Sucking mechanism and gripper

Abstract

The utility model relates to the technical field of material moving, and provides a suction mechanism and a gripper, and the suction mechanism comprises a base plate, a gear, a first rack, a second rack, a first suction assembly and a second suction assembly. The gear is rotationally arranged on the base plate; the first rack is arranged on the base plate in a sliding mode and engaged with one side of the gear. The second rack is arranged on the base plate in a sliding mode and meshed with the other side, opposite to the first rack, of the gear. The first suction assembly comprises a first fixing frame and at least one first suction piece. The first fixing frame is connected with the first suction part and the first rack. The second suction assembly comprises a second fixing frame and at least one second suction piece. The second fixing frame is connected with the second suction piece and the second rack. According to the suction mechanism, the end, away from the first rack, of the first suction part and the end, away from the second rack, of the second suction part can tightly suck the moving and taking surfaces, with different heights, of the workpiece, the sucked workpiece is even in stress, and the stability is high.

Description

Technical Field

[0001] The present application relates to the field of material transfer technology, and in particular to a suction mechanism and a gripper. Background Art

[0002] At present, in automated production, it is necessary to use a gripper to remove workpieces from the raw material tray. When the raw material tray does not come in standard, the height of the workpiece on the raw material tray will change, that is, the height of the removal surface on the workpiece will change. The existing gripper is difficult to effectively remove the workpiece with a changed removal surface height. Utility Model Content

[0003] In view of the above, it is necessary to propose a suction mechanism and a gripper for effectively removing workpieces whose removal surface height changes.

[0004] A first aspect of an embodiment of the present application provides a suction mechanism, comprising: a base plate; a gear rotatably arranged on the base plate; a first rack slidably arranged on the base plate and engaged with one side of the gear; a second rack slidably arranged on the base plate and engaged with the other side of the gear relative to the first rack; a first suction component comprising a first fixed frame and at least one first suction member; the first fixed frame is respectively connected to the first suction member and the first rack; a second suction component comprising a second fixed frame and at least one second suction member; the second fixed frame is respectively connected to the second suction member and the second rack.

[0005] In the solution provided in the embodiment of the present application, when the suction mechanism is driven to move toward the workpiece, the higher removal surface on the workpiece will first contact and push the end of the first suction member away from the first rack to move upward, and the first rack connected to the first suction member will follow the first suction member to move upward. Since the gear is respectively engaged with the first rack and the second rack and is located between the first rack and the second rack, the gear will rotate under the action of the first rack and drive the second rack to move downward, thereby causing the second rack to drive the second suction member connected thereto to move downward until the end of the second suction member away from the second rack contacts the lower surface on the workpiece. The first and second racks are engaged with each other, and the positions of the first and second racks do not change. Afterwards, the first suction member is moved away from the end of the first rack and the second suction member is moved away from the end of the second rack by vacuuming the workpiece to the removal surfaces of different heights. Therefore, the suction mechanism can effectively remove the workpiece whose removal surface height changes. Moreover, since the first and second suction members have the same moving stroke, the pressure exerted on the end of the first suction member away from the first rack and the end of the second suction member away from the second rack are equal, and the force on the sucked workpiece is uniform and the stability is high.

[0006] In a possible implementation, the first suction member includes a first hollow suction rod and a first suction head that are sealed together; and the second suction member includes a second hollow suction rod and a second suction head that are sealed together.

[0007] In a possible implementation, the first hollow suction rod is rotatably connected to the first suction head; and the second hollow suction rod is rotatably connected to the second suction head.

[0008] In a possible embodiment, a first rotating portion is provided at one end of the first suction head close to the first hollow suction rod, a first receiving groove is opened at one end of the first hollow suction rod close to the first suction head, and the first rotating portion is rotatably set in the first receiving groove; the first suction member also includes a first sealing member, and the first sealing member is sleeved at the notch position of the first receiving groove; a second rotating portion is provided at one end of the second suction head close to the second hollow suction rod, a second receiving groove is opened at one end of the second hollow suction rod close to the second suction head, and the second rotating portion is rotatably set in the second receiving groove, and the second suction member also includes a second sealing member, and the second sealing member is sleeved at the notch position of the second receiving groove.

[0009] In a possible embodiment, the first suction head further includes a first telescopic portion and a first suction cup portion; the first suction cup portion is connected to the first rotating portion via the first telescopic portion; the second suction head further includes a second telescopic portion and a second suction cup portion; the second suction cup portion is connected to the second rotating portion via the second telescopic portion.

