for picking up the pressed blanks during the production of a one-mold double-hole mold with a hole spacing of 4W. Considering the symmetry, the Cc-Cg hole position or the Be-De hole position is selected, and the connecting line of the two hole positions forms a 90° angle in the z-axis plane. When in use, the Cc-Cg and Be-De hole positions can be changed by rotating the lower plate.

[0061] Holes are opened at the corresponding positions Cc and Cg of the rubber gasket 342, the size of which is the same as the single hole of the upper plate hole 3411 and the lower plate hole 3431, that is, The upper plate 341, the rubber gasket 342 and the lower plate 343 are sequentially attached to the lower plate 34 of the air chamber according to the large surface, so that the upper plate hole 3411 and the lower plate hole 3431 are connected to form the hole 32 below the air chamber 3, and the gasket hole 3421 is connected with the upper plate hole 3411 and the lower plate hole 3431 to form two through holes at the lower part of the air chamber 3, namely the working hole 321. Two air nozzle joints 4 are installed at the position of the working hole 321, so that the upper plane 41 of the air nozzle joint 4 contacts the upper plate 33, the limiting surface 42 contacts the upper plate 341, the limiting outer peripheral surface 45 passes through the working hole 321 at the lower part of the air chamber 3, and the connecting hole 48 connects the air cavity 39 of the air chamber 3 with the through hole 47 of the air nozzle joint 4. Then the two air nozzles 5 are covered on the outside of the two air nozzle joints 4.

[0062] Fix the clamp 1 on the mechanical arm used by the pressing equipment, ventilate the gas delivery pipe 2, and connect the gas valve. Then it can be used to pick up the pressed blanks in the production of a mold with two holes and a hole spacing of 4W.

[0063] Embodiment three:

[0064] This embodiment is mainly adapted to one mold with 9 holes, and the number of vertical and horizontal holes is 3×3, and the hole spacing is Picking up the compact during mold production.

[0065] According to the spacing listed in Table 2, the spacing between the two holes Aa-Bc and their corresponding holes is According to the 9 holes in one mold and their 3×3 arrangement, Ca-Bc-Ae, Dc-Ce-Bg, Ee-Dg-Ci are selected as the working hole positions. Open holes at the corresponding Ca, Bc, Ae, Dc, Ce, Bg, Ee-, Dg, Ci positions of the rubber gasket 342, and the size is the same as the upper plate hole 3411 and the lower plate hole 3431, that is, The upper plate 341, the rubber gasket 342 and the lower plate 343 are sequentially attached to the lower plate 34 of the air chamber according to the large surface, so that the upper plate hole 3411 and the lower plate hole 3431 are connected to form the hole 32 below the air chamber 3, and the gasket hole 3421 is connected with the upper plate hole 3411 and the lower plate hole 3431 to form 9 holes that pass through the lower part of the air chamber 3, namely the working holes 321. 9 air nozzle joints 4 are installed at the position of the working holes 321, so that the upper plane 41 of the air nozzle joint 4 contacts the upper plate 33, the limiting surface 42 contacts the upper plate 341, the limiting outer peripheral surface 45 passes through the working hole 321 at the lower part of the air chamber 3, and the connecting hole 48 connects the air cavity 39 of the air chamber 3 with the through hole 47 of the air nozzle joint 4. Then the 9 air nozzles 5 are covered on the outside of the 9 air nozzle joints 4.

[0066] Fix the holder 1 on the mechanical arm used by the pressing equipment, ventilate the gas delivery pipe 2, and connect the gas valve. It can be used for a mold with 9 holes, and the number of vertical and horizontal holes is 3×3, and the hole spacing is Picking up the compact during mold production.

[0067] Although the present invention has been disclosed as above with preferred embodiments, it is not intended to limit the present invention. Any technician familiar with the art can make many possible changes and modifications to the technical solution of the present invention by using the technical content disclosed above without departing from the scope of the technical solution of the present invention, or modify it into an equivalent embodiment of equivalent changes. Therefore, any simple modification, equivalent change and modification made to the above embodiments according to the technical essence of the present invention without departing from the content of the technical solution of the present invention should fall within the scope of protection of the technical solution of the present invention.

