Vacuum manipulator with self-adjusting function

Abstract

This utility model discloses a vacuum manipulator with adaptive adjustment function, relating to the field of manipulator technology. The utility model includes a rotary assembly, an X-axis moving assembly, a Y-axis moving assembly, a Z-axis moving assembly, and a manipulator assembly. The utility model uses the rotary assembly, X-axis moving assembly, Y-axis moving assembly, and Z-axis moving assembly to form a four-axis adjustment structure, enabling 360° rotation and three-dimensional movement in the X, Y, and Z axes. In the rotary assembly, a motor drives the connecting column to rotate, which, in conjunction with a Z-axis lead screw, drives the moving block to rise and fall; the X-axis drive component drives the moving frame to translate; and the Y-axis hydraulic telescopic rod pushes the mounting base to extend and retract, forming a full-space coverage adjustment capability. Compared to traditional single-axis or dual-axis manipulators, it can accurately adapt to complex working conditions such as the assembly of irregular parts and multi-angle workstation transfer, eliminating the need for manual alignment, reducing the risk of workpiece damage, and reducing labor costs.

Description

Technical Field

[0001] This utility model belongs to the field of robotic arm technology, and in particular relates to a vacuum robotic arm with adaptive adjustment function. Background Technology

[0002] In modern industrial automation, vacuum robots, as highly efficient material handling equipment, are widely used in precision manufacturing fields such as electronics, automobiles, and medical devices. They achieve non-contact gripping of workpieces through the negative pressure generated by vacuum suction cups, effectively avoiding damage to the workpiece surface caused by traditional mechanical clamping methods, and significantly improving production efficiency and product quality stability.

[0003] However, existing vacuum manipulators still have many technical limitations in practical applications. In terms of motion adjustment, most traditional vacuum manipulators only have single-axis or dual-axis adjustment capabilities, and can only achieve simple lifting or translational movements. When faced with complex working conditions requiring multi-directional alignment, such as the assembly of irregular parts or material transfer between multiple workstations, their adjustment flexibility is severely insufficient, making it difficult to accurately match the spatial position requirements of the workpiece. Manual alignment assistance is often required, which not only increases labor costs but also poses a risk of workpiece damage due to alignment deviations.

[0004] Regarding the adaptability of suction cups, most existing vacuum robotic arms use suction cups of fixed sizes, and the adsorption area cannot be dynamically adjusted according to the size of the workpiece. When handling small parts smaller than the suction cup area, insufficient negative pressure due to air leakage at the edge of the suction cup can easily cause the workpiece to fall off. When dealing with large parts larger than the suction cup area, the suction cup can only cover a local area of ​​the workpiece, resulting in uneven distribution of gripping force. The workpiece is prone to tilting or deformation, especially for fragile parts such as thin plates and precision chips, which can easily lead to product scrap. In addition, in order to adapt to different specifications of workpieces, companies need to stock multiple sizes of suction cups and frequently change them, which not only increases equipment maintenance costs but also prolongs the production cycle due to the replacement process, thus restricting the flexible transformation of the production line.

[0005] With the increasing demands for flexibility and intelligence in industrial production, the shortcomings of existing vacuum manipulators in terms of adjustment dimensions and adsorption adaptability have become a key bottleneck restricting their efficient application in multi-variety, small-batch production. Therefore, developing a vacuum manipulator with multi-axis flexible adjustment capabilities and the ability to adapt to different workpiece sizes has become an urgent need in the field of industrial automation. To address this, we provide a vacuum manipulator with adaptive adjustment capabilities to solve the aforementioned problems. Utility Model Content

[0006] The purpose of this invention is to provide a vacuum manipulator with adaptive adjustment function. By cooperating with the rotary component, the X-axis moving component, the Y-axis moving component, the Z-axis moving component and the manipulator component, the invention solves the problems of insufficient adjustment dimension and adsorption adaptability of the existing vacuum manipulator.

