Clamping manipulator for grabbing PU (Poly Urethane) sheets

Abstract

The clamping manipulator for grabbing the PU pieces comprises a mechanical arm base, a plurality of sections of movable arms are arranged on the mechanical arm base, and suction cup connectors are arranged at the topmost ends of the movable arms; a grabbing suction cup is arranged at the end of the suction cup connector, and the face, facing the PU piece, of the grabbing suction cup can deform according to the outline of the outer surface of the PU piece. An air pipe is arranged in the suction cup connector and connected with an external vacuum pumping device, and the vacuum pumping device enables the grabbing suction cup to generate suction force through the air pipe to suck the PU pieces. During use, the grabbing suction cup is arranged at the end of the suction cup connector, and the adsorption face of the grabbing suction cup can deform according to the outer contour of a PU sheet, so that when the PU sheet is grabbed, an opening part for adsorbing the PU sheet can be completely attached to the outer surface of the PU sheet, and the grabbing stability is improved.

Description

Technical Field

[0001] The present invention relates to the technical field of manipulators, and in particular to a clamping manipulator for grabbing PU sheets. Background Art

[0002] PU sheets are sheet products made from polyurethane (PU) as a base material, or a composite of PU and color-coated steel sheets. With their unique physical and chemical properties, they are primarily used in exterior insulation systems for industrial and residential buildings.

[0003] When processing PU sheets or using them to make products, it is necessary to grasp the PU sheets for processing. In addition to manual grasping, robotic arms are commonly used on industrial production lines for grasping.

[0004] Because PU sheets are elastic and relatively soft, grippers or claws used by robotic arms can easily cause excessive bending or damage. Therefore, they are not suitable for gripping PU sheets. Gripping tools such as suction cups can grasp PU sheets through vacuum suction. However, for aesthetic reasons, PU sheets often have concave and convex shapes or patterns. These concave and convex shapes can cause air leakage during suction, making it difficult to reliably grasp the PU sheet.

[0005] To this end, the present application proposes a clamping robot for grasping PU sheets to improve the stability of grasping PU sheets, especially for PU sheets with bumps. Summary of the Invention

[0006] In view of the above-mentioned shortcomings of the prior art, the object of the present invention is to provide a clamping robot for grasping PU sheets, which is used to solve the problem in the prior art that the PU sheets are relatively soft and have textures on the surface, resulting in unstable grasping.

[0007] To achieve the above-mentioned and other related purposes, the present invention provides a gripping robot for grasping PU sheets, comprising a robot arm base, a multi-section movable arm provided on the robot arm base, and a suction cup connector provided at the top end of the movable arm; The end of the suction cup connector is provided with a grabbing suction cup, and the side of the grabbing suction cup facing the PU sheet can be deformed according to the contour of the outer surface of the PU sheet; The suction cup connector is provided with an air pipe inside to connect with an external vacuum pumping device, and the vacuum pumping device enables the grabbing suction cup to generate suction to adsorb the PU sheet through the air pipe.

[0008] Preferably, a flange is provided at the end of the suction cup connector, a plug-in tube is provided at the axis of the flange, one end of the plug-in tube is connected to the air pipe, and the other end of the plug-in tube is inserted into the interior of the grabbing suction cup and communicated with the grabbing suction cup.

[0009] Preferably, the grasping suction cup includes a support disk, one side of the support disk is provided with a connecting air pipe, the end of the connecting air pipe is provided with a connecting flange, the connecting flange covers the outer surface of the flange disk and is connected by fasteners, the inserting pipe is inserted into the inside of the connecting air pipe, and the connection between the inserting pipe and the connecting air pipe is sealed; The other side of the support disk is provided with a support limiting plate, and an air suction cavity is arranged between the support limiting plate and the support disk; A plurality of telescopic suction heads are arranged on the support limiting plate, the telescopic suction heads are telescopic, and the telescopic suction heads are communicated with the inside of the air suction cavity.

[0010] Preferably, a plurality of suction head mounting holes are equidistantly arranged on the support limiting plate, a plurality of sealing rings adapted to the positions of the suction head mounting holes are arranged on the side of the support limiting plate facing the air suction cavity, and the inner diameter of the sealing ring is equal to the inner diameter of the suction head mounting hole; The telescopic suction head penetrates through the suction head mounting hole from the inside of the air suction cavity to the outer surface of the support limiting plate.

