CN213647592U

CN213647592U - Suction device and manipulator

Info

Publication number: CN213647592U
Application number: CN202022049098.3U
Authority: CN
Inventors: 刘坤
Original assignee: Suzhou HYC Technology Co Ltd
Current assignee: Suzhou HYC Technology Co Ltd
Priority date: 2020-09-17
Filing date: 2020-09-17
Publication date: 2021-07-09
Anticipated expiration: 2030-09-17

Abstract

The utility model relates to a suction means and manipulator, include: a mounting seat; the screw rod is assembled on the mounting seat; the driving mechanism is assembled on the mounting seat and can drive the screw rod to rotate around an axis in a reciprocating manner; the two first moving parts are connected with the screw rod in a threaded manner and have opposite spiral directions, and the two first moving parts are driven to move in the opposite direction or in the opposite direction along the first direction when the screw rod rotates in a reciprocating manner; each first moving piece is connected with a first moving piece in a transmission mode, and each first moving piece is provided with a sucker mechanism; wherein the second direction intersects the first direction. Above-mentioned suction device and manipulator not only can satisfy the demand of absorbing the product of unidimensional not, and does not need the manual work to remove sucking disc mechanism, and degree of automation is high to work efficiency is high.

Description

Suction device and manipulator

Technical Field

The utility model relates to an automation equipment technical field especially relates to suction means and manipulator.

Background

With the development of economy and social progress, automation technology is widely applied to various aspects. The manipulator is used as an automatic device and widely applied to various departments such as mechanical manufacturing, metallurgy, electronics, light industry, atomic energy and the like.

A robot is an automatic manipulator that simulates the movements of a human hand and arm to pick up, grab, and carry objects or manipulate tools according to a fixed procedure. Wherein, to the manipulator that can realize the action of absorbing, be provided with suction means, suction means includes a plurality of sucking disc mechanisms, realizes the action of absorbing through sucking disc mechanism.

In order to enable the suction device to suck products with different sizes, one mode is to design different sucker mechanisms aiming at the products with different sizes, and the sucker mechanisms need to be continuously replaced to meet the suction requirement, so that the working efficiency is low, and the adaptability is poor. The other mode is to adopt the same kind of sucking disc mechanism, when needing to absorb different size products, the manual distance of adjusting between the sucking disc mechanism also can appear the problem that work efficiency is low.

SUMMERY OF THE UTILITY MODEL

Therefore, it is necessary to provide a suction device and a manipulator capable of improving the working efficiency, aiming at the problem of low working efficiency caused by the structural arrangement of the conventional suction device.

A suction device, comprising:

a mounting seat;

the screw rod is assembled on the mounting seat;

the driving mechanism is assembled on the mounting seat and can drive the screw rod to rotate around an axis in a reciprocating manner;

the two first moving parts are in threaded connection with the screw rod and are opposite in spiral direction, and when the screw rod rotates in a reciprocating mode, the two first moving parts are driven to move in the first direction in a face-to-face or back-to-back mode;

each first moving piece is connected with the corresponding second moving piece in a transmission mode, and each second moving piece is provided with the corresponding sucker mechanism; wherein the second direction intersects the first direction.

In one embodiment, two second moving members are connected to each first moving member in a transmission manner, and each second moving member is provided with one sucking disc mechanism;

when each first moving member moves along the first direction, the two corresponding second moving members and the two corresponding sucker mechanisms are driven to move in opposite directions or back to back along the second direction.

In one embodiment, when the two first moving members move in opposite directions, each first moving member drives the two corresponding second moving members and the two corresponding suction cup mechanisms to move in opposite directions; when the two first moving parts move back to back, each first moving part drives the two corresponding second moving parts and the two sucker mechanisms to move back to back.

In one embodiment, the connecting lines of the four sucker mechanisms form a rectangle, the rectangle is provided with two diagonal lines, and the two diagonal lines intersect to form an intersection point;

when the first moving member moves along the first direction and the second moving member moves along the second direction, the two sucker mechanisms on each diagonal move towards or away from each other by taking the intersection point as a center.

In one embodiment, the first direction is perpendicular to the second direction.

In one embodiment, the suction device comprises a transmission mechanism, the transmission mechanism comprises a first belt wheel, a transmission belt and a second belt wheel, the first belt wheel is connected with the driving mechanism, the second belt wheel is connected with the screw rod, and the transmission belt is sleeved outside the first belt wheel and the second belt wheel.

