Mechanical automatic grabbing device for assembly line

Abstract

According to the mechanical automatic grabbing device for the assembly line, when the grabbing device conducts grabbing operation, a positioning suction cup composed of a supporting cylinder body, a piston body, a connecting sleeve, a suction cup head and a one-way valve body is used for positioning an object, a jacking spring in the supporting cylinder body acts on the piston body, and the suction cup head is promoted to keep a suction state on the object; a vacuum pump and other pneumatic assemblies do not need to be introduced for pressure reduction of the suction cups so as to ensure that the suction cups have suction force, in the grabbing process, the jacking springs in the supporting cylinder bodies can buffer the force of the clamping plates for grabbing the objects, and the situation that the to-be-clamped objects are damaged when the clamping plates grab the objects is avoided.

Description

Technical Field

[0001] The invention relates to the technical field of automated grasping, and in particular to a mechanical automated grasping device for an assembly line. Background Art

[0002] In the process of assembly line production, in order to improve production efficiency and reduce manpower input, a large number of automated clamping equipment are used. Through visual recognition, data processing, analysis and judgment, and finally controlling the grasping manipulator to perform grasping operations, it can complete actions such as clamping and moving. During the clamping process, especially for some products with mirror-polished surfaces, in order to prevent the product from falling off during the grasping process, a suction cup is usually installed on the clamping manipulator, and a vacuum pump is used to apply negative pressure to the suction cup during the clamping process to ensure the suction effect of the suction cup on the product surface. Although this method can achieve greater positioning of the product surface during the grasping process, the introduction of power equipment such as vacuum pumps greatly increases production costs. In addition, during the clamping process, the suction cup's own buffering effect is limited. After the grasping manipulator is quickly closed, the suction cup contacts the product and cannot buffer the clamping force, which can easily cause damage to the product. Summary of the invention

[0003] The present invention aims to overcome the problem that the clamping device needs to introduce pneumatic components such as a vacuum pump to reduce the pressure on the suction cup to ensure that the suction cup has suction, thereby increasing production costs, and the suction cup cannot buffer the clamping force and is prone to damage the product. The purpose is to provide a mechanical automated grasping device for an assembly line.

[0004] The technical problem to be solved by the present invention is achieved by adopting the following technical solutions:

[0005] A mechanical automatic grasping device for an assembly line, comprising: a grasping device body, a clamping plate, and a positioning suction cup;

[0006] A driving gear is installed on the clamping plate, and driving gear rods are respectively provided on the clamping device body on both sides of the driving gear. The clamping plate is fixed one-to-one on the end of the driving gear rod, and the positioning suction cup is fixedly installed on the clamping plate;

[0007] The positioning suction cup includes a supporting cylinder body, a piston body, a connecting sleeve, a suction cup head, and a one-way valve body. The supporting cylinder body is fixed on a clamping plate. The one-way valve body is fixedly installed at one end of the supporting cylinder body. The piston body is located inside the supporting cylinder body. A sealed cavity is formed between the piston body and the one-way valve body. A top pressure spring is installed in the cavity. One end of the connecting sleeve is fixed on the piston body, and the other end extends out of the supporting cylinder body and is fixedly connected to the suction cup head. The connecting sleeve is connected to the cavity and the suction cup head.

[0008] Furthermore, a pressure relief plate is fixedly mounted on the clamping plate, the pressure relief plate and the clamping plate are connected via a horizontal rod, a positioning plate is slidably mounted on the horizontal rod, one end of the support cylinder body is fixedly mounted on the positioning plate, and the other end slides through the pressure relief plate.

[0009] Furthermore, the one-way valve body includes a valve cylinder body and a valve ball. The valve cylinder body is connected to the support cylinder body. A valve seat is installed inside the valve cylinder body. A funnel-shaped air guide channel is provided on the valve seat. The valve ball is located in the air guide channel. A sealing spring is provided between the valve ball and the end of the valve cylinder body.

