CN114193495A

CN114193495A - Non-return sucker gripper device capable of transversely shaking

Info

Publication number: CN114193495A
Application number: CN202111582945.5A
Authority: CN
Inventors: 孙玉清; 罗伟荣; 王生海; 刘将; 陈海泉; 韩广冬; 刘志杰; 王晓邦
Original assignee: Dalian Maritime University
Current assignee: Dalian Maritime University
Priority date: 2021-12-22
Filing date: 2021-12-22
Publication date: 2022-03-18
Anticipated expiration: 2041-12-22
Also published as: CN114193495B

Abstract

The invention discloses a non-return sucker gripper device capable of transversely shaking, relates to the technical field of grabbing and transporting devices, and particularly relates to a sucker gripper device with a transverse shaking function. The invention comprises the following steps: the vibration box structure, the fixed disc structure, the connecting rod structure, the movable disc structure, the vacuum sucker, the motor and the vacuum tank; the fixed disc structure is arranged on the upper part of the movable disc structure through the connecting rod structure; the shaking box structure is fixedly arranged at the upper part of the fixed disc structure and is connected with the movable disc structure; the motor is fixedly arranged on the fixed disc structure and is connected with the shaking box structure; the vacuum sucker is arranged at the lower end of the movable disc structure and is used for being connected with the to-be-separated body; the vacuum tank is connected with the movable disc structure through a pipeline and communicated with the vacuum sucker through the movable disc structure, and provides vacuum suction force for the vacuum sucker. The technical scheme of the invention solves the problem that the subsequent flow is disordered due to different quantities of the goods grabbed at one time because the goods are frozen by low-temperature stacking in the prior art.

Description

Non-return sucker gripper device capable of transversely shaking

Technical Field

The invention discloses a non-return sucker gripper device capable of transversely shaking, relates to the technical field of grabbing and transporting devices, and particularly relates to a sucker gripper device with a transverse shaking function.

Background

Influenced by the low-temperature environment of the cargo hold of the refrigeration ship and the stacking of the cargos, the cargos are likely to be mutually frozen, and the phenomenon that the number of the cargos grabbed at a single time is different during the unloading process can occur, so that the subsequent process is disordered. The existing unloading mode is that the mutually frozen goods are separated by manually using appliances such as iron hooks and the like during unloading, the method consumes great manpower and material resources, and particularly under an epidemic prevention state, the service life of a protection device is greatly influenced by low temperature.

Aiming at the problems in the prior art, a novel non-return sucker gripper device capable of transversely shaking is researched and designed, so that the problem in the prior art is very necessary to be solved.

Disclosure of Invention

According to the technical problem that due to the fact that the goods are frozen due to low-temperature stacking, the number of the goods grabbed at one time is different, and the subsequent process is disordered, the non-return sucker grabbing device capable of transversely shaking is provided. According to the invention, the transverse shaking mechanism is added on the sucker handle, so that mutually frozen cargos can be separated through shaking, the problem that the cargos are mutually frozen in the grabbing process is effectively solved, and the transverse shaking mechanism is suitable for the situation of unloading in low-temperature places such as a cargo hold of a refrigerated ship.

The technical means adopted by the invention are as follows:

a laterally dithered check suction cup gripper comprising: the vibration box structure, the fixed disc structure, the connecting rod structure, the movable disc structure, the vacuum sucker, the motor and the vacuum tank;

furthermore, the fixed disc structure is arranged at the upper part of the movable disc structure through the connecting rod structure;

furthermore, the shaking box structure is fixedly arranged at the upper part of the fixed disc structure and is connected with the movable disc structure;

furthermore, the motor is fixedly arranged on the fixed disc structure and connected with the shaking box structure to provide shaking power for the shaking box structure to drive the movable disc structure to shake;

furthermore, the vacuum chuck is arranged at the lower end of the movable disc structure and is used for being connected with the to-be-separated body;

furthermore, the vacuum tank is connected with the movable disc structure through a pipeline and communicated with the vacuum sucker through the movable disc structure, so that vacuum suction is provided for the vacuum sucker.

