Automatic transfer and docking alignment machine

Abstract

The present application discloses an automatic transfer and docking alignment machine, comprising: an X-axis moving module, a first Y-axis moving module, a second Y-axis moving module, a Z-axis moving module, a positioning device, a first suction device and a second suction device, wherein the positioning device is mounted on the first Y-axis moving module; the first suction device is fixedly mounted on the X-axis moving module; the second suction device comprises at least a second mounting plate, at least one second suction cup and a limiting body made of an elastic material, the second mounting plate is fixedly mounted on the Z-axis moving module, the limiting body is mounted on the edge of the second mounting plate, and the second suction cup is mounted on the center of the second mounting plate. Through the limiting body, the position of the middle frame and other products can be automatically limited during the transplanting process of the middle frame and other products, and the automatic transfer and docking alignment machine replaces manual operation, effectively improving work efficiency and reducing costs.

Description

Technical Field

[0001] The present application relates to the technical field of automation, and in particular to an automatic transfer and docking alignment machine. Background Art

[0002] In the past, in the process of assembling mobile phone touch screens, after the mobile phone middle frame and other products have been glued by the automatic glue spraying machine, the operator manually takes out the middle frame and other products from the outlet of the automatic glue spraying machine, and then manually transfers them into the mold of the inlet of the touch screen installation machine. In order to ensure that the touch screen installation machine can successfully install the screen, the position of the middle frame and other products must be manually corrected to improve the accuracy of the installation of the screen by the installation machine. Therefore, this manual operation method has extremely low working efficiency. At the same time, fully automatic visual alignment assembly equipment can also be used in the existing technology, but the cost of this equipment is too high. Summary of the invention

[0003] The purpose of the present application is to provide an automatic transfer and docking alignment machine that can automatically limit the position of a touch screen.

[0004] An automatic transfer and docking alignment machine, comprising: a frame, a hood, the hood being mounted on the frame and surrounding the frame to form a containing space, the frame being provided with a first Y-axis track; a support base, the support base being fixedly mounted on the frame and located in the containing space, the support base being provided with an X-axis track, the X-axis track being perpendicular to the first Y-axis track; a first Y-axis moving module, the first Y-axis moving module being slidably mounted on the first Y-axis track; an X-axis moving module, the X-axis moving module being slidably mounted on the X-axis track, the X-axis moving module being provided with a Z-axis track perpendicular to the X-axis track; a Z-axis moving module, the Z-axis moving module Slidably mounted on the Z-axis track, the Z-axis moving module is provided with a second Y-axis track perpendicular to the Z-axis track; a second Y-axis moving module, the second Y-axis moving module is slidably mounted on the second Y-axis track; a positioning device, the positioning device is mounted on the first Y-axis moving module; a first suction device, the first suction device is fixedly mounted on the X-axis moving module; a second suction device, the second suction device at least includes a second mounting plate, a second suction cup and a limiting body made of elastic material, the second mounting plate is fixedly mounted on the Z-axis moving module, the limiting body is mounted on the edge of the second mounting plate, and the second suction cup is mounted on the center of the second mounting plate.

[0005] Compared with the prior art, the automatic transfer docking alignment machine of the present application can automatically limit the position of the middle frame and other products by installing a limiter in the second suction device. The limiter is made of elastic material, which can prevent the limiter from scratching the middle frame and other products. The automatic transfer docking alignment machine replaces manual operation, effectively improving work efficiency, and because of its simple overall structure, it does not require high processing accuracy of the device, which can reduce costs.

[0006] Furthermore, the position-limiting body at least includes a first position-limiting body and a second position-limiting body arranged opposite to the first position-limiting body, the first position-limiting body and the second position-limiting body are respectively provided with a first position-limiting groove and a second position-limiting groove; the second suction cup is installed between the first position-limiting body and the second position-limiting body. When the second suction cup sucks the middle frame or other product, the first position-limiting body and the second position-limiting body arranged opposite to each other can be engaged with the two opposite ends of the middle frame or other product through the position-limiting groove to limit the middle frame or other product, thereby automatically completing the position adjustment and limitation of the middle frame or other product.

[0007] Further, the first limiting body includes a first mounting portion and a first limiting portion, the second limiting body includes a second mounting portion and a second limiting portion, the first mounting portion and the second mounting portion are respectively fixedly mounted on the second mounting plate; the first limiting groove and the second limiting groove are respectively arranged at the ends of the first limiting portion and the second limiting portion and close to one end in the direction of the suction cup.