[0010] In a possible implementation, the first suction assembly includes two first suction members symmetrically arranged on both sides of the first fixing frame; and the second suction assembly includes two second suction members symmetrically arranged on both sides of the second fixing frame.

[0011] In a possible implementation, one end of the first rack away from the first fixing frame is elastically connected to the base plate; and one end of the second rack away from the second fixing frame is elastically connected to the base plate.

[0012] In a possible implementation manner, a first slide rail and a second slide rail are further provided on the base plate; the first rack is slidably connected to the first slide rail, and the second rack is slidably connected to the second slide rail.

[0013] A second aspect of an embodiment of the present application further provides a gripper comprising a suction mechanism and a moving mechanism as described above, wherein the moving mechanism is connected to a base plate of the suction mechanism.

[0014] In the solution provided in the embodiment of the present application, the suction mechanism is driven to move and rotate by the moving mechanism. In the process of the suction mechanism being driven to move toward the workpiece, the higher removal surface on the workpiece will first contact and push the first suction member away from the end of the first rack to move upward, and the first rack connected to the first suction member will follow the first suction member to move upward. Since the gear is respectively engaged with the first rack and the second rack and is located between the first rack and the second rack, the gear will rotate under the action of the first rack and drive the second rack to move downward, thereby causing the second rack to drive the second suction member connected to it to move downward until the second suction member is away from the end of the second rack and is connected When the first suction member and the second suction member are in contact with a lower removal surface on the workpiece, the positions of the first rack and the second rack will not change under the meshing action of the gears. Afterwards, the first suction member is away from the end of the first rack and the second suction member is away from the end of the second rack by vacuuming to suck the removal surfaces of the workpiece at different heights. Therefore, the suction mechanism can effectively remove the workpiece with changed removal surface heights. Moreover, since the moving strokes of the first suction member and the second suction member are the same, the pressures exerted on the end of the first suction member away from the first rack and the end of the second suction member away from the second rack are equal, the force on the sucked workpiece is uniform and the stability is high.

[0015] In a possible embodiment, the gripper includes a rotating mounting seat and at least two suction mechanisms; the moving mechanism is connected to the suction mechanism through the rotating mounting seat; and the at least two suction mechanisms are evenly distributed along the circumference of the rotating axis of the rotating mounting seat. BRIEF DESCRIPTION OF THE DRAWINGS

[0016] Figure 1 It is a schematic diagram of the three-dimensional structure of the suction mechanism provided in an embodiment of the present application.

[0017] Figure 2 yes Figure 1 Schematic diagram of the exploded structure of the suction mechanism shown.

[0018] Figure 3 yes Figure 2 The diagram shows the exploded structure of the gear, first rack, second rack, first suction component and second suction component in the suction mechanism.

[0019] Figure 4 yes Figure 1 The cross-sectional structural diagram of the suction mechanism shown is along the IV-IV direction.

[0020] Figure 5 It is a schematic diagram of the three-dimensional structure of the gripper provided in an embodiment of the present application.

[0021] Figure 6 yes Figure 5 The diagram shows the structure of the suction component in the gripper when sucking the workpiece.

[0022] Figure 7 yes Figure 5 Schematic diagram of the structure of the suction component in the gripper after lifting and sucking the workpiece.

[0023] Description of main component symbols

[0024] Suction mechanism 100

[0025] Substrate 10

[0026] Accommodation tank 11

[0027] First slide rail 12

[0028] Second slide rail 13

[0029] Gear 20

[0030] First rack 30

[0031] Second rack 40

[0032] First suction assembly 50

[0033] First fixing frame 51

[0034] First suction member 52

[0035] First hollow suction rod 521

[0036] First storage slot 521A

[0037] First suction head 522

[0038] First rotating portion 522A

[0039] First telescopic portion 522B

[0040] First suction cup portion 522C

[0041] First seal 523

[0042] Second suction assembly 60

[0043] Second fixing bracket 61

[0044] Second suction member 62

[0045] Second hollow suction rod 621

[0046] Second storage slot 621A

[0047] Second suction head 622

[0048] Second rotating portion 622A

[0049] Second telescopic portion 622B

[0050] Second suction cup portion 622C

[0051] Second sealing member 623

[0052] Cap 70

[0053] First elastic member 80

[0054] The second elastic member 90

[0055] Workpiece 101

[0056] Mobile mechanism 200

[0057] Rotary Mount 300

[0058] Gripper 1000 DETAILED DESCRIPTION

[0059] The embodiments of the present application are described in detail below, and examples of the embodiments are shown in the accompanying drawings, wherein the same or similar reference numerals throughout represent the same or similar elements or elements having the same or similar functions. The embodiments described below with reference to the accompanying drawings are exemplary and are only used to explain the present application, and should not be understood as limiting the present application.

