Multi-sucker gripper

Abstract

The utility model provides a multi-suction-cup gripper. The multi-suction-cup gripper comprises a vacuum connector, a pressure reducing valve, a suction cup type gripper body and a magnetic type gripper body. The vacuum connector is connected with the gas source device, and the gas source device is used for outputting pressure gas to the vacuum connector or exhausting gas; the vacuum connector is further connected with the pressure reducing valve, the vacuum connector is used for outputting pressure gas into the pressure reducing valve or exhausting gas, and the pressure reducing valve is used for reducing the pressure of the received pressure gas; the pressure reducing valve is connected with the suction cup type gripper, the pressure reducing valve is used for outputting a pressure system to the suction cup type gripper or exhausting air, and the suction cup type gripper is used for gripping a workpiece; the vacuum connector is further connected with the magnetic type gripper, the vacuum connector is used for outputting pressure gas to the magnetic type gripper or exhausting gas, and the magnetic type gripper is used for gripping a workpiece. The technical effect that different workpieces are grabbed is achieved, the problem that a gripper on the tooling is replaced is avoided, and the work efficiency of workpiece grabbing is greatly improved.

Description

Technical Field

[0001] The present application relates to the field of mechanical technology, and in particular to a multi-suction cup gripper. Background Art

[0002] In recent years, with the development of society, the degree of automation has become higher and higher, and the competition in the automotive industry has become more and more fierce. Previously, the automation line mainly produced external covering products. Now, non-external covering parts such as door inner panels, door frames, and structural parts are gradually popularized and stamping automation production is implemented. At present, end pickers are usually used to grab non-external covering parts such as door inner panels, door frames, and structural parts.

[0003] However, the inventors have found that current end pickers usually use specific grippers (such as vacuum suction cups or magnetic suction cups) to grasp and transport non-external covering parts; if faced with a non-metallic workpiece, the magnetic suction cup on the end picker needs to be replaced with a vacuum suction cup; if faced with a metal workpiece with a smaller surface area, the vacuum suction cup on the end picker needs to be replaced with a magnetic suction cup; resulting in a decrease in the work efficiency of grasping the workpiece due to frequent replacement of grippers. Utility Model Content

[0004] The present application provides a multi-suction cup gripper to solve the problem that the suction cups on the end picker need to be replaced when facing different workpieces, resulting in a decrease in the work efficiency of workpiece grasping due to frequent replacement of the gripper.

[0005] The present application provides a multi-suction cup gripper, comprising: a vacuum joint, at least one pressure reducing valve, at least one suction cup gripper and at least one magnetic gripper;

[0006] The vacuum joint is connected to a gas source device, and the gas source device is used to output pressurized gas or exhaust gas to the vacuum joint;

[0007] The vacuum joint is also connected to at least one of the pressure reducing valves, the vacuum joint is used to output pressurized gas or exhaust gas to the pressure reducing valve, and the pressure reducing valve is used to reduce the pressure of the received pressurized gas;

[0008] One of the pressure reducing valves is connected to one of the suction cup grippers, the pressure reducing valve is used to output a pressure system or to evacuate air to the suction cup gripper, and the suction cup gripper is used to grasp a workpiece;

[0009] The vacuum joint is also connected to at least one of the magnetic grippers, and the vacuum joint is used to output pressurized gas or exhaust air to the magnetic gripper, and the magnetic gripper is used to grasp the workpiece.

[0010] In the above solution, the vacuum joint includes: a first interface, at least one second interface and at least one third interface;

[0011] The first interface is connected to the gas source device;

[0012] One of the second interfaces is connected to one of the pressure reducing valves;

[0013] One of the third interfaces is connected to one of the magnetic grippers.

[0014] In the above scheme, the pressure reducing valve is a normally open valve.

[0015] In the above scheme, one of the pressure reducing valves comprises: a vacuum input port, a pressure reducing valve body and a vacuum exhaust port;

[0016] One end of the vacuum input port is connected to the vacuum joint, the other end of the vacuum input port is connected to the pressure reducing valve body, one end of the vacuum exhaust port is connected to the pressure reducing valve body, and the other end of the vacuum exhaust port is connected to a suction cup gripper.