[0011] Preferably, the telescopic suction head includes a telescopic column, the telescopic column penetrates through the sealing ring and the suction head mounting hole, a communicating cavity is arranged inside the telescopic column, air outlet holes are arranged on the side surface of the telescopic column, an air inlet hole is arranged at the top of the telescopic column, and the air outlet holes and the air inlet hole are both communicated with the communicating cavity; When the telescopic column is in the initial position, the air outlet holes are covered and sealed by the sealing ring.

[0012] Preferably, elastic members equal in number to the telescopic columns are arranged at the inner bottom of the air suction cavity, and each elastic member supports the corresponding telescopic column respectively.

[0013] Preferably, a spring limiting cylinder is arranged at the bottom of the telescopic column, the diameter of the spring limiting cylinder is not less than the diameter of the sealing ring, a cavity groove is arranged at the bottom of the spring limiting cylinder, and one end of the elastic member extends into the cavity groove to be limited.

[0014] Preferably, spring support columns adapted to the number and positions of the elastic members are arranged at the bottom of the air suction cavity, and the elastic members are sleeved on the spring support columns.

[0015] Preferably, a soft rubber head is arranged at the end of the telescopic column, the air inlet hole is opened at the axis of the soft rubber head, and the soft rubber head can be deformed after being pressed.

[0016] Preferably, the outer diameter and the inner diameter of the soft rubber head are equal to the outer diameter and the inner diameter of the telescopic column, and the soft rubber head is tightly connected with the telescopic column.

[0017] As described above, a clamping manipulator for grasping PU sheets of the present invention has the following beneficial effects: 1. The present invention provides a gripping suction cup at the end of the suction cup connector, and allows the suction surface of the gripping suction cup to deform according to the outer contour of the PU sheet. When gripping the PU sheet, the mouth of the gripping PU sheet will completely fit with the outer surface of the PU sheet, thereby improving the gripping stability. 2. The present invention provides a flange at the end of the suction cup connector and a connecting flange on the support plate. The flange and the connecting flange cooperate to fix the support plate, so that the support plate can be replaced with support plates of different sizes and models according to the size of the PU sheet, thereby improving the adaptability to the PU sheet. 3. At the same time, a plug-in tube is set at the axis of the flange, and a connecting air pipe is set between the support plate and the connecting flange. The plug-in tube is inserted into the connecting air pipe for connection to improve the stability and sealing of the connection; 4. The present invention provides a plurality of suction head mounting holes on the support limit plate and a sealing ring on the back of the suction head mounting hole. When grabbing the PU sheet, the air in the suction cavity is extracted. The external pressure and the pressure difference between the inside and outside push the telescopic column back to expose the air outlet and the air inlet to form a gas channel to absorb the PU sheet. When discharging, the air is filled into the suction cavity, thereby pushing the telescopic column forward so that the air outlet is sealed by the sealing ring, and the PU sheet loses suction and falls, achieving the effect of convenient switching between grabbing and releasing; 5. At the same time, when grabbing the PU sheet, the grabbing suction cup that is not in contact with the surface of the PU sheet will be in a closed state, thereby avoiding deflation when grabbing the PU sheet and causing an unstable grip; 6. The present invention sets a spring support column inside the suction chamber, sleeves an elastic part on the spring support column to apply pressure to the spring limit cylinder, and sets a spring limit cylinder to support the elastic part. During the discharge process, the elastic part cooperates with the pressure of the gas to make the telescopic column rebound more quickly. BRIEF DESCRIPTION OF THE DRAWINGS

[0018] Figure 1 Shown is a schematic structural diagram of the present invention.

[0019] Figure 2 Shown is a schematic structural diagram of the suction cup connector of the present invention.

[0020] Figure 3 Display as Figure 2 A magnified schematic diagram of the structure at point A.

[0021] Figure 4 Shown is a front view of the structure of the grabbing suction cup of the present invention.

[0022] Figure 5 Shown is a rear view of the structure of the grabbing suction cup of the present invention.

[0023] Figure 6It shows a structural cross-sectional view of the grasping suction cup of the present invention.

[0024] Figure 7 It shows a schematic structural view of the inside of the support disk of the present invention.

[0025] Figure 8 It shows a schematic structural view of the suction head mounting hole of the present invention.

[0026] Figure 9 It shows a schematic structural view of the sealing ring of the present invention.

[0027] Figure 10 It shows a schematic structural view of the telescopic suction head of the present invention.

[0028] Figure 11 It shows a structural cross-sectional view of the telescopic suction head of the present invention.

