CN114800591A - Vacuum chuck type gripper structure - Google Patents

Abstract

The invention discloses a vacuum chuck type gripper structure, and aims to provide a vacuum chuck type gripper structure which is convenient to improve the working efficiency. Including tongs seat and sucking disc tongs, the sucking disc tongs includes vacuum generator, buffering subassembly and a plurality of sucking disc subassembly, vacuum generator's top is connected with the tongs seat, vacuum generator's bottom is connected with the buffering subassembly, and a plurality of sucking disc unit mount is around the bottom of buffering subassembly, the last air duct that is connected with a plurality of and sucking disc subassembly matching of vacuum generator, vacuum generator passes through the air duct and is connected with the sucking disc subassembly, the bottom of buffering subassembly is connected with the detector, detector and vacuum generator all are connected with external control ware electricity. The invention has the beneficial effects that: stable in structure, long service life, the commonality is good, through the cooperation of detector, can pinpoint more and take the place of grabbing the position of thing, has reached the purpose that improves work efficiency.

Description

Vacuum chuck type gripper structure

Technical Field

The invention relates to the technical field of vacuum chucks, in particular to a vacuum chuck type gripper structure.

Background

The animal's absorptive organ is generally in the shape of a circular dish with a concave center. The sucking disc has the functions of adsorption, food intake, exercise and the like. The sucking discs are respectively arranged around the opening part and the rear end of the front end of the leech. According to the characteristics of animals, a vacuum suction cup, also called a vacuum lifting appliance, is invented, and is one of vacuum equipment actuators.

The sucking disc material is generally made of nitrile rubber, and has larger breaking force, so the sucking disc material is widely applied to various vacuum holding devices. Along with the improvement of the automation degree of industrial processing and production, the demand of automatic production equipment is more and more great, the sucker gripper is a novel device developed in the mechanical and automatic production processes, in the modern production process, the mechanical gripper is widely applied to automatic production lines, the development and production of robots become a new technology in the high technical field and are rapidly developed, the development of the mechanical gripper is promoted, the mechanical gripper can be better organically combined with the mechanization and automation, the mechanical gripper is not as flexible as a human hand, but the mechanical gripper has the characteristics of continuously repeated work and labor, danger is avoided, and the force for gripping heavy objects is stronger than the force of the human hand, so that the suction cup gripper is more and more emphasized.

Chinese patent publication No.: CN206383158U, published 2017, 08.08.2017, discloses a sucker gripper with a buffer device, which comprises a sucker assembly, a sucker positioning fixing plate, a buffer guide screw rod and a buffer spring, wherein the sucker assembly comprises a sucker and a sucker fixing piece, the bottom of the sucker is hermetically connected to the sucker fixing piece, the bottom of the sucker and the sucker fixing piece are provided with a first mounting through hole and a vacuum suction hole which correspond to each other, and the upper end of the vacuum suction hole of the sucker fixing piece is provided with a vacuum suction joint; the sucker positioning fixing plate is provided with a second mounting through hole corresponding to the first mounting through hole; the buffer guide screw comprises a fixed end and an adjustable end, the buffer spring is sleeved on the buffer guide screw, and two ends of the buffer spring are respectively contacted with the fixed nut and the sucker positioning fixing plate.

The device has the characteristics of simple structure, convenience in operation, capability of greatly reducing the damage of the sucker gripper to a gripped object and the like. But cannot accurately position the object to be grabbed and cannot improve the working efficiency.

In view of the above, it is necessary to develop a new structure to solve the above problems.

Disclosure of Invention

The invention provides a vacuum sucker type gripper structure which is convenient for improving the working efficiency, aiming at overcoming the defect that the working efficiency cannot be improved by the vacuum sucker type gripper structure in the prior art.