[0017] In the above scheme, one of the suction cup grippers comprises: an air pipe, an air joint and at least one vacuum suction cup;

[0018] One end of the air pipe is connected to the pressure reducing valve;

[0019] The other end of the air pipe is connected to one end of the air connector;

[0020] The other end of the air joint is connected to at least one of the vacuum suction cups.

[0021] In the above scheme, one of the vacuum suction cups comprises: a suction cup base, a suction cup body and a sealing pad;

[0022] The suction cup base has a suction cup channel connecting the top and bottom ends of the suction cup base;

[0023] The top end of the suction cup base is connected to the air joint, the bottom end of the suction cup base is connected to the top end of the suction cup body, and the suction cup channel is connected to the inside of the suction cup body;

[0024] The bottom end of the suction cup body is connected to the sealing pad, and the sealing pad is used to contact the workpiece.

[0025] In the above solution, one of the magnetic grippers includes: a magnetic suction cup;

[0026] The magnetic suction cup is used to grab the workpiece by magnetic force.

[0027] In the above solution, the magnetic gripper further comprises: a magnetic valve body; the magnetic valve body comprises a magnetic input port and a magnetic exhaust port; the magnetic suction cup has at least one vent;

[0028] The magnetic input port is connected to the vacuum joint, and the magnetic exhaust port is communicated with the vent.

[0029] In the above solution, the magnetic chuck is a permanent magnet or an electromagnet.

[0030] The above solution further includes: a housing;

[0031] At least one of the pressure reducing valves and at least one magnetic gripper is fixed in the housing;

[0032] At least one magnetic suction cup of the magnetic suction gripper extends out of the shell from the bottom of the shell.

[0033] The present application provides a multi-suction cup gripper, which controls the suction cup gripper and the magnetic gripper through an air source device to achieve the technical effect of grasping different workpieces, avoids the problem of replacing the gripper on the end picker, and greatly improves the work efficiency of workpiece grasping. BRIEF DESCRIPTION OF THE DRAWINGS

[0034] The accompanying drawings, which are incorporated in and constitute a part of this specification, illustrate embodiments consistent with the present application and, together with the description, serve to explain the principles of the present application.

[0035] Figure 1 A schematic diagram of the three-dimensional structure of an embodiment of a multi-suction cup gripper provided in the present application;

[0036] Figure 2 A schematic side structural diagram of an embodiment of a multi-suction cup gripper provided in the present application;

[0037] Figure 3 for Figure 2 Schematic diagram of the cross-sectional structure of the AA part.

[0038] Reference numerals:

[0039] 1: Vacuum connector;

[0040] 2: Pressure reducing valve;

[0041] 3: Suction cup gripper;

[0042] 4: Magnetic gripper;

[0043] 5: Shell;

[0044] 11: first interface;

[0045] 12: Second interface;

[0046] 13: The third interface;

[0047] 21: Vacuum input port;

[0048] 22: Pressure reducing valve body;

[0049] 23: Vacuum exhaust port;

[0050] 31: trachea;

[0051] 32: Gas connector;

[0052] 33: Vacuum suction cup;

[0053] 34: Connector valve;

[0054] 331: Suction cup base;

[0055] 332: suction cup body;

[0056] 333: Sealing gasket;

[0057] 41: Magnetic suction cup;

[0058] 42: Magnetic valve body;

[0059] 43: Magnetic input port;

[0060] 44: Magnetic exhaust port;

[0061] 45: vent;

[0062] 46: Connector.

