Vacuum chuck device for non-ferrous metal plate, mechanical arm and robot
By combining a flexible vacuum suction cup with a universal head, the problem of insufficient self-adaptation capability of existing vacuum suction cup devices in non-ferrous metal sheet production is solved, achieving efficient and stable sheet gripping and transfer, and improving the system's energy efficiency and precision.
Patent Information
- Authority / Receiving Office
- CN · China
- Patent Type
- Applications(China)
- Current Assignee / Owner
- LANZHOU UNIVERSITY OF TECHNOLOGY
- Filing Date
- 2026-04-09
- Publication Date
- 2026-05-12
AI Technical Summary
Existing vacuum suction cup devices lack adaptability in the production of non-ferrous metal sheets and cannot effectively cope with complex working conditions such as sheet placement tilt, assembly deviation and curved surface support, resulting in a surge in system energy consumption and limited repeatability positioning accuracy.
Design a device that includes a flexible vacuum suction cup, a universal head, and an anti-rotation axis. Through negative pressure adsorption and adaptive adjustment of the universal head, multi-degree-of-freedom deflection can be achieved. In conjunction with a cylinder, push and pull forces are provided to ensure that the suction cup is tightly attached to the material.
It improves the adaptability and safety of robot operations, ensures stable gripping and precise transfer of non-ferrous metal sheets, and reduces system energy consumption and error accumulation.
Smart Images
Figure CN122008292A_ABST
Abstract
Description
Technical Field
[0001] This invention relates to the field of suction cup technology, and in particular to a vacuum suction cup device, robotic arm, and robot for non-ferrous metal plates. Background Technology
[0002] Currently, in the production process of non-ferrous metal sheets, non-ferrous metal sheets are often cut into sheets of certain specifications and sizes and supplied to downstream enterprises. On the cutting production line, robots are often used to handle the sheets to complete the loading and unloading processes. The suction cups are mostly fixed designs. When in use, industrial robots such as six-axis serial robotic arms are often needed to calculate the spatial coordinates of the end effector. The overall position is adjusted by the joint movement of the robotic arm so that the suction cups passively adhere to the surface of the sheet. After adsorption is completed, the robot drives the sheet to be transported to the target position.
[0003] Traditional vacuum chucks are generally designed with significant rigid constraints. Their core function usually only supports vertical lifting and lowering motion along the Z-axis in a single dimension, and they lack the ability to adaptively compensate for complex working conditions such as tilting of the plate (e.g., assembly deviation, mold deformation, or curved surface support).
[0004] Furthermore, existing vacuum suction cup devices generally rely on industrial robots (such as six-axis serial robotic arms) to adjust the overall position within a large space. The typical implementation method is to calculate the spatial coordinates (X / Y / Z translation and rotation angle around the three axes) of the end effector through the kinematic model of the robotic arm joints, so that the vacuum suction cup in a fixed position passively follows the robotic arm to complete the target position adjustment. Since the position adjustment is entirely carried out by the robotic arm, the system energy consumption increases dramatically, the multi-joint motion error accumulates step by step, and the end effector repeatability is limited, thus failing to meet the requirement of stable gripping of non-ferrous metal plates. Summary of the Invention
[0005] To address the aforementioned technical problems, this invention provides a vacuum suction cup device for non-ferrous metal plates, a robotic arm, and a robot.
[0006] This invention provides a vacuum suction cup device for non-ferrous metal plates, comprising: Connector for connection to the end effector of a robotic arm; The mounting base is fixedly installed below the connector; A vacuum suction cup is disposed below the mounting base, and the vacuum suction cup is connected to an external vacuum device through a vacuum pipeline; Multiple anti-rotation shafts are symmetrically arranged on the mounting base. The upper ends of the multiple anti-rotation shafts all movably pass through the mounting base and extend above the mounting base. The lower ends of the multiple anti-rotation shafts are all fixedly connected to universal joints. The other end of the universal joints is hinged to a second hinge seat. The multiple second hinge seats are all fixedly installed on the upper surface of the vacuum suction cup. Multiple springs are fitted one-to-one on the outer side of the anti-rotation shaft located above the mounting base. One end of each spring is fixedly connected to the upper end of the anti-rotation shaft, and the other end is fixedly connected to the mounting base. The universal head is fixedly installed between the vacuum suction cup and the mounting base, located at the center of the vacuum suction cup. Multiple universal joints are evenly arranged around the periphery of the universal head, forming a double universal adjustment structure with the universal head.
