A compatibility vacuum suction device

Abstract

The utility model provides a kind of compatibility vacuum adsorption device, it is related to part adsorption clamping technical field, the utility model includes horizontal moving part, vertical moving part and clamping component, vertical moving part carries clamping component and slides on horizontal moving part along horizontal direction, clamping component can slide on vertical moving part along vertical direction, clamping component includes lifting portion, wherein lifting portion can drive connecting rod assembly to drive suction cup to slide on adjusting portion to adjust the interval of suction cup in horizontal direction.The utility model, connecting rod assembly moves up and down, so that suction cup can stay in different positions, the above structure can realize that suction cup stays in any position, to realize the switching of different product sizes, can make adsorption cylinder slide back and forth between multiple points, S-shaped slide rail groove can ensure that cylinder is fixed after reaching point.

Description

Technical Field

[0001] This utility model relates to the field of parts adsorption and clamping technology, and in particular to a compatible vacuum adsorption device. Background Technology

[0002] In industrial scenarios such as parts processing, assembly, and logistics transportation, it is often necessary to use adsorption clamping devices to grasp, move, and position various parts in order to achieve automated production processes. Currently, most parts adsorption clamping devices on the market have a fixed structure design. The position, spacing, and movement trajectory of their core adsorption components (such as suction cups) are usually preset for parts of specific sizes or types, making it difficult to flexibly adapt to the adsorption needs of parts of different specifications.

[0003] The existing device has at least the following shortcomings: Some adjustable spacing devices use a single linear guide rail to move the suction cup, which lacks a bending trajectory design to adapt to the contours of different parts. This makes it difficult for the suction cup to accurately adhere to the surface of non-standard shaped parts, and problems such as unstable adsorption and part displacement are likely to occur, affecting the accuracy of subsequent processing or assembly.

[0004] In view of the shortcomings of the existing technology, there is an urgent need for a high-precision adsorption clamping device to meet the adsorption requirements of rapid switching of parts of different sizes. Utility Model Content

[0005] The purpose of this invention is to address the shortcomings of existing technologies by proposing a compatible vacuum adsorption device.

[0006] To achieve the above objectives, the present invention adopts the following technical solution: a compatible vacuum adsorption device, comprising a horizontal moving part, a vertical moving part, and a clamping component. The horizontal moving part extends horizontally, and the vertical moving part is slidably mounted on the horizontal moving part along the extension direction of the horizontal moving part. The clamping component is slidably mounted on the vertical moving part along the height direction of the vertical moving part. The clamping component includes a lifting part, a connecting rod assembly, an adjusting part, and a suction cup. The lifting part is arranged vertically, and its output end is connected to the connecting rod assembly. The end of the connecting rod assembly away from the lifting part is connected to the suction cup. The suction cup is slidably mounted on the adjusting part along the horizontal direction of the adjusting part. The lifting part can drive the connecting rod assembly to slide the suction cup on the adjusting part to adjust the horizontal spacing of the suction cup.

[0007] Preferably, the adjusting part includes a horizontally arranged adjusting plate with a bent slide groove extending through it. The bending point of the slide groove is adapted to the size of the part to be clamped. The upper end of the suction cup is connected to and fixed with an adsorption cylinder extending in a vertical direction. The adsorption cylinder passes through the slide groove and can slide along the extension direction of the slide groove. Two nuts are threaded at intervals along the axis of the adsorption cylinder. The two nuts are clamped on the adjusting plate to restrict the sliding of the adsorption cylinder, thereby restricting the sliding of the adsorption cylinder along the slide groove.

[0008] Preferably, the horizontal moving part includes a horizontally extending horizontal rail. An installation component is fixedly connected to the outer wall of one end of the horizontal rail. The installation component is detachably fixed to an external robotic arm by bolts. A sliding component is slidably mounted on the inner wall of the horizontal rail along its extension direction. A first driving component is fixedly mounted on the end of the horizontal rail away from the installation component. The output end of the first driving component is connected to the sliding component to drive the sliding component to reciprocate along the extension direction of the horizontal rail. A first cable chain for storing cables is also connected between the sliding component and the first driving component. One end of the first cable chain is fixed to the sliding component, and the other end is fixed to the first driving component.