In one embodiment, the first moving member is in meshing transmission with the second moving member.

In one embodiment, the suction device comprises a first rack, first gears, rotating shafts, second gears and second racks, the first rack is mounted on the mounting seat, each rotating shaft is rotatably arranged on each first moving part around an axis, the first gears and the second gears are respectively assembled at two ends of each rotating shaft, and each second rack is mounted on each second moving part;

the first gear is meshed with the first rack, the second gear is meshed with the second rack, the first rack drives the first gear to rotate when the first moving piece moves, the first gear drives the rotating shaft to rotate, and the rotating shaft drives the second gear to rotate, so that the second rack is driven to drive the second moving piece to move.

In one embodiment, the suction device further comprises first guide rails mounted on the mounting base, each first moving member is connected with each first guide rail, and the first guide rails guide the first moving members along the first direction; and/or

The suction device further comprises second guide rails arranged on the first moving parts, each second moving part is connected with each second guide rail, and the second guide rails guide the second moving parts along the second direction.

A manipulator comprises a main body and the suction device, wherein the mounting seat of the suction device is connected with the main body.

Above-mentioned suction device and manipulator, actuating mechanism pass through the lead screw and drive two first moving members when or back-to-back motion along first direction in opposite directions, can drive the second moving member and the motion of sucking disc mechanism along the second direction of being connected with every first moving member transmission to change the distance between a plurality of sucking disc mechanisms, not only can satisfy the demand of absorbing not unidimensional product, and do not need the manual work to remove sucking disc mechanism, degree of automation is high, thereby work efficiency is high. And above-mentioned suction device and manipulator can realize the change at first direction and second direction distance between the sucking disc mechanism through a actuating mechanism, and simple structure has saved the cost.

Drawings

Fig. 1 is an isometric view of a viewing angle of a suction device according to an embodiment of the present invention;

FIG. 2 is a plan view of a portion of the construction of the suction device shown in FIG. 1;

FIG. 3 is a left side view of the suction device shown in FIG. 1;

FIG. 4 is an isometric view of another perspective of the suction device shown in FIG. 1;

FIG. 5 is an isometric view from a perspective of a portion of the construction of the suction device shown in FIG. 2;

FIG. 6 is an isometric view from another perspective of the partial construction of the suction device shown in FIG. 2;

fig. 7 is a structural view of the suction cup mechanism of the suction device shown in fig. 1 when it is mounted on a connection plate.

100. A suction device; 10. a mounting seat; 11. a first mounting plate; 12. a second mounting plate; 13. a side plate; 14. the screw rod supports the support; 15. a lead screw fixing support; 20. a screw rod; 30. a drive mechanism; 40. a first moving member; 41. a first moving plate; 411. a first mating block; 42. a connecting plate; 50. a second moving member; 51. a second moving plate; 511. a slider; 52. a connecting plate; 60. a suction cup mechanism; 61. a floating rod; 62. a sealing cover; 63. a limiting block; 64. a suction cup; 70. a transmission mechanism; 71. a first pulley; 72. a transmission belt; 73. a second pulley; 80. a first guide rail; 90. a first rack; 110. a first gear; 120. a second gear; 130. a second rack; 140. a second guide rail; 150. a bearing seat; 160. and rotating the shaft.

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 expressly stated or limited, the terms "mounted," "connected," and "fixed" are to be construed broadly and may, for example, be fixedly connected, detachably connected, or integrally formed; can be mechanically or electrically connected; they may be directly connected or indirectly connected through intervening media, or they may be connected internally or in any other suitable relationship, unless expressly stated otherwise. 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, the first feature may be directly on or directly under the second feature or indirectly via intermediate members. 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.

Referring to fig. 1, an embodiment of the present invention provides an absorbing device 100 for absorbing a product, specifically, the absorbed product may be a film product.

The suction device 100 comprises a mounting base 10, a screw rod 20 and a driving mechanism 30, wherein the screw rod 20 and the driving mechanism 30 are both assembled on the mounting base 10, and the driving mechanism 30 can drive the screw rod 20 to rotate around an axis in a reciprocating manner.

