Sucker holding and clamping device for grabbing

Abstract

The suction cup holding and clamping device comprises a horizontally-arranged carrying plate, four sliding rails of the same specification are distributed at the four corners of the bottom end of the carrying plate, a clamping plate is installed on each sliding rail in a sliding and guiding mode, all the clamping plates are distributed in the vertical direction, and the clamping plates are arranged on the carrying plate in a sliding and guiding mode. The two clamping plates located on the same side are connected through a first connecting rod, and the two sets of clamping plates synchronously move in the opposite directions to clamp materials. The bottom of each clamping plate is rotationally provided with a bottom supporting plate, and after the two sets of clamping plates clamp materials and enable the materials to be separated from the ground, the bottom supporting plates rotate by 180 degrees to the bottoms of the materials to support the materials. The clamping plates are divided into the vertical fixed plate and the floating clamping plate, the vertical fixed plate and the floating clamping plate move oppositely in the horizontal direction to clamp goods firstly, then the floating clamping plate drives the goods to move upwards relative to the vertical fixed plate, finally, the bottom supporting plate rotates to the position below the goods, and the goods are stably transferred under the action of the floating clamping plate and the bottom supporting plate.

Description

Technical Field

[0001] The invention relates to the field of operation transportation, and in particular to a suction cup clamping device for grasping. Background Art

[0002] For the transfer of box-type goods, the current main method is to carry them by manipulator clamping. The manipulator applies force to the side of the box-type goods to clamp them firmly to achieve transfer. Of course, there are also devices that propose a combination of clamping and adsorption for transportation, that is, a vacuum suction cup is used to apply negative pressure to the sides or top of the box-type goods, and the transportation is completed by mechanical clamping. However, these are all aimed at goods with light weight. Simple clamping, adsorption or clamping + adsorption can meet the transportation of goods. However, when facing heavy goods, the goods are not stable enough to rely solely on clamping. Once they encounter bumps during the transfer process, they are easy to fall, causing the goods to be bumped and damaged. The most ideal transfer method is to apply an upward supporting force to the bottom of the goods on the basis of mechanical clamping, so that the goods can be effectively prevented from falling. Therefore, it is proposed in the prior art to set a shovel-like structure at the bottom of the clamping member. During the transfer process, the shovel is supported at the bottom of the goods to achieve the auxiliary transportation effect. However, in the process of the clamping member clamping the goods, the shovel at the bottom first contacts the goods, and the weight of the goods is large, so the shovel is easy to damage the goods. Summary of the invention

[0003] In order to solve the technical problems existing in the above-mentioned prior art, the present invention provides a suction cup clamping device for grasping.

[0004] To achieve the above-mentioned purpose, the present invention provides the following technical solutions: a suction cup clamping device for grabbing, comprising a horizontally arranged carrier plate, four slide rails of the same specifications are distributed on the four corners of the bottom end of the carrier plate, a clamping plate is slidably guided and installed on each slide rail, all the clamping plates are distributed in the vertical direction, two clamping plates on the same side are connected by a first connecting rod, and the two groups of clamping plates move synchronously towards each other to clamp the material; A bottom support plate is rotatably installed at the bottom of each clamping plate. After the two sets of clamping plates clamp the material and lift it off the ground, the bottom support plate rotates 180 degrees to the bottom of the material to support it.

[0005] Preferably, the clamping plate includes a vertical fixed plate, the top of the vertical fixed plate is integrally connected with a slider, the slider is T-shaped and slidably nested in the corresponding slide rail, the bottom of the vertical fixed plate is fixedly connected with a transmission box, two guide columns are arranged between the transmission box and the slider along the vertical direction, and floating clamping plates are slidably sleeved on the outside of the two guide columns, and the material is clamped and fixed by four floating clamping plates and moved in the vertical direction.