[0063] The above drawings have shown clear embodiments of the present application, which will be described in more detail later. These drawings and text descriptions are not intended to limit the scope of the present application in any way, but to illustrate the concept of the present application to those skilled in the art by referring to specific embodiments. DETAILED DESCRIPTION

[0064] Exemplary embodiments will be described in detail herein, examples of which are shown in the accompanying drawings. When the following description refers to the drawings, unless otherwise indicated, the same numbers in different drawings represent the same or similar elements. The embodiments described in the following exemplary embodiments do not represent all embodiments consistent with the embodiments of the present application. Instead, they are merely examples of devices and methods consistent with some aspects of the embodiments of the present application as detailed in the appended claims.

[0065] The following specific embodiments are used to describe in detail the technical solutions of the embodiments of the present application and how the technical solutions of the embodiments of the present application solve the current problems. The following specific embodiments can be combined with each other, and the same or similar concepts or processes may not be repeated in some embodiments. The embodiments of the embodiments of the present application will be described below in conjunction with the accompanying drawings.

[0066] See also Figure 1-Figure 3, the present application provides a multi-suction cup gripper, comprising: a vacuum joint 1, at least one pressure reducing valve 2, at least one suction cup gripper 3 and at least one magnetic gripper 4;

[0067] The vacuum joint 1 is connected to a gas source device, and the gas source device is used to output pressurized gas or exhaust gas to the vacuum joint 1;

[0068] The vacuum joint 1 is also connected to at least one of the pressure reducing valves 2, and the vacuum joint 1 is used to output pressurized gas or exhaust gas to the pressure reducing valve 2, and the pressure reducing valve 2 is used to reduce the pressure of the received pressurized gas;

[0069] One of the pressure reducing valves 2 is connected to one of the suction cup grippers 3, and the pressure reducing valve 2 is used to output a pressure system or exhaust air to the suction cup gripper 3, and the suction cup gripper 3 is used to grasp the workpiece;

[0070] The vacuum joint 1 is also connected to at least one of the magnetic grippers 4. The vacuum joint 1 is used to output pressurized gas or exhaust air to the magnetic gripper 4. The magnetic gripper 4 is used to grab a workpiece.

[0071] In an exemplary embodiment, an Endpoint Picker is a tool for managing network terminal devices. It can help administrators to uniformly manage terminal devices in the network, realize functions such as monitoring, identification, classification, and policy management, thereby improving the network security of the enterprise. In the field of industrial automation, an Endpoint Picker is a set of mechanisms for grasping and transporting objects. It can be installed on a robot or automated equipment to grasp and transport objects. The multi-suction cup gripper is installed on the bracket of the Endpoint Picker, and the suction cup gripper 3 and the magnetic gripper 4 are controlled by the air source device. If a non-metallic workpiece is faced, the workpiece is grasped by the suction cup gripper 3; if a metal workpiece with a small surface area is faced, the workpiece is grasped by the magnetic gripper 4, which avoids the problem of replacing the gripper on the Endpoint Picker and greatly improves the work efficiency of workpiece grasping.

[0072] In this embodiment, the air source device includes an air pump and an air extraction pump. The air pump is used to blow air to the suction cup gripper 3 and the magnetic gripper 4 , and the air extraction pump is used to extract air from the suction cup gripper 3 and the magnetic gripper 4 .

[0073] In a preferred embodiment, the vacuum joint 1 comprises: a first interface 11, at least one second interface 12 and at least one third interface 13;

[0074] The first interface 11 is connected to the gas source device;

[0075] One of the second interfaces 12 is connected to one of the pressure reducing valves 2;

[0076] One of the third interfaces 13 is connected to one of the magnetic grippers 4 .

[0077] In this step, by setting a first interface 11, the air source device can synchronously blow up and exhaust air to the suction cup gripper 3 and the magnetic gripper 4 through the first interface 11, and by setting at least one second interface 12 corresponding to at least one pressure reducing valve 2, it is ensured that each pressure reducing valve 2 has a corresponding second interface 12 for blowing and exhausting air therefrom, thereby ensuring that each pressure reducing valve 2 can work normally.

[0078] By providing a third interface 13 corresponding to at least one magnetic gripper 4, it is ensured that each magnetic gripper 4 has a corresponding third interface 13 for blowing and exhausting air therefrom, thereby ensuring that each magnetic gripper 4 can work normally.