The suction device 100 further comprises two first moving parts 40, a second moving part 50 and a sucker mechanism 60, wherein the two first moving parts 40 are in threaded connection with the screw rod 20 and have opposite spiral directions, and the two first moving parts 40 can be driven to move in the opposite direction or in the opposite direction along the first direction when the screw rod 20 rotates in a reciprocating manner. Each first moving member 40 is connected with a second moving member 50 in a transmission manner, and each second moving member 50 is provided with a sucker mechanism 60, so that when each first moving member 40 moves along a first direction, the corresponding second moving member 50 and the sucker mechanism 60 can be driven to move along a second direction. Wherein the first direction intersects the second direction.

The suction device 100 provided by the embodiment, when the driving mechanism 30 drives the two first moving members 40 to move along the first direction or back to back through the screw rod 20, the second moving member 50 and the sucker mechanism 60 which are connected with each first moving member 40 in a transmission manner can be driven to move along the second direction, so that the distance between the sucker mechanisms 60 is changed, the requirements for sucking products of different sizes can be met, the sucker mechanism 60 does not need to be moved manually, the automation degree is high, and the working efficiency is high. In addition, the suction device 100 provided in this embodiment can change the distance between the suction cup mechanisms 60 in the first direction and the second direction by using one driving mechanism 30, and has a simple structure and cost saving.

Specifically, the first direction (X direction in fig. 2) is perpendicular to the second direction (Y direction in fig. 2), so that the suction device 100 provided in the present embodiment can change the distance between the plurality of suction cup mechanisms 60 in two directions perpendicular to each other. It should be understood that, in other embodiments, the first direction and the second direction may not be perpendicular, and are not limited herein.

With reference to fig. 1, the mounting base 10 includes a first mounting plate 11 and a second mounting plate 12, wherein the second mounting plate 12 is disposed on a periphery of the first mounting plate 11 and extends away from the first mounting plate 11 relative to the first mounting plate 11. Specifically, the second mounting plate 12 is disposed perpendicular to the first mounting plate 11, and the driving mechanism 30 is mounted on the second mounting plate 12. More specifically, the driving mechanism 30 is a driving motor, a driving end of the driving motor penetrates through the second mounting plate 12 to be connected with other components, and the driving motor rotates forward and backward to drive the screw rod 20 to rotate back and forth, so as to drive the two first moving members 40 to move towards or away from each other. It should be understood that in other embodiments, the type of drive mechanism 30 is not limited.

Further, the mounting base 10 further includes a side plate 13, a screw supporting support 14 and a screw fixing support 15, wherein the side plate 13 is disposed on the periphery of the first mounting plate 11 and extends in a direction away from the first mounting plate 11 relative to the first mounting plate 11. Specifically, the side plate 13 is perpendicular to the first mounting plate 11, and the side plate 13 and the second mounting plate 12 extend to the same side of the first mounting plate 11, and the main body of the driving mechanism 30 is located in a first space defined by the first mounting plate 11, the second mounting plate 12 and the side plate 13. The screw supporting support 14 and the screw fixing support 15 protrude outside the side plate 13 and are located at two opposite ends of the side plate 13, and two ends of the screw 20 are supported on the screw supporting support 14 and the screw fixing support 15 respectively. Specifically, the screw supporting seat 14 and the screw fixing seat 15 are both nested with bearings inside, and the screw 20 rotates relative to the screw supporting seat 14 and the screw fixing seat 15 through the bearings.

The installation seat 10 is arranged according to the mode, the structure is compact, and the occupied volume is small. It should be understood that in other embodiments, the mounting base 10 may be disposed in other ways, and is not limited herein.

In one embodiment, the suction device 100 further includes a transmission mechanism 70, the transmission mechanism 70 includes a first pulley 71, a transmission belt 72 and a second pulley 73, the first pulley 71 is connected to a portion of the driving end of the driving motor extending out of the second mounting plate 12, the second pulley 73 is connected to the screw rod 20, and the transmission belt 72 is sleeved outside the first pulley 71 and the second pulley 73. When the driving mechanism 30 is operated, the first pulley 71 is driven to rotate, and the second pulley is driven to rotate through the transmission belt 72, so as to drive the screw rod 20 to rotate.