[0006] Preferably, a cylinder is installed at the center of the top of the carrier plate, and the piston rod of the cylinder passes through the carrier plate and is fixedly connected to a fixed block. The two sides of the fixed block are symmetrically hinged with hinged rods, and the ends of the two hinged rods are respectively rotatably sleeved on the corresponding circumferential surfaces of the first connecting rod, and the first connecting rod is distributed between the two floating clamping plates.

[0007] Preferably, the bottom of each floating clamping plate is fixedly connected to a sliding rod, the sliding rod extends downward to the inside of the transmission box, and the outside of the sliding rod is also coaxially sleeved with a conical holding tube, the conical holding tube is located inside the transmission box and fixedly connected to the top thereof, and the bottom of the conical holding tube extends radially outward to form a second limit baffle; A rotating rod is installed inside the transmission box for rotation in the vertical direction. A spiral groove is provided on the circumferential surface of the rotating rod. A second sleeve is sleeved on the outside of the rotating rod. A limiting ball matched with the spiral groove is integrally formed and connected on the inner wall of the second sleeve. The outside of the conical holding tube is sleeved with a first sleeve, and the first sleeve and the second sleeve are connected via a second connecting rod.

[0008] Preferably, the rotating end of the bottom support plate is arranged at the center of the bottom of the transmission box, and a second gear is fixedly sleeved on the rotating end thereof, and a first gear meshing with the second gear is fixedly sleeved on the rotating rod after extending to the outside of the transmission box.

[0009] Preferably, a plurality of clamping beads are fixedly connected to the inner wall of the conical holding tube, and a corresponding groove adapted to the clamping beads is formed on the sliding rod. The sliding rod forms a limiting clamping structure with the conical holding tube through the cooperation of the clamping beads and the groove.

[0010] Preferably, a plurality of suction cups are evenly spaced and distributed on the clamping surface of each floating clamping plate.

[0011] Preferably, a first spring is connected between the two hinged rods, and the first spring is in a stretched state in an initial state, and is used to drive the two floating clamping plates to move toward each other.

[0012] Preferably, a second spring is sleeved on the outside of the two guide columns in each clamping plate, one end of the second spring is connected to the floating clamping plate, and the other end is connected to the bottom of the slider.

[0013] Compared with the prior art, the present invention provides a suction cup clamping device for grasping, which has the following beneficial effects: (1) The clamping plate used for clamping the goods of the present invention is divided into a vertical fixed plate and a floating clamping plate. In the initial state, the vertical fixed plate and the floating clamping plate remain relatively stationary. The two are driven by the cylinder to move toward each other in the horizontal direction to clamp the goods first, and then the floating clamping plate is released from restriction. When the cylinder continues to act on the floating clamping plate, it will drive it to move upward with the goods, providing space for the movement of the bottom support plate. During the process of releasing the restriction of the floating clamping plate, the bottom support plate at the bottom of the transmission box rotates toward the goods, and finally the bottom support plate rotates to the bottom of the goods. The goods are stably transferred under the action of the floating clamping plate and the bottom support plate.

[0014] (2) When the bottom support plate rotates to the bottom of the cargo, under the action of the first spring and the second spring, the floating clamping plate is driven by the cylinder to move downward in the vertical direction, but cannot move in the horizontal direction, so that the cargo is always kept in a tightly clamped state and placed on the bottom support plate.

[0015] (3) The relative movement between the floating clamping plate and the vertical fixed plate is achieved through the cooperation of the sliding rod and the conical holding tube. When the motor drives the rotating rod to rotate, it can not only rotate the bottom support plate, but also drive the first sleeve to slide on the conical holding tube, so that the conical holding tube is separated from the sliding rod. In other words, the bottom support plate can complete the restriction of the floating clamping plate during the rotation process. In addition, the beads on the inner wall of the conical holding tube are inserted into the corresponding grooves on the sliding rod, and the sliding rod and the conical holding tube form a limited clamping connection to avoid wear caused by using a single clamping method. BRIEF DESCRIPTION OF THE DRAWINGS