[0008] Furthermore, the positioning device includes a positioning mounting part, a stage, a positioning plate and a positioning cylinder. The positioning mounting part is fixedly mounted on the first Y-axis moving module; the stage is mounted above the positioning mounting part; the positioning plate is an L-shaped structure and is mounted on the edge of the stage; the positioning cylinder is mounted on the edge of the stage and is arranged opposite to the positioning plate. The first suction device sucks the middle frame and other products to be installed and places them on the stage. The positioning plate of the L-shaped structure can limit the position of the middle frame and other products. The positioning cylinder gently pushes the middle frame and other products to adjust and correct the position of the middle frame and other products, so that the middle frame and other products fit with the positioning plate of the L-shaped structure, thereby completing the adjustment of the position of the middle frame and other products.

[0009] Furthermore, the positioning plate includes a first positioning plate and a second positioning plate, and a positioning groove is provided at one end of the first positioning plate close to the center of the loading platform, and the first positioning plate and the second positioning plate are vertically formed into the L-shaped structure; the positioning cylinder includes a first positioning cylinder and a second positioning cylinder, and the first positioning cylinder and the second positioning cylinder are respectively arranged opposite to the first positioning plate and the second positioning plate; wherein, the direction in which the first positioning cylinder and the first positioning plate are opposite is parallel to the direction in which the first limiting body and the second limiting body are opposite. The first positioning cylinder and the second positioning cylinder gently push the middle frame and other products, so that the first positioning plate and the second positioning plate respectively press against the two ends of the middle frame and other products that are perpendicular to each other, so as to limit the middle frame and other products.

[0010] Furthermore, the first positioning cylinder and the second positioning cylinder are both provided with soft rubber heads, and the limiting body is made of polyoxymethylene material, which can prevent the first positioning cylinder and the second positioning cylinder from causing damage to the middle frame and other products when they gently push the middle frame and other products, and when the limiting body limits the middle frame and other products.

[0011] Furthermore, the first suction device includes a first mounting plate and at least one first suction cup, the first mounting plate is fixedly mounted on the X-axis moving module, and the first suction cup is symmetrically arranged around the center of the second mounting plate.

[0012] Furthermore, the first suction cup and the second suction cup are both vacuum suction cups, the first suction cup includes a first suction cup head and a first vacuum cylinder joint; the second suction cup includes a second suction cup head and a second vacuum cylinder joint; the first mounting plate and the second mounting plate are respectively provided with a first vacuum cylinder joint through hole and a second vacuum cylinder joint through hole; the first vacuum cylinder joint and the second vacuum cylinder joint respectively pass through the first vacuum cylinder joint through hole and the second vacuum cylinder joint through hole to be connected with the first suction cup head and the second suction cup head. By providing a vacuum suction cup, it is prevented that the position of the middle frame and other products changes when the first suction device or the second suction device sucks the middle frame and other products.

[0013] Furthermore, the first suction cup head and the second suction cup head are made of a highly elastic material, which can prevent the first suction cup head and the second suction cup head from damaging the middle frame and other products when sucking the middle frame and other products.

[0014] In order to provide a clearer understanding of the present application, the specific implementation of the present application will be described below in conjunction with the accompanying drawings. BRIEF DESCRIPTION OF THE DRAWINGS

[0015] Figure 1 This is an overall schematic diagram of an automatic transfer and docking alignment machine for this application;

[0016] Figure 2 This is a partial schematic diagram of an automatic transfer and docking alignment machine of the present application;

[0017] Figure 3 This is a schematic diagram of a first suction device of an automatic transfer and docking alignment machine of the present application;

[0018] Figure 4 This is a schematic diagram of a second suction device of an automatic transfer and docking alignment machine of the present application;

[0019] Figure 5 This is a schematic diagram of a positioning device of an automatic transfer and docking alignment machine according to the present application. DETAILED DESCRIPTION

[0020] See also Figure 1 , Figure 2 and Figure 4 , Figure 1 This is an overall schematic diagram of an automatic transfer and docking alignment machine for this application. Figure 2 This is a partial schematic diagram of an automatic transfer and docking alignment machine of this application. Figure 4 This is a schematic diagram of a second suction device of an automatic transfer and docking alignment machine of the present application.