Each first moving member 40 includes a first moving plate 41 and a connecting plate 42, the first moving plate 41 is located on one side of the first mounting plate 11 away from the driving mechanism 30, and the connecting plate 42 is connected to the first moving plate 41 and is disposed at an angle to the first moving plate 41 so as to extend into a second space defined by the side plate 13, the lead screw supporting seat 14 and the lead screw fixing seat 15. Specifically, the connecting plate 42 is disposed perpendicular to the first moving plate 41. The shapes of the first moving plate 41 and the connecting plate 42 are not limited.

Referring to fig. 3 to 5, the suction device 100 further includes a first guide rail 80 extending along the first direction, the first guide rail 80 is connected to a side of the first mounting plate 11 facing away from the driving mechanism 30, each first moving plate 41 is connected to each first guide rail 80, and the first guide rail 80 guides the first moving member 40 along the first direction. Specifically, each first moving plate 41 is provided with a first engaging block 411 (see fig. 6) in a protruding manner, and the first engaging block 411 is clamped outside the first guide rail 80 and is guided to engage with the first guide rail 80.

With continued reference to fig. 2, 4 and 5, in one embodiment, each of the first moving plates 41 is connected to two second moving members 50 in a transmission manner, and each of the second moving members 50 is provided with a suction mechanism 60. When each first moving member 40 moves along the first direction, the two corresponding second moving members 50 and two corresponding suction cup mechanisms 60 are driven to move towards or away from each other along the second direction. Thus, the suction device 100 has four suction cup mechanisms 60, and the four suction cup mechanisms 60 can ensure the effect of sucking the product, so that the product is not easy to fall off from the suction device 100 when being sucked; and the suction device 100 can change the distance between the four suction cup mechanisms 60 in the first direction and the second direction, so as to facilitate the suction of products with different sizes.

Further, when the two first moving parts 40 move towards each other, each first moving part 40 drives the two corresponding second moving parts 50 and the two sucker mechanisms 60 to move towards each other; when the two first moving members 40 move away from each other, each first moving member 40 drives the two corresponding second moving members 50 and the two sucker mechanisms 60 to move away from each other, so that the effect of reducing or increasing the distance between the sucker mechanisms 60 in the first direction and the second direction can be achieved.

It is understood that, in other embodiments, it may also be provided that, when the two first moving members 40 move towards each other, each first moving member 40 drives the two corresponding second moving members 50 and the two suction cup mechanisms 60 to move back to back; when the two first moving parts 40 move towards each other, each first moving part 40 drives the two corresponding second moving parts 50 and the two suction cup mechanisms 60 to move towards each other, which is not limited herein.

In one embodiment, the lines connecting the four suction cup mechanisms 60 form a rectangle having two diagonal lines that intersect to form a point of intersection. When the first moving member 40 moves in the first direction and the second moving member 50 moves in the second direction, the two suction cup mechanisms 60 located on each diagonal line move toward or away from each other with the intersection point as the center. Through the arrangement, the shape formed by connecting the four sucker mechanisms 60 can be kept as a rectangle all the time, and the stability of sucking the product is ensured; for a film product, after the film product is absorbed, the driving mechanism 30 can be finely adjusted, so that the film product can be flattened, and the problem of uneven absorption of the film product is solved.

In one embodiment, the first moving member 40 is geared with the second moving member 50. Of course, in other embodiments, the transmission manner of the first moving member 40 and the second moving member 50 is not limited thereto.

With continued reference to fig. 2 and 6, the suction device 100 includes a first rack 90, a first gear 110, a rotating shaft 160, a second gear 120, and a second rack 130. The first rack 90 is mounted on one side of the first mounting plate 11 away from the driving mechanism 30 and extends along a first direction, each rotating shaft 160 penetrates through the first moving plate 41 and is rotatably disposed on each first moving plate 41 around an axis, a first end of the rotating shaft 160 penetrates through one side of the first moving plate 41 facing the first rack 90, a second end of the rotating shaft 160 penetrates through one side of the first moving plate 41 facing away from the first rack 90, the first gear 110 and the second gear 120 are mounted at the first end of the rotating shaft 160, and the second gear 120 is mounted at the second end of the rotating shaft 160. The second moving parts 50 are disposed on a side of the first moving plate 41 facing away from the first rack 90, and each second rack 130 is mounted on each second moving part 50 and extends along the second direction.