[0010] Furthermore, a pressure relief plug is installed in the valve cylinder body, a return spring is provided between the pressure relief plug and the valve seat, a ejector pin is fixed on the pressure relief plug, one end of the ejector pin extends out of the valve cylinder body, the end can contact the pressure relief plate, and the other end of the ejector pin extends into the interior of the valve cylinder body.

[0011] Furthermore, a sealing bucket is provided between the valve ball and the air guide channel, and a receiving seat is fixed to the end of the sealing bucket. When the pressure relief plug moves toward the inside of the valve cylinder, the end of the ejector pin can be inserted into the air guide channel to contact the receiving seat.

[0012] Furthermore, the support cylinder body passes through the outer ring of one end of the pressure relief plate to fix a limiting ring.

[0013] Furthermore, the suction cup head is provided with a support cavity along the axial direction of the cup surface, and a support bone is installed inside the support cavity.

[0014] Furthermore, the outer ring side of the connecting sleeve is provided with serrations, and the serrations are arranged along the axial direction of the connecting sleeve.

[0015] The beneficial effects of the present invention are:

[0016] When the grasping device is performing a grasping operation, the object is positioned by using a positioning suction cup composed of a supporting cylinder body, a piston body, a connecting sleeve, a suction cup head, and a one-way valve body, and the piston body is acted on by a top pressure spring inside the supporting cylinder body, so that the suction cup head maintains a suction state on the object, and there is no need to introduce a vacuum pump or other pneumatic components to reduce the pressure on the suction cup to ensure that the suction cup has suction force. In the grasping process, the top pressure spring inside the supporting cylinder body can buffer the force of the clamping plate grasping the object, so as to prevent the clamping plate from damaging the object to be clamped when grasping the object.

[0017] After the grasping is completed, the buffer of the movement of the positioning plate is used to reduce the pulling force of the suction cup head on the clamped object. As the ejector pin contacts the receiving seat, the suction force of the suction cup is reduced, so that the suction cup is directly separated from the clamped object to avoid the suction cup pulling the end face of the object.

[0018] The support bone is used to support the end face of the suction cup head so that the suction cup head can withstand a certain vertical downward force, thereby avoiding collapse of the suction cup head during the clamping process and ensuring the stability of the contact surface between the suction cup head and the clamped object. BRIEF DESCRIPTION OF THE DRAWINGS

[0019] Figure 1 It is a structural schematic diagram of the present invention;

[0020] Figure 2 It is a schematic diagram of the connection structure between the driving gear and the driving gear rod of the present invention;

[0021] Figure 3 is a side view of the present invention;

[0022] Figure 4 It is a schematic diagram of the positioning suction cup structure of the present invention;

[0023] Figure 5 It is a schematic cross-sectional view of the connecting sleeve of the present invention;

[0024] Figure 6 It is a schematic cross-sectional view of the suction cup head of the present invention;

[0025] Figure 7 It is a schematic diagram of the support cavity structure of the present invention;

[0026] Figure 8 This is a schematic diagram of the support cavity structure in the expanded state of the first support airbag and the second support airbag of the present invention;

[0027] Fig. 9 It is a schematic diagram of the support structure of the present invention;

[0028] Fig.10 It is a schematic diagram of the support bone structure when the ear plate of the present invention is in a bent state.

