CN217417850U - Sucking disc, grabbing device and equipment of piling up - Google Patents

Abstract

The utility model relates to a sucking disc has the adsorption plane, and many adsorption tanks have been seted up to the adsorption plane, and many adsorption tanks communicate each other to enclosing and closing and forming a plurality of regular hexagon structures, two arbitrary adjacent hexagon structures have an adsorption tank of coincidence, and the aspirating hole has still been seted up to the sucking disc, aspirating hole one end and adsorption tank intercommunication, the other end and air exhaust device intercommunication. The air extracting device extracts air from the air extracting holes, and the air extracting holes are communicated with the adsorption grooves so as to generate negative pressure in the adsorption grooves. Because many adsorption tanks surround and form a plurality of regular hexagons, hexagonal structure makes adsorption affinity homodisperse to constitute six adsorption tanks of hexagon on to make the adsorption affinity on the whole adsorption surface distribute more evenly, evenly distributed's adsorption affinity can avoid the bipolar plate damage of graphite material cracked, make the adsorption surface can adsorb simultaneously and snatch ion exchange membrane and bipolar plate, reduced the cost of snatching of ion exchange membrane and bipolar plate. The utility model discloses still relate to a grabbing device and pile up equipment.

Description

Sucking disc, grabbing device and equipment of piling up

Technical Field

The utility model relates to a redox flow battery piles up technical field, especially relates to a sucking disc, grabbing device and piles up equipment.

Background

Currently, ion exchange membranes and bipolar plates are important components of single cells in flow batteries, and manual stacking or automatic equipment is generally adopted to drive suckers to stack. The ion exchange membrane is a material with a certain viscosity and acid on the surface, while the bipolar plate is a graphite thin plate which is very fragile. Due to the fact that the characteristics of the two are different, two suckers are needed to be used for respectively grabbing in the stacking process of the flow battery, and grabbing cost is high.

SUMMERY OF THE UTILITY MODEL

Based on this, it needs to adopt two kinds of sucking discs to snatch the problem respectively to current ion exchange membrane and bipolar plate, provides one kind and can snatch ion exchange membrane and bipolar plate simultaneously to reduce the sucking disc, the grabbing device and the equipment of piling up that snatch the cost.

A sucker is provided with an adsorption surface, wherein the adsorption surface is provided with a plurality of adsorption grooves which are communicated with each other to form a plurality of regular hexagonal structures in a surrounding manner, and any two adjacent hexagonal structures are provided with one adsorption groove;

the sucking disc is still seted up the aspirating hole, aspirating hole one end with the adsorption tank intercommunication, the other end and air exhaust device intercommunication.

Through adopting foretell sucking disc, air exhaust device bleeds to the aspirating hole, aspirating hole and adsorption tank intercommunication, and many adsorption tanks communicate each other, so can produce the negative pressure in many adsorption tanks. Meanwhile, a plurality of regular hexagons are formed by surrounding a plurality of adsorption grooves, and any two adjacent regular hexagons have one overlapped adsorption groove. So, hexagonal structure makes the adsorption affinity homodisperse to constitute six adsorption tanks of hexagon on to make the adsorption affinity on the whole adsorption plane distribute more evenly, evenly distributed's adsorption affinity can avoid the damaged cracked bipolar plate of graphite material, make the adsorption plane can adsorb simultaneously and snatch ion exchange membrane and bipolar plate, need not to set up two sucking discs, reduced the cost of snatching of ion exchange membrane and bipolar plate effectively.

In one embodiment, the adsorption surface includes a first adsorption area and a plurality of second adsorption areas, the adsorption grooves are formed in the first adsorption area, the second adsorption areas are located at corners of the adsorption surface, each of the second adsorption areas is provided with a plurality of adsorption holes, and each of the adsorption holes is communicated with the air extractor.

In one embodiment, the edge of the suction surface has a chamfered structure.