The first gear 110 is engaged with the first rack 90, the second gear 120 is engaged with the second rack 130, when the first moving plate 41 moves, the first rack 90 drives the first gear 110 to rotate, the first gear 110 drives the rotating shaft 160 to rotate, and the rotating shaft 160 drives the second gear 120 to rotate, so as to drive the second rack 130 to drive the second moving member 50 to move.

With the above arrangement, when the first moving member 40 moves, because the first rack 90 is fixed to the mounting base 10, the first gear 110 rotates under the action of the first rack 90, the first gear 110 drives the rotating shaft 160 to rotate, and the rotating shaft 160 drives the second gear 120 to rotate, so as to drive the second moving member 50 to move through the second rack 130.

Referring to fig. 2 and 4, specifically, the rotating shaft 160 is rotatably disposed on the first moving plate 41 through a bearing. More specifically, the suction device 100 further includes a bearing housing 150, the bearing housing 150 is fixedly connected to the first moving plate 41, and the bearing is fitted in the bearing housing 150.

In one embodiment, the suction device 100 further includes second guide rails 140 (see fig. 5) installed on the first moving plate 41 and extending in the second direction, each second moving member 50 is connected to each second guide rail 140, and the second guide rails 140 guide the second moving members 50 in the second direction. Specifically, the second rack 130 is disposed on one side of the second moving member 50, the second guide rail 140 is disposed on the other side of the second moving member 50 opposite to the second rack 130, one side of the second moving member 50 is engaged with the second gear 120 through the second rack 130, and the other side of the second moving member 50 is engaged with the second guide rail 140, so as to ensure the smoothness of the movement of the second moving member 50. More specifically, the second moving member 50 is provided with a sliding block 511 in a protruding manner, and the sliding block 511 of the second moving member 50 is embedded in the second guide rail 140.

In one embodiment, each of the second moving members 50 includes a second moving plate 51 and a connecting plate 52 (see fig. 1), the second rack 130 is connected to the second moving plate 51, the second moving plate 51 is matched with the second guide rail 140, the connecting plate 52 is connected to the second moving plate 51, and the suction cup mechanism 60 is assembled on the connecting plate 52 (see fig. 2).

Further, the connecting plate 52 is L-shaped (see fig. 5), one end of the L-shape is connected to the second moving plate 51, and the suction cup mechanism 60 is connected to the other end of the L-shape. It is understood that in other embodiments, the shape of the connecting plate 52 is not limited.

Referring to fig. 7, the suction cup mechanism 60 includes a floating rod 61, a sealing cover 62, a limiting block 63 and a suction cup 64, the floating rod 61 is provided with external threads, the internal threads of the connecting plate 52 are connected with the threads of the connecting plate 52, an external air source is connected with one end of the floating rod 61, the suction cup 64 is connected with the other end of the floating rod 61, the suction cup 64 is arranged in the limiting block 63 in a penetrating manner, the sealing cover 62 is arranged at one end of the limiting block 63 close to the connecting plate 52 in a sealing manner, and the suction cup 64 sucks a product and clings to the.

The working principle of the suction device 100 provided by the embodiment is as follows:

the driving mechanism 30 operates to rotate the first belt wheel 71, and the first belt wheel 71 drives the second belt wheel 73 to rotate through the transmission belt 72, so as to drive the screw rod 20 to rotate around an axis in a reciprocating manner. When the screw rod 20 rotates relative to the screw rod supporting seat 14 and the screw rod fixing seat 15, the connecting plate 42 of each first moving part 40 is driven to move. The connecting plate 42 drives the first moving plate 41 to move toward or away from each other along the first direction under the guiding action of the first guide rail 80. When the first moving plate 41 moves in the first direction, the first gear 110 connected thereto through the rotating shaft 160 rotates by engagement with the first rack 90, the rotating shaft 160 is driven to rotate, and the rotating shaft 160 drives the second gear 120 to rotate. The second gear 120 is engaged with the second rack 130, and the second gear 120 drives the second rack 130 to move along the second direction when rotating, so as to drive the second moving plate 51 to move along the second direction under the guiding action of the second guide rail 140, thereby realizing the movement of the suction cup mechanism 60 in the first direction and the second direction.