[0029] Element number description: 1. Robot arm base; 2. Movable arm; 3. Suction cup connector; 31. Flange; 32. Insertion pipe; 4. Grasping suction cup; 41. Support disk; 411. Spring support column; 42. Connecting air pipe; 43. Connecting flange; 44. Suction cavity; 45. Support limiting plate; 451. Suction head mounting hole; 452. Sealing ring; 46. Telescopic suction head; 461. Telescopic column; 462. Spring limiting cylinder; 463. Communication cavity; 464. Air outlet hole; 465. Air inlet hole; 466. Soft rubber head; 47. Elastic member. Detailed implementation manners

[0030] The following specific embodiments illustrate the implementation manners of the present invention. Those skilled in the art can easily understand other advantages and effects of the present invention from the content disclosed in this specification.

[0031] Please refer to Figures 1 to 11 . It should be noted that the structures, ratios, sizes, etc. shown in the drawings of this specification are only used to cooperate with the content disclosed in the specification for those skilled in the art to understand and read, and are not used to limit the implementation conditions of the present invention. Therefore, they do not have any technical essence. Any modification of the structure, change of the ratio relationship, or adjustment of the size, without affecting the effects that the present invention can produce and the purposes that can be achieved, should still fall within the scope covered by the technical content disclosed in the present invention. At the same time, the terms such as "upper", "lower", "left", "right", "middle", and "one" used in this specification are only for the convenience of clear description and are not used to limit the implementation scope of the present invention. The change or adjustment of their relative relationships, without substantial change in the technical content, should also be regarded as the scope in which the present invention can be implemented.

[0032] Such asFigure 1 As shown in the figure, the present invention provides a clamping manipulator for grasping PU sheets, which includes a robotic arm base 1. A plurality of movable arms 2 are arranged on the robotic arm base 1. A suction cup connector 3 is arranged at the topmost end of the movable arm 2. Through the cooperation of the movable arm 2 and the suction cup connector 3, rotation at multiple angles can be achieved to improve the grasping range of the manipulator. The connection method and control method between the robotic arm base 1, the movable arm 2, and the suction cup connector 3 belong to the prior art and are not within the scope of improvement of this application. Therefore, they will not be elaborated in the application documents.

[0033] A grasping suction cup 4 is arranged at the end of the suction cup connector 3 for grasping PU sheets. When the grasping suction cup 4 contacts the PU sheet, the surface of the grasping suction cup 4 facing the PU sheet can deform according to the contour of the outer surface of the PU sheet, making the outer surface of the grasping suction cup 4 more conformable to the outer surface of the PU sheet and improving the stability of grasping.

[0034] A trachea is arranged inside the suction cup connector 3, and the trachea is connected to an external vacuum pumping device from the inside or side of the suction cup connector 3. The vacuum pumping device evacuates the inside of the grasping suction cup 4 through the trachea, so that the grasping suction cup 4 generates suction to adsorb the PU sheet. When the vacuum pumping device injects gas into the inside of the grasping suction cup 4, the inside of the grasping suction cup 4 loses vacuum, and thus the adsorbed PU sheet is put down.

[0035] As Figure 2 and Figure 3 shown, in some embodiments, a flange 31 is arranged at the end of the suction cup connector 3 of the present invention. The flange 31 is used to connect with the grasping suction cup 4, so that the grasping suction cup 4 can be conveniently disassembled and replaced. An insertion pipe 32 is arranged at the axis of the flange 31. One end of the insertion pipe 32 is connected to the trachea, and the other end of the insertion pipe 32 is inserted into the inside of the grasping suction cup 4 to communicate with the grasping suction cup 4, so that the vacuum pumping device is communicated with the inside of the grasping suction cup 4.

[0036] As Figures 4 - 6 shown, in some embodiments, the grasping suction cup 4 of the present invention includes a support plate 41. A connecting trachea 42 is arranged on one side of the support plate 41, and a connecting flange 43 is arranged at the end of the connecting trachea 42; the connecting flange 43 covers the outer surface of the flange 31 to ensure the connection stability between the flange 31 and the connecting flange 43. The connecting flange 43 and the flange 31 are connected by fasteners such as bolts, so that the connecting flange 43 can be conveniently disassembled and assembled with the insertion pipe 32 to facilitate the replacement of the grasping suction cup 4 according to the size of the PU board. The insertion pipe 32 is inserted into the inside of the connecting trachea 42 to further improve the connection stability between the flange 31 and the connecting flange 43; at the same time, improve the sealing performance between the flange 31 and the connecting flange 43. The connection between the insertion pipe 32 and the connecting trachea 42 is sealed by gaskets, O-rings, etc. to improve the airtightness.