[0021] An automatic transfer docking alignment machine comprises: a frame 11, a cover 12, wherein the cover 12 is mounted on the frame and surrounds the frame 11 to form a receiving space, and the frame 11 is provided with a first Y-axis track 112; a support base 13, wherein the support base 13 is fixedly mounted on the frame 11 and is located in the receiving space, and an X-axis track 132 is provided on the support base 13, and the X-axis track 132 is perpendicular to the first Y-axis track 112; a first Y-axis moving module 14, wherein the first Y-axis moving module 14 is slidably mounted on the first Y-axis track 112, and the first The Y-axis moving module 14 can move back and forth on the first Y-axis rail 112; the X-axis moving module 15, the X-axis moving module 15 can be slidably installed on the X-axis rail 132, the X-axis moving module 15 can move back and forth on the X-axis rail 132, and the X-axis moving module 15 is provided with a Z-axis rail 152 perpendicular to the X-axis rail 132; the Z-axis moving module 16, the Z-axis moving module 16 can be slidably installed on the Z-axis rail 152, the Z-axis moving module 16 can move back and forth along the Z-axis rail 152, and the Z-axis moving module 16 is provided with a Z-axis rail 152 perpendicular to the Z-axis rail 132. The track 152 is perpendicular to the second Y-axis track 162; the second Y-axis moving module 17 is slidably mounted on the second Y-axis track 162, and the second Y-axis moving module 17 can move back and forth along the second Y-axis track 162; the positioning device 18 is mounted on the first Y-axis moving module 14, and the positioning device 18 can move back and forth synchronously with the first Y-axis moving module 14 on the first Y-axis track 112; the first suction device 19 is fixedly mounted on the X-axis moving module 15, and the first suction device 19 is fixedly mounted on the X-axis moving module 15. The picking device 19 can move back and forth synchronously with the X-axis moving module 15 on the X-axis track 132; the second suction device 20, the second suction device 20 at least includes a second mounting plate 202, a second suction cup 204 and a limiting body 206 made of elastic material, the second mounting plate 202 is fixedly mounted on the Z-axis moving module 16, the second suction device 20 can move back and forth synchronously with the Z-axis moving module 16 on the Z-axis track 152, the limiting body 206 is installed on the edge of the second mounting plate 202, and the second suction cup 204 is installed at the center of the second mounting plate 202.

[0022] The first suction device 19 sucks the middle frame and other products that have completed the glue spraying process, and the X-axis moving module 15 moves along the X-axis track to place the middle frame and other products in the positioning device 18. After the positioning device 18 completes the position adjustment of the middle frame and other products, the positioning device 18 is moved by the first Y-axis moving module 14 along the first Y-axis track 112 to the second suction device suction position to wait. The second suction module 20 sucks the middle frame and other products that have completed the position adjustment from the positioning device 18, and limits the middle frame and other products that have completed the position adjustment through the limiting body 206, so as to prevent the middle frame and other products that have completed the position adjustment from being offset during the suction process of the second suction module 20, so as to avoid the problem that the position of the middle frame and other products in the subsequent screen installation process may not match the position of the screen. The second suction module 20 adjusts the discharge position by moving along the second Y-axis track 162 by the second Y-axis moving module 17 and along the X-axis track 132 by the X-axis moving module 15. After alignment with the positioning module of the subsequent screen mounting machine (not marked in the figure), the Z-axis moving module 16 extends the second suction module 20 out of the frame along the Z-axis track 152 and accurately places it into the positioning mold of the screen mounting machine.

[0023] The automatic transfer and docking alignment machine of the present application can automatically limit the position of the middle frame and other products while the second suction device 20 absorbs the middle frame and other products that have completed the position adjustment by installing a limiting body 206 in the second suction device 20. This avoids the situation where the second suction device 20 absorbs the middle frame and other products that have completed the position adjustment, and the position of the middle frame and other products is offset when the X-axis moving module 15, the second Y-axis moving module 17 and the Z-axis moving module 16 move along the X-axis track 132, the second Y-axis track 162 and the Z-axis track 152 respectively. This ensures that the position of the middle frame and other products in the subsequent screen installation process can match the position of the screen, thereby improving the accuracy of the screen installation machine to install the screen on the middle frame and other products. In addition, the limiting body 206 is made of elastic material, which can prevent the limiting body 206 from scratching the middle frame and other products. In addition, the automatic transfer and docking alignment machine replaces manual operation, which effectively improves work efficiency. At the same time, due to its simple overall structure, it does not require high processing accuracy of the device, which can reduce costs.