[0079] In a preferred embodiment, the pressure reducing valve 2 is a normally open valve.

[0080] In this step, by setting a normally open pressure reducing valve 2, it is ensured that when the air source device evacuates air from the suction cup gripper 3 through the pressure reducing valve 2, the pressure reducing valve 2 is a passage, thereby ensuring the normal operation of evacuating air from the suction cup gripper 3.

[0081] By blowing air to the normally open pressure reducing valve 2, normal blowing to the suction cup gripper 3 will be achieved. Once the air pressure output by the air source device is too high, the pressure reducing valve 2 will enter a closed state and be closed to reduce the outlet pressure of the pressure reducing valve 2.

[0082] When the air pressure blown by the air source device drops below the set value of the pressure reducing valve 2, the pressure reducing valve 2 will open again to ensure that the air pressure received by the suction cup gripper 3 is below the set value, thereby ensuring the equipment safety of the suction cup gripper 3 and ensuring that the impact of the suction cup gripper 3 on the workpiece is within an appropriate impact force range when releasing the workpiece.

[0083] In a preferred embodiment, a pressure reducing valve 2 comprises: a vacuum input port 21, a pressure reducing valve body 22 and a vacuum exhaust port 23;

[0084] One end of the vacuum input port 21 is connected to the vacuum connector 1, the other end of the vacuum input port 21 is connected to the pressure reducing valve body 22, one end of the vacuum exhaust port 23 is connected to the pressure reducing valve body 22, and the other end of the vacuum exhaust port 23 is connected to a suction cup gripper 3.

[0085] In this step, the gas source device outputs pressurized gas to the pressure reducing valve body 22 through the vacuum connector 1 and the vacuum input port 21; the pressure reducing valve body 22 is used to reduce the pressure of the received pressurized gas to form a working gas, and output the working gas to the suction cup gripper 3 through the vacuum exhaust port 23; the gas source device also evacuates the suction cup gripper 3 through the vacuum exhaust port 23, the pressure reducing valve body 22, the vacuum input port 21 and the vacuum connector 1.

[0086] For example, the pressure reducing valve body 22 includes: a valve disc, a valve seat, a spring, a piston, and a guide. Its core working principle is that when the inlet pressure exceeds the set value, the spring force will push the valve disc downward, so that the valve is in a closed state, thereby reducing the outlet pressure. When the pressure drops to the set value, the spring force no longer pushes the valve disc, and the valve automatically opens, causing the pressure to rise.

[0087] In a preferred embodiment, one of the suction cup grippers 3 comprises: an air pipe 31, an air connector 32 and at least one vacuum suction cup 33;

[0088] One end of the air pipe 31 is connected to the pressure reducing valve 2;

[0089] The other end of the air pipe 31 is connected to one end of the air connector 32;

[0090] The other end of the air joint 32 is connected to at least one of the vacuum suction cups 33 .

[0091] In this example, the gas connector 32 is a pipe fitting used to connect and disconnect the gas circuit, which is usually made of metal or plastic and has the characteristics of pressure resistance, corrosion resistance, and high temperature resistance. The gas connector 32 is provided to connect the air pipe 31 and the vacuum suction cup 33 to achieve the transmission and control of the gas. Among them, the vacuum suction cup 33 has a connector valve 34 inside, and the connector valve 34 is used to control the on and off of the gas of the vacuum suction cup 33. The connector valve 34 can usually be operated by rotation or push-pull, so that the user can easily open or close the gas flow. The valve is provided with a sealing ring in the connector body to ensure that there is no gas leakage in the closed state.

[0092] The air pipe 31 is made of metal or engineering plastic to ensure the strength of the air pipe 31 , thereby ensuring that the position and direction of the vacuum suction cup 33 remain unchanged.