Further, the dither box structure includes: the device comprises a front end cover, a shaft seal, a bearing, an eccentric wheel main shaft, a connecting rod, a sliding rod, a connecting rod box body, a sliding rod box body, a bearing and a rear end cover;

furthermore, the front end cover, the connecting rod box body, the slide rod box body and the rear end cover are fastened together in sequence to form a box body assembly;

furthermore, the eccentric wheel main shaft, the connecting rod and the sliding rod form a crank-slider structure, and the crank-slider structure is packaged inside the box body assembly through a bearing and a shaft seal.

Further, the sliding rod is of a plate-shaped structure with a certain thickness;

furthermore, a sliding structure is arranged on the sliding rod;

furthermore, a pin column connected with the connecting rod and a shaft hole for inserting the eccentric wheel spindle are arranged on the sliding structure;

furthermore, the slide bar is arranged inside the slide bar box body through a sliding structure;

furthermore, the lower end of the sliding rod is fixedly connected with the movable disc structure.

Further, the connecting rod is of a plate-shaped structure, and is provided with a pin hole used for being assembled with the pin column and a shaft hole used for penetrating through the eccentric wheel spindle.

Furthermore, a main shaft of the eccentric wheel sequentially penetrates through shaft holes on the sliding rod of the connecting rod to form a crank-slider structure;

furthermore, one end of the eccentric wheel main shaft is arranged on a bearing hole of the front end cover through a bearing and a shaft seal, and the other end of the eccentric wheel main shaft is arranged on a bearing hole of the rear end cover through a bearing;

further, one end of the eccentric wheel main shaft is connected with the output end of the motor.

Furthermore, the fixed disc structure consists of a fixed disc and a shaking box bin arranged at the upper part of the fixed disc;

furthermore, long sliding holes for the sliding rods to pass through are formed in the shaking box bin and the fixed disc;

furthermore, a shaking box structure is assembled in the shaking box bin, and the sliding rod penetrates through the long sliding hole and then is connected with the movable disc structure;

furthermore, the middle rear part of the fixed plate is provided with a mounting hole for connecting and mounting the mechanical arm;

furthermore, connecting rod holes for mounting the connecting rod structure are symmetrically arranged on the periphery of the fixed plate.

Further, the main body structure of the connecting rod structure is a cylindrical support column;

furthermore, a circular convex shoulder for supporting and assembling the fixed disc structure is arranged at the upper part of the supporting column;

furthermore, the lower part of the support column is provided with a square sliding block which is used for being assembled with the movable disc structure in a sliding mode.

Further, the movable plate structure includes: the movable disc frame, the sliding rod plate, the check valve and the electromagnetic valve;

further, the movable disc frame is a frame structure made of hollow square tubes;

furthermore, the check valve is arranged at one end of the upper part of the movable disc frame, is communicated with the inside of the movable disc frame and is connected with the vacuum tank through a pipeline; when the vacuum chuck grabs the goods, the check valve is opened; when the upstream pipeline of the check valve leaks, the check valve is closed to prevent air leakage;

further, the slide bar plate is fixedly arranged at the upper part of the movable disc rack and is fixedly connected with the bottom end of the slide bar;

furthermore, a sliding component corresponding to the connecting rod structure is arranged on the movable disc frame and is in sliding connection with the bottom end of the connecting rod structure;

furthermore, the bottom of the movable disc frame is provided with a plurality of suction disc holes, and each suction disc hole is provided with a vacuum suction disc;

furthermore, the upper part of the movable disc frame is provided with an electromagnetic valve, and the suction/separation of the vacuum sucker is realized by switching on/off the air in the movable disc frame through the electromagnetic valve.