In order to achieve the purpose, the invention adopts the following technical scheme:

the utility model provides a vacuum chuck formula tongs structure, includes tongs seat and sucking disc tongs, the sucking disc tongs includes vacuum generator, buffering subassembly and a plurality of sucking disc subassembly, vacuum generator's top is connected with the tongs seat, vacuum generator's bottom is connected with the buffering subassembly, and a plurality of sucking disc unit mount is around the bottom of buffering subassembly, the last air duct that is connected with a plurality of and sucking disc subassembly matching of vacuum generator, vacuum generator passes through the air duct and is connected with the sucking disc subassembly, the bottom of buffering subassembly is connected with the detector, the detector all is connected with external control ware electricity with vacuum generator.

The gripper seat is used for installing external drive part, vacuum generator produces the vacuum, be connected with the sucking disc subassembly through the air duct, provide vacuum operational environment for the sucking disc subassembly, the setting of buffering subassembly is used for providing buffering shock attenuation effect for snatching work, reduce the injury to snatching article, the rejection rate of product has been reduced, work efficiency has been improved indirectly, the sucking disc subassembly is used for snatching of article, set up a plurality of sucking disc subassemblies, be convenient for increase the quantity that article snatched, or snatch not unidimensional article, work efficiency and commonality are improved. When the device works, the external controller controls the external driving part on the gripper seat to work, the gripper seat is moved to the position of the object to be gripped, wherein the detector can adopt a detector with the functions of a light transmitter and a light receiver in the forms of infrared rays or sound waves, the detector transmits information to the external controller after detecting the specific position of the object to be gripped, the external controller controls the vacuum generator to generate vacuum, the sucker component generates vacuum through the air duct, the object to be gripped is adsorbed on the sucker component, the gripping work of the vacuum sucker is realized, after the object to be gripped is gripped, the buffer component contracts to provide buffer effect for the gripping work, the sucker component is prevented from directly contacting with the vacuum generator, the service life and the work safety are prolonged, the whole working process only needs to operate the external controller, the object to be gripped is not required to be manually aligned, and the detector is matched, the position of the object to be grabbed can be more accurately positioned, and the purpose of improving the working efficiency is achieved.

Preferably, the buffer assembly comprises an upper connecting plate, a lower connecting plate, a plurality of guide shafts and a plurality of springs, the upper connecting plate is connected with the bottom end of the vacuum generator, the guide shafts and the springs are uniformly arranged around the bottom of the upper connecting plate, the tops of the guide shafts are connected with the upper connecting plate, the bottoms of the guide shafts are connected with the top of the lower connecting plate, the springs are sleeved on the peripheries of the guide shafts, and the detectors and the sucker assemblies are connected with the bottom of the lower connecting plate. The upper junction plate is used for being connected with vacuum generator, and the lower junction plate is used for the installation of sucking disc subassembly and detector, and the guiding axle is used for the installation of spring, and the spring can play the effect of shock attenuation buffering, installs the detector in the bottom of lower junction plate, is convenient for in time snatch in order to grab thing detection back cooperation sucking disc subassembly, and the setting of buffering subassembly can improve structure life, and then improves production efficiency.

Preferably, the sucking disc subassembly includes connecting pipe, gasbag dish and a plurality of sucking disc body, the one end and the lower connecting plate of connecting pipe are connected, the other end and the gasbag dish of connecting pipe are connected, the sucking disc body is connected with the medial surface of gasbag dish, sucking disc body and gasbag dish intercommunication, be equipped with first cavity in the gasbag dish, the sucking disc body communicates with first cavity, the connecting pipe is connected with the air duct, the sucking disc body passes through the cooperation and the vacuum generator intercommunication of connecting pipe and air duct. The sucking disc body and first cavity intercommunication, the connecting pipe is used for being connected with the air duct, provides the vacuum condition for the sucking disc subassembly, when snatching article, the gasbag dish is inwards sunken by the extrusion, and the sucking disc body is extruded and is hugged closely the surface of object, and vacuum generator work, the gasbag dish tightens up, and the sucking disc body tightly adsorbs on article surface, accomplishes snatching article, and such design is convenient for increase sucking disc subassembly adsorption affinity of article, and then improves work efficiency.