[0029] In the figure: 1, the clamping device body; 2, the clamping plate; 3, the positioning suction cup; 21, the driving gear; 22, the driving gear rod; 31, the supporting cylinder body; 32, the piston body; 33, the connecting sleeve; 34, the suction cup head; 35, the one-way valve body; 36, the top pressure spring; 41, the pressure relief plate; 42, the horizontal rod; 43, the positioning plate; 51, the valve cylinder body; 52, the valve ball; 53, the sealing spring; 54, the pressure relief plug; 55, the reset spring; 56, the pressure relief plug; 57, the pressure relief plug; 58, the pressure relief plug; 59, the pressure relief plug; 60, the pressure relief plug; 61, the pressure relief plug; 62, the pressure relief plug; 63, the pressure relief plug; 64, the pressure relief plug; 65, the pressure relief plug; 66, the pressure relief plug; 67, the pressure relief plug; 68, the pressure relief plug; 69, the pressure relief plug; 70, the pressure relief plug; 71, the pressure relief plug; 72, the pressure relief plug; 73, the pressure relief plug; 74, the pressure relief plug; 75, the pressure relief plug; 76, the pressure relief plug; 77, the pressure relief plug; 78, the pressure relief plug; 79, the pressure relief plug; 80, the pressure relief plug; 81, the pressure relief plug; 82, the pressure relief plug; 83, the pressure relief plug; 84, the pressure relief plug; 85, the pressure relief plug; 86, the pressure relief plug; 87, the pressure relief plug; 88, the pressure relief plug; 89, the pressure relief plug; 90, the pressure relief plug; 91, the pressure relief plug; 92, the pressure relief plug; 93, the pressure relief plug; 9 6. Ejector; 57. Sealing bucket; 58. Receiver; 59. Limiting ring; 60. Valve seat; 61. Support cavity; 62. Support bone; 63. Sawtooth; 601. First flow guide channel; 602. Second flow guide channel; 603. First piston; 604. Second piston; 605. Third piston; 606. First supporting airbag; 607. Second supporting airbag; 608. Third supporting airbag; 701. Connecting plate; 702. Ear plate. DETAILED DESCRIPTION

[0030] 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 described below with reference to specific diagrams.

[0031] Embodiment 1:

[0032] like Figure 1-4 As shown; a mechanical automatic grasping device for an assembly line, comprising: a grasping device body 1, a clamping plate 2, and a positioning suction cup 3;

[0033] A driving gear 21 is installed on the clamping plate 2, and the driving gear 21 is driven to rotate by a driving motor. Driving gear rods 22 are respectively provided on the clamping device body 1 on both sides of the driving gear 21. The clamping plate 2 is fixed one-to-one to the end of the driving gear rod 22, and the positioning suction cup 3 is fixed on the clamping plate 2; when the driving motor rotates, the driving gear 21 pushes the meshing driving gear rods 22 on both sides to move, thereby driving the clamping plate 2 to move, thereby realizing the clamping operation of the clamping plate 2;

[0034] The positioning suction cup 3 includes a supporting cylinder body 31, a piston body 32, a connecting sleeve 33, a suction cup head 34, and a one-way valve body 35. The supporting cylinder body 31 is fixed on the clamping plate 2, the one-way valve body 35 is fixedly installed at one end of the supporting cylinder body 31, the piston body 32 is located inside the supporting cylinder body 31, and a sealed cavity is formed between the piston body 32 and the one-way valve body 35. A top pressure spring 36 is installed in the cavity. One end of the connecting sleeve 33 is fixed on the piston body 32, and the other end extends out of the supporting cylinder body 31 and is fixedly connected to the suction cup head 34. The connecting sleeve 33 is connected to the cavity and the suction cup head 34;

[0035] When performing the grasping operation, the driving gear 21 and the driving gear rod 22 drive the clamping plate 2 to close, and the clamping plate 2 drives the positioning suction cup 3 to move as a whole. When the positioning suction cup 3 contacts the object to be grasped, the suction cup head 34 at the end of the positioning suction cup 3 contacts the surface of the object in advance. Under the reaction force of the surface of the object, the suction cup head 34, the connecting sleeve 33 and the piston body 32 are pushed to move toward the inside of the supporting cylinder body 31. The cushioning of the top pressure spring 36 can reduce the squeezing force when the suction cup and the object are initially in contact, and avoid the suction cup from hitting the surface of the object with too much force. With the closing of the clamping plate 2, the piston body 32 moves to discharge the gas in the supporting cylinder body 31 through the one-way valve body 35. When the grasping tends to be stable, the driving motor is locked. At this time, the driving gear 21 The driving gear rod 22 and the clamping plate 2 remain in the state without displacement. Under the action of the top pressure spring 36, an outward thrust is generated on the piston body 32. Under the action of the thrust, the suction cup head 34 is prompted to close to the object. Due to the effect of the thrust on the piston body 32 and the effect of the one-way valve body 35, external gas cannot enter the support cylinder body 31, so that the interior of the support cylinder body 31 is in a negative pressure state, which further increases the suction effect of the suction cup on the surface of the object. There is no need to introduce pneumatic drive parts such as vacuum pumps during the grasping process. Only the support cylinder body 31, the piston body 32 and the top pressure spring 36 are used to apply pressure to the suction cup head 34 during the grasping process, as well as the negative pressure state, to maintain the suction effect of the suction cup head 34 on the object, thereby greatly reducing the production cost.

