Variable suction cup frame

Abstract

The utility model relates to a variable suction cup frame which comprises a suction cup set frame and an edge finding mechanism used for detecting the edge of glass, the suction cup set frame comprises a transverse frame arranged along the X axis, a fixed suction cup set arranged along the Y axis, two movable suction cup sets arranged along the Y axis and a rotary connecting base, and the fixed suction cup set is fixedly installed in the middle of the transverse frame; the two movable suction cup sets are fixedly installed on the transverse frame and located on the two sides of the fixed suction cup set respectively. The rotary connecting base is fixedly installed in the middle of the transverse frame and located on the side, away from the fixed suction cup set and the movable suction cup set, of the transverse frame. According to the variable suction cup frame designed by the utility model, the movable suction cup group and the air cylinder driving mechanism are arranged on the transverse frame, and the edge finding function is realized by combining the X-axis moving mechanism and the Y-axis moving mechanism which are driven by the servo motor, so that the universality of the suction cup frame is improved, and the variable suction cup frame is suitable for wider glass sizes.

Description

Technical Field

[0001] The utility model relates to the technical field of transportation devices, in particular to a variable suction cup holder. Background Art

[0002] In the glass manufacturing industry, especially in the float glass production line, the requirements for automation and efficiency are increasing day by day. With the diversification of market demands, the specifications of glass products are becoming more and more abundant, which brings new challenges to the back-end processing of the glass production line, especially the glass stacking link. In the traditional manipulator stacking system, due to the fixed size of the suction cup holder, it is often necessary to replace the suction cup holder according to different glass specifications, which not only increases the downtime and labor costs, but also reduces the flexibility of the production line.

[0003] The existing suction cup holders mainly have the following problems: First, the traditional suction cup holders are usually designed for glass of specific sizes and cannot adapt to glass products of different specifications. When the production line needs to switch to produce glass of different specifications, it is necessary to replace the corresponding suction cup holders, resulting in low production efficiency; Second, many existing suction cup holders use pneumatic cylinders for detecting and positioning the edges of glass. Although the pneumatic system has a simple structure and low cost, in high-speed and high-precision occasions, its response speed and positioning accuracy are difficult to meet the requirements. In addition, the stability of the pneumatic system is also easily affected by factors such as air pressure fluctuations. Summary of the Invention

[0004] In order to solve the above problems, the utility model provides a variable suction cup holder that improves the versatility of the suction cup holder and adapts to a wider range of glass sizes.

[0005] To achieve the above purpose, the variable suction cup holder designed by the utility model includes a suction cup group holder and an edge-finding mechanism for detecting the edges of glass. The suction cup group holder includes a cross frame arranged along the X-axis, a fixed suction cup group arranged along the Y-axis, two moving suction cup groups arranged along the Y-axis, and a rotary connection seat. The fixed suction cup group is fixedly installed in the middle of the cross frame. The two moving suction cup groups are fixedly installed on the cross frame and are respectively located on both sides of the fixed suction cup group. The rotary connection seat is fixedly installed in the middle of the cross frame and is located on the side of the cross frame away from the fixed suction cup group and the moving suction cup groups. Among them, the two moving suction cup groups are configured to move away from or close to each other on the X-axis under the drive of a cylinder drive mechanism arranged on the cross frame. An X-axis moving mechanism and a Y-axis moving mechanism driven by a servo motor are fixedly installed on each of the moving suction cup groups. An edge-finding mechanism is arranged at the power output end of each X-axis moving mechanism and Y-axis moving mechanism.

[0006] Further, the fixed suction cup group includes a first longitudinal frame and a first suction cup unit. There are two first longitudinal frames arranged on the cross frame along the X-axis, and a plurality of first suction cup units are equidistantly arranged at intervals along the Y-axis on the two first longitudinal frames.

[0007] Furthermore, the movable suction cup group includes a second vertical frame, a third vertical frame and a second suction cup unit. The length of the second vertical frame is greater than that of the third vertical frame and is located between the fixed suction cup group and the third vertical frame. A plurality of second suction cup units are equidistantly spaced along the Y-axis on the second vertical frame and the third vertical frame.

[0008] Furthermore, the length of the second vertical frame is twice the length of the third vertical frame.