[0016] The accompanying drawings are used to provide a further understanding of the present invention and constitute a part of the specification. Together with the embodiments of the present invention, they are used to explain the present invention and do not constitute a limitation of the present invention. In the accompanying drawings: Figure 1 This is a schematic diagram of the overall structure of the entire device in a non-working state according to an embodiment of the present invention; Figure 2 This is a schematic diagram of the entire device clamping a material in an embodiment of the present invention; Figure 3 It is a front view of the entire device when clamping a material in an embodiment of the present invention; Figure 4 This is a schematic diagram of the distribution of various structures inside the transmission box when the bottom support plate is in the initial state in an embodiment of the present invention; Figure 5 It is a schematic diagram of assembling the vertical fixed plate and the floating clamping plate in an embodiment of the present invention; Figure 6 for Figure 5 A schematic diagram from another angle; Figure 7This is a schematic diagram of the bottom support plate rotating to the bottom of the material in an embodiment of the present invention, in which the transmission box is in a cutaway state; Figure 8 It is a schematic diagram of the structure of two sleeves and a tapered holding tube in an embodiment of the present invention; Fig. 9 It is a schematic diagram of the enlarged structure inside the transmission box when the bottom support plate rotates to the bottom of the material in an embodiment of the present invention.

[0017] In the figure: 1. carrier plate; 2. cylinder; 3. vertical fixed plate; 4. transmission box; 5. floating clamping plate; 6. bottom support plate; 7. slide rail; 8. hinged rod; 9. first spring; 10. first connecting rod; 11. fixed block; 12. suction cup; 13. motor; 14. rotating rod; 15. sliding rod; 16. conical holding tube; 17. slider; 18. guide column; 19. second spring; 20. first gear; 21. second gear; 22. first sleeve; 23. second connecting rod; 24. second sleeve; 25. limit ball; 26. card bead; 27. spiral groove; 28. groove; 29. ​​first limit baffle; 30. second limit baffle; a. material. DETAILED DESCRIPTION

[0018] The technical solutions in the embodiments of the present invention will be clearly and completely described below in conjunction with the drawings in the embodiments of the present invention. Obviously, the described embodiments are only a part of the embodiments of the present invention, rather than all the embodiments. The components of the embodiments of the present invention generally described and shown in the drawings here can be arranged and designed in various different configurations. Therefore, the following detailed description of the embodiments of the present invention provided in the drawings is not intended to limit the scope of the claimed invention, but merely represents the selected embodiments of the present invention. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without making creative work belong to the scope of protection of the present invention.

[0019] This embodiment provides a suction cup clamping device for grasping, such as Figures 1 to 9As shown, it includes a horizontally arranged carrier plate 1, four slide rails 7 of the same specifications are distributed on the four corners of the bottom end of the carrier plate 1, each slide rail 7 is slidably guided and installed with a clamping plate, all the clamping plates are distributed in the vertical direction, and the two clamping plates on the same side are connected by a first connecting rod 10, and a cylinder 2 is installed at the center of the top of the carrier plate 1, and the piston rod of the cylinder 2 passes through the carrier plate 1 and is fixedly connected to a fixed block 11, and the two sides of the fixed block 11 are symmetrically hinged with hinged rods 8, and the ends of the two hinged rods 8 are respectively rotatably sleeved on the corresponding circumferential surfaces of the first connecting rod 10. The fixed block 11 is driven by the cylinder 2 to move in the vertical direction, thereby driving the two clamping plates on both sides to move toward or away from each other synchronously (when the fixed block 11 moves upward, the two clamping plates move toward each other in the horizontal direction, and when the fixed block 11 moves downward, the two clamping plates move away from each other in the horizontal direction), so as to clamp the material a. The material a in the present invention is mainly for box-type goods. In addition, the entire device in the present invention only realizes the clamping and fixing of this type of goods. For the transportation of goods, it is also necessary to use external power equipment such as slings, that is, the carrier plate 1 in the present invention is installed on slings, forklifts and other equipment to transport the goods.