[0007] To solve the above-mentioned technical problems, this utility model is achieved through the following technical solution.

[0008] This utility model relates to a vacuum manipulator with adaptive adjustment function, comprising a rotary assembly, an X-axis moving assembly, a Y-axis moving assembly, a Z-axis moving assembly, and a manipulator assembly. The rotary assembly includes a column, with a motor fixedly connected to the top of the column. The output shaft of the motor is fixedly connected to a connecting column, which is movably connected to the column via bearings. The Z-axis moving assembly includes a slide rail fixedly connected to the connecting column. A lead screw is movably connected to the inner cavity of the slide rail via bearings. A moving block is threaded onto the surface of the lead screw. One end of the lead screw extends through the outside of the slide rail and is fixedly connected to a motor. The X-axis moving assembly includes a slide rail fixedly connected to the moving block. A driving component is fixedly connected to the top of the slide rail two. A movable frame is threadedly connected to the surface of the driving component. The Y-axis moving assembly includes a hydraulic telescopic rod fixedly connected to the movable frame. The robotic arm assembly includes a mounting base fixedly connected to the output shaft of the hydraulic telescopic rod. A multi-link mechanism is movably connected to the surface of the mounting base via pins. A connecting plate and a movable plate are movably connected to the bottom ends of the multi-link mechanism via pins, respectively. A vacuum connecting pipe is fixedly connected to the bottom of the connecting plate. A vacuum suction cup is connected to the bottom of the vacuum connecting pipe. A lead screw two is threadedly connected to the axis of the movable plate. A motor three is fixedly connected to the top of the lead screw two. The top of the motor three is fixedly connected to the bottom of the mounting base.

[0009] The present invention is further configured such that a base is fixedly connected to the bottom of the column, a reinforcing rib is fixedly connected between the base and the column, and an installation hole is provided on the top of the base. The setting of the base and the reinforcing rib enhances the connection strength between the column and the mounting surface, reduces the vibration amplitude of the overall structure during rotation and movement, improves the stability of equipment operation, and avoids workpiece gripping deviation caused by machine body shaking.

[0010] The present invention is further configured such that a support plate is fixedly connected to the top and bottom of the second motor, and one side of the support plate is fixedly connected to the surface of the first slide rail. The support plate is fixed to the first slide rail, which can effectively disperse the radial force generated when the second motor is working, reduce the stress deformation of the first lead screw, extend the service life of the transmission components, and ensure the accuracy and stability of the Z-axis movement.

[0011] The present invention is further configured such that the driving component includes a motor four fixedly connected to the top of the slide rail two via a connecting bracket; one end of the inner cavity of the slide rail two is provided with an installation groove; both the front and back sides of the slide rail two are provided with limit grooves; the inner cavity of the limit groove is fixedly connected to a lead screw three via a bearing; the surface of the lead screw three is threadedly connected to a limit block; the limit block is slidably connected to the inner cavity of the limit groove; and the other end of the limit block is fixedly connected to the inner wall of the moving frame. Through the cooperation of the motor four, the lead screw three, and the limit block, the driving component enables the X-axis moving assembly to achieve smooth linear motion. The guiding effect of the limit groove and the limit block prevents the moving frame from deviating, thereby improving the movement accuracy and reliability in the X-axis direction.

[0012] The present invention is further configured such that the output shaft of the motor four passes through the inner cavity of the mounting groove and is fixedly connected to a worm gear, the surface of the worm gear meshes with a worm wheel, and a transmission shaft is fixedly connected to the axis of the worm wheel. The surface of the transmission shaft is fixedly connected to the inner wall of the mounting groove through a bearing seat. Both ends of the transmission shaft are fixedly connected to a bevel gear one, the surface of the bevel gear one meshes with a bevel gear two, and the bevel gear two is fixedly connected to one end of a lead screw three. The meshing of the worm gear and the worm wheel and the bevel gear transmission structure can synchronously transmit the power of the motor four to the lead screw three on both sides, ensuring that the force on both sides of the moving frame is balanced when the X-axis moves, avoiding jamming or tilting caused by unilateral force, and improving the synchronization of movement.