[0093] The vacuum suction cup 33 is a type of vacuum equipment actuator. It uses the compressibility and liquefaction of air to generate negative pressure to adsorb on the surface of an object. When the vacuum suction cup 33 comes into contact with the object to be sucked, a temporary sealed and enclosed space is formed. By extracting or thinning the air in this sealed space, a large pressure difference can be generated between the internal and external pressures, thereby firmly adsorbing the object.

[0094] The vacuum cup 33 has various types and materials to adapt to different working environments and requirements. For example, a cup made of rubber can be operated at high temperatures, a cup made of silicone rubber is particularly suitable for grasping products with rough surfaces, and a cup made of polyurethane has high durability. In practical applications, if the cup is required to be oil-resistant, polyurethane, nitrile rubber, or a vinyl-containing polymer can be selected for manufacture.

[0095] It should be noted that the connection sequence of the pressure reducing valve 2, the air pipe 31, the air joint 32 and the vacuum suction cup 33 is: first connect the air pipe 31 to the pressure reducing valve 2, then connect the air pipe 31 to the air joint 32, and finally connect the air joint 32 to the vacuum suction cup 33.

[0096] In a preferred embodiment, the vacuum suction cup 33 comprises: a suction cup base 331, a suction cup body 332 and a sealing pad 333;

[0097] The suction cup base 331 has a suction cup channel connecting the top and bottom ends of the suction cup base 331;

[0098] The top end of the suction cup base 331 is connected to the air joint 32, the bottom end of the suction cup base 331 is connected to the top end of the suction cup body 332, and the suction cup channel is connected to the inside of the suction cup body 332;

[0099] The bottom end of the suction cup body 332 is connected to the sealing gasket 333 , and the sealing gasket 333 is used to contact the workpiece.

[0100] In this example, the suction cup base 331 is used to fix and support the suction cup body 332 , and also serves to connect the suction cup with the vacuum generating device. There is usually an air path interface on the base for connecting the suction cup channel and the inside of the suction cup body 332 .

[0101] Suction cup body 332: This is the main part of the vacuum suction cup 33, which directly contacts the surface of the object to be sucked. The suction cup body 332 is made of various materials, such as rubber, silicone rubber, polyurethane, etc. The material to be selected depends on the specific working environment and needs. For example, a rubber suction cup is suitable for high temperature operation, while a silicone rubber suction cup is suitable for objects with rough surfaces.

[0102] Sealing pad 333: It is located on the contact surface of the suction cup body 332 and is used to enhance the sealing between the suction cup and the object to ensure a better adsorption effect.

[0103] When the air source device draws air, the air in the suction cup channel and the suction cup body 332 is drawn away through the air connector 32, so that the suction cup body 332 is in a vacuum state. At this time, the air pressure inside the suction cup is lower than the external atmospheric pressure, so the object is sucked up under the action of the external pressure. The higher the vacuum degree inside the suction cup, the tighter the suction cup and the object are attached, and the greater the adsorption force.

[0104] Optionally, the connector valve 34 is connected to the suction cup base 331 to control the on-off of the gas in the suction cup base 331 .

[0105] In a preferred embodiment, one of the magnetic grippers 4 comprises: a magnetic suction cup 41;

[0106] The magnetic suction cup 41 is used to grab the workpiece by magnetic force.

[0107] In this example, the magnetic suction cup 41 is an adsorption device made by applying the magnetic principle. The working principle of the magnetic suction cup 41 is based on the law that like magnetic objects repel each other and opposite magnetic objects attract each other. When the magnetic suction cup 41 is close to the object to be adsorbed, the magnet at the bottom of the suction cup will generate a magnetic field, which will affect the magnet at the top of the object to be adsorbed, so that it is adsorbed on the suction cup under the action of magnetic force. The adsorption effect depends on the size, shape, material of the magnet and the magnetic strength of the object to be adsorbed. One of the advantages of the magnetic suction cup 41 is that its adsorption force can be controlled by adjusting the magnetic strength of the magnet.