As preferred, the connecting pipe includes link and stiff end, the link is connected as an organic wholely with the stiff end, the outside of link is connected with connecting thread, set up the screw hole that matches with connecting thread on the connecting plate down, the link passes through the cooperation of connecting thread and screw hole and is connected with lower connecting plate, the stiff end is connected with the top of gasbag dish. Divide into link and stiff end with the connecting pipe, the stiff end is connected with the gasbag dish, and the link is connected with lower connecting plate, increases the variety of connecting, and the link sets up connecting thread, is convenient for increase and the stability of connecting plate connection down, prevents to use for a long time and causes droing.

Preferably, the stiff end is connected with the arch that sets up according to the circumferencial direction, the top of first cavity is connected with the linking piece unanimous with first cavity top radian, be equipped with the tube hole that matches with the connecting pipe in the linking piece, be equipped with the recess that matches with the arch on the inside wall of tube hole, the bottom of stiff end is connected and is limited the stator, the connecting pipe passes behind the tube hole and is connected with the gasbag dish through the cooperation of arch and recess. The stiff end sets up the arch, sets up the recess in the stationary blade, passes the stiff end of connecting pipe earlier behind the tube hole that links up the piece, and the cooperation of rethread arch and recess makes stiff end and linking piece be connected, and wherein the restriction piece is used for injecing the bottom of link, avoids the connecting pipe to break away from linking piece, increases the fastness of connecting, links up the piece unanimously with gasbag cavity top radian, avoids linking up the wearing and tearing of piece to the gasbag cavity, increase of service life.

Preferably, the sucker body is provided with a spherical cover, an outer core tube and an inner core tube, the bottom end of the outer core tube and the bottom end of the inner core tube are both connected with the sucker body, the top end of the outer core tube is connected with the inner side wall of the air bag disc, the spherical cover is connected with the top end of the outer core tube in a sliding mode and is arranged in a first cavity of the air bag disc, and the inner core tube is sleeved on the inner side of the outer core tube and is tightly attached to the outer core tube. In first cavity was all arranged in to ball lid and outer core pipe, ball lid and outer core pipe sliding connection, outer core pipe and inner core pipe were used for increasing the convenience of sucking disc integument evacuation, and vacuum generator during operation carries out the evacuation to the gasbag dish, and the ball lid upwards slides for the air in inner core pipe and the outer core pipe is extracted, and when being in under the normal condition, ball lid and outer core pipe sealing connection avoid gaseous flow, increase the flexibility of using.

Preferably, the sucker body comprises an inner cover and an outer cover, the bottom end of the inner core pipe is connected with the inner cover, the bottom end of the outer core pipe is connected with the outer cover, the top end of the outer core pipe is connected with a fixing head, the fixing head is connected with the ball cover in a sliding mode, a second cavity is arranged inside the fixing head, a third cavity is arranged inside the inner core pipe, the second cavity is communicated with the third cavity, an inner air guide hole is formed in the side wall of the inner core pipe and communicated with the third cavity, and the second cavity is communicated with the first cavity through the up-down sliding of the ball cover and the fixing head. The fixed head is used for being connected with the spherical cover, the inside second cavity of seting up of fixed head and the interior gas guide hole that sets up on the inner core pipe, communicate with the third cavity respectively, going on of the vacuum extraction work of being convenient for, in operation, the vacuum generator evacuation, interior gas guide hole is to the transmission gas in the third cavity, the spherical cover on the fixed head upwards slides, the second cavity is opened and is passed through gas in the first cavity, the inner cover of sucking disc body is hugged closely and is replaced and grab article, make article firmly adsorbed, increase absorbent fastness.

Preferably, a fourth cavity is formed in the inner cover, outer air guide holes are formed in the bottoms of the inner cover and the outer cover and in the bottoms of the outer cover, and the outer air guide holes and the inner air guide holes are communicated with the fourth cavity. When the evacuation, outer gas guide hole transmits gas to the fourth cavity, and through interior gas guide hole with gas to the third cavity internal transmission again behind the fourth cavity, increase absorbent steadiness, improve and snatch efficiency.