[0037] On the other side of the support plate 41, a support limit plate 45 is provided. The support limit plate 45 faces the PU sheet. An air suction cavity 44 is provided between the support limit plate 45 and the support plate 41. A number of telescopic suction heads 46 are provided on the support limit plate 45, and the telescopic suction heads 46 are internally connected to the air suction cavity 44. The telescopic suction heads 46 can be telescoped under the action of external pressure and air pressure. When the telescopic suction heads 46 extend outwards, the air suction cavity 44 can isolate the acting force of the vacuum pumping device on the PU sheet. When the telescopic suction heads 46 move towards the inside of the air suction cavity 44, the telescopic suction heads 46 can be internally connected to the air suction cavity 44, so as to adsorb and grasp the PU sheet under the action of negative pressure.

[0038] As Figure 8 and Figure 9 shown, in some embodiments, a number of suction head mounting holes 451 are equidistantly provided on the support limit plate 45 of the present invention. The telescopic suction heads 46 penetrate through the suction head mounting holes 451 from the inside of the air suction cavity 44 to the outer surface of the support limit plate 45. A number of sealing rings 452 adapted to the positions of the suction head mounting holes 451 are provided on the surface of the support limit plate 45 facing the air suction cavity 44, so as to support the telescopic suction heads 46 and seal the sides of the telescopic suction heads 46 when the telescopic suction heads 46 extend outwards, isolating the air flow between the air suction cavity 44 and the outside. The inner diameter of the sealing ring 452 is equal to the inner diameter of the suction head mounting hole 451, so that the telescopic suction heads 46 can smoothly telescopic move in the suction head mounting holes 451 and the sealing rings 452; at the same time, the outer surface of the telescopic suction heads 46 is completely attached to the inner wall of the sealing ring 452.

[0039] As Figure 10 and Figure 11 shown, in some embodiments, the telescopic suction head 46 of the present invention includes a telescopic column 461, and the telescopic column 461 penetrates through the sealing ring 452 and the suction head mounting hole 451; a communication cavity 463 is provided inside the telescopic column 461, an air outlet hole 464 is provided on the side of the telescopic column 461, and an air inlet hole 465 is provided at the top of the telescopic column 461. The air outlet hole 464 and the air inlet hole 465 both communicate with the communication cavity 463. When the air outlet hole 464 is not blocked and sealed by the sealing ring 452, the air outlet hole 464 and the air inlet hole 465 communicate with each other for gas to enter and exit the inside of the air suction cavity 44; when the air inlet hole 465 is blocked by the PU sheet, the inside of the air suction cavity 44 can be gradually evacuated to adsorb the PU sheet; when the vacuum pumping device injects gas into the air suction cavity 44, the internal air pressure of the air suction cavity 44 will push the air to blow towards the PU sheet from the air outlet hole 464 to realize blanking, and the air flow will push the telescopic column 461 from the bottom of the telescopic column 461, so that the air outlet hole 464 enters the sealing ring 452 to realize sealing.

[0040] When the suction chamber 44 is filled with gas, the telescopic column 461 is in its initial position. When the telescopic column 461 is in its initial position, the air outlet hole 464 is covered and sealed by the sealing ring 452.

[0041] As Figure 6 shown, in some embodiments, elastic members 47 equal in number to the telescopic columns 461 are provided at the inner bottom of the suction chamber 44 of the present invention. Each elastic member 47 supports the corresponding telescopic column 461 respectively to prevent the telescopic column 461 from being too sensitive in the suction head mounting hole 451. At the same time, when gas is filled inside the suction chamber 44, the sensitivity of the telescopic column 461 when returning to its initial position can be improved.

[0042] As Figure 11 shown, in some embodiments, a spring limit cylinder 462 is provided at the bottom of the telescopic column 461 of the present invention. The diameter of the spring limit cylinder 462 is not less than the diameter of the sealing ring 452. When the telescopic column 461 is in its initial position, the spring limit cylinder 462 cooperates with the sealing ring 452 to limit the maximum outward extension stroke of the telescopic column 461. A cavity groove is provided at the bottom of the spring limit cylinder 462, and one end of the elastic member 47 extends into the cavity groove to be limited, thereby limiting the elastic member 47 to improve the stability of the elastic member 47. At the same time, the telescopic column 461 can be supported by the cooperation of the elastic member 47 and the spring limit cylinder 462 to prevent excessive deviation of the telescopic column 461 during the telescopic process.