[0020] In actual application, material a is only grasped by two laterally moving clamping plates. The stability of material a transportation depends on the friction between the clamping plates and material a. In order to obtain a larger friction, the clamping plates can only apply a larger clamping force to material a, which may cause deformation and damage to material a. In addition, if there is a bump during transportation, material a may also break away from the clamping plates and be broken. In order to avoid the above situation, the prior art proposes to install a shovel plate at the bottom of the clamping plate. When the two clamping plates move toward each other to clamp material a, the two shovel plates are first inserted into the bottom of material a, and then the bottom of material a is supported by the two shovel plates. This can ensure the stability of material a during transportation. However, when facing a heavy material a, it is more difficult for the shovel plate to be inserted into the bottom of material a, and it will also cause mechanical damage to the bottom of material a. Therefore, this embodiment chooses to rotatably install a bottom support plate 6 at the bottom of each clamping plate, firstly clamp the material a firmly by the two clamping plates, and then after the bottom of material a is off the ground, the bottom support plate 6 is rotated 180° to the bottom of material a to support it.

[0021] Specifically, the clamping plate in this embodiment includes a vertical fixed plate 3, the top of the vertical fixed plate 3 is integrally connected with a slider 17, the slider 17 is a T-shaped structure and is slidably nested in the corresponding slide rail 7, the bottom of the vertical fixed plate 3 is fixedly connected with a transmission box 4, and two guide columns 18 are arranged between the transmission box 4 and the slider 17 along the vertical direction. The outer sliding sleeves of the two guide columns 18 are connected with floating clamping plates 5, the first connecting rod 10 is distributed between the two floating clamping plates 5, and the bottom support plate 6 is rotatably installed at the bottom of the transmission box 4. When the whole device clamps the material a, each floating clamping plate 5 firstly remains fixed relative to the vertical fixed plate 3, at which time the cylinder 2 drives the fixed block 11 to move upward, and the two relatively arranged floating clamping plates 5 move synchronously toward each other. After the two groups of floating clamping plates 5 clamp the material a, all the floating clamping plates 5 are released from restriction, and the cylinder 2 continues to drive the fixed block 11 to move upward. Due to the reaction force of the material a, the two groups of floating clamping plates 5 cannot continue to move in the horizontal direction, but move upward as a whole with the floating clamping plates 5. When the material a leaves the ground, the bottom support plate 6 at the bottom of each transmission box 4 rotates 180 degrees and is just below the material a.

[0022] In order to increase the friction between the floating clamping plate 5 and the material a, in this embodiment, a plurality of suction cups 12 are evenly spaced and distributed on the clamping surface of each floating clamping plate 5. When the floating clamping plate 5 clamps the material a, the suction cup 12 first contacts the surface of the material a to adsorb and fix it.

[0023] Furthermore, when the two groups of floating clamping plates 5 are synchronously moving toward each other, the floating clamping plates 5 need to be relatively kept stationary in the vertical direction. To achieve this purpose, in this embodiment, a sliding rod 15 is fixedly connected to the bottom of each floating clamping plate 5. The sliding rod 15 extends downward to the inside of the transmission box 4. The outside of the sliding rod 15 is also coaxially sleeved with a conical holding tube 16. The conical holding tube 16 is located inside the transmission box 4 and is fixedly connected to the top thereof. A rotating rod 14 is also rotatably installed inside the transmission box 4 along the vertical direction. A spiral groove 27 is provided on the circumferential surface of the rotating rod 14. The rotating rod 14 is fixedly connected to the output end (motor shaft) of the motor 13 installed on the top of the transmission box 4. The outside of the rotating rod 14 is sleeved with a The second sleeve 24 and the outside of the conical holding tube 16 are sleeved with the first sleeve 22, and the first sleeve 22 and the second sleeve 24 are connected by the second connecting rod 23, and the inner wall of the second sleeve 24 is integrally formed with a limiting ball 25 adapted to the spiral groove 27. When the motor 13 drives the rotating rod 14 to rotate, the second sleeve 24 moves downward along the axial direction of the rotating rod 14, thereby driving the first sleeve 22 to move downward on the surface of the conical holding tube 16, and the first sleeve 22 acts on the conical holding tube 16 to deform it, and the conical holding tube 16 contracts inward to clamp the sliding rod 15, so that the floating clamping plate 5 remains stationary relative to the vertical fixed plate 3, and the conical holding tube 16 is in the initial state. Figure 4 As shown, at this time, the floating clamping plate 5 remains fixed relative to the vertical fixed plate 3, and when the cylinder 2 drives the fixed block 11 to move upward, the two groups of floating clamping plates 5 move toward each other in the horizontal direction.