[0036] Embodiment 2:

[0037] On the basis of Example 1, after the grasping is completed, it is necessary to ensure that when the suction cup head 34 is separated from the clamped object during the separation process of the splint 2, there is no suction effect on the suction cup head 34, so as to avoid the splint 2 pulling during the separation process, while the suction cup head 34 clamps the object, thereby pulling the object and damaging the clamped object. In order to solve the above technical problems, as Figure 1-4 As shown; a pressure relief plate 41 is fixedly mounted on the splint 2, the pressure relief plate 41 is connected to the splint 2 by a horizontal rod 42, a positioning plate 43 is slidably mounted on the horizontal rod 42, one end of the support cylinder 31 is fixedly mounted on the positioning plate 43, and the other end slides through the pressure relief plate 41;

[0038] The one-way valve body 35 includes a valve cylinder body 51 and a valve ball 52. The valve cylinder body 51 is connected to the support cylinder body 31. A valve seat 60 is installed inside the valve cylinder body 51. The valve seat 60 is provided with an air guide channel with a funnel-shaped structure. The valve ball 52 is located in the air guide channel. A sealing spring 53 is provided between the valve ball 52 and the end of the valve cylinder body 51. When the pressure in the support cylinder body 31 and the valve cylinder body 51 increases, the air pressure pushes the valve ball 52 to separate from the valve seat 60, thereby discharging the gas in the support cylinder body 31 and the valve cylinder body 51. When the pressure in the support cylinder body 31 and the valve cylinder body 51 decreases, the valve ball 52 blocks the air guide channel on the valve seat 60 under the action of the sealing spring 53, thereby preventing external gas from entering the support cylinder body 31 and the valve cylinder body 51, and maintaining the negative pressure state of the support cylinder body 31 and the valve cylinder body 51.

[0039] A pressure relief plug 54 is installed in the valve cylinder 51, and a return spring 55 is provided between the pressure relief plug 54 and the valve seat 60. A ejector pin 56 is fixed to the pressure relief plug 54. One end of the ejector pin 56 extends out of the valve cylinder 51 and can contact the pressure relief plate 41 at the end, and the other end of the ejector pin 56 extends into the interior of the valve cylinder 51. When the positioning plate 43 approaches the pressure relief plate 41 during the movement, the pressure relief plate 41 will contact the ejector pin 56 in advance. As the positioning plate 43 continues to move, the pressure relief plate 41 squeezes the ejector pin 56 into the valve cylinder 51, thereby driving the pressure relief plug 54 to move in the valve cylinder 51. When the ejector pin 56 is not in contact with the pressure relief plate 41, the pressure relief plug 54 is displaced. When the valve ball 52 is touched, the air pressure of the valve cylinder 51 will increase relatively, and then the air pressure of the supporting cylinder 31 connected thereto will slightly increase, thereby reducing the pressure difference between the suction cup head 34 and the outside, making it easier for the subsequent suction cup head 34 to separate from the surface of the object. As the ejector pin 56 contacts the valve ball 52, the valve ball 52 is separated from the air guide channel on the valve seat 60, and the valve cylinder 51 and the supporting cylinder 31 can be connected to the outside, so that the air pressure in the two is consistent with that of the outside. At this time, the suction cup head 34 no longer has a suction effect on the clamped object, and the object can be separated from the suction cup head 34.