The utility model provides a grabbing device, includes coupling assembling and foretell sucking disc, coupling assembling connect in the sucking disc deviates from one side of adsorption plane, just coupling assembling is connected with handling device.

In one embodiment, the connecting assembly comprises a connecting piece and a guide piece, the connecting piece is connected with the carrying device, the guide piece is connected with the connecting piece in a reciprocating mode along a first direction, and one end of the guide piece along the first direction is connected with one side, away from the adsorption surface, of the sucker.

In one embodiment, the connecting assembly further includes a first elastic member disposed at an end of the guide member close to the suction cup and between the connecting member and the guide member, for pushing the guide member to move along a first sub-direction of the first direction, so as to make the suction cup away from the connecting member.

In one embodiment, the connecting assembly further includes a second elastic member, the second elastic member is disposed at the other end of the guide member away from the suction cup, and is disposed between the connecting member and the guide member, so as to push the guide member to move along a second sub-direction opposite to the first sub-direction, so as to enable the suction cup to approach the connecting member.

In one embodiment, the gripping device further comprises an in-position detection part and a first trigger part, the in-position detection part is connected to the connecting part, and the first trigger part is connected to the guide part;

when the distance between the sucker and the connecting piece in the first direction is a first distance, the first trigger piece can trigger the in-place detection piece.

In one embodiment, the gripping device further comprises an overpressure detection piece and a second trigger piece, wherein the overpressure detection piece is connected to the connecting piece, and the second trigger piece is connected to the guide piece;

when the distance between the sucker and the connecting piece in the first direction is a second distance, the second trigger piece can trigger the overvoltage detection piece;

wherein the second distance is less than the first distance.

In one embodiment, the gripping device further comprises a positioning detection assembly, and the positioning detection assembly is arranged on the connecting assembly and is used for detecting the position of the workpiece.

A stacking device comprises the grabbing device.

Drawings

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

Fig. 1 is a schematic structural view of a suction cup according to an embodiment of the present invention;

FIG. 2 is an enlarged schematic view of the suction cup shown in FIG. 1 at A;

fig. 3 is a schematic structural view of a gripping device according to another embodiment of the present invention;

FIG. 4 is a schematic top view of the grasping device shown in FIG. 3;

fig. 5 is a bottom view of the grasping device shown in fig. 3.

Detailed Description

In order to make the above objects, features and advantages of the present invention more comprehensible, embodiments of the present invention are described in detail below with reference to the accompanying drawings. In the following description, numerous specific details are set forth in order to provide a thorough understanding of the present invention. The present invention may, however, be embodied in many different forms and should not be construed as limited to the embodiments set forth herein, as those skilled in the art will be able to make similar modifications without departing from the spirit and scope of the present invention.

In the description of the present invention, it is to be understood that the terms "center", "longitudinal", "lateral", "length", "width", "thickness", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", "clockwise", "counterclockwise", "axial", "radial", "circumferential", and the like, indicate the orientation or positional relationship based on the orientation or positional relationship shown in the drawings, and are only for convenience of description and simplicity of description, and do not indicate or imply that the device or element referred to must have a particular orientation, be constructed and operated in a particular orientation, and therefore, should not be construed as limiting the present invention.

Furthermore, the terms "first", "second" and "first" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include at least one such feature. In the description of the present invention, "a plurality" means at least two, e.g., two, three, etc., unless specifically limited otherwise.

In the present invention, unless otherwise explicitly specified or limited, the terms "mounted," "connected," "secured," and the like are to be construed broadly, e.g., as being fixedly connected, detachably connected, or integrated; can be mechanically or electrically connected; they may be directly connected or indirectly connected through intervening media, or they may be interconnected within two elements or in a relationship where two elements interact with each other unless otherwise specifically limited. The specific meaning of the above terms in the present invention can be understood according to specific situations by those skilled in the art.