[0007] Furthermore, it also includes: Multiple cylinders are symmetrically arranged below the mounting base. The top ends of the multiple cylinders are fixedly mounted on the lower surface of the mounting base. The output ends of the multiple cylinders are respectively hinged to first hinge seats. The multiple first hinge seats are all fixedly mounted on the upper surface of the vacuum suction cup.
[0008] Furthermore, the vacuum suction cup is made of a flexible material, which includes one of silicone, polyurethane, fluororubber, silicone rubber, nitrile rubber, or polyether-based elastomer.
[0009] Furthermore, the bottom of the vacuum suction cup is provided with a number of adsorption holes, which are arranged in one of the following ways: triangular distribution, uniform distribution, independent distribution in different regions, ring distribution, or mixed distribution.
[0010] A robotic arm includes a vacuum suction cup device for non-ferrous metal plates as described above.
[0011] A robot comprising a vacuum suction cup device for non-ferrous metal plates as described above or a robotic arm as described above.
[0012] A method for using a vacuum suction cup device for non-ferrous metal plates includes the following steps: The connection is made to the end of the robotic arm via a connector. The robotic arm then moves the vacuum suction cup above the sheet metal. The position of the vacuum suction cup is adjusted by the robotic arm so that the center of the vacuum suction cup is aligned with the center of gravity of the sheet metal or a preset suction point, and the bottom surface of the vacuum suction cup is kept parallel to the surface of the sheet metal. The robotic arm controls the vacuum suction cup to descend, so that the bottom surface of the vacuum suction cup contacts the upper surface of the sheet. After contact, if there is tilt, installation deviation or slight curvature on the surface of the sheet, the universal head adaptively adjusts the angle between the vacuum suction cup and the mounting base. At the same time, multiple universal joints on the outside work together to adjust the connection position between the anti-rotation shaft and the vacuum suction cup, causing the anti-rotation shaft to move adaptively with the vacuum suction cup. The spring is compressed or extended until the bottom surface of the vacuum suction cup is completely and tightly attached to the surface of the sheet. Activate the external vacuum device to evacuate the vacuum suction cup through the vacuum pipeline. The vacuum suction cup will generate negative pressure inside, so that the vacuum suction cup can be firmly attached to the surface of the sheet material. After the robotic arm places the sheet metal at the target position, the external vacuum device releases the negative pressure inside the vacuum suction cup by venting and depressurizing. At this time, the spring, under the action of elasticity, drives the vacuum suction cup back to the initial position.
[0013] Compared with the prior art, the technical solution provided by the embodiments of the present invention has the following advantages: The present invention connects the vacuum suction cup to the vacuum device through an external vacuum pipeline, and achieves flexible gripping of non-ferrous metal plates by relying on negative pressure. At the same time, the universal head can achieve multi-degree-of-freedom deflection, adapting to the tilt of the plate surface and installation errors to ensure full fit. Two symmetrical anti-rotation shafts are hinged to the vacuum suction cup through universal joints, forming a double universal adjustment structure with the universal head. This allows the vacuum suction cup to achieve multi-directional angle adaptive deflection, fitting the surface of different tilted or curved workpieces, ensuring adsorption sealing and operational stability, thereby improving the adaptability and safety of robot operation. Attached Figure Description
[0014] Figure 1 This is a schematic diagram of the overall structure of a vacuum suction cup device for non-ferrous metal plates, a robotic arm, and a robot provided in an embodiment of the present invention.