[0024] In this embodiment, the limiting body 206 at least includes a first limiting body 206a and a second limiting body 206b arranged opposite to the first limiting body 206a, and the first limiting body 206a and the second limiting body 206b are respectively provided with a first limiting groove 206e and a second limiting groove 206h; the second suction cup 204 is installed between the first limiting body 206a and the second limiting body 206b.

[0025] When the second suction cup 204 sucks the middle frame or other products, the relatively arranged first limiting body 206a and the second limiting body 206b can engage with the opposite ends of the middle frame or other products through the first limiting groove 206e and the second limiting groove 206h to limit the middle frame or other products, thereby automatically completing the position adjustment and limitation of the middle frame or other products.

[0026] In other embodiments, according to actual needs, the number of the limiting bodies 206 can be adaptively modified. For example, the limiting body 206 also includes a third limiting body and a fourth limiting body arranged opposite to the third limiting body, and the lower three limiting bodies and the fourth limiting body are respectively provided with a third limiting groove and a fourth limiting groove. When the second suction cup 204 sucks the middle frame and other products, the relatively arranged first limiting body 206a and the second limiting body 206b, and the third limiting body and the fourth limiting body can respectively engage with the opposite ends of the middle frame and other products through the first limiting groove 206e, the second limiting groove 206h, the third limiting groove and the fourth limiting groove to limit the middle frame and other products, thereby further improving the limiting effect on the middle frame and other products.

[0027] In one embodiment, the first limiting body 206a includes a first mounting portion 206c and a first limiting portion 206d, and the second limiting body 206b includes a second mounting portion 206f and a second limiting portion 206g, and the first mounting portion 206c and the second mounting portion 206f are respectively fixedly mounted on the second mounting plate 202; the first limiting groove 206e and the second limiting groove 206h are respectively arranged at the ends of the first limiting portion 206d and the second limiting portion 206g and close to one end of the suction cup direction. The first limiting body 206a and the second limiting body 206b are preferably rectangular parallelepiped structures, and the first limiting portion 206d and the second limiting portion 206g are away from one end of the second suction cup 204, and gradually shrink in the direction close to the second suction cup 204 along the direction from the top to the end thereof. Of course, according to actual needs, the structures of the first limiting body 206a and the second limiting body 206b can be adaptively adjusted, for example, they can be cylindrical structures, etc.

[0028] See also Figure 5 , Figure 5This is a schematic diagram of a positioning device of an automatic transfer and docking alignment machine of the present application. In this embodiment, the positioning device 18 includes a positioning mounting portion 182, a stage 184, a positioning plate 186 and a positioning cylinder 188. The positioning mounting portion 182 is fixedly mounted on the first Y-axis moving module 14; the stage 184 is mounted above the positioning mounting portion 182; the positioning plate 186 is an L-shaped structure and is mounted on the edge of the stage 184; the positioning cylinder 188 is mounted on the edge of the stage 184 and is arranged directly opposite to the positioning plate 186.

[0029] The first suction device 18 sucks the middle frame and other products and places them on the loading platform 184. The L-shaped positioning plate 186 can limit the position of the middle frame and other products. The positioning cylinder 188 gently pushes the middle frame and other products to adjust and correct the position of the middle frame and other products, so that the middle frame and other products fit with the L-shaped positioning plate 186, thereby completing the adjustment of the position of the middle frame and other products.

[0030] In one embodiment, the positioning plate 186 includes a first positioning plate 186a and a second positioning plate 186b, and a positioning groove 186a-1 is provided at one end of the first positioning plate 186a close to the center of the worktable 184, and the first positioning plate 186a and the second positioning plate 186b vertically form the L-shaped structure; the positioning cylinder 188 includes a first positioning cylinder 188a and a second positioning cylinder 188b, and the first positioning cylinder 188a and the second positioning cylinder 188b are respectively arranged opposite to the first positioning plate 186a and the second positioning plate 186b; wherein, the direction in which the first positioning cylinder 188a and the first positioning plate 186a face each other is parallel to the direction in which the first limiting body 206a and the second limiting body 206b face each other.