Further, the slide assembly includes: the device comprises a mounting plate, a support column slotted hole, a slide rail, a slide way and a lower slide block;

furthermore, the mounting plate is fixedly arranged on the movable disc rack, and a support column slotted hole is formed in the middle of the mounting plate and used for assembling a support column;

furthermore, the upper part of the mounting plate is provided with a slide rail, and the lower part of the mounting plate is provided with a slide way and a lower slide block;

furthermore, the bottom end of the supporting column is inserted into a supporting column slot, and the square block on the supporting column is matched and assembled with the sliding rail;

further, the lower sliding block is connected with the bottom end of the supporting column and assembled in the sliding way.

The working process of the invention is as follows:

the manipulator operates to enable the vacuum disc to be in contact with goods to be grabbed;

opening the vacuum tank to enable the vacuum chuck to be firmly adsorbed on the goods to be grabbed;

the motor is started, the output end of the motor drives the eccentric wheel main shaft to rotate, and the eccentric wheel main shaft drives the sliding rod to do transverse reciprocating motion through the connecting rod;

the transverse reciprocating motion of the sliding rod is transmitted to the movable disc structure to form transverse shaking, the goods adsorbed by the sucking discs shake transversely together, and shaking force separates the goods frozen together;

the manipulator operates to grab the goods and takes away, and after the goods are conveyed in place, the electromagnetic valve is opened to fill air into the vacuum chuck, so that the vacuum chuck is separated from the goods, and one-time grabbing work is completed.

Compared with the prior art, the invention has the following advantages:

1. according to the non-return sucker gripper device capable of transversely shaking, provided by the invention, the sucker can transversely shake, so that mutually frozen and adhered goods can be mutually separated;

2. according to the non-return sucker gripper device capable of transversely shaking, which is provided by the invention, the non-return sucker gripper device is provided with the non-return valve and the vacuum tank, so that the vacuum can be continuously maintained, and the running time of a vacuum pump is reduced;

3. the non-return sucker gripper device capable of transversely shaking is simple and convenient to arrange, simple and convenient to disassemble and assemble parts and easy to replace;

4. the non-return sucker gripper device capable of transversely shaking is easy to realize automatic control integrally, labor cost is further saved, and unloading efficiency is improved;

5. the non-return sucker gripper device capable of transversely shaking is wide in application range, and besides a cargo hold area of a refrigerated ship, the non-return sucker gripper device can also be applied to other refrigeration houses or operation scenes for mutual bonding of cargos;

6. the non-return sucker gripper device capable of transversely shaking provided by the invention is simple to operate and high in unloading efficiency, the vacuum sucker can suck and release, the shaking capability is capable of saving manpower, and the speed of separating frozen goods is improved.

In conclusion, the technical scheme of the invention solves the problem that the subsequent flow is disordered due to different quantities of the goods captured at one time because the goods are frozen by low-temperature stacking in the prior art.

Drawings

In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings needed to be used in the description of the embodiments or the prior art will be briefly introduced below, and it is obvious that the drawings in the following description are some embodiments of the present invention, and for those skilled in the art, other drawings can be obtained according to these drawings without creative efforts.

FIG. 1 is a schematic structural view of the present invention;

FIG. 2 is a schematic diagram of a structure of a dithering box according to the present invention;

FIG. 3 is an exploded view of the structure of the jitter box of the present invention;

FIG. 4 is a schematic view of the structure of the fixed plate of the present invention;

FIG. 5 is a schematic view of a connecting rod according to the present invention;

FIG. 6 is a first schematic view of a movable plate structure according to the present invention;

FIG. 7 is a schematic view of a second movable plate structure of the present invention;

FIG. 8 is a schematic view of a vacuum chuck according to the present invention.

In the figure:

1. the vibration box structure 11, the front end cover 12, the shaft seal 13, the bearing 14, the eccentric wheel main shaft 15, the connecting rod 151, the pin hole 152, the orifice plate 16, the sliding rod 161, the sliding structure 162, the pin column 163, the shaft hole 17, the connecting rod box 18, the sliding rod box 19 and the rear end cover;

2. the fixed disc structure 21, the mounting hole 22, the connecting rod hole 23, the shaking box bin 24 and the fixed disc;

3. the connecting rod structure 31, the circular shoulder 32, the supporting column 33 and the square sliding block are arranged in parallel;

4. the movable disc structure 41, the sliding bar plate 42, the supporting column slotted hole 43, the sliding rail 44, the slideway 45, the lower slider 46, the check valve 47, the electromagnetic valve 48, the sucking disc hole 49, the movable disc frame 410 and the mounting plate;

5. a vacuum chuck;

6. an electric motor;

7. and (4) a vacuum tank.

