CN219194144U

CN219194144U - Sucking disc equipment with flexible protection device

Info

Publication number: CN219194144U
Application number: CN202320311907.4U
Authority: CN
Inventors: 彭彬
Original assignee: Harbin Kejia General Mechanical and Electrical Co Ltd
Current assignee: Harbin Kejia General Mechanical and Electrical Co Ltd
Priority date: 2023-02-24
Filing date: 2023-02-24
Publication date: 2023-06-16
Anticipated expiration: 2033-02-24

Abstract

The utility model discloses sucker equipment with a flexible protection device, belongs to the technical field of adsorption equipment, and aims to solve the problem that parts are easy to damage when vulnerable parts are lifted due to limited loading capacity of an existing mechanical arm and potential hidden danger existing in the existing adsorption equipment. The method is mainly used for executing parts in the adsorption and lifting process of the vulnerable parts.

Description

Sucking disc equipment with flexible protection device

Technical Field

The utility model belongs to the technical field of adsorption equipment, and particularly relates to sucker equipment with a flexible protection device.

Background

In the handling process of some precious vulnerable parts or key parts, the protection of the moving process is particularly important, the vulnerable parts are required to be provided with special protection mechanisms in the whole process, particularly for some vulnerable parts which need to be adsorbed and moved in the production and processing process, the vacuum chuck can have the problems of air leakage, improper adsorption position, collision and falling in the moving process, and the like, particularly when the mechanical arm uses the vacuum chuck, the problems are frequently encountered, the mechanical arm has limited load, a set of protection device is added, a lot of load is certainly added to the tail end of the mechanical arm, and the using capacity of the mechanical arm is reduced. It would be desirable to develop a suction cup structure for robotic handling and with a protective device.

Disclosure of Invention

The sucker equipment with the flexible protection device aims at solving the problem that the components are easy to damage when the vulnerable parts are lifted up due to limited loading capacity of the existing mechanical arm and potential hidden danger in the existing adsorption equipment, and further provides the sucker equipment with the flexible protection device;

the sucking disc equipment with the flexible protection device comprises an adsorption module, a protection module and an air channel module, wherein the adsorption module is arranged on the protection module, an adsorption power output end and a protection power output end are arranged on the air channel module, the adsorption module is connected with the adsorption power output end in the air channel module, the protection module is connected with the protection power output end in the air channel module, and the air channel module provides power for the adsorption module and the protection module;

further, the adsorption module comprises a sucker, a negative pressure vent pipe, an adsorption pipe fitting and a connecting frame, wherein the connecting frame is arranged above the protection module, the bottom of the connecting frame is fixedly connected with the top of the protection module, the adsorption pipe fitting is arranged below the protection module along the vertical direction, the top end of the adsorption pipe fitting penetrates through the protection module to be connected with the connecting frame in a disassembling mode, the bottom of the adsorption pipe fitting is fixedly connected with the top of the sucker, the negative pressure vent pipe is arranged on the outer wall of the adsorption pipe fitting, one end of the negative pressure vent pipe is communicated with the sucker through the adsorption pipe fitting, and the other end of the negative pressure vent pipe is communicated with an adsorption power output end on the air path module;

further, the protection module comprises a leg guard mounting frame, N flexible leg guards and N leg guard adjusting blocks, N is a positive integer, the leg guard mounting frame comprises a central connecting disc and N mounting supporting arms, the N mounting supporting arms are circumferentially equidistantly arranged on the outer circular surface of the central connecting disc, one end of each mounting supporting arm is fixedly connected with the central connecting disc, a connecting frame is arranged on the upper surface of the central connecting disc, the connecting frame is fixedly connected with the upper surface of the central connecting disc, an adsorption pipe fitting is arranged below the central connecting disc in the vertical direction, the top end of the adsorption pipe fitting penetrates through the central connecting disc and is connected with the connecting frame in a disassembling mode, each leg guard adjusting block is correspondingly arranged on one mounting supporting arm, each leg guard adjusting block is slidably connected in the length extending direction of the corresponding mounting supporting arm, a flexible leg guard is arranged at the bottom of each leg guard adjusting block, and each flexible leg guard is connected with the corresponding leg guard adjusting block in a disassembling mode;