[0043] As Figure 6 and Figure 7 shown, in some embodiments, spring support columns 411 adapted to the number and positions of the elastic members 47 are provided at the bottom of the suction chamber 4 of the present invention. The elastic members 47 are sleeved on the spring support columns 411, and the spring support columns 411 can effectively support and limit the elastic members 47. A gap is left between the end of the spring support column 411 and the bottom of the spring limit cylinder 462 to prevent the spring support column 411 from interfering with the descent of the telescopic column 461.

[0044] As Figure 10 and Figure 11 shown, in some embodiments, a soft rubber head 466 is provided at the end of the telescopic column 461 of the present invention. The air inlet hole 465 is opened at the axis of the soft rubber head 466, and the soft rubber head 466 can be deformed under pressure. The soft rubber head 466 contacts the outer surface of the PU sheet to protect the PU sheet and prevent the hard telescopic column 461 from damaging the PU sheet when applying force to the PU sheet. At the same time, when the deformable soft rubber head 466 contacts the outer surface of the PU sheet, it can better fit the outer surface of the PU sheet and improve the airtightness of the connection.

[0045] As Figure 11As shown, in some embodiments, the outer diameter and inner diameter of the soft rubber head 466 of the present invention are equal to the outer diameter and inner diameter of the telescopic column 461, which can improve the smoothness of the overall shape and make the telescopic column 461 and the soft rubber head 466 slide more smoothly in the suction head mounting hole 451 and the sealing ring 452. The soft rubber head 466 is tightly connected to the telescopic column 461 to increase the airtightness of the connection.

[0046] In summary, for the clamping manipulator for grasping PU sheets of the present invention, by providing a grasping suction cup 4 at the end of the suction cup connector 3 and making the adsorption surface of the grasping suction cup 4 deformable according to the outer contour of the PU sheet, when grasping the PU sheet, the mouth for adsorbing the PU sheet will be completely attached to the outer surface of the PU sheet, thereby improving the stability of grasping.

[0047] The present invention provides a flange 31 at the end of the suction cup connector 3 and a connecting flange 43 on the support plate 41. The support plate 41 is fixed by the cooperation of the flange 31 and the connecting flange 43, so that the support plate 41 can be replaced with different sizes and models of support plates 41 according to the size of the PU sheet to improve the adaptability to the PU sheet.

[0048] At the same time, an insertion pipe 32 is provided at the axis of the flange 31, and a connecting air pipe 42 is provided between the support plate 41 and the connecting flange 43. The insertion pipe 32 is inserted into the connecting air pipe 42 for connection to improve the stability and airtightness of the connection.

[0049] The present invention provides a plurality of suction head mounting holes 451 on the support and limit plate 45, and a sealing ring 452 is provided on the back of the suction head mounting hole 451. When grasping the PU sheet, by extracting the air in the suction cavity 44, the external pressure and the internal and external air pressure difference are used to push the telescopic column 461 back to expose the air holes 464 and the air inlet holes 465 to form a gas channel to adsorb the PU sheet. When discharging, by filling the inside of the suction cavity 44 with gas, the telescopic column 461 is pushed forward so that the air holes 464 are sealed by the sealing ring 452, and the PU sheet loses suction and drops, achieving the effect of convenient switching between grasping and discharging.

[0050] At the same time, when grasping the PU sheet, the grasping suction cup 4 that is not in contact with the surface of the PU sheet will be in a sealed state, thereby avoiding the effect of air leakage during grasping and resulting in insecure grasping.

[0051] The present invention provides a spring support column 411 inside the suction cavity 44, and an elastic member 47 is sleeved on the spring support column 411 to apply pressure to the spring limit cylinder 462, and the spring limit cylinder 462 is provided to support the elastic member 47. During the discharging process, the elastic member 47 cooperates with the pressure of the gas to make the telescopic column 461 rebound more quickly.

[0052] The above embodiments are only illustrative of the principles and effects of the present invention and are not intended to limit the present invention. Any person familiar with this technology can modify or change the above embodiments without departing from the spirit and scope of the present invention. Therefore, all equivalent modifications or changes made by those with ordinary knowledge in the technical field without departing from the spirit and technical ideas disclosed by the present invention should still be covered by the claims of the present invention.