Preferably, the ball cover comprises a ball head and a sealing cover, the bottom end of the ball head is connected with the sealing cover, the side edge of the ball head is in contact with the outer side of the fixed head, the sealing cover is arranged in the second cavity of the fixed head, and the side edge of the sealing cover is in sliding connection with the inner side wall of the fixed head. The ball cover is divided into a ball head and a sealing cover, the ball head and the sealing cover are used for sealing the second cavity of the fixing head, and the side edge of the ball head is in contact with the outer side of the fixing head but not connected with the fixing head, so that when the sealing cover seals the fixing head, the side edge of the fixing head can be further sealed, and the air tightness is improved.

Preferably, the side of the sealing cover is connected with a ball, the inner side wall of the fixing head is provided with a ball groove matched with the ball, and the sealing cover is in sliding connection with the fixing head through the matching of the ball and the ball groove. The side of closing cap sets up the ball, and the inside wall of fixed head is equipped with the ball groove that matches with the ball, increases the gliding convenience from top to bottom of closing cap, increases the convenience of vacuum work, improves vacuum extraction efficiency, and then improves work efficiency.

The invention has the beneficial effects that: stable in structure, long service life, the commonality is good, whole working process only need operate external control ware can, need not artifical alignment and take the place of grabbing the thing, and through the cooperation of detector, can pinpoint more and take the place of grabbing the position of thing, reached the purpose that improves work efficiency.

Drawings

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

FIG. 2 is a bottom view of the lower connecting plate;

FIG. 3 is a schematic view of the internal structure of the chuck assembly;

FIG. 4 is a front cross-sectional view of the airbag tray;

FIG. 5 is a schematic view of the structure of the connecting tube and the adaptor block;

FIG. 6 is a schematic view of the internal structure of the suction cup body;

FIG. 7 is a schematic view of the internal structure of the suction cup body fully deformed by squeezing;

fig. 8 is an enlarged schematic view of the ball cover and retaining head.

In the figure: 1. the hand grab comprises a hand grab seat, 2 parts of a vacuum generator, 21 parts of an air guide pipe, 3 parts of a buffer assembly, 31 parts of an upper connecting plate, 32 parts of a guide shaft, 33 parts of a spring, 34 parts of a lower connecting plate, 341 parts of a threaded hole, 4 parts of a sucker assembly, 41 parts of a connecting pipe, 411 parts of a connecting end, 412 parts of a connecting thread, 413 parts of a fixed end, 414 parts of a bulge, 415 parts of a limiting sheet, 42 parts of an air bag disc, 421 parts of a first cavity, 422 parts of a connecting block, 423 parts of an orifice, 424 parts of a groove, 43 parts of a sucker body, 431 parts of an inner cover, 432 parts of an outer cover, 433 parts of a fourth cavity, 434 parts of an outer air guide hole, 44 parts of an inner core pipe, 441 parts of a third cavity, 442 parts of an inner air guide hole, 45 parts of an outer core pipe, 46 parts of a fixed head, 461 parts of a second cavity, 462 parts of a ball groove, 47 parts of a ball cover, 471 parts of a ball head, a sealing cover, 473 parts of a ball, and 5 parts of a detector.

Detailed Description

The invention is further described with reference to the following figures and detailed description.

As shown in fig. 1 and 2, a vacuum chuck type tongs structure, including tongs seat 1 and sucking disc tongs, the sucking disc tongs includes vacuum generator 2, buffering subassembly 3 and a plurality of sucking disc subassembly 4, vacuum generator 2's top is connected with tongs seat 1, vacuum generator 2's bottom is connected with buffering subassembly 3, a plurality of sucking disc subassembly 4 is installed around the bottom of buffering subassembly 3, be connected with the air duct 21 that a plurality of and sucking disc subassembly 4 match on the vacuum generator 2, vacuum generator 2 passes through air duct 21 and is connected with sucking disc subassembly 4, the bottom of buffering subassembly 3 is connected with detector 5, detector 5 all is connected with the external control ware electricity with vacuum generator 2.