[0024] In the above scheme, the floating clamping plate 5 and the vertical fixed plate 3 can remain motionless because of the friction between the conical holding tube 16 and the sliding rod 15. However, where there is friction, there will be wear, especially when the two sets of floating clamping plates 5 are in the process of clamping material a, it is required that there is a large friction between the conical holding tube 16 and the sliding rod 15. The high-frequency operation of the entire device will accelerate the wear between the sliding rod 15 and the conical holding tube 16. In order to avoid this phenomenon, in this embodiment, a plurality of clamping beads 26 are fixedly connected to the inner wall of the conical holding tube 16, and a corresponding groove 28 matched with the clamping beads 26 is formed on the sliding rod 15. When the conical holding tube 16 is in the initial state, all the clamping beads 26 are just clamped into the corresponding grooves 28, so that the sliding rod 15 and the conical holding tube 16 can form a limit clamping connection to avoid wear between the two.

[0025] The purpose of the floating clamping plate 5 moving upward relative to the vertical fixed plate 3 is to provide movement space for the bottom support plate 6. Only after the floating clamping plate 5 moves upward and leaves the ground, the bottom support plate 6 at the bottom of the transmission box 4 can be smoothly rotated to the bottom of the material a. When the floating clamping plate 5 clamps the material a and moves in the vertical direction, the bottom support plate 6 in this embodiment can be rotated. Specifically, the bottom of the rotating rod 14 extends downward and passes through the outside of the transmission box 4, and can be directly connected to the bottom support plate 6. However, since the rotating rod 14 is not at the center of the transmission box 4, in order to make the bottom support plate 6 extend to the same length relative to the transmission box 4 in the initial state and after rotating 180°, the present embodiment chooses to set the rotating end of the bottom support plate 6 at the center of the bottom of the transmission box 4, and a second gear 21 is fixedly sleeved on its rotating end, and the rotating rod 14 extends to the outside of the transmission box 4 and is fixedly sleeved with a first gear 20 meshing with the second gear 21. When the motor 13 drives the rotating rod 1 When the bottom support plate 6 rotates, it rotates in the direction of the material a, and the second sleeve 24 slides upward on the rotating rod 14. The bottom of the conical holding tube 16 extends radially outward to form a second limit baffle 30, which is used to limit the sliding of the first sleeve 22. When the first sleeve 22 slides upward on the surface of the conical holding tube 16, the conical holding tube 16 gradually loses the squeezing force of the first sleeve 22, and the conical holding tube 16 recovers its deformation. The clamping bead 26 gradually disengages from the groove 28. At this time, the cylinder 2 drives the fixed block 11 to continue to move upward, so that the two groups of floating clamping plates 5 clamp the material a and move upward. The bottom of the sliding rod 15 is also fixedly connected with a first limit baffle 29. The diameter of the first limit baffle 29 is larger than the diameter of the bottom of the conical holding tube 16. Therefore, when the sliding rod 15 slides upward until the first limit baffle 29 contacts the bottom of the conical holding tube 16, the floating clamping plate 5 no longer moves upward. The rotating rod 14 continues to rotate 180° to be placed under the material a to support it. At this time, the first sleeve 22 and the second sleeve 24 also move upward to the top of the transmission box 4.