[0060] In the description of the present application, it should be understood that the terms indicating the orientation or positional relationship are based on the orientation or positional relationship shown in the accompanying drawings, and are only for the convenience of describing the present application and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore cannot be understood as a limitation on the present application. In addition, the terms "first" and "second" are used for descriptive purposes only and cannot be understood as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Thus, the features defined as "first" and "second" may explicitly or implicitly include one or more of the said features. In the description of the present application, it should be noted that the meaning of "multiple" is two or more, unless otherwise clearly and specifically defined.

[0061] In the description of this application, it should be noted that, unless otherwise expressly specified or limited, the term "connection" should be understood in a broad sense. For example, it can mean a fixed connection, a detachable connection, or an integral connection; it can mean a mechanical connection, an electrical connection, or mutual communication; it can mean a direct connection or an indirect connection through an intermediate medium; it can mean internal communication between two elements or an interaction between two elements. For those skilled in the art, the specific meanings of the above terms in this application can be understood according to specific circumstances.

[0062] Some embodiments of the present application will be described in detail below with reference to the accompanying drawings.

[0063] See Figure 1 and Figure 2 In a first aspect, an embodiment of the present application provides a suction mechanism 100 for sucking a workpiece 101 ( Figure 6 As shown, the workpiece 101 has removal surfaces of varying heights. The workpiece 101 may be positioned irregularly, i.e., tilted, resulting in removal surfaces of varying heights during grasping. Alternatively, the workpiece 101 may have a portion raised and a portion recessed, resulting in removal surfaces of varying heights during grasping. Alternatively, the workpiece 101 may have a portion horizontal and a portion recessed, resulting in removal surfaces of varying heights during grasping. The suction mechanism 100 includes a base 10, a gear 20, a first rack 30, a second rack 40, a first suction assembly 50, and a second suction assembly 60.

[0064] The gear 20 is rotatably mounted on the base plate 10. The first rack 30 is slidably mounted on the base plate 10 and meshes with one side of the gear 20. The second rack 40 is slidably mounted on the base plate 10 and meshes with the other side of the gear 20 relative to the first rack 30. The first suction assembly 50 includes a first fixed frame 51 and at least one first suction member 52. The first fixed frame 51 is connected to the first suction member 52 and the first rack 30. The second suction assembly 60 includes a second fixed frame 61 and at least one second suction member 62. The second fixed frame 61 is connected to the second suction member 62 and the second rack 40.

[0065] When the suction mechanism 100 is driven to move toward the workpiece 101, the higher removal surface on the workpiece 101 will first contact and push the end of the first suction member 52 away from the first rack 30 to move upward, and the first rack 30 connected to the first suction member 52 will follow the first suction member 52 to move upward. Since the gear 20 is respectively engaged with the first rack 30 and the second rack 40 and is located between the first rack 30 and the second rack 40, the gear 20 will rotate under the action of the first rack 30 and drive the second rack 40 to move downward, thereby causing the second rack 40 to drive the second suction member 62 connected thereto to move downward until the end of the second suction member 62 away from the second rack 40 contacts the lower removal surface on the workpiece. At this time, under the meshing action of the gear 20, the positions of the first rack 30 and the second rack 40 will not change. Afterwards, the first suction member 52 is away from the end of the first rack 30 and the second suction member 62 is away from the end of the second rack 40 by vacuuming the workpiece 101 at different heights. Therefore, the suction mechanism 100 can effectively remove the workpiece 101 with a changed height of the removal surface. Moreover, since the moving strokes of the first suction member 52 and the second suction member 62 are the same, the pressures exerted on the end of the first suction member 52 away from the first rack 30 and the end of the second suction member 62 away from the second rack 40 are equal, and the force on the sucked workpiece 101 is uniform and the stability is high.

[0066] The base plate 10 is provided with a rectangular groove 11. The gear 20 is disposed within the groove 11. One end of the first rack 30 is disposed within the groove 11. The other end of the first rack 30 extends out of the groove 11 and is connected to the first suction member 52. One end of the second rack 40 is disposed within the groove 11. The other end of the second rack 40 extends out of the groove 11 and is connected to the second suction member 62. The provision of the groove 11 structure allows the gear 20, the first rack 30, and the second rack 40 to be contained within the groove 11, preventing the gear 20, the first rack 30, and the second rack 40 from being exposed to the outside world and damaged.