[0009] Furthermore, the first suction cup unit includes a vacuum generating device, a hollow connecting rod and a suction cup body forming a negative pressure chamber, the edge of the suction cup body is provided with a sealing lip, the sealing lip is composed of at least three concentric annular sealing lips, and the thickness of each annular sealing lip gradually decreases toward the side away from the suction cup body; one end of the hollow connecting rod is connected to the negative pressure chamber of the suction cup body, and the other end is used to connect the vacuum generating device; the hollow connecting rod is movably connected to the suction cup body, so that the hollow connecting rod and the suction cup body can rotate relative to each other; the second suction cup unit has the same structure as the first suction cup unit.

[0010] Furthermore, the suction cup body includes a disc body, a base, and an airway passing through the base and connected to the negative pressure chamber, the disc body is made of a deformable material, and the base and the disc body are assembled as a whole; the hollow connecting rod includes a hemispherical connecting end configured to be movably connected to the base, and a sealing member arranged between the hemispherical connecting end and the base and connected to the airway, the sealing member allows the hollow connecting rod to rotate relative to the base and maintain a seal.

[0011] Furthermore, the horizontal frame is a hollow metal frame structure, and the side of the metal frame structure is provided with a first slide rail assembly arranged along the X-axis, and the second vertical frame and the third vertical frame are slidingly connected with the horizontal frame through the first slide rail assembly; the cylinder drive mechanism includes two cylinders arranged away from each other, and the tails of the two cylinders are fixedly installed on the side of the second vertical frame away from the horizontal frame, and the power output ends of the two cylinders are respectively hinged on the fixed suction cup group and the third vertical frame.

[0012] Furthermore, the X-axis moving mechanism includes a first bracket and a second slide rail driven by a servo motor, the first bracket is arranged along the X-axis and fixed on the second longitudinal frame and the third longitudinal frame, the edge finding mechanism is detachably mounted on the second slide rail by screws and is configured to move along the X-axis under the drive of the servo motor; the Y-axis moving mechanism includes a second bracket and a third slide rail driven by a servo motor, the first bracket is arranged along the Y-axis and fixed on the second longitudinal frame, the edge finding mechanism is detachably mounted on the third slide rail by screws and is configured to move along the Y-axis under the drive of the servo motor.

[0013] The variable suction cup rack designed by the present utility model realizes the edge-finding function by setting a movable suction cup group and a cylinder driving mechanism on a cross frame, and combining with an X-axis and Y-axis moving mechanism driven by a servo motor, thereby improving the versatility of the suction cup rack, adapting to a wider range of glass sizes; simplifying the operation process, reducing labor costs and error rates; improving the efficiency and accuracy of glass edge-finding with higher response speed, positioning accuracy and stability, reducing glass breakage; enhancing the stability and reliability of the equipment and reducing maintenance costs, ultimately achieving a significant improvement in the automation level, production efficiency and product quality of the glass production line, while reducing production costs. Description of the Drawings

[0014] Figure 1 is a schematic three-dimensional structure diagram of the variable suction cup rack provided by an embodiment of the present application;

[0015] Figure 2 is Figure 1 the top view of

[0016] Figure 3 is Figure 1 the bottom view of

[0017] Figure 4 is a schematic structure diagram of the first suction cup unit provided by an embodiment of the present application;

[0018] Figure 5 is a schematic three-dimensional sectional view of the first suction cup unit provided by an embodiment of the present application.

[0019] Wherein: suction cup group rack 100, edge-finding mechanism 200, cross frame 10, first slide rail assembly 11, fixed suction cup group 20, first longitudinal frame 21, first suction cup unit 22, vacuum generating device 221, hollow connecting rod 222, suction cup body 223, disk body 2231, base body 2232, air duct 2233, hemispherical connecting end 2234, seal 2235, seal lip 224, movable suction cup group 30, second longitudinal frame 31, third longitudinal frame 32, second suction cup unit 33, rotary connecting seat 40, cylinder driving mechanism 50, servo motor 60, X-axis moving mechanism 70, first bracket 71, second slide rail 72, Y-axis moving mechanism 80, second bracket 81, third slide rail 82. Detailed Embodiments

[0020] The following describes the preferred embodiments of the present utility model with reference to the accompanying drawings. It should be understood that the preferred embodiments described herein are only for explaining and illustrating the present utility model, and are not used to limit the present utility model.

[0021] Embodiment 1

[0022] This embodiment discloses a variable suction cup frame used in a float glass production line, which is used to grab and stack glass plates of different sizes. Figures 1 to 5 As shown, the variable suction cup frame mainly includes a suction cup assembly frame 100 and an edge finding mechanism 200. In this embodiment, the core component of the suction cup assembly frame 100 is a horizontal frame 10 made of a hollow aluminum alloy profile, which is both light and strong. The rotating connection seat 40 is arranged on the side of the horizontal frame 10 away from the suction cup assembly, and is used to connect a robot arm or other lifting device to transport the glass plate.