Buffer unit 3 includes upper junction plate 31, lower junction plate 34, a plurality of guiding axle 32 and a plurality of spring 33, upper junction plate 31 is connected with vacuum generator 2's bottom, the even setting of guiding axle 32 and spring 33 is around the bottom of upper junction plate 31, the top and the upper junction plate 31 of guiding axle 32 are connected, the bottom and the top of lower junction plate 34 of guiding axle 32 are connected, spring 33 cup joints the periphery at guiding axle 32, detector 5 and sucking disc subassembly 4 all are connected with the bottom of lower junction plate 34.

As shown in fig. 3 and 4, the suction cup assembly 4 includes a connecting pipe 41, an airbag disk 42 and a plurality of suction cup bodies 43, one end of the connecting pipe 41 is connected to the lower connecting plate 34, the other end of the connecting pipe 41 is connected to the airbag disk 42, the suction cup bodies 43 are connected to the inner side of the airbag disk 42, a first cavity 421 is provided in the airbag disk 42, the suction cup bodies 43 are communicated with the first cavity 421, the connecting pipe 41 is connected to the gas-guide tube 21, and the suction cup bodies 43 are communicated with the vacuum generator 2 through the matching of the connecting pipe 41 and the gas-guide tube 21.

As shown in fig. 5, the connection tube 41 includes a connection end 411 and a fixed end 413, the connection end 411 and the fixed end 413 are connected into a whole, the outer side of the connection end 411 is connected with a connection thread 412, a threaded hole 341 matching with the connection thread 412 is opened on the lower connection plate 34, the connection end 411 is connected with the lower connection plate 34 through the matching of the connection thread 412 and the threaded hole 341, and the fixed end 413 is connected with the top of the airbag panel 42.

The fixed end 413 is connected with a protrusion 414 arranged in the circumferential direction, the top of the first cavity 421 is connected with a connection block 422 with the radian consistent with that of the top of the first cavity 421, a pipe hole 423 matched with the connection pipe 41 is arranged in the connection block 422, a groove 424 matched with the protrusion 414 is arranged on the inner side wall of the pipe hole 423, the bottom of the fixed end 413 is connected with a limiting sheet 415, and the connection pipe 41 is connected with the airbag disc 42 through the matching of the protrusion 414 and the groove 424 after penetrating through the pipe hole 423.

As shown in fig. 6 and 7, the suction cup body 43 is provided with a ball cover 47, an outer core tube 45 and an inner core tube 44, the bottom end of the outer core tube 45 and the bottom end of the inner core tube 44 are both connected with the suction cup body 43, the top end of the outer core tube 45 is connected with the inner side wall of the airbag panel 42, the ball cover 47 is connected with the top end of the outer core tube 45 in a sliding manner and is placed in the first cavity 421 of the airbag panel 42, and the inner core tube 44 is sleeved on the inner side of the outer core tube 45 and tightly attached to the outer core tube 45.

The suction cup body 43 comprises an inner cover 431 and an outer cover 432, the bottom end of the inner core tube 44 is connected with the inner cover 431, the bottom end of the outer core tube 45 is connected with the outer cover 432, the top end of the outer core tube 45 is connected with a fixed head 46, the fixed head 46 is connected with the ball cover 47 in a sliding manner, a second cavity 461 is arranged inside the fixed head 46, a third cavity 441 is arranged inside the inner core tube 44, the second cavity 461 is communicated with the third cavity 441, an inner air guide hole 442 is formed in the side wall of the inner core tube 44, the inner air guide hole 442 is communicated with the third cavity 441, and the second cavity 461 is communicated with the first cavity 421 through the up-down sliding of the ball cover 47 and the fixed head 46.

A fourth cavity 433 is seted up to the inside of inner cover 431, and outer air guide hole 434 has all been seted up to the bottom of inner cover 431 and the bottom of outer cover 432, and outer air guide hole 434 and interior air guide hole 442 all communicate with fourth cavity 433.