further, the flexible leg guard comprises an air inlet pipe and a driving cavity, the driving cavity is arranged at the bottom of the leg guard adjusting block along the vertical direction, the top of the driving cavity is detachably connected with the leg guard adjusting block, the air inlet pipe is arranged at the upper part of the driving cavity, one end of the air inlet pipe is communicated with the driving cavity, and the other end of the air inlet pipe is communicated with the protection power output end of the air channel module;

further, the flexible leg guard further comprises a protective wall, the protective wall is arranged on the clamping surface of the driving cavity, and the protective wall is fixedly connected with the driving cavity;

further, one side of the protection wall is an adhesive surface, the protection wall is fixedly connected with the driving cavity through the adhesive surface, a plurality of transverse protrusions are equidistantly arranged on the other side of the driving cavity along the length extending direction of the protection wall, and each transverse protrusion and the protection wall are integrally formed;

further, the leg guard adjusting block comprises an adjusting block and two adjusting bolts, the adjusting block is arranged on one mounting supporting arm and is in sliding connection with the mounting supporting arm, and the adjusting block is locked and fixed with the mounting supporting arm through the two adjusting bolts;

further, the gas circuit module comprises an air compressor, a three-way joint, a filter, a pressure regulating valve, an adsorption power branch and a protection power branch, wherein the gas output end of the air compressor is connected with the gas input end of the filter through a pipeline, the gas output end of the filter is connected with the gas inlet end of the three-way joint through a pipeline, the pressure regulating valve is connected in series on the pipeline between the filter and the three-way joint, the gas inlet end of the adsorption power branch is connected with one gas outlet end of the three-way joint, and the gas inlet end of the protection power branch is connected with the other gas outlet end of the three-way joint;

further, the adsorption power branch comprises a vacuum generator, a vacuum valve, a vacuum breaking valve, a vacuum filter and an adsorption tee joint, wherein the air inlet end of the vacuum generator is connected with one air outlet end in the tee joint through a pipeline, the air outlet end of the vacuum generator is connected with one air input end on the adsorption tee joint through a pipeline, the vacuum valve is connected in series on the pipeline between the adsorption tee joint and the vacuum generator, the other air input end on the adsorption tee joint is connected with the air outlet end of the vacuum filter through a pipeline, the vacuum breaking valve is connected in series on the pipeline between the adsorption tee joint and the vacuum filter, and the air output end on the adsorption tee joint is connected with the other end of the negative pressure vent pipe through a pipeline;

further, the protection power branch comprises an exhaust valve, a positive pressure valve and a protection three-way joint, one gas input end of the protection three-way joint is connected with the other gas output end of the three-way joint through a pipeline, the positive pressure valve is connected in series on the pipeline between the protection three-way joint and the three-way joint, the exhaust valve is arranged on one gas output end of the protection three-way joint, the other gas output end of the protection three-way joint is connected with the gas inlet end of a split pipeline, the split pipeline comprises N gas output ends, and each gas output end of the split pipeline is communicated with the other end of one gas inlet pipe;

the application has the beneficial effects compared with the prior art that:

the utility model provides a sucking disc equipment with flexible protection device compares in the protection module that traditional sucking disc structure increases, simultaneously also optimize current sucking disc gas circuit structure in the protection module, can drive adsorption module and protection module through a gas circuit structure, equipment structure has also been simplified when the energy saving, protection module is many claw body structures, realize carrying out the fixed effect of circumference to the adsorbed object through the crooked realization of pneumatic mode control claw body, and along with the crooked of claw body, the tip of claw body can form bottom sprag with the bottom contact of object, avoided dropping because of the article that adsorption module gas leakage leads to, this application is through the dual protection mode of adsorption cooperation circumference location and bottom location, the security of wearing parts when removing has been improved, this application compares traditional mechanical protection structure simultaneously, a large amount of cost has been reduced, moreover, the structure is simpler, weight is also relatively light, accord with the auxiliary requirement of handling of arm, this protection structure can also be fine save working space, control is simple, be convenient for be applied to on the device of each specification.