[0013] The present invention is further configured such that the top of the rotating component is fixedly connected to the bottom of the Z-axis moving component, one side of the Z-axis moving component is fixedly connected to the X-axis moving component, the bottom of the X-axis moving component is fixedly connected to the Y-axis moving component, and the bottom of the Y-axis moving component is fixedly connected to the robot arm component. This clarifies the connection relationship of each component, ensuring that the power of the rotating component is sequentially transmitted to the Z-axis, X-axis, Y-axis and the robot arm component, ensuring that the movement of each axis does not interfere with each other, and realizing the coordination and continuity of multi-axis adjustment.

[0014] The present invention is further configured such that the surface of the vacuum connecting tube is respectively connected to a connecting interface and a pressure relief valve. The connecting interface facilitates the connection to different external vacuum sources, and the pressure relief valve can quickly release negative pressure when there is an abnormality in the gripping, so as to avoid excessive adsorption or detachment of the workpiece due to continuous negative pressure, thereby improving the safety and adaptability of the equipment.

[0015] The present invention is further configured such that the number of vacuum suction cups is four, and they are distributed equidistantly in a circle. The four equidistantly distributed vacuum suction cups can make the gripping force evenly distributed on the surface of the workpiece, reduce the workpiece deformation caused by single-point force, and are especially suitable for large or thin workpieces, thereby improving gripping stability.

[0016] The present invention has the following beneficial effects.

[0017] 1. This utility model comprises a four-axis adjustment structure consisting of a rotary component, an X-axis moving component, a Y-axis moving component, and a Z-axis moving component. It can achieve 360° rotation and three-dimensional movement in the X, Y, and Z axes. In the rotary component, a motor drives the connecting column to rotate, which in turn drives the moving block to rise and fall with the Z-axis lead screw. The X-axis drive component drives the moving frame to translate, and the Y-axis hydraulic telescopic rod pushes the mounting base to extend and retract, forming a full-space coverage adjustment capability. Compared with traditional single-axis or dual-axis robots, it can accurately adapt to complex working conditions such as the assembly of irregular parts and the transfer of multi-angle workstations. It does not require manual assistance for alignment, reduces the risk of workpiece damage, and reduces labor costs. At the same time, the adjustment of each axis is combined with the motor, lead screw, and hydraulic drive, resulting in smooth movement and high positioning accuracy, meeting the stringent requirements for spatial alignment in the precision manufacturing field and improving the automation level of the production line.

[0018] 2. When the three-motor drive screw of this utility model rotates, the moving plate moves along the screw axis, driving the multi-link mechanism to extend and retract, thereby changing the distance between the connecting plate and the moving plate, so that the vacuum suction cup fixed to the connecting plate can be expanded or retracted synchronously. This design solves the limitations of traditional fixed suction cups: for small parts, the adsorption area can be reduced to avoid air leakage; for large parts, the coverage area can be expanded to ensure uniform gripping force. It can adapt to workpieces of different sizes without replacing the suction cups, reducing suction cup inventory costs and replacement time, avoiding scrapping of thin and precision parts due to improper gripping, improving the flexibility of the production line, and meeting the needs of multi-variety and small-batch production. Attached Figure Description

[0019] To more clearly illustrate the technical solutions of the embodiments of this utility model, the accompanying drawings used in the description of the embodiments will be briefly introduced below.

[0020] Figure 1 This is a three-dimensional view of a vacuum manipulator with adaptive adjustment capabilities.

[0021] Figure 2 This is a cross-sectional schematic diagram of a vacuum manipulator with adaptive adjustment function.