In the present application, unless expressly stated or limited otherwise, a first feature "on" or "under" a second feature may be directly contacting the second feature or the first and second features may be indirectly contacting the second feature through intervening media. Also, a first feature "on," "over," and "above" a second feature may be directly or diagonally above the second feature, or may simply indicate that the first feature is at a higher level than the second feature. A first feature being "under," "below," and "beneath" a second feature may be directly under or obliquely under the first feature, or may simply mean that the first feature is at a lesser elevation than the second feature.

It will be understood that when an element is referred to as being "secured to" or "disposed on" another element, it can be directly on the other element or intervening elements may also be present. When an element is referred to as being "connected" to another element, it can be directly connected to the other element or intervening elements may also be present. The terms "vertical," "horizontal," "upper," "lower," "left," "right," and the like as used herein are for illustrative purposes only and do not denote a unique embodiment.

As shown in fig. 1 and 2, an embodiment of the present invention provides a suction cup 10, in which the suction cup 10 has an adsorption surface 11, the adsorption surface 11 has been provided with a plurality of adsorption grooves 12, the plurality of adsorption grooves 12 are communicated with each other to form a plurality of regular hexagon structures, and any two adjacent regular hexagon structures have an adsorption groove 12 that coincides with each other.

The suction cup 10 is further provided with an air exhaust hole, one end of the air exhaust hole is communicated with the adsorption groove 12, and the other end of the air exhaust hole is communicated with an air exhaust device.

By adopting the above-mentioned suction cup 10, the air extracting device extracts air from the air extracting holes, the air extracting holes are communicated with the adsorption grooves 12, and the plurality of adsorption grooves 12 are communicated with each other, so that negative pressure can be generated in the plurality of adsorption grooves 12. Meanwhile, a plurality of regular hexagons are formed by enclosing a plurality of adsorption grooves 12, and any two adjacent regular hexagons have one overlapped adsorption groove 12. So, hexagonal structure makes adsorption affinity homodisperse to constitute six adsorption tanks 12 of hexagon on to make the adsorption affinity on the whole adsorption plane 11 distribute more evenly, evenly distributed's adsorption affinity can avoid the bipolar plate damage of graphite material cracked, make adsorption plane 11 can adsorb simultaneously and snatch ion exchange membrane and bipolar plate, need not to set up two sucking discs 10, reduced the cost of snatching of ion exchange membrane and bipolar plate effectively.

It is understood that the chuck 10 is used to adsorb ion exchange membranes and bipolar plates in this embodiment, and that the chuck 10 may be used to adsorb other workpieces in other embodiments.

The adsorption surface 11 may be subjected to an anti-sticking treatment, such as coating with an anti-sticking agent, to prevent the adsorption surface 11 from sticking to the ion exchange membrane.

In some embodiments, the pumping holes include a plurality of pumping holes, and one end of each pumping hole is communicated with the adsorption tank 12, and the other end is communicated with the pumping device.

In some embodiments, the adsorption surface 11 includes a first adsorption region 111 and a plurality of second adsorption regions 112, the plurality of adsorption grooves 12 are disposed in the first adsorption region 111, the plurality of second adsorption regions 112 are disposed at corners of the adsorption surface 11, each second adsorption region 112 has a plurality of adsorption holes, and each adsorption hole is communicated with the air exhaust device.

Thus, when adsorbing the ion exchange membrane, since the ion exchange membrane is a thin film material with a large size and a small thickness, when adsorbing the ion exchange membrane, the adsorption surface 11 has the adsorption force uniformly distributed in the first adsorption region 111, and the four corners of the ion exchange membrane can be adsorbed by the second adsorption region 112, so that the corner sloughing of the ion exchange membrane can be effectively avoided.

In practical applications, the suction surface 11 is a rectangular surface, i.e. the suction surface 11 has four corners, so the number of the second suction areas 112 is four.