Drawings

FIG. 1 is a schematic front view of a suction cup apparatus of the present application;

FIG. 2 is a schematic front view of a suction cup apparatus according to the present application;

FIG. 3 is a schematic top view of a chuck apparatus as described herein;

FIG. 4 is an isometric schematic view of a suction cup apparatus as described herein;

FIG. 5 is a schematic front view of the suction cup apparatus (when the protector is in operation);

FIG. 6 is a schematic axial view of the suction cup apparatus of the present application (with the protector in operation);

FIG. 7 is a schematic view of the connection of the gas paths in the suction cup device according to the present application;

in the figure: the device comprises an adsorption module 1, a sucking disc 11, a negative pressure breather pipe 12, an adsorption pipe 13, a connecting frame 14, a protection module 2, a flexible leg protector 21, an air inlet pipe 211, a driving cavity 212, a protective wall 213, a leg protector mounting frame 22, a leg protector adjusting block 23, an adjusting block 231, an adjusting bolt 232, an exhaust valve 30, an air compressor 31, a vacuum generator 32, a three-way joint 33, a vacuum valve 34, a positive pressure valve 35, a vacuum breaking valve 36, a vacuum filter 37, a filter 38 and a pressure regulating valve 39.

Detailed Description

The first embodiment is as follows: referring to fig. 1 to 7, in this embodiment, there is provided a suction cup apparatus with a flexible protection device, the suction cup apparatus includes an adsorption module 1, a protection module 2, and an air path module, the adsorption module 1 is installed on the protection module 2, the air path module is provided with an adsorption power output end and a protection power output end, the adsorption module 1 is connected with the adsorption power output end in the air path module, the protection module 2 is connected with the protection power output end in the air path module, and the air path module provides power for the adsorption module 1 and the protection module 2.

The sucking disc equipment that this application provided compares in the protection module that traditional sucking disc structure increased, also optimizes current sucking disc gas circuit structure to protection module simultaneously, can drive adsorption module and protection module through a gas circuit structure, has also simplified equipment structure when the energy saving, save working space that can be fine, and control is simple, is convenient for regard as ripe subassembly, is applied to on the device of each specification.

The second embodiment is as follows: referring to fig. 1 to 7, a difference between the present embodiment and the specific embodiment is that the adsorption module 1 includes a suction cup 11, a negative pressure ventilation pipe 12, an adsorption pipe 13 and a connecting frame 14, the connecting frame 14 is disposed above the protection module 2, the bottom of the connecting frame 14 is fixedly connected with the top of the protection module 2, the adsorption pipe 13 is disposed below the protection module 2 along the vertical direction, the top of the adsorption pipe 13 passes through the protection module 2 and is connected with the connecting frame 14 in a detachable manner, the bottom of the adsorption pipe 13 is fixedly connected with the top of the suction cup 11, the negative pressure ventilation pipe 12 is mounted on the outer wall of the adsorption pipe 13, one end of the negative pressure ventilation pipe 12 is connected with the suction cup 11 through the adsorption pipe 13, and the other end of the negative pressure ventilation pipe 12 is connected with the adsorption power output end on the air path module. Other compositions and connection modes are the same as in the first embodiment.

In the embodiment, the adsorption module 1 is used for sucking the vulnerable part to be adsorbed, the sucker 11 is used for sucking the vulnerable part, the vulnerable part is mainly made of rubber or silica gel, and the sucker can be conveniently sucked with the vulnerable part; the negative pressure breather pipe 12 is used for connecting negative pressure, so that a cavity is formed between the sucker 11 and the vulnerable part, and the vulnerable part is adsorbed; the suction pipe fitting 13 is used for connecting the suction cup 11 and the negative pressure ventilation pipe 12, the middle of the suction pipe fitting 13 is of a cavity structure and used for negative pressure conduction, the connecting frame 14 is used for installing all components and is connected with the tail end (such as a mechanical arm) of the equipment, and the connecting frame 14 is fixedly connected with the top of the protection module 2 through bolts.