Detailed Description

It should be noted that the embodiments and features of the embodiments may be combined with each other without conflict. The present invention will be described in detail below with reference to the embodiments with reference to the attached drawings.

In order to make the objects, technical solutions and advantages of the embodiments of the present invention clearer, the technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. The following description of at least one exemplary embodiment is merely illustrative in nature and is in no way intended to limit the invention, its application, or uses. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.

It is noted that the terminology used herein is for the purpose of describing particular embodiments only and is not intended to be limiting of exemplary embodiments according to the invention. As used herein, the singular forms "a", "an" and "the" are intended to include the plural forms as well, and it should be understood that when the terms "comprises" and/or "comprising" are used in this specification, they specify the presence of stated features, steps, operations, devices, components, and/or combinations thereof, unless the context clearly indicates otherwise.

The relative arrangement of the components and steps, the numerical expressions and numerical values set forth in these embodiments do not limit the scope of the present invention unless specifically stated otherwise. Meanwhile, it should be understood that the sizes of the respective portions shown in the drawings are not drawn in an actual proportional relationship for the convenience of description. Techniques, methods, and apparatus known to those of ordinary skill in the relevant art may not be discussed in detail but are intended to be part of the specification where appropriate. In all examples shown and discussed herein, any particular value should be construed as merely illustrative, and not limiting. Thus, other examples of the exemplary embodiments may have different values. It should be noted that: like reference numbers and letters refer to like items in the following figures, and thus, once an item is defined in one figure, further discussion thereof is not required in subsequent figures.

In the description of the present invention, it is to be understood that the orientation or positional relationship indicated by the directional terms such as "front, rear, upper, lower, left, right", "lateral, vertical, horizontal" and "top, bottom", etc., are generally based on the orientation or positional relationship shown in the drawings, and are used for convenience of description and simplicity of description only, and in the absence of any contrary indication, these directional terms are not intended to indicate and imply that the device or element so referred to must have a particular orientation or be constructed and operated in a particular orientation, and therefore should not be considered as limiting the scope of the present invention: the terms "inner and outer" refer to the inner and outer relative to the profile of the respective component itself.

Spatially relative terms, such as "above … …," "above … …," "above … …," "above," and the like, may be used herein for ease of description to describe one device or feature's spatial relationship to another device or feature as illustrated in the figures. It will be understood that the spatially relative terms are intended to encompass different orientations of the device in use or operation in addition to the orientation depicted in the figures. For example, if a device in the figures is turned over, devices described as "above" or "on" other devices or configurations would then be oriented "below" or "under" the other devices or configurations. Thus, the exemplary term "above … …" can include both an orientation of "above … …" and "below … …". The device may be otherwise variously oriented (rotated 90 degrees or at other orientations) and the spatially relative descriptors used herein interpreted accordingly.

It should be noted that the terms "first", "second", and the like are used to define the components, and are only used for convenience of distinguishing the corresponding components, and the terms have no special meanings unless otherwise stated, and therefore, the scope of the present invention should not be construed as being limited.

As shown in fig. 1, the present invention provides a non-return suction cup gripper capable of laterally shaking, comprising: the vibration box comprises a vibration box structure 1, a fixed disc structure 2, a connecting rod structure 3, a movable disc structure 4, a vacuum sucker 5, a motor 6 and a vacuum tank 7; the fixed disc structure 2 is arranged on the upper part of the movable disc structure 4 through the connecting rod structure 3; the shaking box structure 1 is fixedly arranged at the upper part of the fixed disc structure 2 and is connected with the movable disc structure 4; the motor 6 is fixedly arranged on the fixed disc structure 2 and connected with the shaking box structure 1 to provide shaking power for the shaking box structure 1 to drive the movable disc structure 4 to shake; the vacuum sucker 5 is arranged at the lower end of the movable disc structure 4 and is used for being connected with the to-be-separated body; vacuum tank 7 is connected with movable disk structure 4 through the pipeline, is linked together with vacuum chuck 5 through movable disk structure 4, provides vacuum suction for vacuum chuck 5.