[0031] The first positioning plate 186a and the second positioning plate 186b limit the middle frame and other products by respectively pressing against the two ends of the middle frame and other products that are perpendicular to each other; the first positioning cylinder 188a and the second positioning cylinder 188b respectively gently push the other two ends of the middle frame and other products that are not in contact with the first positioning plate 186a and the second positioning plate 186b, so that the two ends of the middle frame and other products that are in contact with the first positioning plate 186a and the second positioning plate 186b are completely in contact with the first positioning plate 186a and the second positioning plate 186b, thereby completing the adjustment of the position of the middle frame and other products. By limiting the direction in which the first positioning cylinder 188a and the first positioning plate 186a are facing to be parallel to the direction in which the first limiting body 206a and the second limiting body 206b are facing, the first limiting portion 206d or the second limiting portion 206g can fall into the positioning groove 186a-1, thereby completing the engagement of the first limiting groove 206e and the second limiting groove 206h on the first limiting portion 206d and the second limiting groove 206g with the opposite ends of the center frame and other products, so that the first limiting groove 206e and the second limiting groove 206h on the first limiting portion 206d and the second limiting portion 206g can limit the center frame and other products.

[0032] In other embodiments, the number of the positioning plates 186 and the positioning cylinders 188 can be adaptively modified. For example, the positioning plate 186 includes a first positioning plate 186a, and the positioning cylinders include a first positioning cylinder, a second positioning cylinder, and a third positioning cylinder. The first positioning cylinder, the second positioning cylinder, and the third positioning cylinder are used to gently push and adjust the three ends of the middle frame and other products respectively, so that the end of the middle frame and other products that is not in contact with the first positioning cylinder, the second positioning cylinder, and the third positioning cylinder is close to the first positioning plate 186a, thereby completing the position adjustment of the middle frame and other products.

[0033] In this embodiment, the first positioning cylinder 188a and the second positioning cylinder 188b are both provided with soft rubber heads, preferably rubber heads, and the position limiting body 206 is preferably made of polyoxymethylene. This can prevent the first positioning cylinder 188a and the second positioning cylinder 188b from causing damage to the middle frame and other products when they gently push the middle frame and other products, and when the position limiting body 206 limits the middle frame and other products. Of course, according to actual needs, the first positioning cylinder 188a and the second positioning cylinder 188b can also be provided with other highly elastic materials such as silicone heads, and the position limiting body 206 can also be made of other highly elastic materials.

[0034] See also Figure 3 , Figure 3Schematic diagram of the first suction device of the automatic transfer docking alignment machine of the present application. In one embodiment, the first suction device 19 includes a first mounting plate 192 and at least one first suction cup 194, the first mounting plate 192 is fixedly mounted on the X-axis moving module 15, and the first suction cup 194 is symmetrically arranged with respect to the center of the second mounting plate 202.

[0035] In addition, the first suction cup 194 and the second suction cup 204 are both vacuum suction cups, and the first suction cup 194 includes a first suction cup head 194a and a first vacuum cylinder joint 194b; the second suction cup 204 includes a second suction cup head 204a and a second vacuum cylinder joint 204b; the first mounting plate 192 and the second mounting plate 202 are respectively provided with at least a first vacuum cylinder joint through hole 192a and a second vacuum cylinder joint through hole 202a; the first vacuum cylinder joint 194b and the second vacuum cylinder joint 204b respectively pass through the first vacuum cylinder joint through hole 192a and the second vacuum cylinder joint through hole 202a, and are connected with the first suction cup head 194a and the second suction cup head 204a. The first suction cup head 194a and the second suction cup head 204a are made of a highly elastic material, preferably a rubber material. Of course, in other embodiments, the first suction cup head 194a and the second suction cup head 204a can also be made of a highly elastic material such as silicone. The number of the first vacuum cylinder joint through holes 192a and the second vacuum cylinder joint through holes 202a is adaptively adjusted corresponding to the number of the first suction cup 194 and the second suction cup 204.

[0036] By setting a vacuum suction cup, the stability of the first suction device 19 or the second suction device 20 in sucking the middle frame and other products is ensured; it is prevented that the first suction device 19 or the second suction device 20 is unstable when sucking the middle frame and other products, and the position of the frame and other products rotates during the suction process, which causes the position of the middle frame and other products to not match the screen in the subsequent screen installation process.

[0037] The present application is not limited to the above-mentioned implementation modes. If various changes or modifications to the present application do not depart from the spirit and scope of the present application, and if these changes and modifications fall within the claims of the present application and the scope of equivalent technologies, the present application is also intended to include these changes and modifications.