And a third specific embodiment: the second difference between this embodiment and the second embodiment is that, referring to fig. 1 to 6, the protection module 2 includes a leg-protecting mounting frame 22, N flexible leg-protecting 21 and N leg-protecting adjusting blocks 23, N is a positive integer, the leg-protecting mounting frame 22 includes a central connection disc and N mounting support arms, the N mounting support arms are circumferentially equidistant on the outer circumferential surface of the central connection disc, one end of each mounting support arm is fixedly connected with the central connection disc, the connection frame 14 is disposed on the upper surface of the central connection disc, the connection frame 14 is fixedly connected with the upper surface of the central connection disc, the adsorption pipe 13 is disposed below the central connection disc in the vertical direction, the top end of the adsorption pipe 13 is detachably connected with the connection frame 14 through the central connection disc, each leg-protecting adjusting block 23 is correspondingly disposed on one mounting support arm, each leg-protecting adjusting block 23 is slidably connected along the length extending direction of the corresponding mounting support arm, the bottom of each leg-protecting block 23 is provided with one flexible leg-protecting 21, and each flexible leg-protecting 21 is detachably connected with the corresponding leg-protecting adjusting block 23. Other compositions and connection modes are the same as those of the second embodiment.

In this embodiment, the range of the value of N is 2-6, and the protection module 2 is reasonable according to the object to be clamped, and the protection module 2 is mainly used for protecting the vulnerable part, so that the vulnerable part is prevented from being damaged when falling, the design of the mounting support arm is convenient for adjusting the external arrangement of the corresponding flexible leg protector 21, so that the flexible leg protector 21 can be more attached to the vulnerable part, the protectiveness is improved, and meanwhile, the position of each flexible leg protector 21 can be independently adjusted and improved, so that the protection module can protect the vulnerable part with different structures and shapes.

The specific embodiment IV is as follows: the third difference between the present embodiment and the specific embodiment is that the flexible leg protector 21 includes the air inlet pipe 211 and the driving cavity 212, the driving cavity 212 is disposed at the bottom of the leg protector adjusting block 23 along the vertical direction, and the top of the driving cavity 212 is detachably connected with the leg protector adjusting block 23, the air inlet pipe 211 is disposed at the upper portion of the driving cavity 212, one end of the air inlet pipe 211 is disposed in communication with the driving cavity 212, and the other end of the air inlet pipe 211 is disposed in communication with the protection power output end of the air circuit module. Other compositions and connection modes are the same as those of the third embodiment.

In this embodiment, the flexible leg protector 21 includes an air inlet pipe 211, a driving chamber 212, a protective wall 213, and the air inlet pipe 211 is used for connecting a pipeline, so that the flexible leg protector 21 is connected with positive pressure or negative pressure, and when the driving chamber 212 is full of positive pressure, deformation occurs, so that the flexible leg protector 21 is deformed, and a falling wearing part can be supported from below.

Fifth embodiment: the fourth difference between the present embodiment and the specific embodiment is that the flexible leg guard 21 further includes a protective wall 213, the protective wall 213 is disposed on the clamping surface of the driving cavity 212, and the protective wall 213 is fixedly connected to the driving cavity 212. Other compositions and connection modes are the same as those of the fourth embodiment.

In this embodiment, the protection wall 213 is used to contact the wearing part, so as to increase the friction between the driving cavity 212 and the wearing part, and further ensure the protection stability.

Specific embodiment six: the fifth difference between the present embodiment and the specific embodiment is that one side of the protection wall 213 is an adhesive surface, the protection wall 213 is fixedly connected with the driving cavity 212 through the adhesive surface, a plurality of lateral protrusions are equidistantly arranged on the other side of the driving cavity 212 along the length extending direction of the protection wall 213, and each lateral protrusion is integrally formed with the protection wall 213. Other compositions and connection modes are the same as those of the fifth embodiment.

By the arrangement, the transverse bulge can be worn when repeatedly contacted with the vulnerable part, so that the friction force is reduced, the vulnerable part is easy to fall off, therefore, in order to ensure stable clamping force, the protection wall 213 needs to be replaced, and by means of adhesion, not only the installation stability can be ensured, but also the replacement is convenient.