As shown in fig. 2 and 3, the dither box structure 1 includes: the device comprises a front end cover 11, a shaft seal 12, a bearing 13, an eccentric wheel main shaft 14, a connecting rod 15, a sliding rod 16, a connecting rod box body 17, a sliding rod box body 18, a bearing 13 and a rear end cover 19; the front end cover 11, the connecting rod box body 17, the slide rod box body 18 and the rear end cover 19 are fastened together in sequence to form a box body assembly; the eccentric wheel main shaft 14, the connecting rod 15 and the sliding rod 16 form a crank-slider structure, and are packaged inside the box body assembly through the bearing 13 and the shaft seal 12.

As shown in fig. 2 and 3, the sliding rod 16 is a plate-shaped structure with a certain thickness; the slide bar 16 is provided with a slide structure 161; the sliding structure 161 is provided with a pin 162 connected with the connecting rod 15 and a shaft hole 163 for inserting the eccentric wheel spindle 14; the slide bar 16 is arranged inside the slide bar box 18 through a slide structure 161; the lower end of the slide bar 16 is fixedly connected with the movable disc structure 4.

As shown in fig. 2 and 3, the connecting rod 15 has a plate-like structure, and is provided with a pin hole 151 for fitting with the pin 162 and a shaft hole 163 for inserting the eccentric shaft 14.

As shown in fig. 2 and 3, the eccentric wheel spindle 14 sequentially passes through the shaft holes 163 on the sliding rods 16 of the connecting rod 15 to form a crank-slider structure; one end of an eccentric wheel main shaft 14 is arranged on a bearing hole of a front end cover 11 through a bearing 13 and a shaft seal 12, and the other end is arranged on a bearing hole of a rear end cover 19 through the bearing 13; one end of the eccentric wheel main shaft 14 is connected with the output end of the motor 6.

As shown in fig. 4, the fixed disc structure 2 is composed of a fixed disc 24 and a shaking box chamber 23 arranged on the upper part of the fixed disc 24; the shaking box bin 23 and the fixed disc 24 are provided with long sliding holes for the sliding rods 16 to pass through; the shaking box structure 1 is assembled in the shaking box bin 23, and the slide rod 16 penetrates through the long slide hole and then is connected with the movable disc structure 4; the middle rear part of the fixed plate 24 is provided with a mounting hole 21 for connecting and mounting the mechanical arm; the connecting rod holes 22 for mounting the connecting rod structures 3 are symmetrically arranged around the fixed plate 24.

As shown in fig. 5, the main structure of the connecting rod structure 3 is a cylindrical support column 32; the upper part of the supporting column 32 is provided with a circular shoulder 31 for supporting the assembling fixed disc structure 2; the lower part of the supporting column 32 is provided with a square sliding block 33 which is used for sliding assembly with the movable disc structure 4.

As shown in fig. 6 and 7, the movable plate structure 4 includes: a movable disc rack 49, a sliding rod plate 41, a check valve 46 and a solenoid valve 47; the movable tray rack 49 is a frame structure made of a hollow square pipe; the check valve 46 is arranged at one end of the upper part of the movable disc rack 49, is communicated with the interior of the movable disc rack 49 and is connected with the vacuum tank 7 through a pipeline; the check valve 46 is opened when the vacuum chuck 5 grasps the goods; when the line upstream of the check valve 46 leaks, the check valve 46 closes, preventing air leakage; the sliding rod plate 41 is fixedly arranged at the upper part of the movable disc rack 1 and is fixedly connected with the bottom end of the sliding rod 16; the movable disc rack 49 is provided with a sliding component corresponding to the connecting rod structure 3 and is connected with the bottom end of the connecting rod structure 3 in a sliding way; the bottom of the movable disc rack 49 is provided with a plurality of suction disc holes 48, and each suction disc hole 48 is provided with a vacuum suction disc 5; the upper part of the movable disc rack 49 is provided with an electromagnetic valve 47, and the air is switched on and off in the movable disc rack 49 through the switch electromagnetic valve 47, so that the suction/separation of the vacuum suction disc 5 is realized.