[0023] Wherein, the suction cup assembly frame 100 includes a horizontal frame 10 arranged along the X-axis, a fixed suction cup group 20 arranged along the Y-axis, two mobile suction cup groups 30 arranged along the Y-axis and a rotating connecting seat 40, wherein the fixed suction cup group 20 is fixedly installed in the middle of the horizontal frame 10, and the two mobile suction cup groups 30 are fixedly installed on the horizontal frame 10 and are respectively located on both sides of the fixed suction cup group 20; the rotating connecting seat 40 is fixedly installed in the middle of the horizontal frame 10 and is located on the side of the horizontal frame 10 away from the fixed suction cup group 20 and the mobile suction cup group 30; wherein, the two mobile suction cup groups 30 are configured to move away from or approach each other on the X-axis under the drive of the cylinder drive mechanism 50 arranged on the horizontal frame 10, and each of the mobile suction cup groups 30 is fixedly installed with an X-axis moving mechanism 70 and a Y-axis moving mechanism 80 driven by a servo motor 60, and each of the power output ends of the X-axis moving mechanism 70 and the Y-axis moving mechanism 80 is provided with an edge finding mechanism 200.

[0024] In the specific implementation, the edge finding mechanism 200 in this embodiment adopts a commercially available photoelectric sensor. Each mobile suction cup group 30 is equipped with an edge finding mechanism 200, which is respectively installed at the power output end of the X-axis moving mechanism 70 and the Y-axis moving mechanism 80. When working, the edge finding mechanism 200 will measure the distance between the suction cup assembly frame 100 and the edge of the glass plate, and feed back the detection result to the external control system (PLC control cabinet). The control system controls the cylinder driving mechanism 50 to adjust the position of the mobile suction cup group 30 according to the received distance information, so that the width of the suction cup frame matches the width of the glass plate, and at the same time controls the servo motor 60 to drive the X-axis moving mechanism 70 and the Y-axis moving mechanism 80, driving the edge finding mechanism 200 to accurately locate the edge of the glass plate, and finally realizes the accurate positioning and grasping of the glass plate by the suction cup assembly frame 100 and the real-time position information provided by the edge finding mechanism 200 to avoid collision and ensure the safe transportation of the glass plate. For example, when a wider glass plate needs to be grasped, the control system will control the cylinder drive mechanism 50 to drive the two movable suction cup groups 30 to move outward to increase the width of the suction cup frame; conversely, when a narrower glass plate needs to be grasped, the movable suction cup group 30 is controlled to move inward to reduce the width of the suction cup frame.

[0025] In some embodiments, Figures 1 to 3As shown, the fixed suction cup group 20 includes a first longitudinal frame 21 and a first suction cup unit 22. There are two first longitudinal frames 21 provided on the transverse frame 10 along the X-axis, and a plurality of first suction cup units 22 are equidistantly spaced along the Y-axis on the two first longitudinal frames 21. In this way, by using multiple suction cup units 22 distributed on two longitudinal frames 21, the contact area between the suction cups and the glass plate is increased, thereby enhancing the adsorption force and improving the stability of grasping. Especially when handling larger-sized glass plates, it can effectively prevent the glass plate from slipping or tilting.

[0026] In some embodiments, as Figures 1 to 3 shown, the movable suction cup group 30 includes a second longitudinal frame 31, a third longitudinal frame 32, and a second suction cup unit 33. The length of the second longitudinal frame 31 is greater than that of the third longitudinal frame 32 and is located between the fixed suction cup group 20 and the third longitudinal frame 32. A plurality of second suction cup units 33 are equidistantly spaced along the Y-axis on the two second longitudinal frames 31 and the third longitudinal frame 32.