Claims

1. An air suction multi-stage picking device, characterized in that: The device comprises a holder (1), a gas delivery pipe (2), an air chamber (3), a gas nozzle joint (4) and a gas nozzle (5); the holder (1) is located above the air chamber (3) and is connected to the air chamber (3) via a screw (6) and is sealed with a first rubber gasket (7); the gas delivery pipe (2) is located outside the air chamber (3) and is connected to the air chamber (3) via a thread (31) and is sealed with a second rubber gasket (8); the gas nozzle joint (4) passes through a working hole (321) at the bottom of the air chamber (3); The gas nozzle joint (4) outside the gas chamber (3) is partially covered by the gas nozzle (5); the gas chamber (3) is respectively connected to the gas delivery pipe (2) and the gas nozzle (5) to form a gas channel; a lower plate (34) below the gas chamber (3) is provided with a plurality of holes (32) of the same specification, which can connect one or more gas nozzle joints (4) and the gas nozzle (5); the gas nozzle joint (4) has a gas channel that intersects axially and radially; the lower plate (34) below the gas chamber (3) and the hole (32) can rotate around the central axis z of the gas chamber (3).

2. The air suction multi-stage picking device according to claim 1, characterized in that: The air chamber (3) comprises an upper plate (33), a lower plate (34), a side plate (35), a rubber gasket three (36), a rubber gasket four (37) and a bushing (38); the upper plate (33), the lower plate (34) and the side plate (35) are clearance-fitted; the side plate (35) can rotate around the central axis z of the air chamber (3), and the lower plate (34) can rotate around the central axis z of the air chamber (3) in the side plate (35); the rubber gasket three (36), the rubber gasket four (37) and the upper plate (33), the lower plate (34), the side plate (35) and the bushing (38) together form a closed air cavity (39).

3. An air suction multi-stage picking device according to claim 1 or 2, characterized in that: The lower plate (34) of the air chamber (3) comprises an upper plate (341), a rubber gasket (342) and a lower plate (343); the upper plate (341) is located above the rubber gasket (342) and is in contact with it, and the lower plate (343) is located below the rubber gasket (342) and is in contact with it; the upper plate (341) is provided with a plurality of holes of the same size, namely, the upper plate holes (3411); the lower plate (343) is provided with a plurality of holes of the same size, namely, the lower plate holes (3431); and the upper plate (341) and its upper plate holes (3411) have the same size as the lower plate (343) and its lower plate holes (3431); the upper plate holes (3411) and the lower plate holes (3431) are connected to form the hole (32) below the air chamber (3).

4. The air suction multi-stage picking device according to claim 3, characterized in that: A gasket hole (3421) is provided on the rubber gasket (342) of the lower plate (34) of the air chamber (3), the size of which is consistent with the single hole of the upper plate hole (3411) and the lower plate hole (3431), and is connected with the upper plate hole (3411) and the lower plate hole (3431) to form a working hole (321) at the lower part of the air chamber (3).

5. The air suction multi-stage picking device according to claim 1, characterized in that: The gas nozzle joint (4) comprises an upper plane (41), a limiting surface (42), a lower plane (43), an upper outer peripheral surface (44), a limiting outer peripheral surface (45), an interface surface (46), a through hole (47) and a connecting hole (48); the upper plane (41) contacts the upper plate (33), and the limiting surface (42) contacts the upper plate (341); the limiting outer peripheral surface (45) passes through the working hole (321) at the lower part of the gas chamber (3); the through hole (47) and the connecting hole (48) are connected to form an axially and radially intersecting gas channel, which can connect the air cavity (39) of the gas chamber (3) with the gas nozzle (5).

6. The air suction multi-stage picking device according to claim 2, characterized in that: The upper plate (33), lower plate (34), side plate (35), rubber gasket three (36), rubber gasket four (37) and bushing (38) of the air chamber (3) are in the shape of strip, square, circle or ring, preferably circle or ring.

7. The air suction multi-stage picking device according to claim 2, characterized in that: The connection method of the upper plate (33), the lower plate (34) and the side plate (35) of the air chamber (3) is threaded connection, adhesive connection, snap ring connection, spring pin connection, preferably snap ring connection.

8. The air suction multi-stage picking device according to claim 1, characterized in that: The gas nozzle (5) has an inner diameter dimension and outer diameter in 9. An air suction multi-stage picking device according to any one of claims 1 to 5, characterized in that: The single hole of the upper plate hole (3411), the single hole of the lower plate hole (3431), the gasket hole (3421) and the limiting outer peripheral surface (45) of the air nozzle joint (4) have the same size. in 10. An air suction multi-stage picking device according to any one of claims 1 to 5, characterized in that: The upper plate holes (3411) and the lower plate holes (3431) are arranged equidistantly in the transverse and longitudinal directions, with the number of m and n respectively, wherein the longitudinal spacing is H and the transverse spacing is W. H=kW, where k is an integer.

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