[0022] Figure 3 This is a three-dimensional schematic diagram of the X-axis moving component in a vacuum manipulator with adaptive adjustment function.

[0023] Figure 4 This is a top-view cross-sectional schematic diagram of the X-axis moving component in a vacuum manipulator with adaptive adjustment function.

[0024] Figure 5 This is a schematic diagram of the connection structure between the hydraulic telescopic rod and the moving frame in a vacuum manipulator with adaptive adjustment function.

[0025] Figure 6 This is a three-dimensional schematic diagram of a robotic arm component in a vacuum robotic arm with adaptive adjustment function.

[0026] In the attached diagram: 1. Rotating assembly; 11. Column; 12. Motor 1; 13. Connecting column; 14. Base; 2. X-axis moving assembly; 21. Slide rail 2; 22. Drive component; 221. Motor 4; 222. Limiting groove; 223. Lead screw 3; 224. Limiting block; 225. Worm gear; 226. Worm wheel; 227. Transmission shaft; 228. Bevel gear 1; 229. Bevel gear 2; 23. Moving frame; 3. Y-axis moving assembly; 31. Hydraulic telescopic rod; 4. Z-axis moving assembly; 41. Slide rail 1; 42. Lead screw 1; 43. Moving block; 44. Motor 2; 5. Robotic arm assembly; 51. Mounting base; 52. Multi-link mechanism; 53. Connecting plate; 54. Moving plate; 55. Vacuum connecting pipe; 56. Vacuum suction cup; 57. Lead screw 2; 58. Motor 3; 59. Connecting interface; 510. Pressure relief valve. Detailed Implementation

[0027] The technical solutions of the present utility model will be described below with reference to the accompanying drawings. The described embodiments are only some embodiments of the present utility model, and not all embodiments.

[0028] Example 1

[0029] Please see Figure 1-6This utility model relates to a vacuum manipulator with adaptive adjustment function, comprising a rotary assembly 1, an X-axis moving assembly 2, a Y-axis moving assembly 3, a Z-axis moving assembly 4, and a manipulator assembly 5. The rotary assembly 1 includes a column 11, with a motor 12 fixedly connected to the top of the column 11. The output shaft of the motor 12 is fixedly connected to a connecting column 13, which is movably connected to the column 11 via bearings. The Z-axis moving assembly 4 includes a slide rail 41 fixedly connected to the connecting column 13. A lead screw 42 is movably connected to the inner cavity of the slide rail 41 via bearings. A moving block 43 is threaded onto the surface of the lead screw 42. One end of the lead screw 42 extends through the outside of the slide rail 41 and is fixedly connected to a motor 44. The X-axis moving assembly 2 includes a slide rail 21 fixedly connected to the moving block 43. A drive unit 22 is fixedly connected to the top of slide rail 21. A movable frame 23 is threadedly connected to the surface of drive unit 22. Y-axis moving assembly 3 includes a hydraulic telescopic rod 31 fixedly connected to the movable frame 23. Robotic arm assembly 5 includes a mounting base 51 fixedly connected to the output shaft of hydraulic telescopic rod 31. A multi-link mechanism 52 is movably connected to the surface of mounting base 51 via a pin. A connecting plate 53 and a movable plate 54 are movably connected to the bottom ends of the multi-link mechanism 52 via pins, respectively. A vacuum connecting pipe 55 is fixedly connected to the bottom of connecting plate 53. A vacuum suction cup 56 is connected to the bottom of vacuum connecting pipe 55. A lead screw 2 57 is threadedly connected to the axis of movable plate 54. A motor 3 58 is fixedly connected to the top of lead screw 2 57. The top of motor 3 58 is fixedly connected to the bottom of mounting base 51.