Seventh embodiment: the sixth difference between the present embodiment and the specific embodiment is that the leg-protecting adjusting block 23 includes an adjusting block 231 and two adjusting bolts 232, the adjusting block 231 is disposed on one mounting support arm, the adjusting block 231 is slidably connected with the mounting support arm, and the adjusting block 231 is locked and fixed with the mounting support arm by the two adjusting bolts 232. Other compositions and connection modes are the same as those of the sixth embodiment.

In this embodiment, the leg-protecting adjusting block 23 is a clamping block, and includes an adjusting block 231 and an adjusting bolt 232, when the adjusting bolt 232 is screwed, the adjusting block 231 is fixed on the mounting connecting arm in the leg-protecting mounting frame 22, and when the adjusting bolt 232 is loosened, the leg-protecting adjusting block 23 can move on the mounting connecting arm in the leg-protecting mounting frame 22, and the protection area is adjusted according to the size of the wearing part.

Eighth embodiment: the seventh difference between the present embodiment and the specific embodiment is that the air circuit module includes an air compressor 31, a three-way joint 33, a filter 38, a pressure regulating valve 39, an adsorption power branch and a protection power branch, where the air output end of the air compressor 31 is connected with the air input end of the filter 38 through a pipeline, the air output end of the filter 38 is connected with the air inlet end of the three-way joint 33 through a pipeline, the pressure regulating valve 39 is connected in series on the pipeline between the filter 38 and the three-way joint 33, the air inlet end of the adsorption power branch is connected with one air outlet end of the three-way joint 33, and the air inlet end of the protection power branch is connected with the other air outlet end of the three-way joint 33. Other compositions and connection manners are the same as those of the seventh embodiment.

Detailed description nine: referring to fig. 1 to 7, the eighth difference between the present embodiment and the specific embodiment is that the adsorption power branch includes a vacuum generator 32, a vacuum valve 34, a vacuum breaking valve 36, a vacuum filter 37 and an adsorption tee joint, an air inlet end of the vacuum generator 32 is connected to one air outlet end of the tee joint 33 through a pipe, an air outlet end of the vacuum generator 32 is connected to one air inlet end of the adsorption tee joint through a pipe, the vacuum valve 34 is connected in series to the pipe between the adsorption tee joint and the vacuum generator 32, another air inlet end of the adsorption tee joint is connected to the air outlet end of the vacuum filter 37 through a pipe, the vacuum breaking valve 36 is connected in series to the pipe between the adsorption tee joint and the vacuum filter 37, and an air outlet end of the adsorption tee joint is connected to the other end of the negative pressure ventilation pipe 12 through a pipe. Other compositions and connection modes are the same as those of the eighth embodiment.

Detailed description ten: the present embodiment is described with reference to fig. 1 to 7, and is different from the specific embodiment in that the protection power branch includes an exhaust valve 30, a positive pressure valve 35 and a protection tee joint, one gas input end of the protection tee joint is connected with another gas output end of the tee joint 33 through a pipeline, the positive pressure valve 35 is connected in series on the pipeline between the protection tee joint and the tee joint 33, the exhaust valve 30 is installed on one gas output end of the protection tee joint, another gas output end of the protection tee joint is connected with the gas inlet end of a split pipeline, the split pipeline includes N gas output ends, and each gas output end of the split pipeline is connected with the other end of one gas inlet pipe 211. Other compositions and connection manners are the same as those of the embodiment nine.

In connection with the eighth to tenth embodiments, the air path assembly 3 includes the air compressor 31, the vacuum generator 32, the three-way joint 33, the vacuum valve 34, the positive pressure valve 35, the vacuum breaking valve 36, the vacuum filter 37, the positive pressure filter 38, the pressure reducing valve 39 and the exhaust valve 30, the air compressor 31 is used for generating high pressure air, the high pressure air passes through the positive pressure filter 38, the pressure reducing valve 39 and then is divided into 2 paths through the three-way joint 33, one path is connected with the vacuum generator 32 to generate negative pressure, the negative pressure passes through the vacuum valve 34, when the vacuum valve 34 is opened, the negative pressure enters the suction cup 11 through the negative pressure vent 12 to adsorb a vulnerable part, when the vacuum valve 34 is closed, the vacuum breaking valve 36 is opened, the air passes through the vacuum filter 37 and then enters the suction cup 11 to destroy the negative pressure environment of the suction cup 11, and release the vulnerable part. The other path of positive pressure through the three-way joint 33 is connected to the positive pressure valve 35, the positive pressure valve 35 is connected to the air inlet pipe 211 of the flexible leg protector 21 through a shunt pipeline after passing through the positive pressure valve 35, the flexible leg protector 21 is driven to deform and bend, and the protective wall 213 is moved to the bottom of the wearing part, so that the wearing part is protected; when the vulnerable part is not required to be protected, the positive pressure valve 35 is closed to open the exhaust valve 30, so that the positive pressure of the flexible leg guard 21 is removed, and the flexible leg guard 21 is restored to original state and is not deformed.