[0040] A sealing bucket 57 is provided between the valve ball 52 and the air guide passage, and a receiving seat 58 is fixed to the end of the sealing bucket 57. When the pressure relief plug 54 moves toward the inside of the valve cylinder body 51, the end of the ejector pin 56 can be inserted into the air guide passage to contact the receiving seat 58. The receiving seat 58 is used to isolate the valve ball 52 and the ejector pin 56 to prevent the ejector pin 56 from directly contacting the valve ball 52 and thus preventing the valve ball 52 from being damaged. The inner end surface of the air guide passage of the valve seat 60, the inner and outer end surfaces of the sealing bucket 57, and the outer spherical surface of the valve ball 52 are all provided with a rubber layer, and the rubber layer is used to contact each other to improve the sealing performance of the contact between the three.

[0041] The support cylinder 31 passes through the outer ring of one end of the pressure relief plate 41 to fix a limiting ring 59, and the limiting ring 59 is provided to limit the moving stroke of the support cylinder 31 relative to the pressure relief plate 41 to prevent the support cylinder 31 from separating from the pressure relief plate 41 when moving;

[0042] When the gripping state is in progress, the two clamping plates 2 are closed, and the object contacts the suction cup head 34. The suction cup head 34 is pushed by the reaction force of the object, so that the suction cup head 34, the connecting sleeve 33 and the supporting cylinder body 31 move as a whole, and the supporting cylinder body 31 drives the positioning plate 43 to slide on the horizontal rod 42 relative to the pressure relief plate 41, thereby separating the ejector pin 56 from the pressure relief plate 41, and under the action of the return spring 55 between the pressure relief plug 54 and the valve seat 60, the pressure relief plug 54 moves away from the valve seat 60. 0 moves to one side, so that the other end of the ejector pin 56 is separated from the receiving seat 58. When the limit ring 59 on the end side of the support cylinder body 31 contacts the pressure relief plate 41, the positioning plate 43 no longer slides relative to the pressure relief plate 41. The reaction force of the object pushes the suction cup head 34, the connecting sleeve 33, and the piston body 32 to move relative to the support cylinder body 31, so that the air pressure inside the support cylinder body 31 increases. Under the action of pressure, the pressure relief plug 54 can also be pushed to move away from the valve seat 60, thereby causing the ejector pin 56 to separate from the receiving seat 58.

[0043] When the grabbing operation is completed and the clamping plate 2 is released, the suction cup head 34 will not be separated from the surface of the object at the first time under the action of suction. Under the action of suction, the suction cup head 34, the connecting sleeve 33 and the supporting cylinder body 31 will be driven to move as a whole again, thereby driving the positioning plate 43 to move toward the side of the pressure relief plate 41. As the positioning plate 43 contacts the side of the pressure relief plate 41, the end of the ejector pin 56 contacts the pressure relief plate 41. Under the thrust of the pressure relief plate 41, the ejector pin 56 and the pressure relief plug 54 move toward the inside of the valve cylinder body 51 together, so that the other end of the ejector pin 56 contacts the receiving seat 58 and pushes the receiving seat 58 to move. The receiving seat 58 drives the valve ball 52 to move, thereby separating the valve ball 52 from the air guide channel on the valve seat 60. Due to the separation of the above two, the valve cylinder body 51 and the support cylinder body 31 can be connected to the outside world, so that the air pressure of the two can be restored to the standard air pressure. Since there is no pressure difference, the suction cup head 34 no longer has suction on the surface of the object. At this time, it can be ensured that the suction cup head 34 is separated from the object. The clamping and separation operations of the splint 2 do not require the introduction of pneumatic drive parts such as vacuum pumps, which saves costs. During the separation process, the splint 2 is buffered by the movement of the positioning plate 43, which reduces the pulling force of the suction cup head 34 on the clamped object. As the ejector pin 56 contacts the receiving seat 58, the suction force of the suction cup head 34 is reduced, thereby directly separating the suction cup head 34 from the clamped object to prevent the suction cup head 34 from pulling the end face of the object.