[0009] Preferably, the first driving assembly includes a horizontal drive motor fixed to the end of a horizontal rail, a lead screw rotatably mounted inside the horizontal rail along its extension direction, the axis of the lead screw being parallel to the extension direction of the horizontal rail, the lead screw being threaded through a sliding assembly, and the output shaft of the horizontal drive motor being coaxially and fixedly connected to one end of the lead screw. When the horizontal drive motor drives the lead screw to rotate around its own axis, the lead screw drives the sliding assembly to slide along the extension direction of the horizontal rail through threaded transmission.

[0010] Preferably, the vertical moving part includes a vertical rail extending in the vertical direction. One side wall of the vertical rail is detachably fixed to the outer side wall of the sliding assembly by bolts. An adjusting seat is slidably mounted on the inner side wall of the vertical rail along its height direction. A second driving assembly is fixedly installed at the top of the vertical rail. The output end of the second driving assembly is connected to the adjusting seat to drive the adjusting seat to slide back and forth along the height direction of the vertical rail. A second cable carrier for storing cables is connected between the adjusting seat and the second driving assembly. One end of the second cable carrier is fixed to the adjusting seat, and the other end is fixed to the second driving assembly.

[0011] Preferably, the second drive assembly includes a vertical drive motor fixed to the top of the vertical rail. A second lead screw is rotatably installed inside the vertical rail along its height direction. The axis of the second lead screw is parallel to the height direction of the vertical rail. The second lead screw is threaded through the adjusting seat. The output shaft of the vertical drive motor is coaxially and fixedly connected to the top of the second lead screw. When the vertical drive motor drives the second lead screw to rotate around its own axis, the second lead screw drives the adjusting seat to slide along the height direction of the vertical rail through threaded transmission.

[0012] Preferably, the bottom end of the adjusting seat extends downward in a vertical direction to form a mounting platform. A rotary motor is fixedly mounted on the mounting platform. The output shaft of the rotary motor extends downward in a vertical direction. A horizontally arranged mounting plate is fixedly connected to the end of the output shaft of the rotary motor. Several connecting columns are fixedly connected downward in a vertical direction at the bottom edge of the mounting plate. The bottom ends of the connecting columns are fixedly connected to the upper surface of the adjusting plate. By driving the output shaft to rotate through the rotary motor, the mounting plate, connecting columns, and adjusting plate can be driven to rotate synchronously around the vertical direction.

[0013] Preferably, a lifting part is fixedly connected to the bottom center of the mounting plate in the vertical direction, and a fixed plate is fixedly connected to the bottom of the lifting part in the horizontal direction. The output end of the lifting part is extended and retracted in the vertical direction, and the output end of the lifting part is drivenly connected to the middle of the connecting rod assembly. The end of the connecting rod assembly away from the lifting part is rotatably connected to the middle of the adsorption cylinder. When the output end of the lifting part moves up and down in the vertical direction, it can drive the connecting rod assembly to expand or contract in the horizontal direction, thereby driving the adsorption cylinder to slide along the slide rail groove to adjust the horizontal distance between adjacent suction cups.

[0014] Preferably, the lifting unit includes a lifting motor fixed to the bottom of the mounting plate. The output shaft of the lifting motor extends downward in a vertical direction and is coaxially fixedly connected to the top end of a lead screw. The lead screw extends in a vertical direction, and a lifting frame is threaded onto the surface of the lead screw along its axial direction. The outer wall of the lifting frame slides against the inner wall of the fixed housing of the lifting unit. Through the sliding fit between the lifting frame and the inner wall of the fixed housing, the lifting frame is restricted to sliding only in a vertical direction and cannot rotate around the axis of the lead screw. When the lifting motor drives the lead screw to rotate, the lead screw drives the lifting frame to rise and fall in a vertical direction through threaded transmission.