[0030] Specifically: Column 11 is made of high-strength alloy material, and its top has a receiving groove to accommodate motor 12. Motor 12 is a servo motor, and its output shaft is rigidly fixed to connecting column 13 via a key connection. Connecting column 13 has a stepped shaft structure, and its lower part is movably connected to the bearing seat at the top of column 11 via a deep groove ball bearing. The outer ring of the bearing is interference-fitted with column 11, and the inner ring is transition-fitted with connecting column 13 to ensure no radial movement during rotation. Slide rail 41 is a rectangular hollow structure with guide grooves on its inner sidewall. Lead screw 42 is a trapezoidal threaded lead screw, and its two ends are connected to the bearing seats at both ends of slide rail 41 via angular contact ball bearings. The top of moving block 43... The bottom is equipped with a slider that matches the guide groove. The slider and the guide groove are fitted with a clearance to ensure that the moving block 43 slides smoothly along the axial direction of the slide rail 41 without jamming. In the robot arm assembly 5, the multi-link mechanism 52 consists of three links. The connecting plate 53 and the mounting base 51 are movably connected by two links and a pin. The bottom link of the two links is movably connected to the moving plate 54 by a pin and the remaining link is movably connected to the moving plate 54 by a pin. Both the connecting plate 53 and the moving plate 54 are rectangular steel plates. The lead screw 57 is a fine-thread lead screw. Its bottom is connected to the bearing seat at the bottom of the moving plate 54 through a thrust bearing, and its top is coaxially connected to the output shaft of the motor 58.

[0031] Example 2

[0032] Please see Figure 1-6 Based on Embodiment 1, a base 14 is fixedly connected to the bottom of the column 11, and a reinforcing rib is fixedly connected between the base 14 and the column 11. A mounting hole is provided on the top of the base 14. Support plates are fixedly connected to both the top and bottom of the motor 44. One side of the support plate is fixedly connected to the surface of the slide rail 41. The driving component 22 includes a motor 221 fixedly connected to the top of the slide rail 21 via a connecting bracket. A mounting groove is provided at one end of the inner cavity of the slide rail 21. Limiting grooves 222 are provided on both the front and back of the slide rail 21. A lead screw 223 is fixedly connected to the inner cavity of the limiting groove 222 via a bearing. A limiting block 224 is threadedly connected to the surface of the lead screw 223. The limiting block 224 is slidably connected to the inner cavity of the limiting groove 222. The other end of the limiting block 224 is fixedly connected to the inner wall of the moving frame 23. The output shaft of the motor 221 passes through the inner cavity of the mounting groove and... A worm gear 225 is fixedly connected, and a worm wheel 226 meshes with the surface of the worm gear 225. A drive shaft 227 is fixedly connected to the shaft center of the worm wheel 226. The surface of the drive shaft 227 is fixedly connected to the inner wall of the mounting groove through a bearing seat. Both ends of the drive shaft 227 are fixedly connected to a bevel gear 228. A bevel gear 229 meshes with the surface of the bevel gear 228. The bevel gear 229 is fixedly connected to one end of a lead screw 223. The top of the rotating assembly 1 is fixedly connected to the bottom of the Z-axis moving assembly 4. One side of the Z-axis moving assembly 4 is fixedly connected to the X-axis moving assembly 2. The bottom of the X-axis moving assembly 2 is fixedly connected to the Y-axis moving assembly 3. The bottom of the Y-axis moving assembly 3 is fixedly connected to the robot arm assembly 5. The surface of the vacuum connecting pipe 55 is connected to a connecting interface 59 and a pressure relief valve 510, respectively. There are four vacuum suction cups 56, which are evenly distributed in a circle.