[0015] Explanation of reference numerals in the attached figures: 1. Connector; 2. Anti-rotation shaft; 3. Universal joint; 4. Vacuum suction cup; 5. Mounting base; 6. Cylinder; 7. Universal head; 8. First hinge base; 9. Second hinge base; 10. Spring. Detailed Implementation
[0016] The following detailed description of a specific embodiment of the present invention is provided in conjunction with the accompanying drawings. However, it should be understood that the scope of protection of the present invention is not limited to the specific embodiment.
[0017] In the description of this invention, it should be understood that the terms "center," "longitudinal," "lateral," "length," "width," "thickness," "upper," "lower," "front," "rear," "left," "right," "vertical," "horizontal," "top," "bottom," "inner," "outer," "axial," "radial," and "circumferential" indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings. They are only for the convenience of describing the technical solution of this invention and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, they should not be construed as limitations on this invention.
[0018] The present invention will be described below through several specific embodiments. To keep the following description of the embodiments clear and concise, detailed descriptions of known functions and components may be omitted. When any component of an embodiment of the present invention appears in more than one drawing, the component may be represented by the same reference numerals in each drawing.
[0019] like Figure 1 As shown, this embodiment provides a vacuum suction cup device for non-ferrous metal plates, comprising: Connector 1 is used to connect to the end effector of the robotic arm; Mounting base 5 is fixedly installed below connector 1; Vacuum suction cup 4 is located below mounting base 5 and is connected to an external vacuum device via vacuum tubing. Multiple anti-rotation shafts 2 are symmetrically arranged on the mounting base 5. The upper ends of the multiple anti-rotation shafts 2 all movably pass through the mounting base 5 and extend to the top of the mounting base 5. The lower ends of the multiple anti-rotation shafts 2 are all fixedly connected to universal joints 3. The other end of the universal joints 3 is hinged to a second hinge seat 9. The multiple second hinge seats 9 are all fixedly installed on the upper surface of the vacuum suction cup 4. Multiple springs 10 are fitted one-to-one on the outer side of the anti-rotation shaft 2 located above the mounting base 5. One end of the spring 10 is fixedly connected to the upper end of the anti-rotation shaft 2, and the other end is fixedly connected to the mounting base 5. The universal head 7 is fixedly installed between the vacuum suction cup 4 and the mounting base 5, located at the center of the vacuum suction cup 4. Multiple universal joints 3 are evenly arranged around the periphery of the universal head 7, forming a double universal adjustment structure with the universal head 7. The device is securely connected to the end of the robotic arm via connector 1. The robotic arm carries the vacuum suction cup 4 and moves it above the target non-ferrous metal sheet. The position is adjusted so that the center of the vacuum suction cup 4 is aligned with the center of gravity of the sheet or a preset adsorption point, and the bottom surface of the vacuum suction cup 4 is kept parallel to the surface of the sheet. Then, the robotic arm controls the vacuum suction cup 4 to descend and contact the upper surface of the sheet. If the surface of the sheet is tilted, misaligned, or slightly bent, the universal head 7 located at the center of the vacuum suction cup 4 adaptively adjusts the angle of the vacuum suction cup 4. At the same time, multiple anti-rotation shafts 2 surrounding the universal head 7 cooperate with the second hinge seat 9 through the universal joint 3 at the lower end, causing the anti-rotation shafts 2 to move adaptively with the vacuum suction cup 4. The spring 10 sleeved above the anti-rotation shaft 2 is compressed or extended until the bottom surface of the vacuum suction cup 4 is completely and tightly attached to the surface of the sheet. Then, the external vacuum device is activated, and the vacuum suction cup 4 is subjected to vacuum treatment through the vacuum pipeline. A vacuum is created to generate negative pressure inside, which firmly adsorbs the non-ferrous metal plate. Then, the robotic arm moves the adsorbed plate to the target placement position. After placement, the external vacuum device releases the negative pressure in the vacuum suction cup 4, releasing the adsorption of the plate. At this time, the spring 10, under its own elastic force, drives the anti-rotation shaft 2, universal joint 3 and vacuum suction cup 4 to return to the initial position, preparing for the next gripping operation. Thus, the entire device can accurately grip and stably transfer the non-ferrous metal plate, thereby improving the adaptability and safety of the robotic arm's gripping operation.