[0015] Preferably, the linkage assembly includes a mounting bracket fixed to the lower surface of the fixed plate. A first linkage and a second linkage are rotatably connected to the lower two sides of the mounting bracket in the horizontal direction. The first linkage and the second linkage are symmetrically distributed about the central axis of the mounting bracket. The bottom ends of the first linkage and the second linkage are rotatably connected to a drive rod in the horizontal direction. The middle part of the second linkage is rotatably connected to the bottom end of the lifting frame in the inclined direction. When the lifting frame moves up and down in the vertical direction, the lifting frame drives the second linkage to rotate around its hinge point with the mounting bracket through the drive linkage. The second linkage synchronously drives the drive rod and the first linkage to move. Finally, the drive rod drives the adsorption cylinder to slide along the slide rail groove.

[0016] Compared with the prior art, the advantages and positive effects of this utility model are as follows: 1. In this utility model, the adsorption cylinder can slide back and forth between multiple points, and the S-shaped slide rail groove can ensure that the position of the cylinder is fixed after reaching the point.

[0017] 2. In this utility model, the rotary motor can control the entire lifting part to rotate 360 ​​degrees, thereby achieving angle control.

[0018] 3. In this utility model, the linkage assembly moves up and down, thereby enabling the suction cup to stay at different positions. The above structure allows the suction cup to stay at any position, enabling the switching of different product sizes. This solves the problem that the suction cup spacing of traditional adsorption devices is mostly a fixed value, or can only be finely adjusted within a very narrow range. When dealing with parts of different sizes (such as large differences in diameter and length), there is no need to replace the entire clamping assembly or readjust the device structure, making the operation simple. Attached Figure Description

[0019] Figure 1 A three-dimensional structural diagram of a compatible vacuum adsorption device is provided for this utility model; Figure 2 This utility model provides a schematic diagram of the clamping component of a compatible vacuum adsorption device; Figure 3 This utility model proposes a compatible vacuum adsorption device. Figure 2 Partial schematic diagram; Figure 4 This invention provides a schematic diagram of the adjustment section in a compatible vacuum adsorption device.

[0020] Legend: 1. Horizontal moving part; 101. Horizontal rail; 102. First drive assembly; 103. Mounting assembly; 104. First cable chain; 105. Sliding assembly; 2. Vertical moving part; 21. Vertical rail; 22. Second cable chain; 23. Adjusting seat; 24. Second drive assembly; 3. Rotary motor; 4. Mounting plate; 5. Connecting column; 6. Adjusting part; 61. Adjusting plate; 62. Slide rail groove; 7. Lifting part; 8. Fixed plate; 9. Lifting frame; 10. First connecting rod; 11. Second connecting rod; 12. Drive rod; 13. Adsorption cylinder; 14. Suction cup; 15. Drive connecting rod; 16. Mounting frame. Detailed Implementation