As shown in fig. 6 and 7, the slide assembly includes: mounting plate 410, support post slot 42, slide rail 43, slide way 44 and lower slide block 45; the mounting plate 410 is fixedly arranged on the movable disc rack 49, and the middle part of the mounting plate is provided with a support column slotted hole 42 for assembling the support column 32; the upper part of the mounting plate 410 is provided with a slide rail 43, and the lower part is provided with a slide way 44 and a lower slide block 45; the bottom end of the supporting column 32 is inserted into the supporting column slotted hole 42, and the square slide block 33 on the supporting column is matched and assembled with the slide rail 43; the lower slider 45 is attached to the bottom end of the support column 32 and fits into the slide 44.

Finally, it should be noted that: the above embodiments are only used to illustrate the technical solution of the present invention, and not to limit the same; while the invention has been described in detail and with reference to the foregoing embodiments, it will be understood by those skilled in the art that: the technical solutions described in the foregoing embodiments may still be modified, or some or all of the technical features may be equivalently replaced; and the modifications or the substitutions do not make the essence of the corresponding technical solutions depart from the scope of the technical solutions of the embodiments of the present invention.

Claims

1. The utility model provides a but lateral shifting's non return sucking disc tongs which characterized in that:

but lateral shifting's non return sucking disc tongs include: the vibration box comprises a shaking box structure (1), a fixed disc structure (2), a connecting rod structure (3), a movable disc structure (4), a vacuum sucker (5), a motor (6) and a vacuum tank (7);

the fixed disc structure (2) is arranged on the upper part of the movable disc structure (4) through the connecting rod structure (3);

the shaking box structure (1) is fixedly arranged at the upper part of the fixed disc structure (2) and is connected with the movable disc structure (4);

the motor (6) is fixedly arranged on the fixed disc structure (2) and connected with the shaking box structure (1) to provide shaking power for the shaking box structure (1) to drive the moving disc structure (4) to shake;

the vacuum sucker (5) is arranged at the lower end of the movable disc structure (4) and is used for being connected with a to-be-separated body;

vacuum tank (7) be connected with driving disk structure (4) through the pipeline, be linked together through driving disk structure (4) and vacuum chuck (5), provide vacuum suction for vacuum chuck (5).

2. The laterally shakable, non-return suction cup gripper of claim 1, wherein:

the shaking box structure (1) comprises: the device comprises a front end cover (11), a shaft seal (12), a bearing (13), an eccentric wheel main shaft (14), a connecting rod (15), a sliding rod (16), a connecting rod box body (17), a sliding rod box body (18), a bearing (13) and a rear end cover (19);

the front end cover (11), the connecting rod box body (17), the slide rod box body (18) and the rear end cover (19) are fastened together in sequence to form a box body assembly;

the eccentric wheel main shaft (14), the connecting rod (15) and the sliding rod (16) form a crank-slider structure, and are packaged in the box body assembly through a bearing (13) and a shaft seal (12).

3. The laterally shakable, non-return suction cup gripper of claim 2, wherein:

the sliding rod (16) is of a plate-shaped structure with a certain thickness;

a sliding structure (161) is arranged on the sliding rod (16);

the sliding structure (161) is provided with a pin column (162) connected with the connecting rod (15) and a shaft hole (163) for inserting the eccentric wheel spindle (14);

the slide bar (16) is arranged in the slide bar box body (18) through a slide structure (161);

the lower end of the sliding rod (16) is fixedly connected with the movable disc structure (4).