Claims

1. An automatic transfer and docking alignment machine, characterized in that: include: A frame and a cover, wherein the cover is mounted on the frame and surrounds the frame to form a containing space, and a first Y-axis track is provided on the frame; A support base, the support base is fixedly mounted on the frame and is located in the accommodating space, an X-axis track is provided on the support base, and the X-axis track is perpendicular to the first Y-axis track; A first Y-axis moving module, wherein the first Y-axis moving module is slidably mounted on the first Y-axis track; An X-axis moving module, wherein the X-axis moving module is slidably mounted on the X-axis track, and the X-axis moving module is provided with a Z-axis track perpendicular to the X-axis track; A Z-axis moving module, wherein the Z-axis moving module is slidably mounted on the Z-axis track, and the Z-axis moving module is provided with a second Y-axis track perpendicular to the Z-axis track; A second Y-axis moving module, wherein the second Y-axis moving module is slidably mounted on the second Y-axis track; A positioning device, the positioning device is installed on the first Y-axis moving module; A first suction device, wherein the first suction device is fixedly mounted on the X-axis moving module; The second suction device at least includes a second mounting plate, a second suction cup and a limiting body made of elastic material, the second mounting plate is fixedly mounted on the Z-axis moving module, the limiting body is mounted on the edge of the second mounting plate, and the second suction cup is mounted on the center of the second mounting plate.

2. The automatic transfer and docking alignment machine according to claim 1, characterized in that: The limiting body at least includes a first limiting body and a second limiting body arranged opposite to the first limiting body, and the first limiting body and the second limiting body are respectively provided with a first limiting groove and a second limiting groove; the second suction cup is symmetrically arranged between the first limiting body and the second limiting body and around the center of the second mounting plate.

3. The automatic transfer and docking alignment machine according to claim 2, characterized in that: The first limiting body includes a first mounting portion and a first limiting portion, the second limiting body includes a second mounting portion and a second limiting portion, the first mounting portion and the second mounting portion are respectively fixedly mounted on the second mounting plate; the first limiting groove and the second limiting groove are respectively arranged at the ends of the first limiting portion and the second limiting portion and close to one end in the direction of the suction cup.

4. The automatic transfer and docking alignment machine according to claim 2, characterized in that: The positioning device includes a positioning mounting part, a stage, a positioning plate and a positioning cylinder, wherein the positioning mounting part is fixedly mounted on the first Y-axis moving module; the stage is mounted above the positioning mounting part; the positioning plate is an L-shaped structure and is mounted on the edge of the stage; the positioning cylinder is mounted on the edge of the stage and is arranged opposite to the positioning plate.

5. The automatic transfer and docking alignment machine according to claim 4, characterized in that: The positioning plate includes a first positioning plate and a second positioning plate, and a positioning groove is provided at one end of the first positioning plate close to the center of the worktable, and the first positioning plate and the second positioning plate vertically form the L-shaped structure; the positioning cylinder includes a first positioning cylinder and a second positioning cylinder, and the first positioning cylinder and the second positioning cylinder are respectively arranged opposite to the first positioning plate and the second positioning plate; wherein, the direction in which the first positioning cylinder and the first positioning plate are opposite is parallel to the direction in which the first limiting body and the second limiting body are opposite.

6. The automatic transfer and docking alignment machine according to claim 5, characterized in that: The first positioning cylinder and the second positioning cylinder are both provided with soft rubber heads, and the limiting body is made of polyoxymethylene material.

7. The automatic transfer and docking alignment machine according to claim 1, characterized in that: The first suction device includes a first mounting plate and at least one first suction cup, the first mounting plate is fixedly mounted on the X-axis moving module, and the first suction cup is symmetrically arranged around the center of the second mounting plate.

8. The automatic transfer and docking alignment machine according to claim 7, characterized in that: The first suction cup and the second suction cup are both vacuum suction cups, the first suction cup includes a first suction cup head and a first vacuum cylinder joint; the second suction cup includes a second suction cup head and a second vacuum cylinder joint; the first mounting plate and the second mounting plate are respectively provided with a first vacuum cylinder joint through hole and a second vacuum cylinder joint through hole; the first vacuum cylinder joint and the second vacuum cylinder joint respectively pass through the first vacuum cylinder joint through hole and the second vacuum cylinder joint through hole, and are connected with the first suction cup head and the second suction cup head.

9. The automatic transfer and docking alignment machine according to claim 8, characterized in that: The first suction cup head and the second suction cup head are made of highly elastic material.

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