[0026] In the above scheme, since the thickness of the bottom support plate 6 is relatively thin, the height of the upward movement of the sliding rod 15 does not need to be too high, as long as it exceeds the thickness of the bottom support plate 6. The first limit baffle 29 at the bottom of the sliding rod 15 only plays a limiting role, that is, the maximum distance of the upward movement of the sliding rod 15 is the distance between the first limit baffle 29 and the bottom of the conical holding tube 16. Therefore, in order to realize the support of the bottom support plate 6 at the bottom of the material a, two sets of floating clamping plates 5 are required to move downward for a distance to place the material a on the bottom support plate 6. However, if the cylinder 2 drives the fixed block 11 to move downward, the floating clamping plates 5 will not only move downward, but also have a tendency to move in the opposite direction in the horizontal direction. Therefore, when When the cylinder 2 drives the fixed block 11 to descend, the two sets of floating clamping plates 5 can no longer firmly clamp the material a. In view of this, in this embodiment, first, a second spring 19 is sleeved on the outside of the two guide columns 18, one end of the second spring 19 is connected to the floating clamping plate 5, and the other end is connected to the bottom of the slider 17, so that when the floating clamping plate 5 moves upward, it will squeeze the second spring 19, and when the fixed block 11 descends, the floating clamping plate 5 has a tendency to move in the vertical direction due to the reaction force of the second spring 19. In addition, the first spring 9 is connected between the two hinged rods 8, and the first spring 9 is in a stretched state when the entire device is not in operation (such as Figure 1 As shown in the figure, the two groups of floating clamping plates 5 always have a tendency to move toward each other through the action of the first spring 9. When the cylinder 2 drives the fixed block 11 to descend, under the joint action of the first spring 9 and the second spring 19, the floating clamping plate 5 will first move downward in the vertical direction, so that the material a is placed on the four bottom supporting plates 6. The material a is stably transported under the clamping force of the two groups of floating clamping plates 5 and the support of the two groups of bottom supporting plates 6. After the material a is transported to the destination, the cylinder 2 drives the fixed block 11 to continue to move downward. At this time, the two groups of floating clamping plates 5 synchronously move backwards to separate from the material a. After the entire device moves upward to above the material a, the cylinder 2 drives the fixed block 11 to reset, and the four vertical fixed plates 3 return to Figure 1 The floating clamping plate 5 is completely reset under the action of the second spring 19. At this time, the starting motor 13 drives the bottom support plate 6 to rotate 180° counterclockwise to reset, and the sliding rod 15 and the conical holding tube 16 also form a limit clamping structure again.

[0027] In the description of the present invention, the terms "first", "second", "another", and "yet another" 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, the features defined as "first" or "second" may explicitly or implicitly include one or more features. In the description of the embodiments of the present invention, the meaning of "plurality" is two or more, unless otherwise clearly and specifically defined.

[0028] In the description of the present invention, it should be noted that, unless otherwise clearly specified and limited, the terms "connected" and "connection" 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 directly connected or indirectly connected through an intermediate medium. For ordinary technicians in this field, the specific meanings of the above terms in the present invention can be understood according to specific circumstances. In addition, in the description of the present invention, unless otherwise specified, "plurality" means two or more.

[0029] Although the embodiments of the present invention have been shown and described, it will be appreciated by those skilled in the art that various changes, modifications, substitutions and variations may be made to the embodiments without departing from the principles and spirit of the present invention, and that the scope of the present invention is defined by the claims and their equivalents.

Claims

1. A suction cup clamping device for grasping, characterized in that: It comprises a horizontally arranged carrier plate (1), four slide rails (7) of the same specification are distributed on the four corners of the bottom end of the carrier plate (1), a clamping plate is slidably guided and installed on each slide rail (7), all the clamping plates are distributed in the vertical direction, two clamping plates located on the same side are connected by a first connecting rod (10), and the two groups of clamping plates move synchronously towards each other to clamp the material (a); A bottom support plate (6) is rotatably mounted at the bottom of each clamping plate. After the two sets of clamping plates clamp the material (a) and lift it off the ground, the bottom support plate (6) rotates 180 degrees to the bottom of the material (a) to support it.