[0027] Specifically, the length of the second longitudinal frame 31 is twice the length of the third longitudinal frame 32. In this way, on the premise of meeting the load limit of the manipulator, the applicable range of the variable suction cup frame is maximally extended. The length of the second longitudinal frame 31 is designed to be twice the length of the third longitudinal frame 32. This 2:1 length ratio design enables the movable suction cup group 30 to have a wider adjustment range in the X-axis direction and can adapt to glass plates of various sizes. Specifically, when it is necessary to grasp a smaller-sized glass plate, the cylinder drive mechanism 50 will drive the movable suction cup group 30 to move inward. At this time, the shorter third longitudinal frame 32 will approach the fixed suction cup group 20, thereby reducing the overall width of the suction cup frame. Even if the width of the suction cup frame is reduced, the longer second longitudinal frame 31 and the suction cup units 33 thereon can still provide sufficient adsorption area and adsorption force to ensure the stable grasping of the glass plate and prevent slipping or tilting.

[0028] When it is necessary to grasp a larger-sized glass plate, the movable suction cup group 30 will move outward. At this time, the longer second longitudinal frame 31 extends outward, increasing the overall width of the suction cup frame. This design effectively expands the width adjustment range of the suction cup frame, enabling it to adapt to larger-sized glass plates. At the same time, this 2:1 length ratio also takes into account the weight balance of the suction cup frame. That is, since the movable suction cup group 30 is symmetrically distributed on both sides of the transverse frame 10 and the length ratio of the second longitudinal frame 31 and the third longitudinal frame 32 is fixed, during the width adjustment process, the change in the center of gravity of the suction cup frame is relatively small, which is beneficial to maintaining the stability of the suction cup frame and reducing the load on the rotary connection seat 40 and the manipulator.

[0029] In some embodiments, as Figure 1 、 Figure 4 、 Figure 5As shown, the first suction cup unit 22 includes a vacuum generating device 221, a hollow connecting rod 222 and a suction cup body 223 forming a negative pressure chamber, the edge of the suction cup body 223 is provided with a sealing lip 224, the sealing lip 224 is composed of at least three concentric annular sealing lips, and the thickness of each annular sealing lip gradually decreases toward the side away from the suction cup body 223; one end of the hollow connecting rod 222 is connected to the negative pressure chamber of the suction cup body 223, and the other end is used to connect the vacuum generating device 221; the hollow connecting rod 222 is movably connected to the suction cup body 223, so that the hollow connecting rod 222 and the suction cup body 223 can rotate relative to each other; the second suction cup unit 33 has the same structure as the first suction cup unit 22.

[0030] With this structural design, when the suction cup body 223 approaches the glass plate, the sealing lip is composed of at least three concentric annular sealing lips, and the thickness of each sealing lip gradually decreases from the inside to the outside. This design allows the suction cup to first contact the glass surface in a line contact manner when the suction cup approaches the glass plate. Even if there are slight unevenness, mildew-proof powder or other fine particles on the glass surface, this line contact can ensure that the suction cup quickly and tightly fits the glass surface. Subsequently, the vacuum generating device 221 quickly establishes a vacuum in the suction cup body 223 to achieve firm adsorption. The advantage of this movable connection design is that when the robot arm transports the glass plate and the glass plate tilts due to various reasons, the suction cup body 223 can automatically adjust the angle by means of the movable connection mechanism to always maintain the best contact state with the glass plate, avoid weakening of the adsorption force or the glass plate falling off, and thus significantly improve the safety of transportation.

[0031] In some embodiments, Figure 4 , Figure 5 As shown, the suction cup body 223 includes a disc body 2231, a base 2232 and 2233 that passes through the base 2232 and is connected to the negative pressure chamber, the disc body 2231 is a deformable material, and the base 2232 and the disc body 2231 are assembled as a whole; the hollow connecting rod 222 includes a hemispherical connecting end 2234 configured to be movably connected to the base 2232, and a sealing member 2235 (made of soft rubber or other elastic materials) arranged between the hemispherical connecting end 2234 and the base 2232 and connected to 2233, the sealing member 2235 allows the hollow connecting rod 222 to rotate relative to the base 2232 and maintain a seal.

[0032] In specific implementation, since the disc body 2231 is made of deformable material, it can undergo slight deformation during the adsorption process, thereby filling the fine irregularities on the glass surface, increasing the contact area, and improving the adsorption force. The base body 2232 is usually made of a relatively firm material and can withstand greater pressure and deformation. Its movable connection with the hollow connecting rod 222 and the cooperation with the air duct 2233 enable the base body 2232 and the disc body 2231 to rotate relative to the hollow connecting rod 222 together, thus realizing the universal adjustment function of the suction cup. In addition, the design of the hemispherical connecting end 2234 allows for a larger rotation angle between the hollow connecting rod 222 and the base body 2232, enabling the suction cup to adapt to a larger range of glass plate inclinations and unevenness. The seal 2235 is provided between the hemispherical connecting end 2234 and the base body 2232. Even when the hollow connecting rod 222 and the base body 2232 rotate relative to each other, the seal 2235 can maintain good sealing performance, thereby ensuring that the suction cup can stably adsorb the glass plate.