[0067] The suction mechanism 100 also includes a cover 70, which is disposed on the base plate 10 and covers the receiving groove 11 to prevent external dirt, such as dust and oil droplets, from falling on the gear 20, the first rack 30, and the second rack 40. The cover 70 also provides protection for the gear 20, the first rack 30, and the second rack 40 to prevent the gear 20, the first rack 30, and the second rack 40 from being damaged by collision.

[0068] See Figure 3The first suction member 52 includes a first hollow suction rod 521 and a first suction head 522 that are sealed together. The first hollow suction rod 521 is connected to the first fixing frame 51. The second suction member 62 includes a second hollow suction rod 621 and a second suction head 622 that are sealed together. The second hollow suction rod 621 is connected to the second fixing frame 61. By configuring the first suction member 52 as the first hollow suction rod 521 and the first suction head 522, and configuring the second suction member 62 as the second hollow suction rod 621 and the second suction head 622, respectively, vacuuming the first hollow suction rod 521 and the second hollow suction rod 621 can generate negative pressure in the first hollow suction rod 521 and the second hollow suction rod 621, thereby causing the first suction head 522 and the second suction head 622 to firmly hold the workpiece 101.

[0069] The first hollow suction rod 521 is rotatably connected to the first suction head 522; the second hollow suction rod 621 is rotatably connected to the second suction head 622. By rotatably connecting the first hollow suction rod 521 and the first suction head 522, when the grasped workpiece 101 tilts, the first suction head 522 can rotate within a certain angle range relative to the first hollow suction rod 521, and drive the clamped workpiece 101 to move within a certain range, thereby adjusting the position of the workpiece 101; by rotatably connecting the second hollow suction rod 621 and the second suction head 622, when the grasped workpiece 101 tilts, under the action of the gravity of the workpiece 101, the second suction head 622 can rotate within a certain angle range relative to the second hollow suction rod 621, and drive the clamped workpiece 101 to move within a certain range, thereby automatically adjusting the position of the workpiece 101 in mid-air, reducing the degree of tilt of the workpiece 101, and making the subsequent operation of lowering the workpiece 101 safer.

[0070] See Figure 4The first suction head 522 has a first rotating portion 522A at one end near the first hollow suction rod 521. The first rotating portion 522A is a hollow spherical structure. The first hollow suction rod 521 has a first receiving groove 521A at one end near the first suction head 522. The first receiving groove 521A is a cylindrical groove. The first rotating portion 522A is rotatably disposed in the first receiving groove 521A. The first suction member 52 also includes a first sealing member 523. The first sealing member 523 is sleeved at the notch of the first receiving groove 521A. The second suction head 622 has a second rotating portion 622A at one end near the second hollow suction rod 621. The second hollow suction rod 621 has a second receiving groove 621A at one end near the second suction head 622. The second rotating portion 622A is rotatably disposed in the second receiving groove 621A. The second suction member 62 also includes a second sealing member 623. The second sealing member 623 is sleeved at the notch of the second receiving groove 621A. By fitting the first sealing member 523 onto the notch of the first receiving groove 521A, the first rotating portion 522A can be prevented from sliding out of the first receiving groove 521A, and the first suction head 522 can be ensured to rotate within a certain angle range. By fitting the second sealing member 623 onto the notch of the second receiving groove 621A, the second rotating portion 622A can be prevented from sliding out of the second receiving groove 621A, and the second suction head 622 can be ensured to rotate within a certain angle range.

[0071] See Figure 4 The first suction head 522 also includes a first telescopic portion 522B and a first suction cup portion 522C; the first suction cup portion 522C is connected to the first rotating portion 522A via the first telescopic portion 522B. The second suction head 622 also includes a second telescopic portion 622B and a second suction cup portion 622C; the second suction cup portion 622C is connected to the second rotating portion 622A via the second telescopic portion 622B. Specifically, the first telescopic portion 522B and the second telescopic portion 622B are both bellows, and the first suction cup portion 522C and the second suction cup portion 622C are both nozzles. By setting the first telescopic part 522B and the second telescopic part 622B, when the grasped workpiece 101 is tilted, under the action of the gravity of the workpiece 101, the first suction cup part 522C can be extended relative to the first hollow suction rod 521, and the second suction cup part 622C can be extended relative to the second hollow suction rod 621, providing a larger adjustment space for the posture adjustment of the workpiece 101 in the air, and thus being able to adapt to the workpiece 101 with a higher degree of tilt, so that the subsequent operation of putting down the workpiece 101 is safer.