The present utility model has been described in terms of preferred embodiments, but is not limited to the above-described embodiments, and any simple modification, equivalent changes and variation of the above-described embodiments according to the technical principles of the present utility model will be within the scope of the present utility model when the above-described structures and technical principles can be utilized to make a few equivalent embodiments without departing from the technical scope of the present utility model.

Principle of operation

When the utility model works, the sucker device with the flexible protection device is moved to the upper part of the vulnerable part, the sucker 11 is attached to the vulnerable part, the vacuum valve 34 is opened, the sucker 11 can be adsorbed on the vulnerable part, the position of the flexible leg protector 21 on each mounting support arm is adjusted according to the size and the outline of the vulnerable part, the flexible leg protector 21 is enabled to be close to the vulnerable part as much as possible, after the position adjustment of the flexible leg protector 21 is finished, the positive pressure valve 35 is opened, the flexible leg protector 21 deforms towards the direction of the vulnerable part and is used for protecting the vulnerable part, then the vulnerable part is moved to the appointed position, the positive pressure valve 35 is closed, the exhaust valve 30 is opened, the flexible leg protector 21 is restored to the original state, the vacuum valve 34 is closed, the vacuum breaking valve 36 is opened, and the vulnerable part is released, so that the operation of adsorbing and lifting is completed.

Claims

1. A suction cup apparatus with flexible protection means, characterized in that: the sucking disc equipment comprises an adsorption module (1), a protection module (2) and an air channel module, wherein the adsorption module (1) is arranged on the protection module (2), an adsorption power output end and a protection power output end are arranged on the air channel module, the adsorption module (1) is connected with the adsorption power output end in the air channel module, the protection module (2) is connected with the protection power output end in the air channel module, and the air channel module provides power for the adsorption module (1) and the protection module (2).

2. A suction cup apparatus with flexible protection means as claimed in claim 1, wherein: the utility model provides an adsorption module (1) is including sucking disc (11), negative pressure breather pipe (12), absorption pipe fitting (13) and link (14), link (14) set up in the top of protection module (2), and the bottom of link (14) and the top fixed connection of protection module (2), absorption pipe fitting (13) set up in the below of protection module (2) along vertical direction, and the top of absorption pipe fitting (13) is passed protection module (2) and is dismantled with link (14) and be connected, the bottom of absorption pipe fitting (13) and the top fixed connection of sucking disc (11), install negative pressure breather pipe (12) on the outer wall of absorption pipe fitting (13), and the one end of negative pressure breather pipe (12) is through absorption pipe fitting (13) and sucking disc (11) intercommunication setting, the other end of negative pressure breather pipe (12) and the absorption power output on the gas circuit module intercommunication setting.

3. A suction cup apparatus with flexible protection means as claimed in claim 2, characterized in that: protection module (2) are including leg guard mounting bracket (22), N flexible leg guard (21) and N leg guard regulating block (23), and N is positive integer, leg guard mounting bracket (22) are including central connection pad and N installation support arm, N installation support arm sets up on the outer disc of central connection pad along circumference equidistance, and the one end and the central connection pad fixed connection of every installation support arm, link (14) set up on the upper surface of central connection pad, and the last fixed surface of link (14) and central connection pad is connected, adsorb pipe fitting (13) along vertical direction setting in the below of central connection pad, and the top of adsorbing pipe fitting (13) is passed central connection pad and is dismantled with link (14) and be connected, every leg guard regulating block (23) correspond to set up on an installation support arm, and the bottom of every leg guard regulating block (23) is equipped with a flexible leg guard (21), and every flexible leg guard (21) is dismantled with place leg guard regulating block (23) and is connected.