[0033] Specifically: The base 14 and reinforcing ribs enhance the connection strength between the column 11 and the mounting surface, reduce the vibration amplitude of the overall structure during rotation and movement, improve the stability of equipment operation, and prevent workpiece gripping deviation caused by machine body shaking. The support plate and slide rail 41 are fixed, which can effectively disperse the radial force generated by motor 44 during operation, reduce the stress deformation of lead screw 42, extend the service life of transmission components, and ensure the accuracy and stability of Z-axis movement. The drive component 22, through the cooperation of motor 221, lead screw 223 and limit block 224, enables the X-axis moving assembly 2 to achieve smooth linear movement. The guiding effect of limit groove 222 and limit block 224 prevents the moving frame 23 from deviating, improves the movement accuracy and reliability in the X-axis direction, and the meshing of worm gear 225 and worm wheel 226 and the bevel gear transmission structure can... The power of motor 221 is synchronously transmitted to the lead screws 223 on both sides, ensuring that the force on both sides of the moving frame 23 is balanced when the X-axis moves, avoiding jamming or tilting caused by force on one side, improving the synchronization of movement, clarifying the connection relationship of each component, ensuring that the power of the rotating component 1 is transmitted sequentially to the Z-axis, X-axis, Y-axis and the robot arm component 5, ensuring that the movement of each axis does not interfere with each other, realizing the coordination and continuity of multi-axis adjustment, the connection interface 59 is convenient for connecting different external vacuum sources, and the pressure relief valve 510 can quickly release negative pressure in case of abnormal gripping, avoiding excessive adsorption or detachment of workpieces due to continuous negative pressure, improving the safety and adaptability of equipment use, and the four circumferentially distributed vacuum suction cups 56 can make the gripping force evenly distributed on the surface of the workpiece, reducing the workpiece deformation caused by single-point force, especially suitable for large or thin workpieces, improving gripping stability.

[0034] The working principle of this utility model is as follows: In the rotating assembly 1, motor 12 drives the connecting column 13 to rotate around the column 11, realizing the horizontal rotation adjustment of the overall structure; in the Z-axis moving assembly 4, motor 24 drives the lead screw 42 to rotate, causing the moving block 43 to move up and down along the slide rail 41, completing the height adjustment in the Z-axis direction; in the X-axis moving assembly 2, the driving component 22 drives the lead screw 223 to rotate, the limiting block 224 slides along the limiting groove 222, driving the moving frame 23 to move horizontally along the slide rail 21, realizing the position adjustment in the X-axis direction; in the Y-axis moving assembly 3, hydraulic telescopic... The extension and retraction of rod 31 drives the robotic arm assembly 5 to move along the Y-axis. In the robotic arm assembly 5, motor 3 58 drives lead screw 2 57 to rotate, causing the moving plate 54 to move up and down. Through the multi-link mechanism 52, the connecting plate 53 moves synchronously, adjusting the distance between vacuum suction cups 56 to achieve adaptive adjustment of the adsorption area. The vacuum connecting tube 55 is connected to an external vacuum source, and the vacuum suction cups 56 generate negative pressure to complete the workpiece gripping. All components work together, and the four-axis adjustment achieves precise positioning of the robotic arm in space. Combined with the dynamic adjustment of the suction cup area, it adapts to the gripping needs of workpieces of different sizes.

[0035] The preferred embodiments of the present utility model disclosed above are only used to help illustrate the present utility model. The preferred embodiments do not describe all the details in detail, nor do they limit the present utility model to the specific implementation methods described. The present specification selects and specifically describes these embodiments in order to better explain the principle and practical application of the present utility model, so that those skilled in the art can better understand and utilize the present utility model.