Claims

1. A clamping manipulator for gripping PU sheets, characterized in that It includes a robotic arm base (1), on which there are multiple movable arms (2) arranged, and a suction cup connector (3) is provided at the topmost end of the movable arm (2); At the end of the suction cup connector (3), a grasping suction cup (4) is provided, and the side of the grasping suction cup (4) facing the PU sheet can deform according to the contour of the outer surface of the PU sheet; Inside the suction cup connector (3), there is an air pipe connected to an external vacuum pumping device, and the vacuum pumping device makes the grasping suction cup (4) generate suction force through the air pipe to adsorb the PU sheet.

2. The clamping manipulator for grasping PU sheets according to claim 1, wherein: At the end of the suction cup connector (3), a flange plate (31) is provided. At the axis of the flange plate (31), there is an insertion pipe (32). One end of the insertion pipe (32) is connected to the air pipe, and the other end of the insertion pipe (32) is inserted into the inside of the grasping suction cup (4) and communicated with the grasping suction cup (4).

3. The clamping manipulator for gripping the PU sheet according to claim 2, wherein: The grasping suction cup (4) includes a support plate (41). On one side of the support plate (41), there is a connecting air pipe (42). At the end of the connecting air pipe (42), there is a connecting flange (43). The connecting flange (43) covers the outer surface of the flange plate (31) and is connected by fasteners. The insertion pipe (32) is inserted into the inside of the connecting air pipe (42), and the connection part between the insertion pipe (32) and the connecting air pipe (42) is sealed; On the other side of the support plate (41), there is a support limiting plate (45). An air suction cavity (44) is provided between the support limiting plate (45) and the support plate (41); On the support limiting plate (45), there are several telescopic suction heads (46). The telescopic suction heads (46) can be telescopic, and the telescopic suction heads (46) are communicated with the inside of the air suction cavity (44).

4. The clamping manipulator for gripping the PU sheet according to claim 3, wherein: On the support limiting plate (45), several suction head mounting holes (451) are equidistantly arranged. On the side of the support limiting plate (45) facing the air suction cavity (44), there are several sealing rings (452) whose positions are adapted to the suction head mounting holes (451). The inner diameter of the sealing ring (452) is equal to the inner diameter of the suction head mounting hole (451); The telescopic suction head (46) penetrates from the inside of the air suction cavity (44) through the suction head mounting hole (451) to the outer surface of the support limiting plate (45).

5. The clamping manipulator for gripping the PU sheet according to claim 4, wherein: The telescopic suction head (46) includes a telescopic column (461). The telescopic column (461) penetrates through the sealing ring (452) and the suction head mounting hole (451). Inside the telescopic column (461), there is a communicating cavity (463). On the side of the telescopic column (461), there is an air outlet hole (464). At the top of the telescopic column (461), there is an air inlet hole (465). Both the air outlet hole (464) and the air inlet hole (465) are communicated with the communicating cavity (463); When the telescopic column (461) is in the initial position, the air outlet hole (464) is covered and sealed by the sealing ring (452).

6. The clamping manipulator for gripping the PU sheet according to claim 5, wherein: At the inner bottom of the air suction cavity (44), there are elastic members (47) with the same number as the telescopic columns (461), and each elastic member (47) supports the corresponding telescopic column (461) respectively.

7. The clamping manipulator for grasping PU sheets according to claim 6, characterized in that: A spring limiting cylinder (462) is provided at the bottom of the telescopic column (461). The diameter of the spring limiting cylinder (462) is not less than the diameter of the sealing ring (452). A cavity groove is provided at the bottom of the spring limiting cylinder (462), and one end of the elastic member (47) extends into the cavity groove and is limited.

8. The clamping manipulator for grasping the PU sheet according to claim 7, characterized in that: Spring support columns (411) adapted to the number and positions of the elastic members (47) are provided at the bottom of the suction cavity (44), and the elastic members (47) are sleeved on the spring support columns (411).

9. The clamping manipulator for gripping the PU sheet according to claim 5, wherein: A soft rubber head (466) is provided at the end of the telescopic column (461). The air inlet hole (465) is opened at the axis of the soft rubber head (466), and the soft rubber head (466) can be deformed under pressure.

10. The clamping manipulator for grasping PU sheets according to claim 9, characterized in that: The outer diameter and inner diameter of the soft rubber head (466) are equal to the outer diameter and inner diameter of the telescopic column (461), and the soft rubber head (466) is tightly connected to the telescopic column (461).

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