[0108] In a preferred embodiment, the magnetic gripper 4 further comprises: a magnetic valve body 42; the magnetic valve body 42 comprises a magnetic input port 43 and a magnetic exhaust port 44; the magnetic suction cup 41 has at least one vent 45;

[0109] The magnetic input port 43 is connected to the vacuum joint 1 , and the magnetic exhaust port 44 is communicated with the vent port 45 .

[0110] In this example, the vacuum joint 1 outputs pressurized gas to the magnetic input port 43, and the pressurized gas is discharged from the magnetic exhaust port 44 to the vent 45, and then output from the vent 45 to the outside of the magnetic suction cup 41, so as to make the workpiece adsorbed on the magnetic suction cup 41 detach from the magnetic suction cup 41, thereby achieving the technical effect of loosening the workpiece by the magnetic suction cup 41.

[0111] In a preferred embodiment, the magnetic chuck 41 is a permanent magnet or an electromagnet.

[0112] In this example, permanent magnets refer to those magnets that can retain high remanence for a long time in an open circuit state. They are not easy to lose magnetism and are not easy to be magnetized. Permanent magnet materials are usually composed of metals such as iron, cobalt, nickel, their alloys, rare earth metals, etc. Compared with temporary magnets (such as electromagnets) that require external electric fields or current excitation to generate magnetic fields, permanent magnets can maintain a stable magnetic field without external excitation. Permanent magnets are divided into two categories according to their magnetic properties: strong magnetic permanent magnets and soft magnetic permanent magnets. Strong magnetic permanent magnets have higher coercive force and residual magnetic induction intensity, such as neodymium iron boron magnets and holmium iron boron magnets; while soft magnetic permanent magnets have lower coercive force and residual magnetic induction intensity, such as aluminum nickel cobalt magnets.

[0113] An electromagnet is a device that generates electromagnetism when electricity is applied. Its main structure consists of ferromagnetic material (usually an iron core), a coil, and a power supply. The iron core is wound by a conductive coil, which is usually made of enameled wire, wound around the iron core, and connected to a power supply at both ends. When current passes through the coil inside the electromagnet, a magnetic field is formed inside the coil. Due to the presence of the iron core material, the magnetic field forms a closed loop in the iron core. The iron core has good magnetic conductivity and can greatly enhance the strength of the magnetic field, so that the magnetic field of the electromagnet reaches sufficient strength to achieve the adsorption of iron objects. Electromagnets can be divided into two types: DC electromagnets and AC electromagnets. The strength of their magnetic field is related to the current size and the number of coil turns. The larger the current, the stronger the magnetic field generated, and the greater the adsorption force; the more coil turns, the greater the magnetic field strength. Therefore, when designing an electromagnet, it is necessary to reasonably select the number of coil turns and the size of the current according to actual needs to achieve the best adsorption effect.

[0114] In a preferred embodiment, it further comprises: a housing 5;

[0115] At least one of the pressure reducing valves 2 and at least one of the magnetic grippers 4 are fixed in the housing 5;

[0116] At least one magnetic suction cup 41 of the magnetic suction gripper 4 extends out of the shell 5 from the bottom of the shell 5 .

[0117] In this example, the housing 5 is made of engineering plastic or metal to prevent foreign matter in the air from entering the pressure reducing valve 2 and the magnetic chuck 41 to reduce the performance of the working system or even damage it.

[0118] The connector 46 of the magnetic gripper 4 extends out of the housing 5 , and the connector 46 is used to be connected to a bracket of the end tool.

[0119] It should be noted that, in this article, the terms "include", "comprises" or any other variations thereof are intended to cover non-exclusive inclusion, so that a process, method, article or device including a series of elements includes not only those elements, but also other elements not explicitly listed, or also includes elements inherent to such process, method, article or device. In the absence of further restrictions, an element defined by the sentence "comprises a ..." does not exclude the existence of other identical elements in the process, method, article or device including the element.

[0120] Those skilled in the art will readily come to other embodiments of the present application after considering the specification and practicing the utility model disclosed herein. The present application embodiment is intended to cover any variation, use or adaptation of the present application embodiment, which follows the general principles of the present application embodiment and includes common knowledge or customary technical means in the art that are not disclosed in the present application embodiment. The specification and embodiments are to be regarded as exemplary only, and the true scope and spirit of the present application embodiment are indicated by the following claims.