2. A suction cup clamping device for grabbing according to claim 1, characterized in that: The clamping plate comprises a vertical fixing plate (3), the top of the vertical fixing plate (3) is integrally formed with a slider (17), the slider (17) is in a T-shaped structure and is slidably nested in a corresponding slide rail (7), the bottom of the vertical fixing plate (3) is fixedly connected with a transmission box (4), two guide columns (18) are arranged between the transmission box (4) and the slider (17) in a vertical direction, and floating clamping plates (5) are slidably sleeved on the outside of the two guide columns (18), and the material (a) is clamped and fixed by the four floating clamping plates (5) and moved in the vertical direction.

3. A suction cup clamping device for grabbing according to claim 2, characterized in that: A cylinder (2) is installed at the center of the top of the carrier plate (1). The piston rod of the cylinder (2) penetrates the carrier plate (1) and is fixedly connected to a fixed block (11). The two sides of the fixed block (11) are symmetrically hinged with hinged rods (8). The ends of the two hinged rods (8) are respectively rotatably sleeved on the circumferential surfaces of corresponding first connecting rods (10). The first connecting rods (10) are distributed between the two floating clamping plates (5).

4. A suction cup clamping device for grabbing according to claim 3, characterized in that: The bottom of each floating clamping plate (5) is fixedly connected to a sliding rod (15), the sliding rod (15) extends downward to the inside of the transmission box (4), the outside of the sliding rod (15) is also coaxially sleeved with a conical holding tube (16), the conical holding tube (16) is located inside the transmission box (4) and fixedly connected to the top thereof, and the bottom of the conical holding tube (16) extends radially outward to form a second limit baffle (30); A rotating rod (14) is installed inside the transmission box (4) to rotate in the vertical direction, a spiral groove (27) is provided on the circumferential surface of the rotating rod (14), a second sleeve (24) is sleeved on the outside of the rotating rod (14), and a limiting ball (25) adapted to the spiral groove (27) is integrally formed and connected to the inner wall of the second sleeve (24); A first sleeve (22) is sleeved on the outside of the conical holding tube (16), and the first sleeve (22) and the second sleeve (24) are connected via a second connecting rod (23).

5. A suction cup clamping device for grabbing according to claim 4, characterized in that: The rotating end of the bottom support plate (6) is arranged at the center of the bottom of the transmission box (4), and a second gear (21) is fixedly sleeved on the rotating end. The rotating rod (14) extends to the outside of the transmission box (4) and is fixedly sleeved on a first gear (20) meshing with the second gear (21).

6. A suction cup clamping device for grabbing according to claim 4 or 5, characterized in that: A plurality of locking beads (26) are fixedly connected to the inner wall of the conical holding tube (16), and a groove (28) adapted to the locking beads (26) is correspondingly formed on the sliding rod (15). The sliding rod (15) forms a position-limiting locking structure with the conical holding tube (16) through the cooperation of the locking beads (26) and the groove (28).

7. A suction cup clamping device for grabbing according to any one of claims 2 to 5, characterized in that: A plurality of suction cups (12) are distributed at equal intervals on the clamping surface of each floating clamping plate (5).

8. The suction cup clamping device for grabbing according to claim 6, characterized in that: A first spring (9) is connected between the two hinged rods (8); the first spring (9) is in a stretched state in an initial state and is used to drive the two floating clamping plates (5) to move toward each other.

9. A suction cup clamping device for grabbing according to claim 8, characterized in that: The two guide columns (18) in each clamping plate are sleeved with a second spring (19) on the outside. One end of the second spring (19) is connected to the floating clamping plate (5), and the other end is connected to the bottom of the slider (17).

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