It should be noted that the second adsorption region 112 is made of a resin with high porosity, so that the adsorption holes are distributed on the entire surface of the second adsorption region 112, that is, the entire surface has an adsorption effect, and each of the four corners of the ion exchange membrane can be adsorbed, thereby preventing the four corners of the ion exchange membrane from being slouched.

In some embodiments, the edge of the adsorption surface 11 has a chamfered structure 13, so that the edge of the adsorption cotton is not too sharp, and the bipolar plate is prevented from being damaged when the adsorption surface 11 is in contact with the bipolar plate.

It can be understood that, when the suction surface 11 is a rectangular surface, the four sides of the suction surface 11 are chamfered to form the above-mentioned chamfered structure 13 at the edge of the suction surface 11.

The utility model also provides a grabbing device, this grabbing device includes sucking disc 10 in the above-mentioned embodiment.

Referring to fig. 3 to 5, in some embodiments, the gripping device further includes a connecting assembly 20, the connecting assembly 20 is connected to a side of the suction cup 10 away from the suction surface 11, and the connecting assembly 20 is further connected to the handling device.

By providing the above gripping device, the connection assembly 20 is connected to the chuck 10 and the carrying device, so that the connection assembly 20 and the chuck 10 can be moved by the carrying device, and the chuck 10 can grip the ion exchange membrane and the bipolar plate by adsorption. So, accessible sucking disc 10 adsorbs in proper order and snatchs ion exchange membrane and bipolar plate, then piles up ion exchange membrane and bipolar plate transport to piling up the position in proper order, need not to set up extra grabbing device, has reduced and has snatched the cost.

It should be noted that the carrying device may be a robot, and the like, which is not described herein.

In some embodiments, the connecting assembly 20 includes a connecting member 21 and a guiding member 22, the connecting member 21 is connected to the carrying device, the guiding member 22 is connected to the connecting member 21 in a reciprocating manner along a first direction, and one end of the guiding member 22 along the first direction is connected to a side of the suction cup 10 facing away from the suction surface 11.

Wherein the first direction is a vertical direction in fig. 3, the first sub-direction is a downward direction in fig. 3, and the first direction is a vertical direction in practice.

In the process of grabbing or stacking, the adsorption surface 11 will be pressed against the ion exchange membrane and the bipolar plate, and the guide member 22 makes the suction cup 10 lift up and down, so when the adsorption surface 11 is pressed against the ion exchange membrane or the bipolar plate, the contact between the two is not rigid contact, and the ion exchange membrane and the bipolar plate can be prevented from being crushed by the suction cup 10.

In practical application, the connecting member 21 is a bushing, and the guiding member 22 is a guiding post.

In some embodiments, the first elastic member 23 is disposed at an end of the guide member 22 close to the suction cup 10, and is disposed between the connection member 21 and the guide member 22, for pushing the guide member 22 to move in a first sub-direction of the first direction, so as to move the suction cup 10 away from the connection member 21.

It should be noted that the elasticity of the first elastic element 23 enables the guiding element 22 to be still lifted, i.e. rigid contact between the adsorption surface 11 and the ion exchange membrane and the bipolar plate can still be avoided, so as to protect the ion exchange membrane and the bipolar plate from being crushed by the chuck 10.

In practical applications, the first elastic member 23 is a spring, and the spring is sleeved on the guide 22 and located at one end of the guide 22 close to the suction cup 10. That is, as shown in fig. 3, during the suction cup 10 ascends to approach the connection member 21, the first elastic member 23 is compressed to provide the suction cup 10 with a downward elastic force.

In some embodiments, the connection assembly 20 further includes a second elastic member 24, the second elastic member 24 is disposed at the other end of the guide member 22 away from the suction cup 10, and is disposed between the connection member 21 and the guide member 22, for pushing the guide member 22 to move in a second sub-direction opposite to the first sub-direction, so as to enable the suction cup 10 to approach the connection member 21. Wherein the second sub-direction is the upward direction in fig. 3.