[0020] Furthermore, such as Figure 1As shown, it also includes multiple cylinders 6, which are symmetrically arranged below the mounting base 5. The tops of the multiple cylinders 6 are fixedly installed on the lower surface of the mounting base 5. The output ends of the multiple cylinders 6 are respectively hinged to first hinge seats 8. The multiple first hinge seats 8 are all fixedly installed on the upper surface of the vacuum suction cup 4. The symmetrically arranged multiple cylinders 6 are hinged to the vacuum suction cup 4 through the first hinge seats 8, which can actively output push or pull force. With the adaptive adjustment structure formed by the universal head 7, the anti-rotation shaft 2 and the universal joint 3, when the vacuum suction cup 4 contacts the non-ferrous metal plate, the suction cup position is adjusted in coordination to further ensure that the vacuum suction cup 4 is fully attached to the slightly curved and inclined plate surface, thereby improving the adsorption sealing and stability.
[0021] Furthermore, such as Figure 1 As shown, the vacuum suction cup 4 is made of a flexible material, including one of silicone, polyurethane, fluororubber, silicone rubber, nitrile rubber, or polyether-based elastomer. The vacuum suction cup 4 is made of one of the flexible materials of silicone, polyurethane, fluororubber, silicone rubber, nitrile rubber, or polyether-based elastomer. It can adapt to the contours of different adsorption surfaces by utilizing its flexible deformation characteristics, effectively fill the gaps in the contact surfaces to form a reliable vacuum seal, and at the same time ensure that the suction cup has excellent elasticity, wear resistance and anti-aging properties, thereby improving the overall durability and working stability.
[0022] Furthermore, such as Figure 1 As shown, the bottom of the vacuum suction cup 4 is provided with several adsorption holes. The adsorption holes are arranged in one of the following ways: triangular distribution, uniform distribution, independent distribution in different areas, ring distribution, or mixed distribution. The adsorption holes at the bottom of the vacuum suction cup 4 can be arranged in one of the following ways: triangular distribution, uniform distribution, independent distribution in different areas, ring distribution, or mixed distribution. This can adapt to the surface of the object to be suctioned with different shapes and materials, optimize the vacuum pressure distribution, and thus improve the uniformity, sealing and stability of adsorption. It can also achieve local independent adsorption through partitioned layout, and enhance the adaptability to complex curved or uneven surfaces.
[0023] Furthermore, such as Figure 1 As shown, a robotic arm includes a vacuum suction cup device for non-ferrous metal plates as described above. By being equipped with the vacuum suction cup device for non-ferrous metal plates, the robotic arm can achieve adaptive flexible gripping, stable transfer and precise placement of non-ferrous metal plates, effectively avoiding scratches and deformation of the plates, thereby improving the automation level and operational safety of plate handling.
[0024] Furthermore, such as Figure 1As shown, a robot includes a vacuum suction cup device for non-ferrous metal plates as described above or a robotic arm as described above. The robot integrates the vacuum suction cup device for non-ferrous metal plates or the corresponding robotic arm, which can automatically complete the adaptive gripping, transfer and positioning of non-ferrous metal plates, improve the automation level of plate handling, ensure reliable adsorption without damaging the plate surface, and improve production efficiency and operational safety.