[0044] Embodiment 3:

[0045] On the basis of Example 1, when the suction cup head 34 clamps the object at both sides of the object, due to the gravity of the object, a downward force will be generated on the suction cup head 34, which will cause the suction cup head 34 to twist and affect the suction effect of the suction cup head 34 on the object. In order to solve the above problem, Figure 1-10As shown; by providing a support cavity 61 along the axial direction of the disk surface in the suction cup head 34, a support bone 62 is installed inside the support cavity 61;

[0046] The outer ring side of the connecting sleeve 33 is provided with a sawtooth 63, and the sawtooth 63 is arranged along the axial direction of the connecting sleeve 33. Due to the sawtooth 63-shaped structure of the connecting sleeve 33, the rotation of the connecting sleeve 33 is limited, so that the connecting sleeve 33 can only move along the axial direction. Two flow guides are provided in each sawtooth 63 along the axial direction, namely, a first flow guide 601 and a second flow guide 602. The piston body 32 includes a first piston 603, a second piston 604, and a third piston 605. The first piston 603 and the third piston 605 are fixed on the connecting sleeve 33, and the second piston 604 is located between the first piston 603 and the third piston 605. The first flow guide The channel 601 is connected with the gap between the first piston 603 and the second piston 604, the second flow guide channel 602 is connected with the gap between the second piston 604 and the third piston 605, and three support airbags are provided in the support cavity 61 of the suction cup head 34, namely the first support airbag 606, the second support airbag 607, and the third support airbag 608. The first support airbag 606 and the second support airbag 607 are respectively located at the lower parts of both sides of the support bone 62, and the third support airbag 608 is located in the middle and upper part of the support bone 62. The first support airbag 606 and the second support airbag 607 are connected with the first flow guide channel 601, and the third support airbag 608 is connected with the second flow guide channel 602;

[0047] The support frame 62 includes a plurality of connecting plates 701, and two adjacent connecting plates 701 are hinged to each other. Ear plates 702 are provided on both sides of the connecting plates 701, and the ear plates 702 on the two adjacent connecting plates 701 are hinged to each other. When the suction cup head 34 just contacts the surface of the object, the suction cup head 34 is pushed by the reaction force of the object to drive the connecting sleeve 33 and the piston body 32 to move as a whole. The first piston 603 and the third piston 605 are directly moved in the supporting cylinder body 31 under the push of the connecting sleeve 33. At this time, the second piston 604 will produce a displacement relatively away from the first piston 603 and close to the third piston 605 due to the internal resistance of the supporting cylinder body 31. As the three move relative to each other , so that the space between the first piston 603 and the second piston 604 becomes larger, and the space between the third piston 605 and the second piston 604 becomes smaller. Due to the change in space, the pressure between the first piston 603 and the second piston 604 decreases, so that the first support airbag 606 and the second support airbag 607 connected to the first guide channel 601 shrink. At the same time, the pressure between the third piston 605 and the second piston 604 increases, so that the third support airbag 608 connected to the second guide channel 602 expands. The expansion of the third support airbag 608 can spread the two side ear plates 702 on the support frame 62. At this time, since the ear plates 702 and the connecting plate 701 are located at the same horizontal plane, as shown in FIG. Figure 7 , Fig. 9As shown, the connecting plate 701 can be bent around the hinge point, so that the surface of the suction cup head 34 can be compressed;