The ball cover 47 includes a ball head 471 and a sealing cover 472, a bottom end of the ball head 471 is connected to the sealing cover 472, a side of the ball head 471 contacts an outer side of the fixing head 46, the sealing cover 472 is disposed in the second cavity 461 of the fixing head 46, and a side of the sealing cover 472 is slidably connected to an inner side wall of the fixing head 46.

As shown in FIG. 8, a ball 473 is connected to the side of the cover 472, a ball groove 462 matching with the ball 473 is formed in the inner side wall of the fixed head 46, and the cover 472 is slidably connected with the fixed head 46 through the matching of the ball 473 and the ball groove 462.

When the device works, the external controller controls the external driving part on the gripper seat 1 to work, the gripper seat 1 is moved to the position of an object to be gripped, the detector 5 at the bottom of the lower connecting plate 34 detects the specific position of the object to be gripped and transmits information to the external controller, the external controller controls the vacuum generator 2 to generate vacuum, the sucker component 4 is vacuumized through the air guide tube 21, the sucker 43 is communicated with the first cavity 421, the connecting tube 41 is used for being connected with the air guide tube 21 to provide vacuum conditions for the sucker component 43, when the object is gripped, the air bag disk 42 is squeezed and sunken inwards, as shown in fig. 7, the external air guide hole 434 transmits air into the fourth cavity 433, the air is transmitted into the third cavity 441 through the internal air guide hole 442 after passing through the fourth cavity 433, the third cavity 433 transmits air into the second cavity 461, the ball cover 47 on the fixing head 46 slides upwards, second cavity 461 in fixed head 46 is opened to transmission gas in first cavity 421, suction cup body 43's inner cover 431 is hugged closely and is taken the article for the generation, makes article firmly adsorbed, increases absorbent fastness, realizes suction cup body 43's the work of grabbing promptly, will take the place of and grab the thing and snatch the back, and spring 33 avoids sucking disc subassembly 4 and vacuum generator 2 direct contact, increase of service life and work security for snatching work and providing the cushioning effect.

Claims (10)

1. A vacuum sucker type gripper structure is characterized by comprising a gripper seat (1) and a sucker gripper, the sucker gripper comprises a vacuum generator (2), a buffer component (3) and a plurality of sucker components (4), the top end of the vacuum generator (2) is connected with the gripper seat (1), the bottom end of the vacuum generator (2) is connected with the buffer component (3), a plurality of sucker components (4) are arranged around the bottom of the buffer component (3), the vacuum generator (2) is connected with a plurality of air ducts (21) matched with the sucker component (4), the vacuum generator (2) is connected with the sucker component (4) through an air duct (21), the bottom of the buffer component (3) is connected with a detector (5), and the detector (5) and the vacuum generator (2) are both electrically connected with an external controller.

2. The vacuum chuck type gripper structure according to claim 1, wherein the buffer assembly (3) comprises an upper connecting plate (31), a lower connecting plate (34), a plurality of guide shafts (32) and a plurality of springs (33), the upper connecting plate (31) is connected with the bottom end of the vacuum generator (2), the guide shafts (32) and the springs (33) are uniformly arranged around the bottom of the upper connecting plate (31), the top of the guide shafts (32) is connected with the upper connecting plate (31), the bottom of the guide shafts (32) is connected with the top of the lower connecting plate (34), the springs (33) are sleeved on the periphery of the guide shafts (32), and the detector (5) and the suction cup assembly (4) are both connected with the bottom of the lower connecting plate (34).

3. The vacuum cup type gripper structure of claim 2, wherein the suction cup assembly (4) comprises a connecting pipe (41), an air bag disc (42) and a plurality of suction cup bodies (43), one end of the connecting pipe (41) is connected with the lower connecting plate (34), the other end of the connecting pipe (41) is connected with the air bag disc (42), the suction cup bodies (43) are connected with the inner side surface of the air bag disc (42), a first cavity (421) is arranged in the air bag disc (42), the suction cup bodies (43) are communicated with the first cavity (421), the connecting pipe (41) is connected with the air guide pipe (21), and the suction cup bodies (43) are communicated with the vacuum generator (2) through the matching of the connecting pipe (41) and the air guide pipe (21).