[0021] Please see Figures 1-4This utility model provides a compatible vacuum adsorption device, including a horizontal moving part 1, a vertical moving part 2, and a clamping component. The horizontal moving part 1 extends horizontally, and its core component is a horizontal rail 101. The horizontal rail 101 can be a metal slide rail with a rectangular cross section, and limit blocks for limiting the sliding stroke are provided at both ends of the horizontal rail 101. An installation component 103 is fixedly connected to the outer wall of one end of the horizontal rail 101. The installation component 103 is a metal flange with multiple bolt holes. In use, the installation component 103 can be detachably fixed to the connecting flange of the external robotic arm by bolts, ensuring that the entire device can be adjusted in position with the robotic arm. A sliding assembly 105 is slidably fitted onto the inner sidewall of the horizontal rail 101 along its extending direction. The sliding assembly 105 is a metal slider adapted to the cross-section of the horizontal rail 101. The slider has an internal threaded hole on its inner side. A first drive assembly 102 is fixedly installed at the end of the horizontal rail 101 away from the mounting assembly 103. The first drive assembly 102 includes a horizontal drive motor and a lead screw. The horizontal drive motor is a servo motor and is fixed to the end of the horizontal rail 101 through a metal mounting bracket. The lead screw is arranged along the extending direction of the horizontal rail 101, and its two ends are respectively mounted on bearing seats inside the horizontal rail 101 through deep groove ball bearings. The output shaft of the horizontal drive motor is coaxially fixedly connected to one end of the first lead screw through a flexible coupling. The other end of the first lead screw passes through the internal threaded hole of the sliding component 105 and is adapted to the thread. At the same time, a first cable carrier 104 for storing cables is also connected between the sliding component 105 and the first drive component 102. The first cable carrier 104 is a bridge-type cable carrier made of plastic. One end of it is fixed to the side wall of the sliding component 105 by bolts, and the other end is fixed to the mounting seat of the first drive component 102 by bolts. The power cord and control cord of the horizontal drive motor, as well as the air tube required by the subsequent suction cup, can be threaded inside the cable carrier.The vertical moving part 2 is slidably mounted on the horizontal moving part 1 along the extension direction of the horizontal moving part 1. Its core component is the vertical rail 21. The vertical rail 21 adopts a metal slide rail with a structure similar to that of the horizontal rail 101 and extends in the vertical direction. One side wall of the vertical rail 21 is detachably fixed to the outer side wall of the sliding assembly 105 by bolts. Both ends of the vertical rail 21 are also provided with limit blocks for limiting the lifting stroke. An adjusting seat 23 is slidably mounted on the inner side wall of the vertical rail 21 along its height direction. The adjusting seat 23 is a seat with a metal slider. The slider slides in cooperation with the inner side wall of the vertical rail 21, and the slider is provided with an internal thread hole. A second drive assembly 24 is fixedly installed at the top of the vertical rail 21. The second drive assembly 24 includes a vertical drive motor and a second lead screw. The drive motor is a servo motor and is fixed to the top of the vertical rail 21 by a metal mounting bracket. The second lead screw is set along the height direction of the vertical rail 21, and its two ends are respectively mounted on the bearing seats inside the vertical rail 21 by deep groove ball bearings. The output shaft of the vertical drive motor is coaxially fixed to the top of the second lead screw by a flexible coupling. The bottom end of the second lead screw passes through the internal thread hole of the adjusting seat 23 and is adapted to the thread. A second cable carrier 22 for storing cables is connected between the adjusting seat 23 and the second drive assembly 24. The second cable carrier 22 has the same structure as the first cable carrier 104. One end of it is fixed to the side wall of the adjusting seat 23 by bolts, and the other end is fixed to the mounting bracket of the second drive assembly 24 by bolts. The power line and control line of the vertical drive motor can be run through the inside of the cable carrier.The clamping component is slidably assembled on the vertical moving part 2 along the height direction of the vertical moving part 2. The clamping component includes a lifting part 7, a connecting rod assembly, an adjusting part 6, and a suction cup 14. The bottom end of the adjusting seat 23 extends downward in the vertical direction to form an integrally formed metal mounting platform. A rotary motor 3 is fixedly mounted on the mounting platform by bolts. The rotary motor 3 is a servo motor, and its output shaft extends downward in the vertical direction. The end of the output shaft of the rotary motor 3 is fixed to a horizontally set mounting plate 4 by a key connection. The mounting plate 4 is a rectangular metal plate. Several cylindrical metal connecting columns 5 are fixedly connected downward in the vertical direction at the bottom edge of the mounting plate 4. The number of connecting columns 5 can be set to 2-4 according to the size of the adjusting plate 61. The top end of the connecting column 5 is fixed to the bottom end of the mounting plate 4 by bolts, and the bottom end of the connecting column 5 is fixed to the adjusting plate 61 of the adjusting part 6 by bolts. The adjusting plate 61 of the adjusting part 6 is horizontally set. The aluminum alloy plate 61 has a bent slide rail groove 62 through it. The bending angle of the slide rail groove 62 can be designed according to the contour size of common parts to be clamped, so as to ensure that parts of different sizes can be stably adsorbed by the suction cup 14. The suction cup 14 is a vacuum suction cup made of nitrile rubber. The upper end of the suction cup 14 is connected to and fixed with an adsorption cylinder 13 extending in the vertical direction. The adsorption cylinder 13 is a stainless steel round tube. One end of it is fixed to the upper end interface of the suction cup 14 by threaded connection. The other end passes through the slide rail groove 62 on the adjustment plate 61 and can slide along the extension direction of the slide rail groove 62. Two hexagonal nuts are threaded at intervals along the axis of the adsorption cylinder 13. The two nuts are respectively close to the upper surface and the lower surface of the adjustment plate 61. After tightening the nuts, the adsorption cylinder 13 can be fixed in a designated position in the slide rail groove 62. Loosening the nuts allows the adsorption cylinder 13 to slide along the slide rail groove 62. A lifting part 7 is fixedly connected vertically to the bottom center of the mounting plate 4. The lifting part 7 includes a metal housing, a lifting motor, and a lead screw. The housing is fixed to the bottom center of the mounting plate 4 by bolts. The lifting motor is a stepper motor and is fixed to the top of the housing. The output shaft of the lifting motor extends vertically downward and is coaxially fixed to the top of a lead screw through a coupling. The lead screw is set vertically and its bottom end is installed at the bottom of the housing through a deep groove ball bearing. A lifting frame 9 is threaded on the surface of the lead screw along its axis. The lifting frame 9 is a metal frame. Its outer side wall and the inner side wall of the housing are engaged by a guide groove and a guide block. The guide groove is opened on the inner side wall of the housing, and the guide block is fixed on the outer side wall of the lifting frame 9. The sliding engagement of the guide groove and the guide block restricts the lifting frame 9 to slide only in the vertical direction and prevents it from rotating around the axis of the lead screw.A fixed plate 8 is horizontally fixedly connected to the bottom end of the lifting unit 7. The fixed plate 8 is a circular metal plate, which is fixed to the bottom end of the housing of the lifting unit 7 by bolts. A mounting bracket 16 for the connecting rod assembly is fixedly connected to the lower surface of the fixed plate 8. The mounting bracket 16 is a U-shaped metal frame with its opening facing downwards and is fixed to the lower surface of the fixed plate 8 by bolts. A first connecting rod 10 and a second connecting rod 11 are rotatably connected to the surface of the mounting bracket 16 near the lower end. The first connecting rod 10 and the second connecting rod 11 are both metal connecting rods and are symmetrically distributed about the central axis of the mounting bracket 16. One end of each is hinged to the lower end of the mounting bracket 16 by a pin. A copper sleeve is also provided between the pin and the mounting bracket 16 to reduce wear. The bottom ends of the first connecting rod 10 and the second connecting rod 11 are... A drive rod 12 is rotatably mounted on both sides. The drive rod 12 is a metal rod, and its two ends are respectively hinged to the bottom ends of the first connecting rod 10 and the second connecting rod 11 by pins. A copper sleeve is also provided at the pin. The middle part of the second connecting rod 11 is rotatably connected to the bottom end of the lifting frame 9 by a drive connecting rod 15. The drive connecting rod 15 is a metal connecting rod, one end of which is hinged to the middle part of the second connecting rod 11 by a pin, and the other end is hinged to the bottom end of the lifting frame 9 by a pin. A copper sleeve is provided at both hinge points. The other end of the drive rod 12 is rotatably connected to an adsorption cylinder 13. A metal hinge ear is fixed in the middle of the adsorption cylinder 13. The end of the drive rod 12 away from the first connecting rod 10 and the second connecting rod 11 is hinged to the hinge ear by a pin. A copper sleeve is also provided at the hinge point.