[0033] In some embodiments, as Figures 1 to 3 shown, the cross frame 10 is a hollow metal frame structure. The side of the metal frame structure is provided with a first slide rail assembly 11 arranged along the X-axis. The second longitudinal frame 31 and the third longitudinal frame 32 are both slidably connected to the cross frame 10 through the first slide rail assembly 11. The cylinder driving mechanism 50 includes two cylinders arranged away from each other. The tails of the two cylinders are fixedly installed on the side of the second longitudinal frame 31 away from the cross frame 10, and the power output ends of the two cylinders are respectively hinged to the fixed suction cup group 20 and the third longitudinal frame 32. The first slide rail assembly 11 on the cross frame 10 provides stable linear guidance for the second longitudinal frame 31 and the third longitudinal frame 32, ensuring the smooth movement of the moving suction cup group 30 in the X-axis direction, avoiding jamming or shaking, and improving the positioning accuracy and operating stability of the suction cup rack. The cylinder driving mechanism 50 can precisely and independently control the positions of the second longitudinal frame 31 and the third longitudinal frame 32 through two cylinders arranged away from each other, thereby realizing the precise adjustment of the width of the suction cup rack to adapt to glass plates of different sizes.

[0034] In some embodiments, as Figures 1 to 3As shown, the X-axis moving mechanism 70 includes a first bracket 71 and a second slide rail 72 driven by a servo motor 60. The first bracket 71 is arranged along the X-axis and fixed to the second longitudinal frame 31 and the third longitudinal frame 32. The edge-finding mechanism 200 is detachably mounted on the second slide rail 72 by screws and configured to move along the X-axis under the drive of the servo motor 60. The Y-axis moving mechanism 80 includes a second bracket 81 and a third slide rail 82 driven by a servo motor 60. The first bracket 71 is arranged along the Y-axis and fixed to the second longitudinal frame 31. The edge-finding mechanism 200 is detachably mounted on the third slide rail 82 by screws and configured to move along the Y-axis under the drive of the servo motor 60. In this embodiment, the servo motor 60 features high precision and high response speed. Combined with the slide rail structures (72, 82), the edge-finding mechanism 200 has a large moving range, enabling the edge-finding mechanism 200 to move quickly and flexibly in the X-axis and Y-axis directions to find the optimal detection position. In addition, the edge-finding mechanism 200 is detachably mounted on the slide rail by screws. This design facilitates the installation, adjustment, and replacement of the edge-finding mechanism and can adjust the position and angle of the edge-finding mechanism according to actual needs to obtain the best detection effect.

[0035] The variable suction cup holder provided in this embodiment realizes the edge-finding function by arranging a movable suction cup group and a cylinder drive mechanism on the cross frame and combining the X-axis and Y-axis moving mechanisms driven by a servo motor. Thereby, the versatility of the suction cup holder is improved, and it can adapt to a wider range of glass sizes; the operation process is simplified, and the labor cost and error rate are reduced; the efficiency and accuracy of glass edge-finding are improved with higher response speed, positioning accuracy, and stability, reducing glass breakage; the stability and reliability of the equipment are enhanced, and the maintenance cost is reduced. Ultimately, the automation level, production efficiency, and product quality of the glass production line are significantly improved, while the production cost is reduced.

[0036] In the description of the present utility model, it should be noted that the orientation or positional relationship indicated by the terms "vertical", "upper", "lower", "horizontal", etc. is based on the orientation or positional relationship shown in the drawings. It is only for the convenience of describing the present utility model and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore should not be construed as a limitation of the present utility model.

[0037] In the description of the present utility model, it should also be noted that, unless otherwise clearly specified and defined, the terms "arranged", "installed", "connected", and "coupled" should be understood in a broad sense. For example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be directly connected or indirectly connected through an intermediate medium, and it can be the communication inside two components. For those of ordinary skill in the art, the specific meanings of the above terms in the present utility model can be understood according to specific circumstances.

[0038] Finally, it should be noted that the above are only the preferred embodiments of the present utility model and are not intended to limit the present utility model. Although the present utility model has been described in detail with reference to the foregoing embodiments, for those skilled in the art, they can still modify the technical solutions described in the foregoing embodiments, or perform equivalent replacements for some of the technical features. Any modifications, equivalent replacements, improvements, etc. made within the spirit and principle of the present utility model shall be included in the protection scope of the present utility model.