4. A suction cup apparatus with flexible protection means according to claim 3, characterized in that: the flexible leg guard (21) comprises an air inlet pipe (211) and a driving cavity (212), the driving cavity (212) is arranged at the bottom of a leg guard adjusting block (23) along the vertical direction, the top of the driving cavity (212) is connected with the leg guard adjusting block (23) in place in a detachable mode, the air inlet pipe (211) is arranged on the upper portion of the driving cavity (212), one end of the air inlet pipe (211) is communicated with the driving cavity (212), and the other end of the air inlet pipe (211) is communicated with a protection power output end of the air circuit module.

5. A suction cup apparatus with flexible protection means as claimed in claim 4, wherein: the flexible leg guard (21) further comprises a protective wall (213), the protective wall (213) is arranged on the clamping surface of the driving cavity (212), and the protective wall (213) is fixedly connected with the driving cavity (212).

6. A suction cup apparatus with flexible protection means as claimed in claim 5, wherein: one side of the protection wall (213) is an adhesive surface, the protection wall (213) is fixedly connected with the driving cavity (212) through the adhesive surface, a plurality of transverse protrusions are arranged on the other side of the driving cavity (212) along the length extending direction of the protection wall (213) at equal intervals, and each transverse protrusion is integrally formed with the protection wall (213).

7. A suction cup apparatus with flexible protection means as claimed in claim 6, wherein: the leg guard adjusting block (23) comprises an adjusting block (231) and two adjusting bolts (232), the adjusting block (231) is arranged on an installation supporting arm, the adjusting block (231) is in sliding connection with the installation supporting arm, and the adjusting block (231) is locked and fixed with the installation supporting arm through the two adjusting bolts (232).

8. A suction cup apparatus with flexible protection means as claimed in claim 7, wherein: the gas circuit module comprises an air compressor (31), a three-way joint (33), a filter (38), a pressure regulating valve (39), an adsorption power branch and a protection power branch, wherein the gas output end of the air compressor (31) is connected with the gas input end of the filter (38) through a pipeline, the gas output end of the filter (38) is connected with the gas inlet end of the three-way joint (33) through a pipeline, the pressure regulating valve (39) is connected in series on the pipeline between the filter (38) and the three-way joint (33), the gas inlet end of the adsorption power branch is connected with one gas outlet end of the three-way joint (33), and the gas inlet end of the protection power branch is connected with the other gas outlet end of the three-way joint (33).

9. A suction cup apparatus with flexible protection means as claimed in claim 8, wherein: the adsorption power branch comprises a vacuum generator (32), a vacuum valve (34), a vacuum breaking valve (36), a vacuum filter (37) and an adsorption tee joint, wherein the air inlet end of the vacuum generator (32) is connected with one air outlet end of the tee joint (33) through a pipeline, the air outlet end of the vacuum generator (32) is connected with one air input end of the adsorption tee joint through a pipeline, the vacuum valve (34) is connected in series on the pipeline between the adsorption tee joint and the vacuum generator (32), the other air input end of the adsorption tee joint is connected with the air outlet end of the vacuum filter (37) through a pipeline, the vacuum breaking valve (36) is connected in series on the pipeline between the adsorption tee joint and the vacuum filter (37), and the air output end of the adsorption tee joint is connected with the other end of the negative pressure vent pipe (12) through a pipeline.

10. A suction cup apparatus with flexible protection means as claimed in claim 9, wherein: the protection power branch road comprises an exhaust valve (30), a positive pressure valve (35) and a protection three-way joint, one gas input end of the protection three-way joint is connected with the other gas output end of the three-way joint (33) through a pipeline, the positive pressure valve (35) is connected in series on the pipeline between the protection three-way joint and the three-way joint (33), the exhaust valve (30) is arranged on one gas output end of the protection three-way joint, the other gas output end of the protection three-way joint is connected with the gas inlet end of a split pipeline, the split pipeline comprises N gas output ends, and each gas output end of the split pipeline is communicated with the other end of one gas inlet pipe (211).