And when the first moving member 40 moves along the first direction in opposite directions, the second moving member 50 moves in opposite directions along the second direction, so that the two sucker mechanisms 60 positioned on each diagonal line of the rectangle move in opposite directions or in opposite directions by taking the intersection point as the center, and the shape formed by connecting the four sucker mechanisms 60 is always kept rectangular, and the stability of sucking the product is ensured.

Another embodiment of the present invention further provides a manipulator, which includes a main body and the above-mentioned suction device 100, the suction device 100 is connected to the main body, and the main body controls the movement of the suction device 100.

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

1. A suction device, comprising:

a mounting seat (10);

the screw rod (20) is assembled on the mounting seat (10);

the driving mechanism (30) is assembled on the mounting seat (10) and can drive the screw rod (20) to rotate around an axis in a reciprocating mode;

the two first moving parts (40) are in threaded connection with the screw rod (20) and are opposite in spiral direction, and when the screw rod (20) rotates in a reciprocating mode, the two first moving parts (40) are driven to move in the opposite direction or in the opposite direction along the first direction;

the second moving parts (50) and the sucker mechanisms (60) are in transmission connection with each first moving part (40), each second moving part (50) is provided with the sucker mechanism (60), and when each first moving part (40) moves along the first direction, the corresponding second moving parts (50) and the sucker mechanisms (60) are driven to move along the second direction; wherein the second direction intersects the first direction.

2. The suction device according to claim 1, characterized in that two of said second moving members (50) are in transmission connection with each of said first moving members (40), and each of said second moving members (50) is equipped with one of said suction cup mechanisms (60);

when each first moving part (40) moves along the first direction, the corresponding two second moving parts (50) and the corresponding two sucker mechanisms (60) are driven to move towards or away from each other along the second direction.

3. The suction device according to claim 2, characterized in that when the two first moving members (40) move towards each other, each first moving member (40) drives the two corresponding second moving members (50) and the two suction cup mechanisms (60) to move towards each other; when the two first moving parts (40) move back to back, each first moving part (40) drives the two corresponding second moving parts (50) and the two corresponding sucker mechanisms (60) to move back to back.

4. The suction device according to claim 3, characterized in that the connection line of four suction cup means (60) forms a rectangle having two diagonal lines, the two diagonal lines intersecting to form an intersection point;

when the first moving member (40) moves along the first direction and the second moving member (50) moves along the second direction, the two sucker mechanisms (60) on each diagonal move towards or away from each other with the intersection point as the center.

5. The suction device as recited in claim 1, wherein the first direction is perpendicular to the second direction.

6. The suction device according to claim 1, characterized in that the suction device comprises a transmission mechanism (70), the transmission mechanism (70) comprises a first pulley (71), a transmission belt (72) and a second pulley (73), the first pulley (71) is connected with the driving mechanism (30), the second pulley (73) is connected with the screw (20), and the transmission belt (72) is sleeved outside the first pulley (71) and the second pulley (73).

7. The suction device according to claim 1, characterized in that said first moving member (40) is in meshing transmission with said second moving member (50).

8. The suction device according to claim 7, characterized in that it comprises a first rack (90), a first gear (110), a rotating shaft (160), a second gear (120) and a second rack (130), said first rack (90) is mounted on said mounting base (10), each rotating shaft (160) is rotatably provided on each first moving member (40) around an axis, said first gear (110) and said second gear (120) are respectively assembled on both ends of each rotating shaft (160), each second rack (130) is mounted on each second moving member (50);

the first gear (110) is meshed with the first rack (90), the second gear (120) is meshed with the second rack (130), when the first moving part (40) moves, the first rack (90) drives the first gear (110) to rotate, the first gear (110) drives the rotating shaft (160) to rotate, the rotating shaft (160) drives the second gear (120) to rotate, and therefore the second rack (130) is driven to drive the second moving part (50) to move.

9. The suction device according to claim 1, characterized in that it further comprises first guides (80) mounted on said mounting seat (10), each said first moving member (40) being connected to each said first guide (80), said first guides (80) being directed along said first direction towards said first moving member (40); and/or

The suction device further comprises second guide rails (140) mounted on the first moving members (40), each second moving member (50) is connected with each second guide rail (140), and the second guide rails (140) guide the second moving members (50) in the second direction.

10. A manipulator, characterized in that it comprises a body and a suction device according to any one of claims 1-9, the mounting (10) of which is connected to the body.