[0025] like Figure 1 As shown in the figure, the method of using a vacuum suction cup device for non-ferrous metal plates provided in this embodiment includes the following steps: After the non-ferrous metal sheet is cut off, it is conveyed to the designated position by the conveyor belt. The position and angle of the metal sheet are accurately identified by the robot vision system and the data is fed back to the robot control system. Then the robot arm carries the vacuum suction cup 4 to move above the sheet and adjusts the position of the vacuum suction cup 4 according to the feedback information so that the center of the vacuum suction cup 4 is aligned with the center of gravity of the sheet or the preset adsorption point, and keeps the bottom surface of the vacuum suction cup 4 parallel to the surface of the sheet to avoid local stress concentration or sealing failure caused by tilted contact. The robotic arm controls the vacuum suction cup 4 to descend at a preset speed, so that the bottom surface of the vacuum suction cup 4 contacts the upper surface of the sheet. During the contact process, the universal head 7 and the universal joint 3 are in a free state. If the sheet surface is tilted, has an installation deviation, or is slightly curved, the universal head 7 adaptively adjusts the angle between the vacuum suction cup 4 and the mounting base 5 to compensate for the unevenness of the sheet surface. At the same time, the multiple universal joints 3 on the outside work together to adjust the connection position between the anti-rotation shaft 2 and the vacuum suction cup 4, causing the anti-rotation shaft 2 to move adaptively with the vacuum suction cup 4. The spring 10 is compressed or extended until the bottom surface of the vacuum suction cup 4 is completely and tightly attached to the sheet surface. The robotic arm simultaneously controls two cylinders 6 to extend downwards in sync via the same solenoid valve, driving the vacuum suction cup 4 to press against the sheet metal. The extension pressure of the cylinders 6 is preset according to the material and thickness of the sheet metal. During the downward pressing process of the cylinders 6, the universal head 7 adaptively adjusts the angle between the vacuum suction cup 4 and the mounting base 5, driving the universal joint 3 to synchronously and adaptively adjust the connection angle between the anti-rotation shaft 2 and the vacuum suction cup 4, so that the bottom surface of the vacuum suction cup 4 is in close contact with the surface of the sheet metal. The vacuum suction cup 4 is equipped with a pressure sensor. When the pressure reaches the set threshold, it is determined to be in close contact. At the same time, the anti-rotation shaft 2 moves downwards with the vacuum suction cup 4, and the spring 10 is compressed or extended. The compression or extension amount of the spring 10 is preset according to the extension stroke of the cylinders 6, usually 5mm-15mm. The stiffness coefficient of the spring 10 is calculated and determined according to the weight of the vacuum suction cup 4 and the required reset force to ensure that sufficient retraction force can be provided during the release phase. The spring 10 can be a rectangular spring or a disc spring, which has a high fatigue life and a stable elastic coefficient. In order to control the synchronous movement of the two cylinders 6, the same dual-electric control three-position five-way solenoid valve is used to control the intake and exhaust of the two cylinders 6 simultaneously. Precision throttle valves of the same specification are installed on the intake pipes of the two cylinders 6. By adjusting, the intake flow rate into the two cylinders is kept consistent. The air supply pressure is stabilized at 0.4MPa-0.6MPa by the air source treatment triple unit (filter, pressure reducing valve, oil mist lubricator), thereby ensuring that the driving force of the two cylinders 6 is balanced. Meanwhile, the piston rods of the two cylinders 6 are connected to the same vacuum suction cup 4 through the first hinge seat 8. The vacuum suction cup 4 acts as a connector to force the two cylinders 6 to move synchronously. When the extension speed of any cylinder 6 is slightly faster, the vacuum suction cup 4 will generate a slight tilting torque. This torque is transmitted to the other cylinder through the first hinge seat 8, forming a self-balancing mechanism and effectively suppressing the asynchronous phenomenon. The external vacuum device is activated, and a vacuum is drawn into the vacuum suction cup 4 through the vacuum pipeline. The suction hole at the bottom of the vacuum suction cup 4 generates negative pressure, which makes the vacuum suction cup 4 firmly adsorbed onto the surface of the sheet. The external vacuum device continues to work to maintain the negative pressure state inside the vacuum suction cup 4. At the same time, the cylinder 6 remains in the extended state to maintain the clamping force between the vacuum suction cup 4 and the sheet. The