As will be understood in conjunction with fig. 3, due to the relatively large weight of the suction cup 10, the second resilient member 24 is used to provide a force for moving the suction cup 10 upward, i.e., to prop up the suction cup 10, so as to balance the weight of the suction cup 10.

In addition, the first elastic element 23 and the second elastic element 24 have opposite acting forces on the chuck 10, and the first elastic element and the second elastic element can cooperate with each other to balance the weight of the chuck 10, and buffer the chuck 10 when the chuck 10 is pressed against the ion exchange membrane or the bipolar plate, so as to avoid crushing the ion exchange membrane and the bipolar plate.

In practical applications, the second elastic member 24 is a spring, and the spring is sleeved on the guide 22 and located at the other end of the guide 22 away from the suction cup 10. It can be seen that, as shown in fig. 3, when the suction cup 10 is in the non-operating state, the second elastic member 24 is compressed to provide the suction cup 10 with upward elastic force.

It is understood that two opposite ends of the guide 22 in the first direction extend out of the connecting member 21, fastening rings are fixedly connected to two ends of the guide 22, and the first elastic member 23 and the second elastic member 24 are respectively abutted against the fastening rings at the two ends.

In addition, in the above embodiment, the first elastic member 23 is located at the bottom end of the guide member 22, and the second elastic member 24 is located at the top end of the guide member 22.

In some embodiments, the connecting assembly 20 further includes a fixing plate 25, the fixing plate 25 is fixedly connected to one end of the guide 22 in the first direction, and the suction cup 10 is connected to the fixing plate 25.

In practice, the bottom end of the guide 22 is fixedly connected to the top surface of the fixed plate 25, and the suction cup 10 is connected to the bottom surface of the fixed plate 25.

In some embodiments, the connection member 21, the guide member 22, the first elastic member 23, and the second elastic member 24 are all included in plural, and the plural guide members 22 are all connected with the top surface of the fixing plate 25 to improve the stability of the connection.

It will be appreciated that the plurality of second resilient members 24 support the suction cup 10 and balance the weight of the suction cup 10 when the suction cup 10 is not in operation.

In some embodiments, the gripping device further includes a plurality of pressure detectors 31, a plurality of pressure sensors are disposed on the fixing plate 25, and each pressure detector 31 is configured to detect a vacuum degree of the adsorption groove 12 in a partial region of the adsorption surface 11, so as to obtain an adsorption force corresponding to the adsorption groove 12, and prevent the material from being damaged due to an excessive adsorption force.

Meanwhile, the plurality of pressure detectors 31 detect different regions of the suction surface 11, respectively, and whether the distribution of the suction force on the suction surface 11 is uniform can be determined based on the feedback from the pressure detectors 31.

It can be understood that when a plurality of air extraction holes are formed on the suction cup 10, each air extraction hole corresponds to one of the adsorption grooves 12 in one of the regions, and each air extraction hole is connected to one of the air extraction devices, and the air extraction device is adjusted according to the feedback of the pressure detector 31 to adjust the vacuum degree in the corresponding air extraction hole, so as to adjust the adsorption force of the adsorption groove 12 in the corresponding region.

In some embodiments, the grasping apparatus further includes a position detecting member 32 and a first triggering member 33, the position detecting member 32 is connected to the connecting member 21, and the first triggering member 33 is connected to the guide member 22.

The first trigger 33 can trigger the position detector 32 when the suction cup 10 is spaced from the connecting member 21 by a first distance in the first direction.

It should be noted that after the in-place detection member 32 is triggered by the first trigger member 33, the handling device stops driving the chuck 10 to press down continuously, so as to avoid crushing the ion exchange membrane and the bipolar plate.

In some embodiments, the grasping apparatus further includes an overpressure detecting member 34 and a second triggering member 35, the overpressure detecting member 34 is connected to the connecting member 21, and the second triggering member 35 is connected to the guide member 22.

The second triggering member 35 can trigger the overpressure detecting member 34 when the suction cup 10 is spaced from the connecting member 21 by a second distance in the first direction.