[0022] Working principle: The device is fixed to the external robotic arm by the mounting component 103. The spacing of the suction cups 14 is adjusted according to the size requirements of the parts to be clamped. During adjustment, the lifting motor of the lifting unit 7 is started. The lifting motor drives the lead screw to rotate. Since the lifting frame 9 cannot rotate due to the restriction of the guide groove and guide block inside the housing, the rotation of the lead screw will drive the lifting frame 9 to rise and fall in the vertical direction. When the lifting frame 9 rises and falls, it will pull the drive link 15 to move. The drive link 15 drives the second link 11 to rotate around its hinge point with the mounting frame 16. When the second link 11 rotates, it will simultaneously drive the drive rod 12 and the first link 10 to move, so that the first link 10 and the second link 16 move. 11 extends or retracts horizontally, thereby driving the suction cylinder 13 to slide along the slide rail groove 62 on the adjusting plate 61 via the drive rod 12 until the spacing of the suction cups 14 matches the size of the part to be clamped. Then, the two nuts on the suction cylinder 13 are tightened to fix it. If it is necessary to adjust the horizontal position of the suction cups 14, the horizontal drive motor of the horizontal moving part 1 is started. The horizontal drive motor drives the first lead screw to rotate. The first lead screw drives the sliding assembly 105 to slide along the horizontal rail 101 through the thread transmission. The sliding assembly 105 drives the vertical moving part 2 and the clamping component to move synchronously in the horizontal direction until the suction cups 14 reach the horizontal position corresponding to the part to be clamped. To adjust the vertical height of the suction cup 14, start the vertical drive motor of the vertical moving part 2. The vertical drive motor drives the second lead screw to rotate. The second lead screw drives the adjusting seat 23 to slide along the vertical rail 21 through thread transmission. The adjusting seat 23 drives the rotary motor 3, mounting plate 4, adjusting part 6, and suction cup 14 to rise and fall synchronously in the vertical direction until the suction cup 14 reaches the vertical height corresponding to the part to be clamped. To adjust the suction angle of the suction cup 14, start the rotary motor 3. The rotary motor 3 drives the mounting plate 4 to rotate. The mounting plate 4 drives the adjusting plate 61 and suction cup 14 to rotate synchronously in the vertical direction through the connecting column 5 until the suction angle of the suction cup 14 is adjusted. After the suction cup 14 is evacuated by an external vacuum system to adapt to the surface of the part to be clamped and all adjustments are completed, the suction cup 14 is evacuated to create negative pressure to attract the part to be clamped. Then, the external robotic arm drives the entire device to move and transfer the part to the designated position. After the part is transferred to the designated position, the vacuuming of the suction cup 14 is stopped and the suction cup 14 releases the part, completing one suction and transfer operation. During the operation of the horizontal moving part 1 and the vertical moving part 2, the first drag chain 104 and the second drag chain 22 will extend or retract synchronously with the movement of the sliding component 105 and the adjusting seat 23, which will protect and store the internal cables and air pipes and prevent them from getting tangled or worn.