[0072] The first suction assembly 50 includes two first suction members 52 symmetrically arranged on either side of a first fixing frame 51; the second suction assembly 60 includes two second suction members 62 symmetrically arranged on either side of a second fixing frame 61. The provision of two first suction members 52 and two second suction members 62 enables suction at four locations on the workpiece 101, preventing the workpiece 101 from falling and providing greater grip stability. It is understood that other numbers of first and second suction members 52, 62 may be provided, for example, one first suction member 52 and two second suction members 62.

[0073] See Figure 3 One end of the first rack 30 away from the first fixing frame 51 is elastically connected to the base plate 10 ; one end of the second rack 40 away from the second fixing frame 61 is elastically connected to the base plate 10 .

[0074] Specifically, the suction mechanism 100 further includes a first elastic member 80 disposed within the receiving groove 11. The first elastic member 80 has two ends abutting the groove wall of the receiving groove 11 opposite the first rack 30 and the end of the first rack 30 away from the first fixing bracket 51, thereby resetting the first rack 30 and the first suction member 52. The first elastic member 80 is a spring. It is understood that in other embodiments, the first elastic member 80 can be a rubber column, but this is not limiting. Any member capable of resetting the first rack 30 and the first suction member 52 is sufficient.

[0075] The suction mechanism 100 also includes a second elastic member 90 disposed within the receiving groove 11. The ends of the second elastic member 90 abut the groove wall of the receiving groove 11 opposite the second rack 40 and the end of the second rack 40 away from the second fixing bracket 61, respectively, to reset the second rack 40 and the second suction member 62. The second elastic member 90 is a spring. It is understood that in other embodiments, the second elastic member 90 can be a rubber column, but this is not limiting. Any member capable of resetting the second rack 40 and the second suction member 62 is sufficient.

[0076] The base plate 10 is further provided with a first slide rail 12 and a second slide rail 13 , which are arranged on two opposite groove walls of the accommodating groove 11 . The first rack 30 is slidably connected to the first slide rail 12 , and the second rack 40 is slidably connected to the second slide rail 13 .

[0077] It can be understood that in other embodiments, a sliding groove is respectively provided on the two opposite groove walls of the accommodating groove 11, and a slider is respectively provided on the side of the first rack 30 facing away from the gear 20 and the side of the second rack 40 facing away from the gear 20, and the two sliders are respectively slidably connected to the sliding grooves of the two opposite groove walls of the accommodating groove 11.

[0078] See Figure 5In a second aspect, an embodiment of the present application provides a gripper 1000, comprising the suction mechanism 100 and a moving mechanism 200 as described above. The moving mechanism 200 is connected to the suction mechanism 100 and is used to drive the suction mechanism 100 to move and rotate. Specifically, the moving mechanism 200 is a robotic arm.

[0079] The gripper 1000 includes a rotating mounting base 300 and at least two suction mechanisms 100. The moving mechanism 100 is connected to the suction mechanisms 100 via the rotating mounting base 300. The at least two suction mechanisms 100 are evenly distributed along the circumference of the rotating axis of the rotating mounting base 300. Specifically, there are three suction mechanisms 100, but this is not limited to this.

[0080] The implementation process of the gripper provided in the embodiment of the present application is as follows:

[0081] The moving mechanism 200 first drives the suction mechanism 100 to move (e.g., translate, elevate and / or rotate) to the top of the workpiece 101, and then drives the suction mechanism 100 to move toward the workpiece 101. During the movement, Figure 6 As shown, the left side of the workpiece 101 is lower and the right side of the workpiece 101 is higher. The higher removal surface on the workpiece 101 will first contact and push the second suction member 62 away from the end of the second gear 20 to move upward, and the second rack 40 connected to the second suction member 62 will follow the second suction member 62 to move upward. The gear 20 rotates under the action of the second rack 40 and drives the first rack 30 to move downward, so that the first rack 30 drives the first suction member 52 connected thereto to move downward until the end of the first suction member 52 away from the first rack 30 contacts the lower removal surface on the workpiece 101. After that, the first suction member 52 is away from the first rack 30 and the end of the second suction member 62 is away from the second rack 40 by vacuuming to tightly suck the removal surfaces of different heights of the workpiece 101. Then, the moving mechanism 200 drives the suction mechanism 100 to lift the workpiece 101. The first rack 30 is reset under the action of the first elastic member 80 and the second rack 40 is reset under the action of the second elastic member 9027, so that the workpiece 101 is in a horizontal state, as shown in FIG. Figure 7 As shown, at this time, the first suction member 52 and the second suction member 62 are in a parallel state.