4. The laterally shakable, non-return suction cup gripper of claim 3, wherein:

the connecting rod (15) is of a plate-shaped structure, and is provided with a pin hole (151) used for being assembled with the pin column (162) and a shaft hole (163) used for penetrating the eccentric wheel main shaft (14).

5. The laterally shakable, non-return suction cup gripper of claim 4, wherein:

the eccentric wheel main shaft (14) sequentially penetrates through shaft holes (163) on a sliding rod (16) of the connecting rod (15) to form a crank-slider structure;

one end of the eccentric wheel main shaft (14) is arranged on a bearing hole of the front end cover (11) through a bearing (13) and a shaft seal (12), and the other end of the eccentric wheel main shaft is arranged on a bearing hole of the rear end cover (19) through the bearing (13);

one end of the eccentric wheel main shaft (14) is connected with the output end of the motor (6).

6. The laterally shakable, non-return suction cup gripper of claim 1, wherein:

the fixed disc structure (2) consists of a fixed disc (24) and a shaking box bin (23) arranged at the upper part of the fixed disc (24);

the shaking box bin (23) and the fixed disc (24) are provided with long sliding holes for the sliding rods (16) to pass through;

the shaking box structure (1) is assembled in the shaking box bin (23), and the sliding rod (16) penetrates through the long sliding hole and then is connected with the movable disc structure (4);

the middle rear part of the fixed plate (24) is provided with a mounting hole (21) for connecting and mounting the mechanical arm;

and connecting rod holes (22) for mounting the connecting rod structure (3) are symmetrically arranged on the periphery of the fixed disc (24).

7. The laterally shakable, non-return suction cup gripper of claim 6, wherein:

the main body structure of the connecting rod structure (3) is a cylindrical supporting column (32);

the upper part of the supporting column (32) is provided with a circular convex shoulder (31) for supporting and assembling the fixed disc structure (2);

the lower part of the supporting column (32) is provided with a square sliding block (33) which is used for being assembled with the movable disc structure (4) in a sliding way.

8. The laterally shakable, non-return suction cup gripper of claim 6, wherein:

the movable disc structure (4) comprises: a movable disc rack (49), a sliding rod plate (41), a check valve (46) and an electromagnetic valve (47);

the movable plate rack (49) is a frame structure made of hollow square pipes;

the check valve (46) is arranged at one end of the upper part of the movable disc rack (49), is communicated with the interior of the movable disc rack (49), and is connected with the vacuum tank (7) through a pipeline;

the sliding rod plate (41) is fixedly arranged at the upper part of the movable plate rack (1) and is fixedly connected with the bottom end of the sliding rod (16);

the movable disc rack (49) is provided with a sliding component corresponding to the connecting rod structure (3) and is in sliding connection with the bottom end of the connecting rod structure (3);

the bottom of the movable disc rack (49) is provided with a plurality of suction disc holes (48), and each suction disc hole (48) is provided with a vacuum suction disc (5);

the upper part of the movable disc rack (49) is provided with an electromagnetic valve (47), and the movable disc rack (49) is opened and closed through opening and closing the electromagnetic valve (47), so that the suction/separation of the vacuum suction disc (5) is realized.

9. The laterally shakable, non-return suction cup gripper of claim 8, wherein:

the sliding assembly comprises: the mounting plate (410), the supporting column slotted hole (42), the sliding rail (43), the sliding rail (44) and the lower sliding block (45);

the mounting plate (410) is fixedly arranged on the movable disc rack (49), and a support column slotted hole (42) is formed in the middle of the mounting plate and used for assembling a support column (32);

the upper part of the mounting plate (410) is provided with a slide rail (43), and the lower part is provided with a slide way (44) and a lower slide block (45);

the bottom end of the supporting column (32) is inserted into the slotted hole (42) of the supporting column, and the square block (33) on the supporting column is matched and assembled with the sliding rail (43);

the lower sliding block (45) is connected with the bottom end of the supporting column (32) and assembled in the slideway (44).