[0023] The above description is merely a preferred embodiment of this utility model and is not intended to limit the utility model in any other way. Any person skilled in the art may use the disclosed technical content to make changes or modifications to create equivalent embodiments for application in other fields. However, any simple modifications, equivalent changes, and modifications made to the above embodiments based on the technical essence of this utility model, without departing from the scope of the utility model's technical solution, still fall within the protection scope of this utility model's technical solution. In the description of this utility model, it should be noted that, unless otherwise explicitly specified and limited, the terms "installation," "connection," and "joining" should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral connection; they can refer to a mechanical connection or an electrical connection; they can refer to a direct connection or an indirect connection through an intermediate medium; and they can refer to the internal connection of two components. For those skilled in the art, the specific meaning of the above terms in this utility model can be understood through specific circumstances.

Claims

1. A compatible vacuum adsorption device, characterized in that: It includes a horizontal moving part (1), a vertical moving part (2) and a clamping member. The vertical moving part (2) carries the clamping member and slides along the horizontal direction on the horizontal moving part (1). The clamping member can slide along the vertical direction on the vertical moving part (2). The clamping member includes a lifting part (7), wherein the lifting part (7) can drive the linkage assembly to drive the suction cup (14) to slide on the adjusting part (6) to adjust the spacing of the suction cup (14) in the horizontal direction.