Wherein the second distance is less than the first distance. That is, after the in-place detection member 32 is triggered, the suction cup 10 continues to be pressed due to some abnormal conditions, and when the suction cup 10 is pressed to a second distance away from the connection member 21 in the first direction, the overpressure detection member 34 is triggered, and at this time, the shutdown process is performed, so that the operator can conveniently check the overpressure detection member.

It should be noted that both the in-place detector 32 and the overpressure detector 34 may be proximity sensors or photoelectric sensors.

In some embodiments, the grasping apparatus further includes a distance detector 36, and the distance detector 36 is disposed on the fixing plate 25.

When the distance between the suction surface 11 of the suction cup 10 and the workpiece is the third distance, the distance detector 36 is activated.

When the workpiece is an ion exchange membrane or a bipolar plate, and the distance between the chuck 10 and the ion exchange membrane or the bipolar plate is a third distance, the distance detector 36 is triggered, and then the chuck 10 is moved to the ion exchange membrane or the bipolar plate by a preset distance to be in place for adsorbing and grabbing the ion exchange membrane or the bipolar plate.

It should be noted that the distance detector 36 is a photoelectric sensor, and the distance detector 36 is triggered before the first trigger 33 triggers the in-place detector 32, after the distance detector 36 is triggered, the suction plate moves a preset distance toward the ion exchange membrane or the bipolar plate, the in-place detector 32 is triggered, and the suction cup 10 accurately sucks and grabs the ion exchange membrane or the bipolar plate.

In some embodiments, the grasping apparatus further includes a positioning detection assembly 40, and the positioning detection assembly 40 is disposed on the connecting assembly 20 for detecting the position of the workpiece.

When the sucking disc 10 is used for adsorbing and snatchs ion exchange membrane and bipolar plate, thereby location determine module 40 can judge that what absorb at present is ion exchange membrane or bipolar plate through the utmost point ear that detects bipolar plate, and piling up the in-process moreover, can also detect and pile up whether up to standard of precision.

It should be explained that, in the existing stacking process, the electric pile is generally detected after the stacking is finished, and if the electric pile is unqualified, the electric pile needs to be disassembled, which wastes time and labor. And through setting up this location determine module 40, can detect whether up to standard in the process of piling up and pile up the precision, in time handle when discovering that pile up the precision and not up to standard, avoid later stage unstacking.

Further, the positioning detecting assembly 40 includes a first adjusting lever 41, a second adjusting lever 42 and a visual detector 43, the first adjusting lever 41 is connected to the fixing plate 25, the second adjusting lever 42 is connected to the first adjusting lever 41 and is adjustable in position along a first direction, and the visual detector 43 is connected to the second adjusting lever 42 and is adjustable in position along a second direction perpendicular to the first direction.

Wherein the second direction is a direction perpendicular to the paper in fig. 3.

By adjusting the position of the vision detector 43 along the first direction and the second direction, the vision detector 43 can be adjusted to the position capable of simultaneously detecting the ion exchange membrane and the bipolar plate before the grabbing device works, namely, after the vision detector 43 moves to the position, the vision detector 43 can detect whether the ion exchange membrane or the bipolar plate is grabbed, and can also judge whether the ion exchange membrane or the bipolar plate is grabbed currently according to the pole ear of the bipolar plate.

In practical applications, the positioning detecting assembly 40 further includes a fixing block 44 and a clamping block 45, the fixing block 44 is connected to the top surface of the fixing plate 25 and located at an edge of the top surface of the fixing plate 25, the first adjusting rod 41 is fixedly connected to the fixing block 44, the clamping block 45 is connected between the first adjusting rod 41 and the second adjusting rod 42, and the position of the clamping block 45 on the first adjusting rod 41 is adjustable along the first direction.