anti-rotation shaft 2 remains in the downward state during the extension of the cylinder 6, the spring 10 remains in the compressed state, and the universal joint 3 and the universal head 7 remain in the adjusted position to prevent the vacuum suction cup 4 from twisting or shifting during the adsorption process. The external vacuum device includes components such as a vacuum pump, vacuum tank, vacuum solenoid valve, vacuum filter, and vacuum pressure switch. The vacuum pump is an oil-free dry vacuum pump to avoid oil mist contamination of the sheet metal surface. The capacity of the vacuum tank is determined according to the volume and adsorption area of the vacuum suction cup 4, usually 5L-10L. After the vacuum pump is started and the pressure inside the vacuum tank drops to the set value, the vacuum solenoid valve is opened, and the vacuum suction cup 4 is evacuated through the vacuum pipeline. The pressure sensor inside the vacuum suction cup 4 monitors the vacuum degree in real time. When the vacuum degree reaches the set threshold, adsorption is determined to be successful. The vacuum pressure switch monitors the pressure change inside the vacuum suction cup 4 in real time. When the vacuum pressure is lower than the set lower limit, such as -50kPa, it is determined to be insufficient adsorption. The system issues an alarm signal and automatically starts the replenishment pumping program. If the replenishment pumping fails three times in a row, it is determined to be adsorption failure. The robotic arm stops the handling operation and issues a fault alarm. The robotic arm carries the vacuum suction cup 4 and the adsorbed sheet material, and moves to the target position according to the preset path. During the handling process, the external vacuum device maintains a vacuum state, and the two cylinders 6 remain extended to ensure that the sheet material does not shift or fall off during the handling process. Meanwhile, during the handling process, the robot control system continuously monitors the following parameters: Vacuum pressure inside vacuum suction cup 4: ensures that the adsorption force always meets the requirements; Extended state of cylinder 6: Ensures continuous and effective clamping force; Robotic arm joint torque: to monitor for abnormal resistance or collisions; Sheet position: The robot vision system or tilt sensor monitors in real time whether the sheet remains horizontal; When the robot control system detects that any parameter exceeds the set threshold, the system immediately stops the handling and issues an alarm, while taking safety measures (such as slowly lowering the sheet to a safe position) to prevent the sheet from falling and causing a safety accident. After the robotic arm places the sheet metal at the target position, when it needs to be released, the robot control system issues a release command, closes the vacuum solenoid valve, disconnects the vacuum pump from the vacuum suction cup 4, and opens the vacuum breaking valve to allow external air to enter the vacuum suction cup 4, quickly eliminating the negative pressure. When the vacuum pressure switch detects that the vacuum pressure has risen to near atmospheric pressure (e.g., below -5 kPa), it determines that the vacuum has been completely released. The vacuum breaking process uses a rapid vacuum breaking valve, with the breaking time controlled within 0.1-0.3 seconds to ensure that the adsorption force disappears quickly. For sheets metal that are prone to electrostatic adsorption (such as aluminum or copper sheets), compressed air can be blown onto the suction cup surface during vacuum breaking to form an air cushion, helping the sheet metal separate from the suction cup. After release, the two cylinders 6 are controlled to reset synchronously. During the reset process of cylinders 6, the universal head 7 and universal joint 3 remain in a free state, allowing the vacuum suction cup 4 to adaptively adjust its position during the reset process. After the cylinders 6 reset, no downward thrust is applied to the vacuum suction cup 4. At this time, the compressed or stretched spring 10 resets under the action of elastic restoring force, generating a pulling force that pulls the anti-rotation shaft 2 to move. The anti-rotation shaft 2 drives the vacuum suction cup 4 to move through the universal joint 3, thereby separating the vacuum suction cup 4 from the surface of the sheet. The elastic force of the spring 10 can be pre-designed according to the size of the suction cup and the weight of the sheet to ensure that the separation action is smooth and reliable. After the separation is completed, the robot arm carries the vacuum suction cup 4 to a safe height, ready for the next handling operation.
[0026] The above inventions are merely a few specific embodiments of the present invention. However, the embodiments of the present invention are not limited thereto, and any variations that can be conceived by those skilled in the art should fall within the protection scope of the present invention.