[0121] It should be understood that the embodiments of the present application are not limited to the precise structures described above and shown in the drawings, and various modifications and changes can be made without departing from the scope thereof. The scope of the embodiments of the present application is limited only by the appended claims.

Claims

1. A multi-suction cup gripper, characterized in that: include: a vacuum connector, at least one pressure reducing valve, at least one suction cup gripper and at least one magnetic gripper; The vacuum joint is connected to a gas source device, and the gas source device is used to output pressurized gas or exhaust gas to the vacuum joint; The vacuum joint is also connected to at least one of the pressure reducing valves, the vacuum joint is used to output pressurized gas or exhaust gas to the pressure reducing valve, and the pressure reducing valve is used to reduce the pressure of the received pressurized gas; One of the pressure reducing valves is connected to one of the suction cup grippers, the pressure reducing valve is used to output a pressure system or to evacuate air to the suction cup gripper, and the suction cup gripper is used to grasp a workpiece; The vacuum joint is also connected to at least one of the magnetic grippers, and the vacuum joint is used to output pressurized gas or exhaust air to the magnetic gripper, and the magnetic gripper is used to grasp the workpiece.

2. The multi-suction cup gripper according to claim 1, characterized in that: The vacuum joint comprises: a first interface, at least one second interface and at least one third interface; The first interface is connected to the gas source device; One of the second interfaces is connected to one of the pressure reducing valves; One of the third interfaces is connected to one of the magnetic grippers.

3. The multi-suction cup gripper according to claim 1, characterized in that: The pressure reducing valve is a normally open valve.

4. The multi-suction cup gripper according to claim 1, characterized in that: A pressure reducing valve comprises: a vacuum input port, a pressure reducing valve body and a vacuum exhaust port; One end of the vacuum input port is connected to the vacuum joint, the other end of the vacuum input port is connected to the pressure reducing valve body, one end of the vacuum exhaust port is connected to the pressure reducing valve body, and the other end of the vacuum exhaust port is connected to a suction cup gripper.

5. The multi-suction cup gripper according to claim 1, characterized in that: A suction cup gripper comprises: an air pipe, an air joint and at least one vacuum suction cup; One end of the air pipe is connected to the pressure reducing valve; The other end of the air pipe is connected to one end of the air connector; The other end of the air joint is connected to at least one of the vacuum suction cups.

6. The multi-suction cup gripper according to claim 5, characterized in that: A vacuum suction cup comprises: a suction cup base, a suction cup body and a sealing pad; The suction cup base has a suction cup channel connecting the top and bottom ends of the suction cup base; The top end of the suction cup base is connected to the air joint, the bottom end of the suction cup base is connected to the top end of the suction cup body, and the suction cup channel is connected to the inside of the suction cup body; The bottom end of the suction cup body is connected to the sealing pad, and the sealing pad is used to contact the workpiece.

7. The multi-suction cup gripper according to claim 1, characterized in that: One of the magnetic grippers includes: a magnetic suction cup; The magnetic suction cup is used to grab the workpiece by magnetic force.

8. The multi-suction cup gripper according to claim 7, characterized in that: The magnetic gripper further comprises: a magnetic valve body; the magnetic valve body comprises a magnetic input port and a magnetic exhaust port; the magnetic suction cup has at least one vent; The magnetic input port is connected to the vacuum joint, and the magnetic exhaust port is communicated with the vent.

9. The multi-suction cup gripper according to claim 7, characterized in that: The magnetic chuck is a permanent magnet or an electromagnet.

10. The multi-suction cup gripper according to claim 1, characterized in that: Also includes: a housing; At least one of the pressure reducing valves and at least one magnetic gripper is fixed in the housing; At least one magnetic suction cup of the magnetic suction gripper extends out of the shell from the bottom of the shell.

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