Claims

1. A vacuum manipulator with self-adaptive adjustment function, comprising a rotating assembly (1), an X-axis moving assembly (2), a Y-axis moving assembly (3), a Z-axis moving assembly (4) and a manipulator assembly (5), characterized in that: The rotating assembly (1) includes a column (11), a motor (12) is fixedly connected to the top of the column (11), and a connecting column (13) is fixedly connected to the output shaft of the motor (12). The connecting column (13) is movably connected to the column (11) through a bearing. The Z-axis moving assembly (4) includes a slide rail (41) fixedly connected to the connecting column (13). The inner cavity of the slide rail (41) is movably connected to a lead screw (42) through a bearing. The surface of the lead screw (42) is threadedly connected to a moving block (43). One end of the lead screw (42) extends through to the outside of the slide rail (41) and is fixedly connected to a motor (44). The X-axis moving assembly (2) includes a slide rail two (21) fixedly connected to the moving block (43), a driving member (22) fixedly connected to the top of the slide rail two (21), and a moving frame (23) threadedly connected to the surface of the driving member (22). The Y-axis moving assembly (3) includes a hydraulic telescopic rod (31) fixedly connected to the moving frame (23); The robotic arm assembly (5) includes a mounting base (51) fixedly connected to the output shaft of a hydraulic telescopic rod (31). A multi-link mechanism (52) is movably connected to the surface of the mounting base (51) via a pin. A connecting plate (53) and a moving plate (54) are movably connected to the bottom ends of the multi-link mechanism (52) via pins, respectively. A vacuum connecting tube (55) is fixedly connected to the bottom of the connecting plate (53). A vacuum suction cup (56) is connected to the bottom of the vacuum connecting tube (55). A lead screw (57) is threadedly connected to the axis of the moving plate (54). A motor (58) is fixedly connected to the top of the lead screw (57). The top of the motor (58) is fixedly connected to the bottom of the mounting base (51).

2. The vacuum manipulator with self-adjusting function according to claim 1, characterized in that: The bottom of the column (11) is fixedly connected to a base (14), and a reinforcing rib is fixedly connected between the base (14) and the column (11). The top of the base (14) is provided with an installation hole.

3. The vacuum manipulator with self-adjusting function according to claim 1, characterized in that: The top and bottom of the second motor (44) are fixedly connected to support plates, and one side of the support plate is fixedly connected to the surface of the first slide rail (41).

4. The vacuum manipulator with self-adjusting function according to claim 1, characterized in that: The driving component (22) includes a motor (221) fixedly connected to the top of the slide rail (21) via a connecting frame. One end of the inner cavity of the slide rail (21) is provided with an installation groove. Limiting grooves (222) are provided on both the front and back sides of the slide rail (21). A lead screw (223) is fixedly connected to the inner cavity of the limiting groove (222) via a bearing. A limiting block (224) is threadedly connected to the surface of the lead screw (223). The limiting block (224) is slidably connected to the inner cavity of the limiting groove (222). The other end of the limiting block (224) is fixedly connected to the inner wall of the moving frame (23).

5. The vacuum manipulator with self-adjusting function according to claim 4, characterized in that: The output shaft of the fourth motor (221) passes through the inner cavity of the mounting slot and is fixedly connected to a worm (225). The surface of the worm (225) is meshed with a worm wheel (226). The shaft of the worm wheel (226) is fixedly connected to a drive shaft (227). The surface of the drive shaft (227) is fixedly connected to the inner wall of the mounting slot through a bearing seat. Both ends of the drive shaft (227) are fixedly connected to a bevel gear (228). The surface of the bevel gear (228) is meshed with a bevel gear (229). The bevel gear (229) is fixedly connected to one end of the lead screw (223).

6. A vacuum manipulator with adaptive adjustment function according to claim 1, characterized in that: The top of the rotating component (1) is fixedly connected to the bottom of the Z-axis moving component (4), one side of the Z-axis moving component (4) is fixedly connected to the X-axis moving component (2), the bottom of the X-axis moving component (2) is fixedly connected to the Y-axis moving component (3), and the bottom of the Y-axis moving component (3) is fixedly connected to the robot arm component (5).

7. A vacuum manipulator with adaptive adjustment function according to claim 1, characterized in that: The surface of the vacuum connecting tube (55) is connected to a connecting interface (59) and a pressure relief valve (510).

8. A vacuum manipulator with adaptive adjustment function according to claim 1, characterized in that: The number of vacuum suction cups (56) is four, and they are distributed at equal intervals around the circumference.

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