4. The vacuum sucker type hand grip structure according to claim 3, wherein the connecting pipe (41) comprises a connecting end (411) and a fixed end (413), the connecting end (411) and the fixed end (413) are connected into a whole, a connecting thread (412) is connected to the outer side of the connecting end (411), a threaded hole (341) matched with the connecting thread (412) is formed in the lower connecting plate (34), the connecting end (411) is connected with the lower connecting plate (34) through matching of the connecting thread (412) and the threaded hole (341), and the fixed end (413) is connected with the top of the air bag disc (42).

5. The vacuum chuck type gripper structure according to claim 4, wherein the fixing end (413) is connected with a protrusion (414) arranged in a circumferential direction, the top of the first cavity (421) is connected with a connection block (422) with a radian consistent with that of the top of the first cavity (421), a pipe hole (423) matched with the connecting pipe (41) is formed in the connection block (422), a groove (424) matched with the protrusion (414) is formed in the inner side wall of the pipe hole (423), the bottom of the fixing end (413) is connected with a limiting sheet (415), and the connecting pipe (41) penetrates through the pipe hole (423) and is connected with the airbag disc (42) through the matching of the protrusion (414) and the groove (424).

6. The vacuum chuck type gripper structure as claimed in claim 4, wherein the suction cup body (43) is provided with a ball cover (47), an outer core tube (45) and an inner core tube (44), the bottom end of the outer core tube (45) and the bottom end of the inner core tube (44) are both connected with the suction cup body (43), the top end of the outer core tube (45) is connected with the inner side wall of the air bag disc (42), the ball cover (47) is connected with the top end of the outer core tube (45) in a sliding manner and is disposed in the first cavity (421) of the air bag disc (42), and the inner core tube (44) is sleeved on the inner side of the outer core tube (45) and is tightly attached to the outer core tube (45).

7. A vacuum chuck type gripper structure as claimed in claim 6, wherein said suction cup body (43) comprises an inner cover (431) and an outer cover (432), the bottom end of the inner core tube (44) is connected with an inner cover (431), the bottom end of the outer core tube (45) is connected with an outer cover (432), the top end of the outer core tube (45) is connected with a fixed head (46), the fixed head (46) is connected with a ball cover (47) in a sliding way, a second cavity (461) is arranged inside the fixed head (46), a third cavity (441) is arranged inside the inner core tube (44), the second cavity (461) is communicated with the third cavity (441), the side wall of the inner core tube (44) is provided with an inner air guide hole (442), the inner air guide hole (442) is communicated with the third cavity (441), and the second cavity (461) is communicated with the first cavity (421) through the up-and-down sliding of the ball cover (47) and the fixed head (46).

8. The vacuum chuck type gripper structure as claimed in claim 7, wherein the inner cover (431) has a fourth cavity (433) formed therein, the bottom of the inner cover (431) and the bottom of the outer cover (432) have outer air holes (434) formed therein, and the outer air holes (434) and the inner air holes (442) are communicated with the fourth cavity (433).

9. The vacuum chuck type gripper structure as claimed in claim 8, wherein the ball cover (47) comprises a ball head (471) and a cover (472), the bottom end of the ball head (471) is connected with the cover (472), the side edge of the ball head (471) contacts with the outer side of the fixed head (46), the cover (472) is disposed in the second cavity (461) of the fixed head (46), and the side edge of the cover (472) is slidably connected with the inner side wall of the fixed head (46).

10. The vacuum chuck type gripper structure as claimed in claim 9, wherein the side edge of the cover (472) is connected with a ball (473), the inner side wall of the fixing head (46) is provided with a ball groove (462) matched with the ball (473), and the cover (472) is slidably connected with the fixing head (46) through the matching of the ball (473) and the ball groove (462).

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