[0082] It is understandable that in other embodiments, the workpiece 101 may be higher on the left side and lower on the right side, and the higher removal surface on the workpiece 101 will first contact and push the end of the first suction member 52 away from the first rack 30 to move upward.

[0083] It will be apparent to those skilled in the art that the present invention is not limited to the details of the exemplary embodiments described above, and that the present invention can be implemented in other specific forms without departing from the spirit or essential features of the present invention. Therefore, the embodiments should be considered exemplary and non-restrictive from any point of view, and the scope of the present invention is defined by the appended claims rather than the above description, and it is intended that all variations that fall within the meaning and scope of the equivalents of the claims be encompassed within the present invention. Any reference numerals in the claims should not be construed as limiting the claims to which they relate. Furthermore, it is apparent that the word "comprising" does not exclude other units or steps, and the singular does not exclude the plural.

[0084] Finally, it should be noted that the above embodiments are only used to illustrate the technical solution of the utility model and are not limiting. Although the utility model is described in detail with reference to the preferred embodiments, ordinary technicians in this field should understand that the technical solution of the utility model can be modified or replaced by equivalents without departing from the spirit and scope of the technical solution of the utility model.

Claims

1. A suction mechanism, characterized in that: include: substrate; a gear rotatably disposed on the substrate; a first rack, slidably disposed on the base plate and meshing with one side of the gear; a second rack, slidably disposed on the base plate and meshing with the other side of the gear relative to the first rack; A first suction assembly includes a first fixing frame and at least one first suction member, wherein the first fixing frame is respectively connected to the first suction member and the first rack; The second suction assembly includes a second fixing frame and at least one second suction member, wherein the second fixing frame is respectively connected to the second suction member and the second rack.

2. The suction mechanism according to claim 1, characterized in that: The first suction member includes a first hollow suction rod and a first suction head which are sealed together; the second suction member includes a second hollow suction rod and a second suction head which are sealed together.

3. The suction mechanism according to claim 2, characterized in that: The first hollow suction rod is rotatably connected to the first suction head; the second hollow suction rod is rotatably connected to the second suction head.

4. The suction mechanism according to claim 3, characterized in that: The first suction head has a first rotating portion at one end thereof close to the first hollow suction rod, and a first receiving groove is formed at one end thereof close to the first suction head, and the first rotating portion is rotatably disposed in the first receiving groove; the first suction member further includes a first sealing member, which is sleeved at a notch position of the first receiving groove; A second rotating portion is provided at one end of the second suction head close to the second hollow suction rod, and a second receiving groove is provided at one end of the second hollow suction rod close to the second suction head. The second rotating portion is rotatably arranged in the second receiving groove, and the second suction member also includes a second sealing member, which is sleeved on the notch position of the second receiving groove.

5. The suction mechanism according to claim 4, characterized in that: The first suction head further includes a first telescopic portion and a first suction cup portion, wherein the first suction cup portion is connected to the first rotating portion via the first telescopic portion; The second suction head further includes a second telescopic portion and a second suction cup portion, and the second suction cup portion is connected to the second rotating portion via the second telescopic portion.

6. The suction mechanism according to any one of claims 1 to 5, characterized in that: The first suction assembly includes two first suction members symmetrically arranged on both sides of the first fixing frame; the second suction assembly includes two second suction members symmetrically arranged on both sides of the second fixing frame.

7. The suction mechanism according to claim 1, characterized in that: One end of the first rack away from the first fixing frame is elastically connected to the base plate; and one end of the second rack away from the second fixing frame is elastically connected to the base plate.

8. The suction mechanism according to claim 1, characterized in that: The base plate is further provided with a first slide rail and a second slide rail. The first rack is slidably connected to the first slide rail, and the second rack is slidably connected to the second slide rail.

9. A gripper, characterized in that: include: The suction mechanism according to any one of claims 1 to 8; The moving mechanism is connected to the base plate of the suction mechanism.

10. The gripper according to claim 9, characterized in that: The gripper comprises a rotating mounting seat and at least two of the suction mechanisms; The moving mechanism is connected to the suction mechanism via the rotating mounting seat, and the at least two suction mechanisms are evenly distributed along the circumference of the rotating shaft of the rotating mounting seat.

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