It is to be understood that, as shown in fig. 4, after the position adjustment of the vision detector 43 is completed, the vision detector 43 protrudes from the top surface of the fixed plate 25 to detect the workpiece under the fixed plate 25.

In some embodiments, the grasping apparatus includes two sets of positioning detection assemblies 40, and the two sets of positioning detection assemblies 40 cooperate with each other to improve the accuracy of the detection.

The utility model also provides a pile up equipment, including sucking disc 10 and the grabbing device in the above-mentioned embodiment.

The technical features of the embodiments described above may be arbitrarily combined, and for the sake of brevity, all possible combinations of the technical features in the embodiments described above are not described, but should be considered as being within the scope of the present specification as long as there is no contradiction between the combinations of the technical features.

The above-mentioned embodiments only represent some embodiments of the present invention, and the description thereof is specific and detailed, but not to be construed as limiting the scope of the present invention. It should be noted that, for those skilled in the art, without departing from the spirit of the present invention, several variations and modifications can be made, which are within the scope of the present invention. Therefore, the protection scope of the present invention should be subject to the appended claims.

Claims (11)

1. A sucker is characterized by comprising an adsorption surface, wherein the adsorption surface is provided with a plurality of adsorption grooves which are communicated with each other to form a plurality of regular hexagonal structures in a surrounding manner, and any two adjacent hexagonal structures are provided with one adsorption groove which is superposed;

the sucking disc is also provided with an air exhaust hole, one end of the air exhaust hole is communicated with the adsorption groove, and the other end of the air exhaust hole is communicated with an air exhaust device.

2. The suction cup as claimed in claim 1, wherein said suction surface comprises a first suction area and a plurality of second suction areas, a plurality of said suction grooves are formed in said first suction area, a plurality of said second suction areas are formed at corners of said suction surface, each of said second suction areas has a plurality of suction holes, and each of said suction holes is connected to a suction device.

3. The suction cup as claimed in claim 1, wherein an edge of the suction surface has a chamfered structure.

4. A gripping device, characterized by comprising a connecting component and the sucker as claimed in any one of claims 1 to 3, wherein the connecting component is connected to the side of the sucker, which faces away from the suction surface, and the connecting component is connected with a carrying device.

5. The gripping device of claim 4, wherein the connecting assembly includes a connecting member and a guiding member, the connecting member is connected to the carrying device, the guiding member is connected to the connecting member so as to move back and forth along a first direction, and one end of the guiding member along the first direction is connected to a side of the suction cup facing away from the suction surface.

6. The grasping apparatus according to claim 5, wherein the connecting assembly further includes a first resilient member disposed at an end of the guide member proximate to the suction cup and between the connecting member and the guide member for urging the guide member to move in a first sub-direction of the first direction to move the suction cup away from the connecting member.

7. The grasping apparatus according to claim 6, wherein the connecting assembly further includes a second elastic member disposed at the other end of the guide member away from the suction cup and between the connecting member and the guide member for urging the guide member to move in a second sub-direction opposite to the first sub-direction to bring the suction cup closer to the connecting member.

8. The grasping apparatus according to claim 5, wherein the grasping apparatus further comprises an in-position detecting member and a first triggering member, the in-position detecting member being connected to the connecting member, the first triggering member being connected to the guide member;

when the distance between the sucker and the connecting piece in the first direction is a first distance, the first trigger piece can trigger the in-place detection piece.

9. The grasping apparatus according to claim 8, wherein the grasping apparatus further comprises an overpressure detector and a second trigger, the overpressure detector being connected to the connecting member, the second trigger being connected to the guide;

when the distance between the sucker and the connecting piece in the first direction is a second distance, the second trigger piece can trigger the overvoltage detection piece;

wherein the second distance is less than the first distance.

10. The grasping apparatus according to claim 4, wherein the grasping apparatus further includes a positioning detection member provided to the connecting member for detecting a position of the workpiece.

11. A stacking apparatus comprising a gripping device according to any of claims 4-10.

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