2. The compatible vacuum adsorption device according to claim 1, characterized in that: The adjustment part (6) includes an adjustment plate (61), and a slide rail groove (62) is provided through the surface of the adjustment plate (61). The slide rail groove (62) is bent and the bending point corresponds to the size of the clamping part. An adsorption cylinder (13) is connected to the upper end of the suction cup (14). The adsorption cylinder (13) slides in the slide rail groove (62). Nuts are threaded on the surface of the adsorption cylinder (13). Two nuts are clamped on the adjustment plate (61) to restrict the sliding of the adsorption cylinder (13).

3. The compatible vacuum adsorption device according to claim 2, characterized in that: The horizontal moving part (1) includes a horizontal rail (101), and a mounting assembly (103) is fixedly connected to the surface of the horizontal rail (101). The mounting assembly (103) on the horizontal rail (101) is detachably mounted on the robotic arm by means of bolts. A sliding assembly (105) is provided on the horizontal rail (101), and the sliding assembly (105) slides on the horizontal rail (101). A first drive assembly (102) is installed on the horizontal rail (101), and the first drive assembly (102) drives the sliding assembly (105) to slide along the direction of the horizontal rail (101). A first drag chain (104) is provided between the sliding assembly (105) and the first drive assembly (102).

4. The compatible vacuum adsorption device according to claim 3, characterized in that: The first drive assembly (102) includes a horizontal drive motor. A lead screw is rotatably mounted on the horizontal rail (101). The lead screw is threaded through the sliding assembly (105). The horizontal drive motor drives the lead screw to rotate. The rotating lead screw causes the sliding assembly (105) to slide along the direction of the horizontal rail (101).

5. The compatible vacuum adsorption device according to claim 4, characterized in that: The vertical moving part (2) includes a vertical rail (21), which is detachably fixed on the sliding assembly (105) by means of bolts. An adjusting seat (23) is provided on the vertical rail (21), and the adjusting seat (23) slides along the vertical rail (21) in the vertical direction. A second driving assembly (24) is provided on the vertical rail (21), and the second driving assembly (24) drives the adjusting seat (23) to slide along the vertical rail (21). A second drag chain (22) is provided between the adjusting seat (23) and the second driving assembly (24).

6. The compatible vacuum adsorption device according to claim 5, characterized in that: The second drive assembly (24) includes a vertical drive motor. A second lead screw is rotatably mounted on the vertical rail (21). The second lead screw is threaded through the adjusting seat (23). The vertical drive motor drives the second lead screw to rotate. The rotating second lead screw causes the adjusting seat (23) to slide along the vertical rail (21).

7. The compatible vacuum adsorption device according to claim 6, characterized in that: A rotary motor (3) is installed on the adjusting seat (23), and an mounting plate (4) is installed at the output end of the rotary motor (3). The bottom of the mounting plate (4) is installed with the help of a connecting column (5) and an adjusting plate (61).

8. The compatible vacuum adsorption device according to claim 7, characterized in that: The bottom end of the mounting plate (4) is fixedly connected to a lifting part (7), and the bottom end of the lifting part (7) is fixedly connected to a fixed plate (8). The output end of the lifting part (7) drives the linkage assembly, and the linkage assembly drives the adsorption cylinder (13) to slide in the slide rail groove (62) to adjust the distance between the suction cups (14).

9. The compatible vacuum adsorption device according to claim 8, characterized in that: The lifting part (7) includes a lifting motor, which drives the lead screw to rotate. The lead screw has a lifting frame (9) threaded on its surface. The lifting frame (9) can slide in the vertical direction, but the lifting frame (9) is restricted to sliding only in the vertical direction and cannot rotate.

10. The compatible vacuum adsorption device according to claim 9, characterized in that: The linkage assembly includes a mounting bracket (16) fixedly mounted on a fixed plate (8). A first link (10) and a second link (11) are rotatably connected to the surface of the mounting bracket (16) near the lower end. A drive rod (12) is rotatably mounted at the bottom end of the first link (10) and the second link (11). A drive link (15) is rotatably connected between the second link (11) and the lifting frame (9). An adsorption cylinder (13) is rotatably connected to the other end of the drive rod (12).

Images