Claims
1. A vacuum suction cup device for non-ferrous metal plates, characterized in that, include: Connector for connection to the end effector of a robotic arm; The mounting base is fixedly installed below the connector; A vacuum suction cup is disposed below the mounting base, and the vacuum suction cup is connected to an external vacuum device through a vacuum pipeline; Multiple anti-rotation shafts are symmetrically arranged on the mounting base. The upper ends of the multiple anti-rotation shafts all movably pass through the mounting base and extend above the mounting base. The lower ends of the multiple anti-rotation shafts are all fixedly connected to universal joints. The other end of the universal joints is hinged to a second hinge seat. The multiple second hinge seats are all fixedly installed on the upper surface of the vacuum suction cup. Multiple springs are fitted one-to-one on the outer side of the anti-rotation shaft located above the mounting base. One end of each spring is fixedly connected to the upper end of the anti-rotation shaft, and the other end is fixedly connected to the mounting base. The universal head is fixedly installed between the vacuum suction cup and the mounting base, located at the center of the vacuum suction cup. Multiple universal joints are evenly arranged around the periphery of the universal head, forming a double universal adjustment structure with the universal head.
2. The vacuum suction cup device for non-ferrous metal plates as described in claim 1, characterized in that, Also includes: Multiple cylinders are symmetrically arranged below the mounting base. The top ends of the multiple cylinders are fixedly mounted on the lower surface of the mounting base. The output ends of the multiple cylinders are respectively hinged to first hinge seats. The multiple first hinge seats are all fixedly mounted on the upper surface of the vacuum suction cup.
3. The vacuum suction cup device for non-ferrous metal plates as described in claim 1, characterized in that, The vacuum suction cup is made of a flexible material, which includes one of silicone, polyurethane, fluororubber, silicone rubber, nitrile rubber, or polyether-based elastomer.
4. The vacuum suction cup device for non-ferrous metal plates as described in claim 1, characterized in that, The bottom of the vacuum suction cup is provided with a number of adsorption holes, which are arranged in one of the following ways: triangular distribution, uniform distribution, independent distribution in different regions, ring distribution, or mixed distribution.
5. A robotic arm, characterized in that, The vacuum chuck device for non-ferrous metal plates as described in any one of claims 1-4.
6. A robot, characterized in that, Includes the vacuum suction cup device for non-ferrous metal plates as described in any one of claims 1-4 or the robotic arm as described in claim 6.
7. A method of using the vacuum chuck device for non-ferrous metal plates according to any one of claims 1-4, characterized in that, Includes the following steps: The connection is made to the end of the robotic arm via a connector. The robotic arm then moves the vacuum suction cup above the sheet metal. The position of the vacuum suction cup is adjusted by the robotic arm so that the center of the vacuum suction cup is aligned with the center of gravity of the sheet metal or a preset suction point, and the bottom surface of the vacuum suction cup is kept parallel to the surface of the sheet metal. The robotic arm controls the vacuum suction cup to descend, so that the bottom surface of the vacuum suction cup contacts the upper surface of the sheet. After contact, if there is tilt, installation deviation or slight curvature on the surface of the sheet, the universal head adaptively adjusts the angle between the vacuum suction cup and the mounting base. At the same time, multiple universal joints on the outside work together to adjust the connection position between the anti-rotation shaft and the vacuum suction cup, causing the anti-rotation shaft to move adaptively with the vacuum suction cup. The spring is compressed or extended until the bottom surface of the vacuum suction cup is completely and tightly attached to the surface of the sheet. Activate the external vacuum device to evacuate the vacuum suction cup through the vacuum pipeline. The vacuum suction cup will generate negative pressure inside, so that the vacuum suction cup can be firmly attached to the surface of the sheet material. After the robotic arm places the sheet metal at the target position, the external vacuum device releases the negative pressure inside the vacuum suction cup by venting and depressurizing. At this time, the spring, under the action of elasticity, drives the vacuum suction cup back to the initial position.