[0048] In the clamping stable state, when the clamping plate 2 does not move, due to the action of the top pressure spring 36, a thrust is generated on the piston body 32 toward the outside of the supporting cylinder body 31. At this time, the first piston 603 and the third piston 605 are displaced as a whole, and the second piston 604 still moves relative to the first piston 603 and the third piston 605 under the action of the side wall resistance of the supporting cylinder body 31, so that the space between the first piston 603 and the second piston 604 is reduced, the pressure between the two is increased, and the space between the second piston 604 and the third piston 605 is increased. As the pressure between the two increases, the pressure between the two decreases, thereby causing the first support airbag 606 and the second support airbag 607 connected to the first guide channel 601 to expand, while the third support airbag 608 connected to the second guide channel 602 contracts. As the first support airbag 606 and the second support airbag 607 expand, the ear plates 702 on both sides of the connecting plate 701 are squeezed, causing the ear plates 702 on both sides of the connecting plate 701 to deflect toward the connecting plate 701. Due to the deflection of the ear plates 702, the rotation of the connecting plate 701 can be restricted, so that the connecting plate 701 cannot rotate around the hinge point. Figure 8 , Fig.10 As shown, a plurality of connecting plates 701 are connected to form a support frame 62 with a certain supporting force. Under the action of the support frame 62, the disk surface of the suction cup head 34 cannot be bent. When the suction cup head 34 is subjected to a vertical downward force, the support frame 62 can maintain the disk shape of the suction cup head 34 to prevent the suction cup head 34 from collapsing.

[0049] 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 mechanical automatic grasping device for an assembly line, characterized in that: include: The clamping device body, clamping plate, and positioning suction cup; A driving gear is installed on the clamping plate, and driving gear rods are respectively provided on the clamping device body on both sides of the driving gear. The clamping plate is fixed one-to-one on the end of the driving gear rod, and the positioning suction cup is fixedly installed on the clamping plate; The positioning suction cup includes a supporting cylinder body, a piston body, a connecting sleeve, a suction cup head, and a one-way valve body. The supporting cylinder body is fixed on a clamping plate. The one-way valve body is fixedly installed at one end of the supporting cylinder body. The piston body is located inside the supporting cylinder body. A sealed cavity is formed between the piston body and the one-way valve body. A top pressure spring is installed in the cavity. One end of the connecting sleeve is fixed on the piston body, and the other end extends out of the supporting cylinder body and is fixedly connected to the suction cup head. The connecting sleeve is connected to the cavity and the suction cup head.

2. A mechanical automatic grasping device for an assembly line according to claim 1, characterized in that: A pressure relief plate is fixedly mounted on the clamping plate, the pressure relief plate and the clamping plate are connected via a horizontal rod, a positioning plate is slidably mounted on the horizontal rod, one end of the support cylinder body is fixedly mounted on the positioning plate, and the other end slides through the pressure relief plate.

3. A mechanical automatic grasping device for an assembly line according to claim 2, characterized in that: The one-way valve body includes a valve cylinder body and a valve ball. The valve cylinder body is connected to the supporting cylinder body. A valve seat is installed inside the valve cylinder body. A funnel-shaped air guide channel is provided on the valve seat. The valve ball is located in the air guide channel. A sealing spring is provided between the valve ball and the end of the valve cylinder body.

4. A mechanical automatic grasping device for an assembly line according to claim 3, characterized in that: A pressure relief plug is installed in the valve cylinder body, a return spring is arranged between the pressure relief plug and the valve seat, a ejector pin is fixed on the pressure relief plug, one end of the ejector pin extends out of the valve cylinder body, the end can contact the pressure relief plate, and the other end of the ejector pin extends into the interior of the valve cylinder body.

5. The mechanical automatic grasping device for an assembly line according to claim 4, characterized in that: A sealing bucket is provided between the valve ball and the air guide channel, and a receiving seat is fixed to the end of the sealing bucket. When the pressure relief plug moves toward the inside of the valve cylinder body, the end of the ejector pin can be inserted into the air guide channel to contact the receiving seat.

6. The mechanical automatic grasping device for an assembly line according to claim 4, characterized in that: The support cylinder body passes through the outer ring of one end of the pressure relief plate to fix a limiting ring.

7. The mechanical automatic grasping device for an assembly line according to claim 1, characterized in that: The suction cup head is provided with a support cavity along the axial direction of the cup surface, and a support bone is installed inside the support cavity.

8. The mechanical automatic grasping device for an assembly line according to claim 1, characterized in that: The outer ring side of the connecting sleeve is provided with saw teeth, and the saw teeth are arranged along the axial direction of the connecting sleeve.

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