Claims

1. A variable suction cup holder, comprising a suction cup group holder and an edge-finding mechanism for detecting the edge of a glass, characterized in that, The suction cup group frame includes a horizontal frame arranged along the X-axis, a fixed suction cup group arranged along the Y-axis, two movable suction cup groups arranged along the Y-axis and a rotating connecting seat, the fixed suction cup group is fixedly installed in the middle of the horizontal frame, and the two movable suction cup groups are fixedly installed on the horizontal frame and are respectively located on both sides of the fixed suction cup group; the rotating connecting seat is fixedly installed in the middle of the horizontal frame and is located on the side of the horizontal frame away from the fixed suction cup group and the movable suction cup group; wherein, the two movable suction cup groups are configured to move away from or approach each other on the X-axis under the drive of the cylinder driving mechanism arranged on the horizontal frame, and each of the movable suction cup groups is fixedly installed with an X-axis moving mechanism and a Y-axis moving mechanism driven by a servo motor, and each power output end of the X-axis moving mechanism and the Y-axis moving mechanism is provided with an edge finding mechanism.

2. The variable suction cup holder according to claim 1, characterized in that, The fixed suction cup group includes a first vertical frame and a first suction cup unit. Two first vertical frames are provided on the horizontal frame along the X-axis, and a plurality of first suction cup units are provided on the two first vertical frames at equal intervals along the Y-axis.

3. The variable suction cup holder according to claim 2, wherein The movable suction cup group includes a second vertical frame, a third vertical frame and a second suction cup unit. The length of the second vertical frame is greater than that of the third vertical frame and is located between the fixed suction cup group and the third vertical frame. A plurality of second suction cup units are arranged at equal intervals along the Y axis on the second vertical frame and the third vertical frame.

4. The variable suction cup holder according to claim 3, characterized in that The length of the second vertical frame is twice the length of the third vertical frame.

5. The variable suction cup holder according to claim 3, characterized in that, The first suction cup unit includes a vacuum generating device, a hollow connecting rod and a suction cup body forming a negative pressure chamber, the edge of the suction cup body is provided with a sealing lip, the sealing lip is composed of at least three concentric annular sealing lips, and the thickness of each annular sealing lip gradually decreases toward the side away from the suction cup body; one end of the hollow connecting rod is connected to the negative pressure chamber of the suction cup body, and the other end is used to connect the vacuum generating device; the hollow connecting rod is movably connected to the suction cup body, so that the hollow connecting rod and the suction cup body can rotate relative to each other; the second suction cup unit has the same structure as the first suction cup unit.

6. The variable suction cup holder according to claim 5, characterized in that, The suction cup body includes a disc body, a base, and an airway passing through the base and connected to the negative pressure chamber, the disc body is made of deformable material, and the base and the disc body are assembled as a whole; the hollow connecting rod includes a hemispherical connecting end configured to be movably connected to the base, and a sealing member arranged between the hemispherical connecting end and the base and connected to the airway, the sealing member allows the hollow connecting rod to rotate relative to the base and maintain a seal.

7. The variable suction cup holder according to claim 3, wherein, The cross frame is a hollow metal frame structure, and the side of the metal frame structure is provided with a first slide rail assembly arranged along the X-axis. The second vertical frame and the third vertical frame are slidably connected to the cross frame through the first slide rail assembly; the cylinder drive mechanism includes two cylinders arranged away from each other, and the tails of the two cylinders are fixedly installed on the side of the second vertical frame away from the cross frame, and the power output ends of the two cylinders are respectively hinged on the fixed suction cup group and the third vertical frame.

8. The variable suction cup holder according to any one of claims 3-7, characterized in that, The X-axis moving mechanism includes a first bracket and a second slide rail driven by a servo motor. The first bracket is arranged along the X-axis and fixed on the second longitudinal frame and the third longitudinal frame. The edge-finding mechanism is detachably installed on the second slide rail by screws and configured to move along the X-axis under the drive of the servo motor. The Y-axis moving mechanism includes a second bracket and a third slide rail driven by a servo motor. The first bracket is arranged along the Y-axis and fixed on the second longitudinal frame. The edge-finding mechanism is detachably installed on the third slide rail by screws and configured to move along the Y-axis under the drive of the servo motor.

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